Detailed Description

Project an ambient 4-by-4 matrix onto Similarity3.

Similarity3 represents Sim(3), the group of three-dimensional 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 Similarity3	project (const Matrix4 &matrix)
	Round rotation and recover translation and positive 3D 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