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scan_matching.h File Reference
#include <mrpt/utils/mrpt_macros.h>
#include <mrpt/utils/utils_defs.h>
#include <mrpt/math/math_frwds.h>
#include <mrpt/math/CMatrixFixedNumeric.h>
#include <mrpt/utils/TMatchingPair.h>
#include <mrpt/poses/poses_frwds.h>
#include <mrpt/tfest/link_pragmas.h>
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Namespaces

 mrpt
 This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
 
 mrpt::scanmatching
 

Functions

double TFEST_IMPEXP mrpt::scanmatching::HornMethod (const std::vector< double > &inPoints, std::vector< double > &outQuat, bool forceScaleToUnity=false)
 
double TFEST_IMPEXP mrpt::scanmatching::HornMethod (const std::vector< double > &inPoints, mrpt::poses::CPose3DQuat &outQuat, bool forceScaleToUnity=false)
 
bool TFEST_IMPEXP mrpt::scanmatching::leastSquareErrorRigidTransformation6D (const mrpt::utils::TMatchingPairList &in_correspondences, mrpt::poses::CPose3DQuat &out_transformation, double &out_scale, const bool forceScaleToUnity=false)
 
bool TFEST_IMPEXP mrpt::scanmatching::leastSquareErrorRigidTransformation6D (const mrpt::utils::TMatchingPairList &in_correspondences, mrpt::poses::CPose3D &out_transformation, double &out_scale, const bool forceScaleToUnity=false)
 
bool TFEST_IMPEXP 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)
 
bool TFEST_IMPEXP mrpt::scanmatching::leastSquareErrorRigidTransformation (mrpt::utils::TMatchingPairList &in_correspondences, mrpt::poses::CPose2D &out_transformation, mrpt::math::CMatrixDouble33 *out_estimateCovariance=NULL)
 
bool TFEST_IMPEXP mrpt::scanmatching::leastSquareErrorRigidTransformation (mrpt::utils::TMatchingPairList &in_correspondences, mrpt::poses::CPosePDFGaussian &out_transformation)
 
void TFEST_IMPEXP 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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