Detailed Description

Project an ambient 4-by-4 matrix onto SL4.

SL4 is the special linear group of real 4-by-4 matrices with determinant one. A preliminary SVD detects numerically singular or non-finite input and returns identity in that case. Otherwise the SL4 constructor corrects orientation and normalizes the determinant magnitude to one.

Static Public Member Functions
static SL4	project (const Matrix4 &matrix)
	Normalize a nonsingular ambient matrix to SL(4), or return identity.

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