scan_matching.h File Reference

#include <mrpt/utils/TMatchingPair.h>
#include <mrpt/poses/CPose3DQuat.h>
#include <mrpt/base/link_pragmas.h>

Include dependency graph for scan_matching/scan_matching.h:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Classes
struct	mrpt::scan_matching::THornMethodOpts
	This struct contains the options considered for the Horn method. More...
Namespaces
namespace	mrpt
	This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) 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
void BASE_IMPEXP	mrpt::scan_matching::HornMethod (const vector_double &inVector, vector_double &outVector, THornMethodOpts &opts)
	This function implements the Horn method for computing the change in pose between two coordinate systems.
bool BASE_IMPEXP	mrpt::scan_matching::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.
bool BASE_IMPEXP	mrpt::scan_matching::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.
bool BASE_IMPEXP	mrpt::scan_matching::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.
bool BASE_IMPEXP	mrpt::scan_matching::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.
bool BASE_IMPEXP	mrpt::scan_matching::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.
void BASE_IMPEXP	mrpt::scan_matching::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=DEG2RAD(0.1f), bool ransac_algorithmForLandmarks=true, double probability_find_good_model=0.999, unsigned int ransac_min_nSimulations=1500)
	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.