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se3.h File Reference
#include <mrpt/utils/utils_defs.h>
#include <mrpt/math/math_frwds.h>
#include <mrpt/math/CMatrixFixedNumeric.h>
#include <mrpt/poses/CPose3DQuat.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::TSE3RobustParams
 Parameters for se3_l2_robust(). More...
 
struct  mrpt::tfest::TSE3RobustResult
 Output placeholder for se3_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::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 mrpt::tfest::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 mrpt::tfest::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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