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use Pose3Pairs for Similarity3::Align

release/4.3a0
Varun Agrawal 2023-10-05 09:59:04 -04:00
parent 4de8f149f8
commit 7998328583
2 changed files with 2 additions and 2 deletions
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2
gtsam/geometry/Similarity3.cpp
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@ -171,7 +171,7 @@ Similarity3 Similarity3::Align(const Point3Pairs &abPointPairs) {
return internal::align(d_abPointPairs, aRb, centroids); 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(); const size_t n = abPosePairs.size();
if (n < 2) if (n < 2)
throw std::runtime_error("input should have at least 2 pairs of poses"); throw std::runtime_error("input should have at least 2 pairs of poses");

2
gtsam/geometry/Similarity3.h
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@ -133,7 +133,7 @@ class GTSAM_EXPORT Similarity3 : public LieGroup<Similarity3, 7> {
* computed using the algorithm described here: * computed using the algorithm described here:
* http://www5.informatik.uni-erlangen.de/Forschung/Publikationen/2005/Zinsser05-PSR.pdf * 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 /// @name Lie Group