12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Merge branch 'fixes' into matlab-update

release/4.3a0
Varun Agrawal 2023-10-08 11:02:19 -04:00
parent f8317a5a9d f875662040
commit 524806ee4a
2 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
gtsam/geometry/Similarity3.cpp
View File

@ -171,7 +171,7 @@ Similarity3 Similarity3::Align(const Point3Pairs &abPointPairs) {
return internal::align(d_abPointPairs, aRb, centroids);
}
Similarity3 Similarity3::Align(const vector<Pose3Pair> &abPosePairs) {
Similarity3 Similarity3::Align(const Pose3Pairs &abPosePairs) {
const size_t n = abPosePairs.size();
if (n < 2)
throw std::runtime_error("input should have at least 2 pairs of poses");

2
gtsam/geometry/Similarity3.h
View File

@ -133,7 +133,7 @@ class GTSAM_EXPORT Similarity3 : public LieGroup<Similarity3, 7> {
* computed using the algorithm described here:
* http://www5.informatik.uni-erlangen.de/Forschung/Publikationen/2005/Zinsser05-PSR.pdf
*/
static Similarity3 Align(const std::vector<Pose3Pair>& abPosePairs);
static Similarity3 Align(const Pose3Pairs& abPosePairs);
/// @}
/// @name Lie Group