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ialhashim/umeyama_usage.cpp

Created February 17, 2014 18:44
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umeyama_usage.cpp
//Eigen::MatrixXd src = pointsToMatrix(pointsA[i]);
//Eigen::MatrixXd dst = pointsToMatrix(pointsB[j]);
//Eigen::Matrix4d cR_t = Eigen::umeyama(src, dst, true);
//Eigen::Matrix4d R_t = Eigen::umeyama(src, dst, false);
//Eigen::Matrix3d R = R_t.block(0,0,3,3);
//Eigen::Vector3d t = R_t.block(0,3,3,1);
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