#include <mp2p_icp/optimal_tf_gauss_newton.h>
#include <mp2p_icp/optimal_tf_horn.h>
#include <mp2p_icp/optimal_tf_olae.h>
#include <mrpt/core/exceptions.h>
#include <mrpt/core/get_env.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/poses/CPose3DQuat.h>
#include <mrpt/poses/Lie/SO.h>
#include <mrpt/random.h>
#include <mrpt/system/CTimeLogger.h>
#include <mrpt/system/filesystem.h>
#include <cstdlib>
#include <iostream>
#include <sstream>

Include dependency graph for test-mp2p_optimal_tf_algos.cpp:

Typedefs
using	TPlanes = std::vector< mp2p_icp::plane_patch_t >

using	TPoints = std::vector< mrpt::math::TPoint3D >

Functions
TPlanes	generate_planes (const size_t nPlanes)

TPoints	generate_points (const size_t nPts)

int	main ([[maybe_unused]] int argc, [[maybe_unused]] char **argv)

bool	test_icp_algos (const size_t numPts, const size_t numLines, const size_t numPlanes, const double xyz_noise_std=.0, const double n_err_std=.0, bool use_robust=false, const double outliers_ratio=.0)

std::tuple< mrpt::poses::CPose3D, std::vector< std::size_t > >	transform_points_planes (const TPoints &pA, TPoints &pB, mrpt::tfest::TMatchingPairList &pointsPairs, const TPlanes &plA, TPlanes &plB, std::vector< mp2p_icp::matched_plane_t > &planePairs, mp2p_icp::MatchedPointPlaneList &pt2plPairs, const double xyz_noise_std, const double n_err_std, const double outliers_ratio)

Variables
static bool	DO_PRINT_ALL = nullptr != ::getenv("DO_PRINT_ALL")

static bool	DO_SAVE_STAT_FILES = nullptr != ::getenv("DO_SAVE_STAT_FILES")

static const size_t	num_reps = mrpt::get_env<int>("NUM_REPS", 25)

static bool	SKIP_OUTLIERS = nullptr != ::getenv("SKIP_OUTLIERS")

static bool	TEST_LARGE_ROTATIONS = nullptr != ::getenv("TEST_LARGE_ROTATIONS")

Typedef Documentation

◆ TPlanes

using TPlanes = std::vector<mp2p_icp::plane_patch_t>

Definition at line 39 of file test-mp2p_optimal_tf_algos.cpp.

◆ TPoints

using TPoints = std::vector<mrpt::math::TPoint3D>

Definition at line 38 of file test-mp2p_optimal_tf_algos.cpp.

Function Documentation

◆ generate_planes()

TPlanes generate_planes ( const size_t nPlanes )

Definition at line 57 of file test-mp2p_optimal_tf_algos.cpp.

◆ generate_points()

TPoints generate_points ( const size_t nPts )

Definition at line 41 of file test-mp2p_optimal_tf_algos.cpp.

◆ main()

int main	(	[[maybe_unused] ] int	argc,
		[[maybe_unused] ] char **	argv
	)

Definition at line 500 of file test-mp2p_optimal_tf_algos.cpp.

◆ test_icp_algos()

bool test_icp_algos	(	const size_t	numPts,
		const size_t	numLines,
		const size_t	numPlanes,
		const double	xyz_noise_std = `.0`,
		const double	n_err_std = `.0`,
		bool	use_robust = `false`,
		const double	outliers_ratio = `.0`
	)

Definition at line 252 of file test-mp2p_optimal_tf_algos.cpp.

◆ transform_points_planes()

std::tuple<mrpt::poses::CPose3D, std::vector<std::size_t> > transform_points_planes	(	const TPoints &	pA,
		TPoints &	pB,
		mrpt::tfest::TMatchingPairList &	pointsPairs,
		const TPlanes &	plA,
		TPlanes &	plB,
		std::vector< mp2p_icp::matched_plane_t > &	planePairs,
		mp2p_icp::MatchedPointPlaneList &	pt2plPairs,
		const double	xyz_noise_std,
		const double	n_err_std,
		const double	outliers_ratio
	)