<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
<html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1">
<title>The MRPT project: scan_matching.h File Reference</title>
<link href="doxygen.css" rel="stylesheet" type="text/css">
<link href="tabs.css" rel="stylesheet" type="text/css">
</head><body>
<div align="left"><a href="http://www.mrpt.org/">Main MRPT website</a> > <b>C++ reference</b> </div>
<div align="right">
<a href="index.html"><img border="0" src="mrpt_logo.png" alt="MRPT logo"></a>
</div>
<!-- Generated by Doxygen 1.7.2 -->
<script type="text/javascript"><!--
var searchBox = new SearchBox("searchBox", "search",false,'Search');
--></script>
<div class="navigation" id="top">
<div class="tabs">
<ul class="tablist">
<li><a href="index.html"><span>Main Page</span></a></li>
<li><a href="pages.html"><span>Related Pages</span></a></li>
<li><a href="modules.html"><span>Modules</span></a></li>
<li><a href="namespaces.html"><span>Namespaces</span></a></li>
<li><a href="annotated.html"><span>Classes</span></a></li>
<li class="current"><a href="files.html"><span>Files</span></a></li>
<li id="searchli">
<div id="MSearchBox" class="MSearchBoxInactive">
<span class="left">
<form id="FSearchBox" action="search.php" method="get">
<img id="MSearchSelect" src="search/mag.png" alt=""/>
<input type="text" id="MSearchField" name="query" value="Search" size="20" accesskey="S"
onfocus="searchBox.OnSearchFieldFocus(true)"
onblur="searchBox.OnSearchFieldFocus(false)"/>
</form>
</span><span class="right"></span>
</div>
</li>
</ul>
</div>
<div class="tabs2">
<ul class="tablist">
<li><a href="files.html"><span>File List</span></a></li>
<li><a href="globals.html"><span>File Members</span></a></li>
</ul>
</div>
</div>
<div class="header">
<div class="summary">
<a href="#namespaces">Namespaces</a> |
<a href="#func-members">Functions</a> </div>
<div class="headertitle">
<h1>scan_matching.h File Reference</h1> </div>
</div>
<div class="contents">
<code>#include <<a class="el" href="math_8h_source.html">mrpt/math.h</a>></code><br/>
<code>#include <<a class="el" href="poses_8h_source.html">mrpt/poses.h</a>></code><br/>
<code>#include <<a class="el" href="_t_matching_pair_8h_source.html">mrpt/utils/TMatchingPair.h</a>></code><br/>
<code>#include <<a class="el" href="scanmatching_2include_2mrpt_2scanmatching_2link__pragmas_8h_source.html">mrpt/scanmatching/link_pragmas.h</a>></code><br/>
<!-- startSectionHeader --><div class="dynheader">
Include dependency graph for scanmatching/scan_matching.h:<!-- endSectionHeader --></div>
<!-- startSectionSummary --><!-- endSectionSummary --><!-- startSectionContent --><div class="dyncontent">
<div class="center"><img src="scanmatching_2scan__matching_8h__incl.png" border="0" usemap="#scan__matching_8h" alt=""/></div>
<map name="scan__matching_8h" id="scan__matching_8h">
</map>
<!-- endSectionContent --></div>
<!-- startSectionHeader --><div class="dynheader">
This graph shows which files directly or indirectly include this file:<!-- endSectionHeader --></div>
<!-- startSectionSummary --><!-- endSectionSummary --><!-- startSectionContent --><div class="dyncontent">
<div class="center"><img src="scanmatching_2scan__matching_8h__dep__incl.png" border="0" usemap="#scan__matching_8hdep" alt=""/></div>
<map name="scan__matching_8hdep" id="scan__matching_8hdep">
</map>
<!-- endSectionContent --></div>
<p><a href="scanmatching_2scan__matching_8h_source.html">Go to the source code of this file.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="namespaces"></a>
Namespaces</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">namespace  </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt.html">mrpt</a></td></tr>
<p><tr><td class="mdescLeft"> </td><td class="mdescRight"><p>This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries. </p>
<br/></td></tr>
</p>
<tr><td class="memItemLeft" align="right" valign="top">namespace  </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1poses.html">mrpt::poses</a></td></tr>
<p><tr><td class="mdescLeft"> </td><td class="mdescRight"><p>Classes for 2D/3D geometry representation, both of single values and probability density distributions (PDFs) in many forms. </p>
<br/></td></tr>
</p>
<tr><td class="memItemLeft" align="right" valign="top">namespace  </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1scanmatching.html">mrpt::scanmatching</a></td></tr>
<p><tr><td class="mdescLeft"> </td><td class="mdescRight"><p>A set of scan matching-related static functions. </p>
<br/></td></tr>
</p>
<tr><td colspan="2"><h2><a name="func-members"></a>
Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double SCANMATCHING_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1scanmatching.html#abb4485481a609553e61fe7bc262cf50b">mrpt::scanmatching::HornMethod</a> (const vector_double &inPoints, vector_double &outQuat, bool forceScaleToUnity=false)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This function implements the Horn method for computing the change in pose between two coordinate systems. <a href="#abb4485481a609553e61fe7bc262cf50b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double SCANMATCHING_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1scanmatching.html#adf0d4ff0062847dfa27474a377368c45">mrpt::scanmatching::HornMethod</a> (const vector_double &inPoints, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat.html">mrpt::poses::CPose3DQuat</a> &outQuat, bool forceScaleToUnity=false)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool SCANMATCHING_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1scanmatching.html#a95a1eefeb19509da16a45b30a65806a3">mrpt::scanmatching::leastSquareErrorRigidTransformation6D</a> (const TMatchingPairList &in_correspondences, CPose3DQuat &out_transformation, double &out_scale, const bool forceScaleToUnity=false)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">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. <a href="#a95a1eefeb19509da16a45b30a65806a3"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool SCANMATCHING_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1scanmatching.html#adac1caaf3329dd1722f49130a0236ae2">mrpt::scanmatching::leastSquareErrorRigidTransformation6D</a> (const TMatchingPairList &in_correspondences, CPose3D &out_transformation, double &out_scale, const bool forceScaleToUnity=false)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">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. <a href="#adac1caaf3329dd1722f49130a0236ae2"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool SCANMATCHING_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1scanmatching.html#a96a45b6eb34d06a8d0fd9f38dcd696de">mrpt::scanmatching::leastSquareErrorRigidTransformation6DRANSAC</a> (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)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">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. <a href="#a96a45b6eb34d06a8d0fd9f38dcd696de"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool SCANMATCHING_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1scanmatching.html#a7a5ed1b5f7e14adbcd2ec35198327ae7">mrpt::scanmatching::leastSquareErrorRigidTransformation</a> (TMatchingPairList &in_correspondences, CPose2D &out_transformation, CMatrixDouble33 *out_estimateCovariance=NULL)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">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. <a href="#a7a5ed1b5f7e14adbcd2ec35198327ae7"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool SCANMATCHING_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1scanmatching.html#a89ebdf76aa2d029c189ae2312db405a9">mrpt::scanmatching::leastSquareErrorRigidTransformation</a> (TMatchingPairList &in_correspondences, CPosePDFGaussian &out_transformation)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">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. <a href="#a89ebdf76aa2d029c189ae2312db405a9"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void SCANMATCHING_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1scanmatching.html#a1714c0f5d66a47509926ffdbfcd261d6">mrpt::scanmatching::robustRigidTransformation</a> (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)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">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. <a href="#a1714c0f5d66a47509926ffdbfcd261d6"></a><br/></td></tr>
</table>
</div>
<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.2</a> for MRPT 0.9.4 SVN: at Mon Jan 10 22:30:30 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
