MRPT  1.9.9
Classes | Typedefs | Functions
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  TMatchingPair
 A structure for holding correspondences between two sets of points or points-like entities in 2D or 3D. More...
 
class  TMatchingPairList
 A list of TMatchingPair. More...
 
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

using TFunctorCheckPotentialMatch = std::function< bool(const TPotentialMatch &)>
 
using TMatchingPairPtr = TMatchingPair *
 
using TMatchingPairConstPtr = TMatchingPair const *
 

Functions

bool se2_l2 (const mrpt::tfest::TMatchingPairList &in_correspondences, mrpt::math::TPose2D &out_transformation, mrpt::math::CMatrixDouble33 *out_estimateCovariance=nullptr)
 Least-squares (L2 norm) solution to finding the optimal SE(2) (x,y,yaw) between two reference frames. More...
 
bool se2_l2 (const mrpt::tfest::TMatchingPairList &in_correspondences, mrpt::poses::CPosePDFGaussian &out_transformation)
 
bool se2_l2_robust (const mrpt::tfest::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 se3_l2 (const mrpt::tfest::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 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 se3_l2_robust (const mrpt::tfest::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...
 
std::ostream & operator<< (std::ostream &o, const mrpt::tfest::TMatchingPair &pair)
 
bool operator< (const TMatchingPair &a, const TMatchingPair &b)
 A comparison operator, for sorting lists of TMatchingPair's, first order by this_idx, if equals, by other_idx. More...
 
bool operator== (const TMatchingPair &a, const TMatchingPair &b)
 A comparison operator. More...
 
bool operator== (const TMatchingPairList &a, const TMatchingPairList &b)
 A comparison operator. More...
 

Typedef Documentation

◆ TMatchingPairConstPtr

Definition at line 62 of file TMatchingPair.h.

◆ TMatchingPairPtr

Definition at line 61 of file TMatchingPair.h.

Function Documentation

◆ operator<()

bool mrpt::tfest::operator< ( const TMatchingPair a,
const TMatchingPair b 
)

A comparison operator, for sorting lists of TMatchingPair's, first order by this_idx, if equals, by other_idx.

Definition at line 81 of file TMatchingPair.cpp.

◆ operator<<()

std::ostream & mrpt::tfest::operator<< ( std::ostream &  o,
const mrpt::tfest::TMatchingPair pair 
)

◆ operator==() [1/2]

bool mrpt::tfest::operator== ( const TMatchingPair a,
const TMatchingPair b 
)

A comparison operator.

Definition at line 89 of file TMatchingPair.cpp.

◆ operator==() [2/2]

bool mrpt::tfest::operator== ( const TMatchingPairList a,
const TMatchingPairList b 
)

A comparison operator.

Definition at line 94 of file TMatchingPair.cpp.




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