| // Copyright (c) 2022, ETH Zurich and UNC Chapel Hill. | |
| // All rights reserved. | |
| // | |
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| // | |
| // Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de) | |
| namespace colmap { | |
| // N-D Euclidean transform estimator from corresponding point pairs in the | |
| // source and destination coordinate systems. | |
| // | |
| // This algorithm is based on the following paper: | |
| // | |
| // S. Umeyama. Least-Squares Estimation of Transformation Parameters | |
| // Between Two Point Patterns. IEEE Transactions on Pattern Analysis and | |
| // Machine Intelligence, Volume 13 Issue 4, Page 376-380, 1991. | |
| // http://www.stanford.edu/class/cs273/refs/umeyama.pdf | |
| // | |
| // and uses the Eigen implementation. | |
| template <int kDim> | |
| using EuclideanTransformEstimator = SimilarityTransformEstimator<kDim, false>; | |
| } // namespace colmap | |