se2.h File Reference

#include <mrpt/math/CMatrixFixed.h>
#include <mrpt/math/math_frwds.h>
#include <mrpt/poses/CPosePDFSOG.h>
#include <mrpt/poses/poses_frwds.h>
#include <mrpt/tfest/TMatchingPair.h>
#include <mrpt/tfest/indiv-compat-decls.h>

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Classes
struct	mrpt::tfest::TSE2RobustParams
	Parameters for se2_l2_robust(). More...
struct	mrpt::tfest::TSE2RobustResult
	Output placeholder for se2_l2_robust() More...

Namespaces
	mrpt
	This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
	mrpt::tfest
	Functions for estimating the optimal transformation between two frames of references given measurements of corresponding points.

Functions
bool	mrpt::tfest::se2_l2 (const mrpt::tfest::TMatchingPairList &in_correspondences, mrpt::math::TPose2D &out_transformation, mrpt::math::CMatrixDouble33 *out_estimateCovariance=nullptr)
	Least-squares (L2 norm) solution to finding the optimal SE(2) (x,y,yaw) between two reference frames. More...
bool	mrpt::tfest::se2_l2 (const mrpt::tfest::TMatchingPairList &in_correspondences, mrpt::poses::CPosePDFGaussian &out_transformation)
bool	mrpt::tfest::se2_l2_robust (const mrpt::tfest::TMatchingPairList &in_correspondences, const double in_normalizationStd, const TSE2RobustParams &in_ransac_params, TSE2RobustResult &out_results)
	Robust least-squares (L2 norm) solution to finding the optimal SE(2) (x,y,yaw) between two reference frames. More...