Function mrpt::tfest::se3_l2_robust

Function Documentation

bool mrpt::tfest::se3_l2_robust(const mrpt::tfest::TMatchingPairList &in_correspondences, const TSE3RobustParams &in_params, TSE3RobustResult &out_results)

Least-squares (L2 norm) solution to finding the optimal SE(3) transform between two reference frames using RANSAC and 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

Note

Implemented by FAMD, 2008. Re-factored by JLBC, 2015.

Note

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

Parameters:

  • in_correspondences – [in] The set of correspondences.

  • in_params – [in] Method parameters (see docs for TSE3RobustParams)

  • out_results – [out] Results: transformation, scale, etc.

Returns:

True if the minimum number of correspondences was found, false otherwise.