se3_l2.cpp File Reference

#include "tfest-precomp.h"
#include <mrpt/poses/CPose3D.h>
#include <mrpt/poses/CPose3DQuat.h>
#include <mrpt/tfest/se3.h>
#include <Eigen/Dense>

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Functions
bool	se3_l2_internal (std::vector< mrpt::math::TPoint3D > &points_this, std::vector< mrpt::math::TPoint3D > &points_other, mrpt::poses::CPose3DQuat &out_transform, double &out_scale, bool forceScaleToUnity)

Function Documentation

se3_l2_internal()

bool se3_l2_internal	(	std::vector< mrpt::math::TPoint3D > &	points_this,
		std::vector< mrpt::math::TPoint3D > &	points_other,
		mrpt::poses::CPose3DQuat &	out_transform,
		double &	out_scale,
		bool	forceScaleToUnity
	)

Definition at line 69 of file se3_l2.cpp.

References ASSERT_EQUAL_, ASSERTDEB_, mrpt::math::MatrixBase< Scalar, Derived >::col(), mrpt::poses::CPose3DQuat::composePoint(), mrpt::math::MatrixBase< Scalar, Derived >::eig_symmetric(), MRPT_END, MRPT_START, mrpt::square(), mrpt::math::TPoint3D_data< T >::x, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), mrpt::math::TPoint3D_data< T >::y, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y(), and mrpt::math::TPoint3D_data< T >::z.

Referenced by mrpt::tfest::se3_l2().

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