function

Vision.Registration.RegistrationPairResidual

Public declarations

Explicit source declarations; dimensions, modifications and defaults are shown as written, without evaluation.

Role	Name	Type	Dimensions / attributes / default
input	`source`	`Real`	`[3]`
input	`target`	`Real`	`[3]`
input	`rotation`	`Real`	`[3,3]`
input	`translation`	`Real`	`[3]`
input	`useCovariance`	`Boolean`
input	`sourceCovariance`	`Real`	`[3,3]`
input	`targetCovariance`	`Real`	`[3,3]`
input	`minimumPivot`	`Real`
output	`valid`	`Boolean`
output	`squaredResidual`	`Real`

Modelica declarations and implementation

Show parameters, interfaces and source

Parameters, inputs, outputs, defaults and equations from the source file.

function RegistrationPairResidual
  import RegistrationWhitenedResidual3 = Vision.Registration.RegistrationWhitenedResidual3;

  input Real source[3]; input Real target[3];
  input Real rotation[3,3]; input Real translation[3];
  input Boolean useCovariance;
  input Real sourceCovariance[3,3]; input Real targetCovariance[3,3];
  input Real minimumPivot;
  output Boolean valid; output Real squaredResidual;
protected
  Real residual[3]; Real covariance[3,3];
algorithm
  residual := rotation*source+translation-target;
  if useCovariance then
    covariance := rotation*sourceCovariance*transpose(rotation)+targetCovariance;
    (valid,squaredResidual) := RegistrationWhitenedResidual3(residual,covariance,minimumPivot);
  else
    squaredResidual := residual*residual;
    valid := squaredResidual >= 0.0 and squaredResidual < 1e100;
  end if;
end RegistrationPairResidual;