Pose2::Align #1150
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Pose2::Align #1150
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| for (size_t j=0; j < a.cols(); j++) { | ||
| ab_pairs.emplace_back(a.col(j), b.col(j)); | ||
| } | ||
| return Pose2::Align(ab_pairs); |
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I would go in the other direction, but okay.
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aTb corresponds to (a,b) pairs
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I meant we compute everything with matrices and use the Pose2Pairs version to call the matrix version.
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Oh, I agree with that! Other PR. Will merge now.
varunagrawal
approved these changes
Mar 31, 2022
| /** | ||
| * @deprecated Use static constructor (with reversed pairs!) |
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Any reason we've reversed the pairs? This seems API breaking since the new method is semantically exactly the same as the old one.
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We're bringing 2D in line with 3D
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Pose2::Alignconstructors with (a, b) conventionalignin Pose2.h