A set of scan matching-related static functions.
- See also
- mrpt::slam::CICP
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| double SCANMATCHING_IMPEXP | HornMethod (const std::vector< double > &inPoints, std::vector< double > &outQuat, bool forceScaleToUnity=false) |
| | This function implements the Horn method for computing the change in pose between two coordinate systems. More...
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| double SCANMATCHING_IMPEXP | HornMethod (const std::vector< double > &inPoints, mrpt::poses::CPose3DQuat &outQuat, bool forceScaleToUnity=false) |
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| bool SCANMATCHING_IMPEXP | leastSquareErrorRigidTransformation6D (const TMatchingPairList &in_correspondences, CPose3DQuat &out_transformation, double &out_scale, const bool forceScaleToUnity=false) |
| | This method provides the closed-form solution of absolute orientation using unit quaternions to a set of over-constrained correspondences for finding the 6D rigid transformation between two cloud of 3D points. More...
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| bool SCANMATCHING_IMPEXP | leastSquareErrorRigidTransformation6D (const TMatchingPairList &in_correspondences, CPose3D &out_transformation, double &out_scale, const bool forceScaleToUnity=false) |
| | This method provides the closed-form solution of absolute orientation using unit quaternions to a set of over-constrained correspondences for finding the 6D rigid transformation between two cloud of 3D points. More...
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| bool SCANMATCHING_IMPEXP | leastSquareErrorRigidTransformation6DRANSAC (const TMatchingPairList &in_correspondences, 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) |
| | This method provides the closed-form solution of absolute orientation using unit quaternions to a set of over-constrained correspondences for finding the 6D rigid transformation between two cloud of 3D points using RANSAC. More...
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| bool SCANMATCHING_IMPEXP | leastSquareErrorRigidTransformation (TMatchingPairList &in_correspondences, CPose2D &out_transformation, CMatrixDouble33 *out_estimateCovariance=NULL) |
| | This method provides the basic least-square-error solution to a set of over-constrained correspondences for finding the (x,y,phi) rigid transformation between two planes. More...
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| bool SCANMATCHING_IMPEXP | leastSquareErrorRigidTransformation (TMatchingPairList &in_correspondences, CPosePDFGaussian &out_transformation) |
| | This method provides the basic least-square-error solution to a set of over-constrained correspondences for finding the (x,y,phi) rigid transformation between two planes. More...
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| void SCANMATCHING_IMPEXP | robustRigidTransformation (TMatchingPairList &in_correspondences, 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, 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) |
| | This method implements a RANSAC-based robust estimation of the rigid transformation between two planar frames of references, returning a probability distribution over all the posibilities as a Sum of Gaussians. More...
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