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