Registering point clouds rigidly with scale using PCL [w/code]

Hello

Sorry for the bombardment of posts, but I want to share some stuff I've been working on lately, so when I find time I just shoot the posts out.
So this time I'll talk shortly about how to get an estimation of a rigid transformation between two clouds, that potentially are also of different scale. You will end up with a rigid transformation (Rotation Translation) and a scale factor, son in fact it will be a Similarity Transformation. We will first find the right scale, and then find the right transformation, given there is one (but we will find the best transformation there is).
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Useful ImageMagick and FFmpeg shortcuts for Win SendTo menu

Hello

Quickly sharing some useful scripts I've "developed" over the summer to cope with some image resizing / video ripping / transcoding, etc.
Instead of using some specialized GUI software for transcoding I thought why not simply put useful options in the Windows file browser "Send To..." context menu. That way I can right-click the file I want to work with and just send it to some tool to do the job.

Here it is...
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Decomposing the Essential matrix using Horn and Eigen [w/code]

Hi

I've been working feverishly to straighten up the Structure from Motion Toy Library, and make it more robust. During my experiments with different methods I wanted to test out a different method for decomposing the Essential matrix to rotation R and translation t, other than that of Hartley and Zisserman using SVD. That's when I came upon this paper: here by Berthold Horn from 1990, that traces the steps of Longuet-Higgins who came up with the derivation for the Essential matrix. It has a closed form solution that works pretty well, and here it is implemented with the Eigen math library (a very good library to get to know).
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