se3.h File Reference

#include <mrpt/utils/utils_defs.h>
#include <mrpt/math/math_frwds.h>
#include <mrpt/math/CMatrixFixedNumeric.h>
#include <mrpt/poses/CPose3DQuat.h>
#include <mrpt/utils/TMatchingPair.h>
#include <mrpt/poses/poses_frwds.h>
#include <mrpt/tfest/indiv-compat-decls.h>

Go to the source code of this file.

Classes
struct	mrpt::tfest::TSE3RobustParams
	Parameters for se3_l2_robust(). More...
struct	mrpt::tfest::TSE3RobustResult
	Output placeholder for se3_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::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	mrpt::tfest::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	mrpt::tfest::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...