@stephanschulz wrote:
i am looking for ways to smooth transformation data that i am getting from a point cloud matching library.
i am using ICP matching which returns a matrix4x4 (more specifically Eigen::Matrix4f).
i can cast that in to a ofMatrix4x4 easily.but now i am trying to smooth the resulting motion.
ofxCv has an euler kalman example but it is only for rotation and ignores the translation aspect of the matrix.
also i am getting some strange gimbal flipping at points of the kalman rotation.so i was wondering how to average or smooth a matrix over time. can i just accumulate them and divide them by x?
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