gradientWd | R Documentation |
Gradient of the objective function with respect to rotation and translation parameters
gradientWd(Tr, X, Y, CX, CY, w1 = NULL, w2 = NULL, S = NULL)
Tr |
Transformation vector as translation vector + rotation (angle in 2d, quaternion in 3d)) |
X |
matrix of means of first GMM (i.e. reference point set) |
Y |
matrix of means of second GMM (i.e. moving point set) |
CX |
array of covariance matrices of first GMM such that X[i,] has covariance matrix C1[,,i] |
CY |
array of covariance matrices of second GMM such that Y[i,] has covariance matrix C2[,,i] |
w1 |
(optional) vector of mixture weights of first GMM. |
w2 |
(optional) vector of mixture weights of second GMM. |
S |
(optional) array of pre-computed sqrtm(sqrtm(CX[,,i]) %*% CY[,,j] %*% sqrtm(CX[,,i])) |
gradient vector
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