optimal_tf_horn.cpp File Reference

Classic Horn's solution for optimal SE(3) transformation. More...

#include <mp2p_icp/optimal_tf_horn.h>
#include <mrpt/math/CMatrixFixed.h>
#include <mrpt/math/CQuaternion.h>
#include <mrpt/math/CVectorFixed.h>
#include "visit_correspondences.h"

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Functions
static bool	se3_l2_internal (const mp2p_icp::Pairings &in, const WeightParameters &wp, const mrpt::math::TPoint3D &ct_local, const mrpt::math::TPoint3D &ct_global, mrpt::math::CQuaternionDouble &out_attitude, OutlierIndices &in_out_outliers)

Detailed Description

Classic Horn's solution for optimal SE(3) transformation.

Author

Jose Luis Blanco Claraco

Date

Jun 16, 2019

Definition in file optimal_tf_horn.cpp.

Function Documentation

se3_l2_internal()

static bool se3_l2_internal ( const mp2p_icp::Pairings &  in, const WeightParameters &  wp, const mrpt::math::TPoint3D &  ct_local, const mrpt::math::TPoint3D &  ct_global, mrpt::math::CQuaternionDouble &  out_attitude, OutlierIndices &  in_out_outliers  )

static

Definition at line 69 of file optimal_tf_horn.cpp.