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Functions
mrpt::scanmatching Namespace Reference

Functions

double TFEST_IMPEXP HornMethod (const std::vector< double > &inPoints, std::vector< double > &outQuat, bool forceScaleToUnity=false)
 
double TFEST_IMPEXP HornMethod (const std::vector< double > &inPoints, mrpt::poses::CPose3DQuat &outQuat, bool forceScaleToUnity=false)
 
bool TFEST_IMPEXP leastSquareErrorRigidTransformation6D (const mrpt::utils::TMatchingPairList &in_correspondences, mrpt::poses::CPose3DQuat &out_transformation, double &out_scale, const bool forceScaleToUnity=false)
 
bool TFEST_IMPEXP leastSquareErrorRigidTransformation6D (const mrpt::utils::TMatchingPairList &in_correspondences, mrpt::poses::CPose3D &out_transformation, double &out_scale, const bool forceScaleToUnity=false)
 
bool TFEST_IMPEXP leastSquareErrorRigidTransformation6DRANSAC (const mrpt::utils::TMatchingPairList &in_correspondences, mrpt::poses::CPose3D &out_transformation, double &out_scale, vector_int &out_inliers_idx, const unsigned int ransac_minSetSize=5, const unsigned int ransac_nmaxSimulations=50, const double ransac_maxSetSizePct=0.7, const bool forceScaleToUnity=false)
 
bool TFEST_IMPEXP leastSquareErrorRigidTransformation (mrpt::utils::TMatchingPairList &in_correspondences, mrpt::poses::CPose2D &out_transformation, mrpt::math::CMatrixDouble33 *out_estimateCovariance=NULL)
 
bool TFEST_IMPEXP leastSquareErrorRigidTransformation (mrpt::utils::TMatchingPairList &in_correspondences, mrpt::poses::CPosePDFGaussian &out_transformation)
 
void TFEST_IMPEXP robustRigidTransformation (mrpt::utils::TMatchingPairList &in_correspondences, mrpt::poses::CPosePDFSOG &out_transformation, float normalizationStd, unsigned int ransac_minSetSize=3, unsigned int ransac_maxSetSize=20, float ransac_mahalanobisDistanceThreshold=3.0f, unsigned int ransac_nSimulations=0, mrpt::utils::TMatchingPairList *out_largestSubSet=NULL, bool ransac_fuseByCorrsMatch=true, float ransac_fuseMaxDiffXY=0.01f, float ransac_fuseMaxDiffPhi=mrpt::utils::DEG2RAD(0.1f), bool ransac_algorithmForLandmarks=true, double probability_find_good_model=0.999, unsigned int ransac_min_nSimulations=1500, const bool verbose=false, double max_rmse_to_end=0)
 

Function Documentation

double mrpt::scanmatching::HornMethod ( const std::vector< double > &  inPoints,
std::vector< double > &  outQuat,
bool  forceScaleToUnity = false 
)
Deprecated:
Use functions in mrpt::tfest

Definition at line 54 of file scanmatching_backwards_compat.cpp.

References backwards_compat_HornMethod().

double mrpt::scanmatching::HornMethod ( const std::vector< double > &  inPoints,
mrpt::poses::CPose3DQuat outQuat,
bool  forceScaleToUnity = false 
)
Deprecated:
Use functions in mrpt::tfest

Definition at line 68 of file scanmatching_backwards_compat.cpp.

References backwards_compat_HornMethod().

bool mrpt::scanmatching::leastSquareErrorRigidTransformation ( mrpt::utils::TMatchingPairList in_correspondences,
mrpt::poses::CPose2D out_transformation,
mrpt::math::CMatrixDouble33 out_estimateCovariance = NULL 
)
Deprecated:
Use functions in mrpt::tfest

Definition at line 127 of file scanmatching_backwards_compat.cpp.

References mrpt::tfest::se2_l2().

bool mrpt::scanmatching::leastSquareErrorRigidTransformation ( mrpt::utils::TMatchingPairList in_correspondences,
mrpt::poses::CPosePDFGaussian out_transformation 
)
Deprecated:
Use functions in mrpt::tfest

Definition at line 139 of file scanmatching_backwards_compat.cpp.

References mrpt::tfest::se2_l2().

bool mrpt::scanmatching::leastSquareErrorRigidTransformation6D ( const mrpt::utils::TMatchingPairList in_correspondences,
mrpt::poses::CPose3DQuat out_transformation,
double &  out_scale,
const bool  forceScaleToUnity = false 
)
Deprecated:
Use functions in mrpt::tfest

Definition at line 77 of file scanmatching_backwards_compat.cpp.

References mrpt::tfest::se3_l2().

bool mrpt::scanmatching::leastSquareErrorRigidTransformation6D ( const mrpt::utils::TMatchingPairList in_correspondences,
mrpt::poses::CPose3D out_transformation,
double &  out_scale,
const bool  forceScaleToUnity = false 
)
Deprecated:
Use functions in mrpt::tfest

Definition at line 87 of file scanmatching_backwards_compat.cpp.

References mrpt::tfest::se3_l2().

bool mrpt::scanmatching::leastSquareErrorRigidTransformation6DRANSAC ( const mrpt::utils::TMatchingPairList in_correspondences,
mrpt::poses::CPose3D out_transformation,
double &  out_scale,
vector_int out_inliers_idx,
const unsigned int  ransac_minSetSize = 5,
const unsigned int  ransac_nmaxSimulations = 50,
const double  ransac_maxSetSizePct = 0.7,
const bool  forceScaleToUnity = false 
)
void mrpt::scanmatching::robustRigidTransformation ( mrpt::utils::TMatchingPairList in_correspondences,
mrpt::poses::CPosePDFSOG out_transformation,
float  normalizationStd,
unsigned int  ransac_minSetSize = 3,
unsigned int  ransac_maxSetSize = 20,
float  ransac_mahalanobisDistanceThreshold = 3.0f,
unsigned int  ransac_nSimulations = 0,
mrpt::utils::TMatchingPairList out_largestSubSet = NULL,
bool  ransac_fuseByCorrsMatch = true,
float  ransac_fuseMaxDiffXY = 0.01f,
float  ransac_fuseMaxDiffPhi = mrpt::utils::DEG2RAD(0.1f),
bool  ransac_algorithmForLandmarks = true,
double  probability_find_good_model = 0.999,
unsigned int  ransac_min_nSimulations = 1500,
const bool  verbose = false,
double  max_rmse_to_end = 0 
)



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