Function slam_mer::registration::compute_best_scalar_s

• Defined in File registration.hpp

Function Documentation

double slam_mer::registration::compute_best_scalar_s(const point3d_t::vector &sourcePoints_, const point3d_t::vector &targetPoints_)

Computes the scalar s minimizing alignment error in a similarity model.

Parameters:

• sourcePoints_ – Source points used in the scalar estimation.

• targetPoints_ – Target points used in the scalar estimation.

Returns:

Best-fit scalar s for the provided correspondence sets.