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scan_matching.h
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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
13 # include <mrpt/utils/mrpt_macros.h>
14  MRPT_WARNING("Deprecated header: Use <mrpt/tfest.h> or individual headers instead")
15 #endif
16 
17 #include <mrpt/utils/utils_defs.h>
18 #include <mrpt/math/math_frwds.h>
21 #include <mrpt/poses/poses_frwds.h>
23 
24 namespace mrpt
25 {
26  namespace scanmatching
27  {
28  /** \deprecated Use functions in mrpt::tfest */
30  "Deprecated: Use mrpt::tfest::se3_l2() instead",
31  double TFEST_IMPEXP HornMethod(
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",
40  double TFEST_IMPEXP HornMethod(
41  const std::vector<double> &inPoints,
42  mrpt::poses::CPose3DQuat &outQuat,
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
MRPT_WARNING("This is an old header, please replace with <mrpt/math.h>")
#define MRPT_DECLARE_DEPRECATED_FUNCTION(__MSG, __FUNC)
Usage: MRPT_DECLARE_DEPRECATED_FUNCTION("Use XX instead", void myFunc(double));.
Definition: mrpt_macros.h:47
void 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)
bool leastSquareErrorRigidTransformation6D(const mrpt::utils::TMatchingPairList &in_correspondences, mrpt::poses::CPose3DQuat &out_transformation, double &out_scale, const bool forceScaleToUnity=false)
bool 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 leastSquareErrorRigidTransformation(mrpt::utils::TMatchingPairList &in_correspondences, mrpt::poses::CPose2D &out_transformation, mrpt::math::CMatrixDouble33 *out_estimateCovariance=NULL)
double HornMethod(const std::vector< double > &inPoints, std::vector< double > &outQuat, bool forceScaleToUnity=false)
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.



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