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mrpt::tfest Namespace Reference

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  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

typedef bool(* TFunctorCheckPotentialMatch )(const TPotentialMatch &pm, void *user_data)
 

Functions

bool TFEST_IMPEXP se2_l2 (const mrpt::utils::TMatchingPairList &in_correspondences, mrpt::math::TPose2D &out_transformation, mrpt::math::CMatrixDouble33 *out_estimateCovariance=NULL)
 Least-squares (L2 norm) solution to finding the optimal SE(2) (x,y,yaw) between two reference frames. More...
 
bool TFEST_IMPEXP se2_l2 (const mrpt::utils::TMatchingPairList &in_correspondences, mrpt::poses::CPosePDFGaussian &out_transformation)
 
bool TFEST_IMPEXP se2_l2_robust (const mrpt::utils::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 TFEST_IMPEXP 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 TFEST_IMPEXP 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 TFEST_IMPEXP 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...
 



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