mrpt::tfest Namespace Reference

Detailed Description

Functions for estimating the optimal transformation between two frames of references given measurements of corresponding points.

See also

mrpt::slam::CICP

Classes
struct	TPotentialMatch
	For each individual-compatibility (IC) test, the indices of the candidate match between elements in both reference frames. More...
struct	TSE2RobustParams
	Parameters for se2_l2_robust(). More...
struct	TSE2RobustResult
	Output placeholder for se2_l2_robust() More...
struct	TSE3RobustParams
	Parameters for se3_l2_robust(). More...
struct	TSE3RobustResult
	Output placeholder for se3_l2_robust() More...

Typedefs
using	TFunctorCheckPotentialMatch = std::function< bool(const TPotentialMatch &)>

Functions
bool	se2_l2 (const mrpt::utils::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	se2_l2 (const mrpt::utils::TMatchingPairList &in_correspondences, mrpt::poses::CPosePDFGaussian &out_transformation)
bool	se2_l2_robust (const mrpt::utils::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...
bool	se3_l2 (const mrpt::utils::TMatchingPairList &in_correspondences, mrpt::poses::CPose3DQuat &out_transform, double &out_scale, bool forceScaleToUnity=false)
	Least-squares (L2 norm) solution to finding the optimal SE(3) transform between two reference frames using the "quaternion" or Horn's method: More...
bool	se3_l2 (const std::vector< mrpt::math::TPoint3D > &in_points_this, const std::vector< mrpt::math::TPoint3D > &in_points_other, mrpt::poses::CPose3DQuat &out_transform, double &out_scale, bool forceScaleToUnity=false)
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.This version accepts corresponding points as two vectors of TPoint3D (must have identical length). More...
bool	se3_l2_robust (const mrpt::utils::TMatchingPairList &in_correspondences, const TSE3RobustParams &in_params, TSE3RobustResult &out_results)
	Least-squares (L2 norm) solution to finding the optimal SE(3) transform between two reference frames using RANSAC and the "quaternion" or Horn's method: More...