12#ifndef MRPT_SCANMATCHING_SUPRESS_BACKCOMPAT_WARNING
14 MRPT_WARNING(
"Deprecated header: Use <mrpt/tfest.h> or individual headers instead")
26 namespace scanmatching
30 "Deprecated: Use mrpt::tfest::se3_l2() instead",
32 const std::vector<double> &inPoints,
33 std::vector<double> &outQuat,
34 bool forceScaleToUnity =
false )
39 "Deprecated: Use mrpt::tfest::se3_l2() instead",
41 const std::vector<double> &inPoints,
43 bool forceScaleToUnity =
false)
48 "Deprecated: Use mrpt::tfest::se3_l2() instead",
53 const bool forceScaleToUnity =
false )
58 "Deprecated: Use mrpt::tfest::se3_l2() instead",
63 const bool forceScaleToUnity =
false )
68 "Deprecated: Use mrpt::tfest::se3_l2_robust() instead",
74 const unsigned int ransac_minSetSize = 5,
75 const unsigned int ransac_nmaxSimulations = 50,
76 const double ransac_maxSetSizePct = 0.7,
77 const bool forceScaleToUnity =
false )
82 "Deprecated: Use mrpt::tfest::se2_l2() instead",
91 "Deprecated: Use mrpt::tfest::se2_l2() instead",
99 "Deprecated: Use mrpt::tfest::se2_l2_robust() instead",
103 float normalizationStd,
104 unsigned int ransac_minSetSize = 3,
105 unsigned int ransac_maxSetSize = 20,
106 float ransac_mahalanobisDistanceThreshold = 3.0f,
107 unsigned int ransac_nSimulations = 0,
109 bool ransac_fuseByCorrsMatch =
true,
110 float ransac_fuseMaxDiffXY = 0.01f,
112 bool ransac_algorithmForLandmarks =
true,
113 double probability_find_good_model = 0.999,
114 unsigned int ransac_min_nSimulations = 1500,
115 const bool verbose =
false,
116 double max_rmse_to_end = 0
A numeric matrix of compile-time fixed size.
A class used to store a 2D pose.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
A class used to store a 3D pose as a translation (x,y,z) and a quaternion (qr,qx,qy,...
Declares a class that represents a Probability Density function (PDF) of a 2D pose .
Declares a class that represents a Probability Density function (PDF) of a 2D pose .
std::vector< int32_t > vector_int
MRPT_WARNING("This is an old header, please replace with <mrpt/math.h>")
#define MRPT_DECLARE_DEPRECATED_FUNCTION(__MSG, __FUNC)
Usage: MRPT_DECLARE_DEPRECATED_FUNCTION("Use XX instead", void myFunc(double));.
void robustRigidTransformation(mrpt::utils::TMatchingPairList &in_correspondences, mrpt::poses::CPosePDFSOG &out_transformation, float normalizationStd, unsigned int ransac_minSetSize=3, unsigned int ransac_maxSetSize=20, float ransac_mahalanobisDistanceThreshold=3.0f, unsigned int ransac_nSimulations=0, mrpt::utils::TMatchingPairList *out_largestSubSet=NULL, bool ransac_fuseByCorrsMatch=true, float ransac_fuseMaxDiffXY=0.01f, float ransac_fuseMaxDiffPhi=mrpt::utils::DEG2RAD(0.1f), bool ransac_algorithmForLandmarks=true, double probability_find_good_model=0.999, unsigned int ransac_min_nSimulations=1500, const bool verbose=false, double max_rmse_to_end=0)
bool leastSquareErrorRigidTransformation6D(const mrpt::utils::TMatchingPairList &in_correspondences, mrpt::poses::CPose3DQuat &out_transformation, double &out_scale, const bool forceScaleToUnity=false)
bool leastSquareErrorRigidTransformation6DRANSAC(const mrpt::utils::TMatchingPairList &in_correspondences, mrpt::poses::CPose3D &out_transformation, double &out_scale, vector_int &out_inliers_idx, const unsigned int ransac_minSetSize=5, const unsigned int ransac_nmaxSimulations=50, const double ransac_maxSetSizePct=0.7, const bool forceScaleToUnity=false)
bool leastSquareErrorRigidTransformation(mrpt::utils::TMatchingPairList &in_correspondences, mrpt::poses::CPose2D &out_transformation, mrpt::math::CMatrixDouble33 *out_estimateCovariance=NULL)
double HornMethod(const std::vector< double > &inPoints, std::vector< double > &outQuat, bool forceScaleToUnity=false)
double DEG2RAD(const double x)
Degrees to radians.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.