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improve docstring

release/4.3a0
John Lambert 2021-03-10 08:53:55 -05:00
parent 5da50a5a6f
commit 2c1593c020
1 changed files with 8 additions and 4 deletions
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gtsam/geometry/Similarity3.h
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@ -126,10 +126,14 @@ public:
GTSAM_UNSTABLE_EXPORT static Similarity3 Align(const std::vector<Point3Pair>& abPointPairs);
/**
* Create Similarity3 by aligning at least two pose pairs
* Given a list of pairs in world frame w1, and a list of pairs in another world
* frame w2, will compute the best-fit Similarity3 transformation to align them.
* `w2Sw1` will returned for pairs [ (w2Ti1,w1Ti1), (w2Ti2,w1Ti2), (w2Ti3,w1Ti3) ]
* Create the Similarity3 object that aligns at least two pose pairs.
* Each pair is of the form (aTi, bTi).
* Given a list of pairs in frame a, and a list of pairs in frame b, Align()
* will compute the best-fit Similarity3 aSb transformation to align them.
* First, the rotation aRb will be computed as the average (Karcher mean) of
* many estimates aRb (from each pair). Afterwards, the scale factor will be computed
* using the algorithm described here:
* http://www5.informatik.uni-erlangen.de/Forschung/Publikationen/2005/Zinsser05-PSR.pdf
*/
GTSAM_UNSTABLE_EXPORT static Similarity3 Align(const std::vector<Pose3Pair>& abPosePairs);