Similarity3.cpp File Reference

Implementation of Similarity3 transform. More...

#include <gtsam/geometry/Similarity3.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/base/Manifold.h>
#include <gtsam/slam/KarcherMeanFactor-inl.h>

Include dependency graph for Similarity3.cpp:

Go to the source code of this file.

Namespaces
	gtsam
	traits
	gtsam::internal

Functions
static Similarity3	gtsam::internal::align (const Point3Pairs &d_abPointPairs, const Rot3 &aRb, const Point3Pair &centroids)
	This method estimates the similarity transform from differences point pairs,. More...
static Similarity3	gtsam::internal::alignGivenR (const Point3Pairs &abPointPairs, const Rot3 &aRb)
	This method estimates the similarity transform from point pairs, given a known or estimated rotation. More...
static Matrix3	gtsam::internal::calculateH (const Point3Pairs &d_abPointPairs)
	Form outer product H. More...
static double	gtsam::internal::calculateScale (const Point3Pairs &d_abPointPairs, const Rot3 &aRb)
	Form inner products x and y and calculate scale. More...
std::ostream &	gtsam::operator<< (std::ostream &os, const Similarity3 &p)
static Point3Pairs	gtsam::internal::subtractCentroids (const Point3Pairs &abPointPairs, const Point3Pair &centroids)
	Subtract centroids from point pairs. More...

Detailed Description

Implementation of Similarity3 transform.

Author

Paul Drews

John Lambert

Definition in file Similarity3.cpp.