#include <assert.h>#include <Eigen/Geometry>#include <Eigen/Eigenvalues>
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Functions | |
| template<typename DerivedA , typename DerivedB > | |
| int | absolute_orientation_horn (const Eigen::MatrixBase< DerivedA > &P1, const Eigen::MatrixBase< DerivedB > &P2, Eigen::Isometry3d *result) |
Function Documentation
template<typename DerivedA , typename DerivedB >
| int absolute_orientation_horn | ( | const Eigen::MatrixBase< DerivedA > & | P1, |
| const Eigen::MatrixBase< DerivedB > & | P2, | ||
| Eigen::Isometry3d * | result | ||
| ) |
absolute_orientation_horn: : a matrix of dimension [3 x num_points] : a matrix of dimension [3 x num_points]
- Returns:
- : output parameter
Given two point sets P1 and P2, with each point p1_i in set P1 matched with a point p2_i in P2, compute the rigid body transformation (isometry) M that minimizes
||p2_i - M p1_i||
returns: 0 on success, -1 on failure
Definition at line 31 of file absolute_orientation_horn.hpp.