Function mp2p_icp::optimal_tf_olae

• Defined in File optimal_tf_olae.h

Function Documentation

bool mp2p_icp::optimal_tf_olae(const Pairings &in, const WeightParameters &wp, OptimalTF_Result &result)

OLAE algorithm to find the SE(3) optimal transformation given a set of correspondences between points-points, lines-lines, planes-planes. Refer to technical report: Jose-Luis Blanco-Claraco. OLAE-ICP: Robust and fast alignment of geometric features with the optimal linear attitude estimator, Arxiv 2019.

Returns:

false If the number of pairings is too small for a unique solution, true on success.