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

HornMethod() [1/2]

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().

HornMethod() [2/2]

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().

leastSquareErrorRigidTransformation() [1/2]

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().

leastSquareErrorRigidTransformation() [2/2]

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().

leastSquareErrorRigidTransformation6D() [1/2]

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().

leastSquareErrorRigidTransformation6D() [2/2]

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().

leastSquareErrorRigidTransformation6DRANSAC()

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
	)

Deprecated:

Use functions in mrpt::tfest

Definition at line 100 of file scanmatching_backwards_compat.cpp.

References mrpt::tfest::TSE3RobustResult::inliers_idx, mrpt::tfest::TSE3RobustResult::scale, mrpt::tfest::se3_l2_robust(), and mrpt::tfest::TSE3RobustResult::transformation.

robustRigidTransformation()

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
	)

Deprecated:

Use functions in mrpt::tfest

Definition at line 147 of file scanmatching_backwards_compat.cpp.

References mrpt::tfest::TSE2RobustResult::largestSubSet, normalizationStd, ransac_mahalanobisDistanceThreshold, mrpt::tfest::se2_l2_robust(), and mrpt::tfest::TSE2RobustResult::transformation.