Function mrpt::tfest::se3_l2(const mrpt::tfest::TMatchingPairList&, mrpt::poses::CPose3DQuat&, double&, bool)

Function Documentation

bool mrpt::tfest::se3_l2(const mrpt::tfest::TMatchingPairList &in_correspondences, mrpt::poses::CPose3DQuat &out_transform, double &out_scale, bool forceScaleToUnity = false)

Least-squares (L2 norm) solution to finding the optimal SE(3) transform between two reference frames using the “quaternion” or Horn’s method horn1987closed

The optimal transformation q fulfills \( p_{this} = q \oplus p_{other} \), that is, the transformation of frame other with respect to this.

../../output_staging/generated/doxygen/xml/tfest_frames.png

See also

se2_l2, se3_l2_robust

Note

[New in MRPT 1.3.0] This function replaces mrpt::scanmatching::leastSquareErrorRigidTransformation6DRANSAC() and mrpt::scanmatching::HornMethod()

Parameters:

  • in_correspondences – [in] The coordinates of the input points for the two coordinate systems “this” and “other”

  • out_transform – [out] The output transformation

  • out_scale – [out] The computed scale of the optimal transformation (will be 1.0 for a perfectly rigid translation + rotation).

  • forceScaleToUnity – [in] Whether or not force the scale employed to rotate the coordinate systems to one (rigid transformation)