void ofxIcp::compute_rigid_transformation(const vector<cv::Point3d> & points_1, const cv::Mat & centroid_1, const vector<cv::Point3d> & points_2, const cv::Mat & centroid_2, cv::Mat & rotation, cv::Mat & translation){
cv::Mat covariance_matrix;
compute_covariance_matrix(points_1, centroid_1, points_2, centroid_2, covariance_matrix);
compute_rotation_matrix(covariance_matrix, rotation);
cv::Mat rot_centroid_1_mat = rotation * centroid_1.t();
translation = centroid_2 - rot_centroid_1_mat.t();
}
/**
* No Autocorrelation LN1 model
**/
dvariable& logistic_normal::operator()()
{
// 4). Compute residual arrays (specific only to the likelihood)
compute_residual_arrays();
// 5). Compute vector of covariance arrays for each year. (V_y)
// 6). Compute the conditional mle of sigma.
compute_covariance_matrix();
// 7). Compute negative loglikelihood.
compute_negative_loglikelihood();
return(m_nll);
}
