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scan_matching.h File Reference

#include <mrpt/slam/CMetricMap.h>

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Namespaces

namespace  mrpt
 The main namespace for all the Mobile Robot Programming Toolkit (MRPT) C++ libraries.
namespace  mrpt::poses
 Classes for 2D/3D geometry representation, both of single values and probability density distributions (PDFs) in many forms.
namespace  mrpt::scan_matching
 A set of scan matching-related static functions.

Functions

bool mrpt::scan_matching::leastSquareErrorRigidTransformation6D (const CMetricMap::TMatchingPairList &in_correspondences, CPose3D &out_transformation, double &out_scale, CMatrixD *in_rotationMatrix=NULL, CMatrixD *out_estimateCovariance=NULL)
 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.
bool mrpt::scan_matching::leastSquareErrorRigidTransformation6DRANSAC (const CMetricMap::TMatchingPairList &in_correspondences, CPose3D &out_transformation, double &out_scale, vector_int &out_inliers_idx, CMatrixD *in_rotationMatrix=NULL, CMatrixD *out_estimateCovariance=NULL)
 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.
bool mrpt::scan_matching::leastSquareErrorRigidTransformation (CMetricMap::TMatchingPairList &in_correspondences, CPose2D &out_transformation, CMatrixD *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.
void mrpt::scan_matching::robustRigidTransformation (mrpt::slam::CMetricMap::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=100, mrpt::slam::CMetricMap::TMatchingPairList *out_largestSubSet=NULL, bool ransac_fuseByCorrsMatch=true, float ransac_fuseMaxDiffXY=0.01f, float ransac_fuseMaxDiffPhi=DEG2RAD(0.1f), bool ransac_algorithmForLandmarks=true)
 This method implements a RANSAC-based robust estimation of the rigid transformation between two planes, returning a probability distribution over all the posibilities as a Sum of Gaussians.




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