Objective function to minimize when using GMMs
costWd(Tr, X, Y, CX, CY, w1 = NULL, w2 = NULL, S = NULL)cost value
Transformation vector as translation vector + rotation (angle in 2d, quaternion in 3d))
matrix of means of first GMM (i.e. reference point set)
matrix of means of second GMM (i.e. moving point set)
array of covariance matrices of first GMM such that X[i,] has covariance matrix CX[,,i]
array of covariance matrices of second GMM such that Y[i,] has covariance matrix CY[,,i]
(optional) vector of mixture weights of first GMM.
(optional) vector of mixture weights of second GMM.
(optional) array of pre-computed sqrtm(sqrtm(CX[,,i]) %*% CY[,,j] %*% sqrtm(CX[,,i]))