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se2.h File Reference
#include <mrpt/utils/utils_defs.h>
#include <mrpt/math/math_frwds.h>
#include <mrpt/math/CMatrixFixedNumeric.h>
#include <mrpt/poses/CPosePDFSOG.h>
#include <mrpt/utils/TMatchingPair.h>
#include <mrpt/tfest/link_pragmas.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 TFEST_IMPEXP mrpt::tfest::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 mrpt::tfest::se2_l2 (const mrpt::utils::TMatchingPairList &in_correspondences, mrpt::poses::CPosePDFGaussian &out_transformation)
 
bool TFEST_IMPEXP mrpt::tfest::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...
 



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