Detailed Description

Project an ambient 3-by-3 matrix onto Similarity2.

Similarity2 represents Sim(2), the group of planar rotations, translations, and positive uniform scales. In GTSAM's matrix convention the lower-right entry is the inverse scale. The projection rounds the rotation, retains the translation, and recovers a positive scale from the absolute inverse-scale entry. A zero or non-finite inverse scale falls back to unit scale.

Static Public Member Functions
static Similarity2	project (const Matrix3 &matrix)
	Round rotation and recover translation and positive planar scale.

The documentation for this struct was generated from the following file:

/tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam/slam/FastSync.h

Detailed Description

Static Public Member Functions