pub fn estimate_rigid_transform(
source: &[Vec3<f32>],
target: &[Vec3<f32>],
) -> Option<Isometry3<f32>>Expand description
Estimates the least-squares proper rigid transform mapping paired source to target.
Uses f64 centroids and Horn’s unit-quaternion formulation with a normalized symmetric eigensystem. Returns None for short, mismatched or nonfinite inputs, or a transform that cannot be represented in f32. Collinear/coincident inputs can admit multiple equally valid rotations; the returned pose is not a certificate of observability or of correct correspondences.