RANSAC methods

return the underlying kernel

return the type of the last step taken by the algorithm

* Returns the number of values still to be returned * @return amount of values to return */

the system is Levenberg-Marquardt

return the number of levenberg iterations performed in the last round

Lie bracket It computes the Lie bracket of SE(2). To be more specific, it computes ``[omega_1, omega_2]_se2 := vee([hat(omega_1), hat(omega_2)])``

Lie bracket It computes the Lie bracket of SO(3). To be more specific, it computes ``[omega_1, omega_2]_so3 := vee([hat(omega_1), hat(omega_2)])``

Lie bracket It computes the Lie bracket of Sim(2). To be more specific, it computes ``[omega_1, omega_2]_sim2 := vee([hat(omega_1), hat(omega_2)])``

Lie bracket It computes the Lie bracket of Sim(3). To be more specific, it computes ``[omega_1, omega_2]_sim3 := vee([hat(omega_1), hat(omega_2)])``

Lie bracket It returns the Lie bracket of SO(2). Since SO(2) is a commutative group, the Lie bracket is simple ``0``.

Lie bracket It computes the Lie bracket of RxSO(2). To be more specific, it computes ``[omega_1, omega_2]_rxso2 := vee([hat(omega_1), hat(omega_2)])

Lie bracket It computes the Lie bracket of RxSO(3). To be more specific, it computes ``[omega_1, omega_2]_rxso3 := vee([hat(omega_1), hat(omega_2)])

Logarithmic map Computes the logarithm, the inverse of the group exponential which maps element of the group (rigid body transformations) to elements

Logarithmic map Computes the logarithm, the inverse of the group exponential which maps element of the group (rigid body transformations) to elements

Logarithmic map Computes the logarithm, the inverse of the group exponential which maps element of the group (rigid body transformations) to elements

Logarithmic map Computes the logarithm, the inverse of the group exponential which maps element of the group (scaled rotation matrices) to elements o

Logarithmic map Computes the logarithm, the inverse of the group exponential which maps element of the group (rotation matrices) to elements of the t