mrpt.tfest
mrpt-tfest Python API
Package Contents
- class mrpt.tfest.TMatchingPair
A pair of corresponding points (float coordinates) in two point sets.
- errorSquareAfterTransformation: float
- globalIdx: int
- global_pt: mrpt.math.TPoint3Df
- localIdx: int
- local_pt: mrpt.math.TPoint3Df
- class mrpt.tfest.TMatchingPairList
A list of TMatchingPair.
- push_back(arg0: TMatchingPair) None
Appends a pair.
- size() int
Returns the number of pairs.
- class mrpt.tfest.TPotentialMatch
C++ API: struct mrpt::tfest::TPotentialMatch
A potential pairing of two points, passed to user_individual_compat_callback.
- property idx_other: int
Index of the point in the other set
- property idx_this: int
Index of the point in this set
- class mrpt.tfest.TSE3RobustParams
C++ API: struct mrpt::tfest::TSE3RobustParams
Parameters of se3_l2_robust().
- property user_individual_compat_callback: Callable[[TPotentialMatch], bool]
Optional function(TPotentialMatch) -> bool: return True to accept a candidate pairing, False to reject it (None: accept all)
- ransac_maxSetSizePct: float
- ransac_minSetSize: int
- ransac_nmaxSimulations: int
- ransac_threshold_lin: float
- class mrpt.tfest.TSE3RobustResult
C++ API: struct mrpt::tfest::TSE3RobustResult
Result of se3_l2_robust().
- property transformation: mrpt.poses.CPose3D
Estimated SE(3) transform as CPose3D (converted from internal CPose3DQuat).
- inliers_idx: list[int]
- scale: float
- mrpt.tfest.se2_l2(arg0: TMatchingPairList) tuple
Least-squares SE(2) estimation. Returns (ok, mrpt::math::TPose2D)
- mrpt.tfest.se3_l2_robust(arg0: TMatchingPairList, arg1: TSE3RobustParams) tuple
Robust SE(3) estimation using RANSAC. Returns (ok, TSE3RobustResult)