#include <mrpt/math/math_frwds.h>#include <mrpt/math/CMatrixFixedNumeric.h>#include <mrpt/poses/CPosePDFSOG.h>#include <mrpt/tfest/TMatchingPair.h>#include <mrpt/poses/poses_frwds.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) |
| This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More... | |
| 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... | |