From 2c1593c020f316b07499a156efb03f973f3f316d Mon Sep 17 00:00:00 2001 From: John Lambert Date: Wed, 10 Mar 2021 08:53:55 -0500 Subject: [PATCH] improve docstring --- gtsam/geometry/Similarity3.h | 12 ++++++++---- 1 file changed, 8 insertions(+), 4 deletions(-) diff --git a/gtsam/geometry/Similarity3.h b/gtsam/geometry/Similarity3.h index 780301c1b..d4a478310 100644 --- a/gtsam/geometry/Similarity3.h +++ b/gtsam/geometry/Similarity3.h @@ -126,10 +126,14 @@ public: GTSAM_UNSTABLE_EXPORT static Similarity3 Align(const std::vector& 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& abPosePairs);