From 7604633c43b7bb14007afbac701e82c6da8cacf6 Mon Sep 17 00:00:00 2001 From: John Lambert Date: Wed, 3 Mar 2021 00:21:54 -0500 Subject: [PATCH] update the docstring --- gtsam/geometry/Similarity3.h | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/gtsam/geometry/Similarity3.h b/gtsam/geometry/Similarity3.h index 65efdd1ca..ccea0c33b 100644 --- a/gtsam/geometry/Similarity3.h +++ b/gtsam/geometry/Similarity3.h @@ -125,8 +125,10 @@ public: GTSAM_UNSTABLE_EXPORT static Similarity3 Align(const std::vector& abPointPairs); /** - * Create Similarity3 by aligning at least two pose pairs - * + * Create Similarity3 by aligning at least two pose pairs + * Given a list of pairs in world frame w1, and a list of pairs in another world + * frame w2, will compute the best-fit Similarity3 transformation to align them. + * `w2Sw1` will returned for pairs [ (w2Ti1,w1Ti1), (w2Ti2,w1Ti2), (w2Ti3,w1Ti3) ] */ GTSAM_UNSTABLE_EXPORT static Similarity3 Align(const std::vector& abPosePairs);