optimal_tf_olae.cpp File Reference

OLAE algorithm to find the SE(3) optimal transformation. More...

#include <mp2p_icp/optimal_tf_olae.h>
#include <mrpt/core/exceptions.h>
#include <mrpt/poses/Lie/SE.h>
#include <mrpt/tfest/se3.h>
#include <Eigen/Dense>
#include "visit_correspondences.h"

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Classes
struct	OLAE_LinearSystems

Functions
static mrpt::poses::CPose3D	gibbs2pose (const Eigen::Vector3d &v)
static OLAE_LinearSystems	olae_build_linear_system (const Pairings &in, const WeightParameters &wp, const mrpt::math::TPoint3D &ct_local, const mrpt::math::TPoint3D &ct_global, OutlierIndices &in_out_outliers)

Detailed Description

OLAE algorithm to find the SE(3) optimal transformation.

Author

Jose Luis Blanco Claraco

Date

Jun 16, 2019

Definition in file optimal_tf_olae.cpp.

Function Documentation

gibbs2pose()

static mrpt::poses::CPose3D gibbs2pose ( const Eigen::Vector3d &  v )

static

Definition at line 25 of file optimal_tf_olae.cpp.

olae_build_linear_system()

static OLAE_LinearSystems olae_build_linear_system ( const Pairings &  in, const WeightParameters &  wp, const mrpt::math::TPoint3D &  ct_local, const mrpt::math::TPoint3D &  ct_global, OutlierIndices &  in_out_outliers  )

static

Core of the OLAE algorithm

Definition at line 57 of file optimal_tf_olae.cpp.