Computes the average similarity transform (rotation, position, scale) between two sets of 6 DoF poses.

Public Member Functions
	From6DoF ()
void	addMeasurement (const PosePair &measurement)
	Adds a pair of measurements. No other computation is performed.
void	addMeasurement (const Pose &pose1, const Pose &pose2)
	Adds a pair of measurements. No other computation is performed.
bool	compute (Pose &pose, double scale=nullptr, double cond=nullptr, double eps=std::numeric_limits< double >::epsilon()4 4)
	computes the average similarity transform the transform is computed between the previously added sets of poses.

Private Attributes
PosePairVector	measurements_

Constructor & Destructor Documentation

msf_core::similarity_transform::From6DoF::From6DoF ( )

Member Function Documentation

void msf_core::similarity_transform::From6DoF::addMeasurement ( const PosePair & measurement )

void msf_core::similarity_transform::From6DoF::addMeasurement	(	const Pose &	pose1,
		const Pose &	pose2
	)

bool msf_core::similarity_transform::From6DoF::compute	(	Pose &	pose,
		double *	scale = `nullptr`,
		double *	cond = `nullptr`,
		double	eps = `std::numeric_limits<double>::epsilon() * 4 * 4`
	)

Parameters

[out]	pose	resulting position / orientation
[out]	scale	resulting scale: pos1 = pos2*scale
[out]	cond	condition number of the problem to detect (non) sufficient number of measurements
[in]	eps	in case of badly posed problems, eps can be set for the Moore-Penrose pseudo inverse

PosePairVector msf_core::similarity_transform::From6DoF::measurements_

private

The documentation for this class was generated from the following files: