`mrpt.tfest`

mrpt-tfest Python API

Package Contents

class mrpt.tfest.TMatchingPair

errorSquareAfterTransformation: float

globalIdx: int

global_pt: mrpt.math.TPoint3Df

localIdx: int

local_pt: mrpt.math.TPoint3Df

class mrpt.tfest.TMatchingPairList

push_back(arg0: TMatchingPair) → None

size() → int

class mrpt.tfest.TSE3RobustParams

C++ API: struct mrpt::tfest::TSE3RobustParams

ransac_maxSetSizePct: float

ransac_minSetSize: int

ransac_nmaxSimulations: int

ransac_threshold_lin: float

user_individual_compat_callback: Any

class mrpt.tfest.TSE3RobustResult

C++ API: struct mrpt::tfest::TSE3RobustResult

property transformation: Any: Estimated SE(3) transform as CPose3D (converted from internal CPose3DQuat).

inliers_idx: list[int]

scale: float

mrpt.tfest.se2_l2(arg0: TMatchingPairList) → tuple: Least-squares SE(2) estimation. Returns (ok, mrpt::math::TPose2D)

mrpt.tfest.se3_l2_robust(arg0: TMatchingPairList, arg1: TSE3RobustParams) → tuple: Robust SE(3) estimation using RANSAC. Returns (ok, TSE3RobustResult)

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