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46 bool forceScaleToUnity =
false );
53 const std::vector<mrpt::math::TPoint3D> & in_points_this,
54 const std::vector<mrpt::math::TPoint3D> & in_points_other,
57 bool forceScaleToUnity =
false );
80 ransac_minSetSize( 5 ),
81 ransac_nmaxSimulations(50),
82 ransac_maxSetSizePct(0.5),
83 ransac_threshold_lin(0.05),
85 ransac_threshold_scale(0.03),
86 forceScaleToUnity( true),
88 user_individual_compat_callback(NULL),
89 user_individual_compat_callback_userdata(NULL)
124 const TSE3RobustParams & in_params,
125 TSE3RobustResult & out_results );
void * user_individual_compat_callback_userdata
User data to be passed to user_individual_compat_callback()
bool TFEST_IMPEXP 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 ...
Parameters for se3_l2_robust().
double ransac_maxSetSizePct
(Default=0.5) The minimum ratio (0.0 - 1.0) of the input set that is considered to be inliers....
mrpt::vector_int inliers_idx
Indexes within the in_correspondences list which corresponds with inliers.
bool verbose
(Default=false)
bool TFEST_IMPEXP 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 ...
TFunctorCheckPotentialMatch user_individual_compat_callback
If provided, this user callback will be invoked to determine the individual compatibility between eac...
double ransac_threshold_lin
(Default=0.05) The maximum distance in X,Y,Z for a solution to be considered as matching a candidate ...
unsigned int ransac_minSetSize
(Default=5) The minimum amount of points in a set to start a consensus set.
bool(* TFunctorCheckPotentialMatch)(const TPotentialMatch &pm, void *user_data)
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
mrpt::poses::CPose3DQuat transformation
The best transformation found.
A class used to store a 3D pose as a translation (x,y,z) and a quaternion (qr,qx,qy,...
bool forceScaleToUnity
(Default=true)
unsigned int ransac_nmaxSimulations
(Default=50) The maximum number of iterations of the RANSAC algorithm
double ransac_threshold_ang
(Default=1 deg) The maximum angle (yaw,pitch,roll) for a solution to be considered as matching a cand...
std::vector< int32_t > vector_int
double scale
The estimated scale of the rigid transformation (should be very close to 1.0)
Output placeholder for se3_l2_robust()
double ransac_threshold_scale
(Default=0.03) The maximum difference in scale for a solution to be considered as matching a candidat...
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