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- To: eigen@xxxxxxxxxxxxxxxxxxx
- Subject: Re: [eigen] Geometry module - Quaternion fitting alternative
- From: Hauke Heibel <hauke.heibel@xxxxxxxxxxxxxx>
- Date: Wed, 29 Apr 2009 16:32:02 +0200
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I just recognized that I still had a debugging parameter in the
interface? So, just remove the
MatrixXd& R_gt
and then it's fine. Well, and it's also not really cmake like but if
at all then ctest like and this
only in the regard that I am using exit_success and exit_failure as
return values from my main :)
On Wed, Apr 29, 2009 at 4:00 PM, Hauke Heibel
<hauke.heibel@xxxxxxxxxxxxxx> wrote:
> Hi,
>
> I've seen that Quaternion fitting is on the TODO list of the Geometry
> module. Since we already have Umeyama
> (http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=88573) in our
> library and since we just switched to Eigen, I was thinking it might be
> of interest to you.
>
> I've added the Eigen'ified implementation as well as a small CMAKE style
> unit test.
>
> In case you have any comments, just let me know.
>
> Cheers,
> Hauke