Similarity2.cpp File Reference

Implementation of Similarity2 transform. More...

#include <gtsam/base/Manifold.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/geometry/Rot3.h>
#include <gtsam/geometry/Similarity2.h>
#include <gtsam/slam/KarcherMeanFactor-inl.h>

Include dependency graph for Similarity2.cpp:

Go to the source code of this file.

Namespaces
	gtsam
	traits
	gtsam::internal

Functions
static Similarity2	gtsam::internal::Align (const Point2Pairs &d_abPointPairs, const Rot2 &aRb, const Point2Pair &centroids)
	This method estimates the similarity transform from differences point pairs, given a known or estimated rotation and point centroids. More...
static Similarity2	gtsam::internal::AlignGivenR (const Point2Pairs &abPointPairs, const Rot2 &aRb)
	This method estimates the similarity transform from point pairs, given a known or estimated rotation. Refer to: http://www5.informatik.uni-erlangen.de/Forschung/Publikationen/2005/Zinsser05-PSR.pdf Chapter 3. More...
static Matrix2	gtsam::internal::CalculateH (const Point2Pairs &d_abPointPairs)
	Form outer product H. More...
static double	gtsam::internal::CalculateScale (const Point2Pairs &d_abPointPairs, const Rot2 &aRb)
	Form inner products x and y and calculate scale. More...
std::ostream &	gtsam::operator<< (std::ostream &os, const Similarity2 &p)
static Point2Pairs	gtsam::internal::SubtractCentroids (const Point2Pairs &abPointPairs, const Point2Pair &centroids)
	Subtract centroids from point pairs. More...

Detailed Description

Implementation of Similarity2 transform.

Author

John Lambert, Varun Agrawal

Definition in file Similarity2.cpp.