Function mp2p_icp::optimal_tf_horn

Defined in File optimal_tf_horn.h

Function Documentation

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

Classic Horn’s solution for optimal SE(3) transformation, modified to accept point-to-point, line-to-line, plane-to-plane pairings. If you need point-to-line or point-to-plane pairings, use the wrapper mp2p_icp::Solver_Horn.

Note

On MRPT naming convention: “this”=global; “other”=local.

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