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<div class="title">mrpt::scanmatching Namespace Reference<div class="ingroups"><a class="el" href="group__mrpt__scanmatching__grp.html">[mrpt-scanmatching]</a></div></div> </div>
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<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>A set of scan matching-related static functions. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1slam_1_1_c_i_c_p.html" title="Several implementations of ICP (Iterative closest point) algorithms for aligning two point maps or a ...">mrpt::slam::CICP</a> </dd></dl>
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<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="group__mrpt__scanmatching__grp.html#gabb4485481a609553e61fe7bc262cf50b">HornMethod</a> (const <a class="el" href="namespacemrpt.html#a4a6aab2c98368ca6b554c04f8fe84cfb">vector_double</a> &inPoints, <a class="el" href="namespacemrpt.html#a4a6aab2c98368ca6b554c04f8fe84cfb">vector_double</a> &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="group__mrpt__scanmatching__grp.html#gabb4485481a609553e61fe7bc262cf50b"></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="group__mrpt__scanmatching__grp.html#gadf0d4ff0062847dfa27474a377368c45">HornMethod</a> (const <a class="el" href="namespacemrpt.html#a4a6aab2c98368ca6b554c04f8fe84cfb">vector_double</a> &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="group__mrpt__scanmatching__grp.html#ga95a1eefeb19509da16a45b30a65806a3">leastSquareErrorRigidTransformation6D</a> (const <a class="el" href="classmrpt_1_1utils_1_1_t_matching_pair_list.html">TMatchingPairList</a> &in_correspondences, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat.html">CPose3DQuat</a> &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="group__mrpt__scanmatching__grp.html#ga95a1eefeb19509da16a45b30a65806a3"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__scanmatching__grp.html#gae1c6f78a5efeb0071854b349e5190f01">leastSquareErrorRigidTransformation6D</a> (const <a class="el" href="classmrpt_1_1utils_1_1_t_matching_pair_list.html">TMatchingPairList</a> &in_correspondences, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> &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="group__mrpt__scanmatching__grp.html#gae1c6f78a5efeb0071854b349e5190f01"></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="group__mrpt__scanmatching__grp.html#ga96a45b6eb34d06a8d0fd9f38dcd696de">leastSquareErrorRigidTransformation6DRANSAC</a> (const <a class="el" href="classmrpt_1_1utils_1_1_t_matching_pair_list.html">TMatchingPairList</a> &in_correspondences, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> &out_transformation, double &out_scale, <a class="el" href="namespacemrpt.html#ac2e04951e7bd82f53b6ecaa0fd8a2662">vector_int</a> &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="group__mrpt__scanmatching__grp.html#ga96a45b6eb34d06a8d0fd9f38dcd696de"></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="group__mrpt__scanmatching__grp.html#ga7a5ed1b5f7e14adbcd2ec35198327ae7">leastSquareErrorRigidTransformation</a> (<a class="el" href="classmrpt_1_1utils_1_1_t_matching_pair_list.html">TMatchingPairList</a> &in_correspondences, <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> &out_transformation, <a class="el" href="namespacemrpt_1_1math.html#a58d0ee60eee38e990848ccb8b83e8338">CMatrixDouble33</a> *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="group__mrpt__scanmatching__grp.html#ga7a5ed1b5f7e14adbcd2ec35198327ae7"></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="group__mrpt__scanmatching__grp.html#ga89ebdf76aa2d029c189ae2312db405a9">leastSquareErrorRigidTransformation</a> (<a class="el" href="classmrpt_1_1utils_1_1_t_matching_pair_list.html">TMatchingPairList</a> &in_correspondences, <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian.html">CPosePDFGaussian</a> &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="group__mrpt__scanmatching__grp.html#ga89ebdf76aa2d029c189ae2312db405a9"></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="group__mrpt__scanmatching__grp.html#ga1714c0f5d66a47509926ffdbfcd261d6">robustRigidTransformation</a> (<a class="el" href="classmrpt_1_1utils_1_1_t_matching_pair_list.html">TMatchingPairList</a> &in_correspondences, <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html">poses::CPosePDFSOG</a> &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="group__mrpt__scanmatching__grp.html#ga1714c0f5d66a47509926ffdbfcd261d6"></a><br/></td></tr>
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