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	TMatchingPair
	A structure for holding correspondences between two sets of points or points-like entities in 2D or 3D. More...

class	TMatchingPairList
	A list of TMatchingPair. More...

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 &)>

using	TMatchingPairPtr = TMatchingPair *

using	TMatchingPairConstPtr = TMatchingPair const *

Functions
bool	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	se2_l2 (const mrpt::tfest::TMatchingPairList &in_correspondences, mrpt::poses::CPosePDFGaussian &out_transformation)
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...

bool	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...

bool	se3_l2 (const mrpt::tfest::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::tfest::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...

std::ostream &	operator<< (std::ostream &o, const mrpt::tfest::TMatchingPair &pair)

bool	operator< (const TMatchingPair &a, const TMatchingPair &b)
	A comparison operator, for sorting lists of TMatchingPair's, first order by this_idx, if equals, by other_idx More...

bool	operator== (const TMatchingPair &a, const TMatchingPair &b)
	A comparison operator More...

bool	operator== (const TMatchingPairList &a, const TMatchingPairList &b)
	A comparison operator. More...

Typedef Documentation

◆ TMatchingPairConstPtr

using mrpt::tfest::TMatchingPairConstPtr = typedef TMatchingPair const*

Definition at line 75 of file TMatchingPair.h.

◆ TMatchingPairPtr

using mrpt::tfest::TMatchingPairPtr = typedef TMatchingPair*

Definition at line 74 of file TMatchingPair.h.

Function Documentation

◆ operator<()

bool mrpt::tfest::operator<	(	const TMatchingPair &	a,
		const TMatchingPair &	b
	)

A comparison operator, for sorting lists of TMatchingPair's, first order by this_idx, if equals, by other_idx

Definition at line 81 of file TMatchingPair.cpp.

◆ operator<<()

std::ostream & mrpt::tfest::operator<<	(	std::ostream &	o,
		const mrpt::tfest::TMatchingPair &	pair
	)

Definition at line 215 of file TMatchingPair.cpp.

References mrpt::tfest::TMatchingPair::other_idx, mrpt::tfest::TMatchingPair::other_x, mrpt::tfest::TMatchingPair::other_y, mrpt::tfest::TMatchingPair::other_z, mrpt::tfest::TMatchingPair::this_idx, mrpt::tfest::TMatchingPair::this_x, mrpt::tfest::TMatchingPair::this_y, and mrpt::tfest::TMatchingPair::this_z.

◆ operator==() [1/2]

bool mrpt::tfest::operator==	(	const TMatchingPair &	a,
		const TMatchingPair &	b
	)

A comparison operator

Definition at line 89 of file TMatchingPair.cpp.

◆ operator==() [2/2]

bool mrpt::tfest::operator==	(	const TMatchingPairList &	a,
		const TMatchingPairList &	b
	)

A comparison operator.

Definition at line 94 of file TMatchingPair.cpp.