combine_grids Namespace Reference

Namespaces
namespace	internal
Functions
template<typename ForwardIt , typename OutputIt >
size_t	estimateGridTransform (ForwardIt grids_begin, ForwardIt grids_end, OutputIt transforms_begin, double confidence=1.0)
	Estimates transformation between grids when initial positions of grids in the world are unknown.

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Function Documentation

template<typename ForwardIt , typename OutputIt >

size_t combine_grids::estimateGridTransform	(	ForwardIt	grids_begin,
		ForwardIt	grids_end,
		OutputIt	transforms_begin,
		double	confidence = 1.0
	)

Estimates transformation between grids when initial positions of grids in the world are unknown.

Uses sophisticated algorithm based on image processing to estimate transformation between grids. Transformations are returned through container in form of `geometry_msgsPose`. Output poses can be interpreted as starting point of grid in the world.

Output range (transforms) must have at least the size of input range (grids). Typically you want them to have the same size.

Note: grids are not modified in any way. Esp. their origins are unchanged.

Parameters:

grids_begin,grids_end	the range of input grids
transforms_begin	the beginning of the destination range for estimated transforms
confidence	minimal confidence according to probabilistic model for pairwise transform to be considered for final estimation. Default value 1.0 is suitable for most grids, increase this value for more confident estimations. Number of estimated transformations may decrease with increasing confidence. Good range for tuning is [1.0, 2.0].

Returns:

number of sucessfuly estimated transforms. If transformation could not be established for given grid, empty Pose will be set in trasforms.

Definition at line 112 of file estimate_transform.h.