Main MRPT website > C++ reference for MRPT 1.4.0
scan_matching.h
Go to the documentation of this file.
1/* +---------------------------------------------------------------------------+
2 | Mobile Robot Programming Toolkit (MRPT) |
3 | http://www.mrpt.org/ |
4 | |
5 | Copyright (c) 2005-2016, Individual contributors, see AUTHORS file |
6 | See: http://www.mrpt.org/Authors - All rights reserved. |
7 | Released under BSD License. See details in http://www.mrpt.org/License |
8 +---------------------------------------------------------------------------+ */
9
10#pragma once
11
12#ifndef MRPT_SCANMATCHING_SUPRESS_BACKCOMPAT_WARNING
14 MRPT_WARNING("Deprecated header: Use <mrpt/tfest.h> or individual headers instead")
15#endif
16
23
24namespace mrpt
25{
26 namespace scanmatching
27 {
28 /** \deprecated Use functions in mrpt::tfest */
30 "Deprecated: Use mrpt::tfest::se3_l2() instead",
32 const std::vector<double> &inPoints,
33 std::vector<double> &outQuat,
34 bool forceScaleToUnity = false )
35 );
36
37 /** \deprecated Use functions in mrpt::tfest */
39 "Deprecated: Use mrpt::tfest::se3_l2() instead",
41 const std::vector<double> &inPoints,
43 bool forceScaleToUnity = false)
44 );
45
46 /** \deprecated Use functions in mrpt::tfest */
48 "Deprecated: Use mrpt::tfest::se3_l2() instead",
50 const mrpt::utils::TMatchingPairList &in_correspondences,
51 mrpt::poses::CPose3DQuat &out_transformation,
52 double &out_scale,
53 const bool forceScaleToUnity = false )
54 );
55
56 /** \deprecated Use functions in mrpt::tfest */
58 "Deprecated: Use mrpt::tfest::se3_l2() instead",
60 const mrpt::utils::TMatchingPairList &in_correspondences,
61 mrpt::poses::CPose3D &out_transformation,
62 double &out_scale,
63 const bool forceScaleToUnity = false )
64 );
65
66 /** \deprecated Use functions in mrpt::tfest */
68 "Deprecated: Use mrpt::tfest::se3_l2_robust() instead",
70 const mrpt::utils::TMatchingPairList &in_correspondences,
71 mrpt::poses::CPose3D &out_transformation,
72 double &out_scale,
73 vector_int &out_inliers_idx,
74 const unsigned int ransac_minSetSize = 5,
75 const unsigned int ransac_nmaxSimulations = 50,
76 const double ransac_maxSetSizePct = 0.7,
77 const bool forceScaleToUnity = false )
78 );
79
80 /** \deprecated Use functions in mrpt::tfest */
82 "Deprecated: Use mrpt::tfest::se2_l2() instead",
84 mrpt::utils::TMatchingPairList &in_correspondences,
85 mrpt::poses::CPose2D &out_transformation,
86 mrpt::math::CMatrixDouble33 *out_estimateCovariance = NULL )
87 );
88
89 /** \deprecated Use functions in mrpt::tfest */
91 "Deprecated: Use mrpt::tfest::se2_l2() instead",
93 mrpt::utils::TMatchingPairList &in_correspondences,
94 mrpt::poses::CPosePDFGaussian &out_transformation )
95 );
96
97 /** \deprecated Use functions in mrpt::tfest */
99 "Deprecated: Use mrpt::tfest::se2_l2_robust() instead",
101 mrpt::utils::TMatchingPairList &in_correspondences,
102 mrpt::poses::CPosePDFSOG &out_transformation,
103 float normalizationStd,
104 unsigned int ransac_minSetSize = 3,
105 unsigned int ransac_maxSetSize = 20,
106 float ransac_mahalanobisDistanceThreshold = 3.0f,
107 unsigned int ransac_nSimulations = 0,
108 mrpt::utils::TMatchingPairList *out_largestSubSet = NULL,
109 bool ransac_fuseByCorrsMatch = true,
110 float ransac_fuseMaxDiffXY = 0.01f,
111 float ransac_fuseMaxDiffPhi = mrpt::utils::DEG2RAD(0.1f),
112 bool ransac_algorithmForLandmarks = true,
113 double probability_find_good_model = 0.999,
114 unsigned int ransac_min_nSimulations = 1500,
115 const bool verbose = false,
116 double max_rmse_to_end = 0
117 )
118 );
119
120 }
121}
A numeric matrix of compile-time fixed size.
A class used to store a 2D pose.
Definition: CPose2D.h:37
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Definition: CPose3D.h:73
A class used to store a 3D pose as a translation (x,y,z) and a quaternion (qr,qx,qy,...
Definition: CPose3DQuat.h:42
Declares a class that represents a Probability Density function (PDF) of a 2D pose .
Declares a class that represents a Probability Density function (PDF) of a 2D pose .
Definition: CPosePDFSOG.h:37
A list of TMatchingPair.
Definition: TMatchingPair.h:67
std::vector< int32_t > vector_int
Definition: types_simple.h:23
#define MRPT_WARNING(x)
Definition: mrpt_macros.h:64
#define MRPT_DECLARE_DEPRECATED_FUNCTION(__MSG, __FUNC)
Usage: MRPT_DECLARE_DEPRECATED_FUNCTION("Use XX instead", void myFunc(double));.
Definition: mrpt_macros.h:47
bool TFEST_IMPEXP leastSquareErrorRigidTransformation6DRANSAC(const mrpt::utils::TMatchingPairList &in_correspondences, mrpt::poses::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)
bool TFEST_IMPEXP leastSquareErrorRigidTransformation6D(const mrpt::utils::TMatchingPairList &in_correspondences, mrpt::poses::CPose3DQuat &out_transformation, double &out_scale, const bool forceScaleToUnity=false)
double TFEST_IMPEXP HornMethod(const std::vector< double > &inPoints, std::vector< double > &outQuat, bool forceScaleToUnity=false)
bool TFEST_IMPEXP leastSquareErrorRigidTransformation(mrpt::utils::TMatchingPairList &in_correspondences, mrpt::poses::CPose2D &out_transformation, mrpt::math::CMatrixDouble33 *out_estimateCovariance=NULL)
void TFEST_IMPEXP robustRigidTransformation(mrpt::utils::TMatchingPairList &in_correspondences, mrpt::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, mrpt::utils::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)
double DEG2RAD(const double x)
Degrees to radians.
Definition: bits.h:69
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.



Page generated by Doxygen 1.9.6 for MRPT 1.4.0 SVN: at Wed Mar 22 06:31:24 UTC 2023