Gradient of the objective function with respect to rotation and translation parameters
gradientWd(Tr, X, Y, CX, CY, w1 = NULL, w2 = NULL, S = NULL)gradient vector
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 C1[,,i]
array of covariance matrices of second GMM such that Y[i,] has covariance matrix C2[,,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]))