MRPT  1.9.9
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 68 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::x, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), mrpt::math::TPoint3D_data::y, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y(), and mrpt::math::TPoint3D_data::z.

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

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