mrpt.pymrpt.mrpt.tfest
index
(built-in)

Bindings for mrpt::tfest namespace

 
Classes
       
pybind11_builtins.pybind11_object(builtins.object)
TMatchingPairListTempl_float_t
TPotentialMatch
TSE2RobustParams
TSE2RobustResult
TSE3RobustParams
TSE3RobustResult

 
class TMatchingPairListTempl_float_t(pybind11_builtins.pybind11_object)
    
Method resolution order:
TMatchingPairListTempl_float_t
pybind11_builtins.pybind11_object
builtins.object

Methods defined here:
__init__(...)
__init__(*args, **kwargs)
Overloaded function.
 
1. __init__(self: mrpt.pymrpt.mrpt.tfest.TMatchingPairListTempl_float_t, arg0: mrpt.pymrpt.mrpt.tfest.TMatchingPairListTempl_float_t) -> None
 
2. __init__(self: mrpt.pymrpt.mrpt.tfest.TMatchingPairListTempl_float_t) -> None
assign(...)
assign(self: mrpt.pymrpt.mrpt.tfest.TMatchingPairListTempl_float_t, : mrpt.pymrpt.mrpt.tfest.TMatchingPairListTempl_float_t) -> mrpt.pymrpt.mrpt.tfest.TMatchingPairListTempl_float_t
 
C++: mrpt::tfest::TMatchingPairListTempl<float>::operator=(const class mrpt::tfest::TMatchingPairListTempl<float> &) --> class mrpt::tfest::TMatchingPairListTempl<float> &
dumpToFile(...)
dumpToFile(self: mrpt.pymrpt.mrpt.tfest.TMatchingPairListTempl_float_t, fileName: str) -> None
 
C++: mrpt::tfest::TMatchingPairListTempl<float>::dumpToFile(const std::string &) const --> void
filterUniqueRobustPairs(...)
filterUniqueRobustPairs(self: mrpt.pymrpt.mrpt.tfest.TMatchingPairListTempl_float_t, num_elements_this_map: int, out_filtered_list: mrpt.pymrpt.mrpt.tfest.TMatchingPairListTempl_float_t) -> None
 
C++: mrpt::tfest::TMatchingPairListTempl<float>::filterUniqueRobustPairs(size_t, class mrpt::tfest::TMatchingPairListTempl<float> &) const --> void
indexOtherMapHasCorrespondence(...)
indexOtherMapHasCorrespondence(self: mrpt.pymrpt.mrpt.tfest.TMatchingPairListTempl_float_t, idx: int) -> bool
 
C++: mrpt::tfest::TMatchingPairListTempl<float>::indexOtherMapHasCorrespondence(size_t) const --> bool
overallSquareError(...)
overallSquareError(*args, **kwargs)
Overloaded function.
 
1. overallSquareError(self: mrpt.pymrpt.mrpt.tfest.TMatchingPairListTempl_float_t, q: mrpt.pymrpt.mrpt.poses.CPose2D) -> float
 
C++: mrpt::tfest::TMatchingPairListTempl<float>::overallSquareError(const class mrpt::poses::CPose2D &) const --> float
 
2. overallSquareError(self: mrpt.pymrpt.mrpt.tfest.TMatchingPairListTempl_float_t, q: mrpt.pymrpt.mrpt.poses.CPose3D) -> float
 
C++: mrpt::tfest::TMatchingPairListTempl<float>::overallSquareError(const class mrpt::poses::CPose3D &) const --> float
saveAsMATLABScript(...)
saveAsMATLABScript(self: mrpt.pymrpt.mrpt.tfest.TMatchingPairListTempl_float_t, filName: str) -> None
 
C++: mrpt::tfest::TMatchingPairListTempl<float>::saveAsMATLABScript(const std::string &) const --> void

Static methods inherited from pybind11_builtins.pybind11_object:
__new__(*args, **kwargs) from pybind11_builtins.pybind11_type
Create and return a new object.  See help(type) for accurate signature.

 
class TPotentialMatch(pybind11_builtins.pybind11_object)
    For each individual-compatibility (IC) test, the indices of the candidate
match between elements in both reference frames.
 
 
TSE3RobustParams::user_individual_compat_callback ,
TSE2RobustParams::user_individual_compat_callback
 
 
Method resolution order:
TPotentialMatch
pybind11_builtins.pybind11_object
builtins.object

Methods defined here:
__init__(...)
__init__(self: mrpt.pymrpt.mrpt.tfest.TPotentialMatch) -> None

Data descriptors defined here:
idx_other
idx_this

Static methods inherited from pybind11_builtins.pybind11_object:
__new__(*args, **kwargs) from pybind11_builtins.pybind11_type
Create and return a new object.  See help(type) for accurate signature.

 
class TSE2RobustParams(pybind11_builtins.pybind11_object)
    Parameters for se2_l2_robust(). See function for more details
 
 
Method resolution order:
TSE2RobustParams
pybind11_builtins.pybind11_object
builtins.object

Methods defined here:
__init__(...)
__init__(*args, **kwargs)
Overloaded function.
 
1. __init__(self: mrpt.pymrpt.mrpt.tfest.TSE2RobustParams) -> None
 
2. __init__(self: mrpt.pymrpt.mrpt.tfest.TSE2RobustParams, arg0: mrpt.pymrpt.mrpt.tfest.TSE2RobustParams) -> None
assign(...)
assign(self: mrpt.pymrpt.mrpt.tfest.TSE2RobustParams, : mrpt.pymrpt.mrpt.tfest.TSE2RobustParams) -> mrpt.pymrpt.mrpt.tfest.TSE2RobustParams
 
C++: mrpt::tfest::TSE2RobustParams::operator=(const struct mrpt::tfest::TSE2RobustParams &) --> struct mrpt::tfest::TSE2RobustParams &

Data descriptors defined here:
max_rmse_to_end
probability_find_good_model
ransac_algorithmForLandmarks
ransac_fuseByCorrsMatch
ransac_fuseMaxDiffPhi
ransac_fuseMaxDiffXY
ransac_mahalanobisDistanceThreshold
ransac_maxSetSize
ransac_minSetSize
ransac_min_nSimulations
ransac_nSimulations
user_individual_compat_callback
verbose

Static methods inherited from pybind11_builtins.pybind11_object:
__new__(*args, **kwargs) from pybind11_builtins.pybind11_type
Create and return a new object.  See help(type) for accurate signature.

 
class TSE2RobustResult(pybind11_builtins.pybind11_object)
    Output placeholder for se2_l2_robust()
 
 
Method resolution order:
TSE2RobustResult
pybind11_builtins.pybind11_object
builtins.object

Methods defined here:
__init__(...)
__init__(self: mrpt.pymrpt.mrpt.tfest.TSE2RobustResult) -> None

Data descriptors defined here:
largestSubSet
ransac_iters
transformation

Static methods inherited from pybind11_builtins.pybind11_object:
__new__(*args, **kwargs) from pybind11_builtins.pybind11_type
Create and return a new object.  See help(type) for accurate signature.

 
class TSE3RobustParams(pybind11_builtins.pybind11_object)
    Parameters for se3_l2_robust(). See function for more details
 
 
Method resolution order:
TSE3RobustParams
pybind11_builtins.pybind11_object
builtins.object

Methods defined here:
__init__(...)
__init__(*args, **kwargs)
Overloaded function.
 
1. __init__(self: mrpt.pymrpt.mrpt.tfest.TSE3RobustParams) -> None
 
2. __init__(self: mrpt.pymrpt.mrpt.tfest.TSE3RobustParams, arg0: mrpt.pymrpt.mrpt.tfest.TSE3RobustParams) -> None
assign(...)
assign(self: mrpt.pymrpt.mrpt.tfest.TSE3RobustParams, : mrpt.pymrpt.mrpt.tfest.TSE3RobustParams) -> mrpt.pymrpt.mrpt.tfest.TSE3RobustParams
 
C++: mrpt::tfest::TSE3RobustParams::operator=(const struct mrpt::tfest::TSE3RobustParams &) --> struct mrpt::tfest::TSE3RobustParams &

Data descriptors defined here:
forceScaleToUnity
ransac_maxSetSizePct
ransac_minSetSize
ransac_nmaxSimulations
ransac_threshold_ang
ransac_threshold_lin
ransac_threshold_scale
user_individual_compat_callback
verbose

Static methods inherited from pybind11_builtins.pybind11_object:
__new__(*args, **kwargs) from pybind11_builtins.pybind11_type
Create and return a new object.  See help(type) for accurate signature.

 
class TSE3RobustResult(pybind11_builtins.pybind11_object)
    Output placeholder for se3_l2_robust()
 
 
Method resolution order:
TSE3RobustResult
pybind11_builtins.pybind11_object
builtins.object

Methods defined here:
__init__(...)
__init__(*args, **kwargs)
Overloaded function.
 
1. __init__(self: mrpt.pymrpt.mrpt.tfest.TSE3RobustResult) -> None
 
2. __init__(self: mrpt.pymrpt.mrpt.tfest.TSE3RobustResult, arg0: mrpt.pymrpt.mrpt.tfest.TSE3RobustResult) -> None
assign(...)
assign(self: mrpt.pymrpt.mrpt.tfest.TSE3RobustResult, : mrpt.pymrpt.mrpt.tfest.TSE3RobustResult) -> mrpt.pymrpt.mrpt.tfest.TSE3RobustResult
 
C++: mrpt::tfest::TSE3RobustResult::operator=(const struct mrpt::tfest::TSE3RobustResult &) --> struct mrpt::tfest::TSE3RobustResult &

Data descriptors defined here:
inliers_idx
scale
transformation

Static methods inherited from pybind11_builtins.pybind11_object:
__new__(*args, **kwargs) from pybind11_builtins.pybind11_type
Create and return a new object.  See help(type) for accurate signature.

 
Functions
       
se2_l2(...) method of builtins.PyCapsule instance
se2_l2(*args, **kwargs)
Overloaded function.
 
1. se2_l2(in_correspondences: mrpt.pymrpt.mrpt.tfest.TMatchingPairListTempl_float_t, out_transformation: mrpt.pymrpt.mrpt.math.TPose2D) -> bool
 
2. se2_l2(in_correspondences: mrpt.pymrpt.mrpt.tfest.TMatchingPairListTempl_float_t, out_transformation: mrpt.pymrpt.mrpt.math.TPose2D, out_estimateCovariance: mrpt.pymrpt.mrpt.math.CMatrixFixed_double_3UL_3UL_t) -> bool
 
Least-squares (L2 norm) solution to finding the optimal SE(2) (x,y,yaw)
 between two reference frames.
  The optimal transformation `q` fulfills 
 
 
, that is, the
  transformation of frame `other` with respect to `this`.
 
  
 
 
 The set of correspondences.
 
 
 The pose that minimizes the mean-square-error
 between all the correspondences.
 
 
 If provided (!=nullptr) this will contain
 on return a 3x3 covariance matrix with the NORMALIZED optimal estimate
 uncertainty. This matrix must be multiplied by 
 
, the variance
 of matched points in 
 
 and 
 (see paper
 https://www.mrpt.org/Paper:Occupancy_Grid_Matching)
 
 
 True if there are at least two correspondences, or false if one or
 none, thus we cannot establish any correspondence.
 
 
 robustRigidTransformation
 
 
 Reference for covariance calculation: J.L. Blanco, J.
 Gonzalez-Jimenez, J.A. Fernandez-Madrigal, "A Robust, Multi-Hypothesis
 Approach to Matching Occupancy Grid Maps", Robotica, 2013.
 http://dx.doi.org/10.1017/S0263574712000732
 
 
 [New in MRPT 1.3.0] This function replaces
 mrpt::scanmatching::leastSquareErrorRigidTransformation()
 
 
 This function is hand-optimized for SSE2 architectures (if SSE2 is
 enabled from CMake)
 
 
 se3_l2, se2_l2_robust
 
 
 
 
 
 
 
C++: mrpt::tfest::se2_l2(const class mrpt::tfest::TMatchingPairListTempl<float> &, struct mrpt::math::TPose2D &, class mrpt::math::CMatrixFixed<double, 3, 3> *) --> bool
 
3. se2_l2(in_correspondences: mrpt.pymrpt.mrpt.tfest.TMatchingPairListTempl_float_t, out_transformation: mrpt.pymrpt.mrpt.poses.CPosePDFGaussian) -> bool
 
C++: mrpt::tfest::se2_l2(const class mrpt::tfest::TMatchingPairListTempl<float> &, class mrpt::poses::CPosePDFGaussian &) --> bool
se2_l2_robust(...) method of builtins.PyCapsule instance
se2_l2_robust(in_correspondences: mrpt.pymrpt.mrpt.tfest.TMatchingPairListTempl_float_t, in_normalizationStd: float, in_ransac_params: mrpt.pymrpt.mrpt.tfest.TSE2RobustParams, out_results: mrpt.pymrpt.mrpt.tfest.TSE2RobustResult) -> bool
 
Robust least-squares (L2 norm) solution to finding the optimal SE(2)
 (x,y,yaw) between two reference frames.
 This method implements a RANSAC-based robust estimation, returning a
 probability distribution over all the possibilities as a Sum of Gaussians.
 
  The optimal transformation `q` fulfills 
 
, that is, the
  transformation of frame `other` with respect to `this`.
 
  
 
  The technique was described in the paper:
    - J.L. Blanco, J. Gonzalez-Jimenez, J.A. Fernandez-Madrigal, "A Robust,
 Multi-Hypothesis Approach to Matching Occupancy Grid Maps", Robotica, 2013.
 http://dx.doi.org/10.1017/S0263574712000732
 
 This works as follows:
 - Repeat "ransac_nSimulations" times:
        - Randomly pick TWO correspondences from the set "in_correspondences".
        - Compute the associated rigid transformation.
        - For "ransac_maxSetSize" randomly selected correspondences, test for
 "consensus" with the current group:
                - If if is compatible (ransac_mahalanobisDistanceThreshold), grow
 the "consensus set"
                - If not, do not add it.
 
  For more details refer to the tutorial on 
* href="http://www.mrpt.org/Scan_Matching_Algorithms">scan matching
 methods.
 
 
 The standard deviation (not variance)
 of landmarks/points/features being matched in X,Y. Used to normalize
 covariances returned as the SoG. (Refer to paper)
 
 NOTE: Parameter `ransac_maxSetSize` should be set to
 `in_correspondences.size()` to make sure that every correspondence is tested
 for each random permutation.
 
 
 True upon success, false if no subset was found with the minimum
 number of correspondences.
 
 
 [New in MRPT 1.3.0] This function replaces
 mrpt::scanmatching::robustRigidTransformation()
 
 
 se3_l2, se2_l2_robust
 
C++: mrpt::tfest::se2_l2_robust(const class mrpt::tfest::TMatchingPairListTempl<float> &, const double, const struct mrpt::tfest::TSE2RobustParams &, struct mrpt::tfest::TSE2RobustResult &) --> bool
se3_l2(...) method of builtins.PyCapsule instance
se3_l2(*args, **kwargs)
Overloaded function.
 
1. se3_l2(in_correspondences: mrpt.pymrpt.mrpt.tfest.TMatchingPairListTempl_float_t, out_transform: mrpt.pymrpt.mrpt.poses.CPose3DQuat, out_scale: float) -> bool
 
2. se3_l2(in_correspondences: mrpt.pymrpt.mrpt.tfest.TMatchingPairListTempl_float_t, out_transform: mrpt.pymrpt.mrpt.poses.CPose3DQuat, out_scale: float, forceScaleToUnity: bool) -> bool
 
Least-squares (L2 norm) solution to finding the optimal SE(3) transform
 between two reference frames using the "quaternion" or Horn's method
 
 
  The optimal transformation `q` fulfills 
 
, that is, the
  transformation of frame `other` with respect to `this`.
 
  
 
 
  The coordinates of the input points for the
 two coordinate systems "this" and "other"
 
 
       The output transformation
 
 
           The computed scale of the optimal
 transformation (will be 1.0 for a perfectly rigid translation + rotation).
 
 
   Whether or not force the scale employed to
 rotate the coordinate systems to one (rigid transformation)
 
 
 [New in MRPT 1.3.0] This function replaces
 mrpt::scanmatching::leastSquareErrorRigidTransformation6DRANSAC() and
 mrpt::scanmatching::HornMethod()
 
 
 se2_l2, se3_l2_robust
 
C++: mrpt::tfest::se3_l2(const class mrpt::tfest::TMatchingPairListTempl<float> &, class mrpt::poses::CPose3DQuat &, double &, bool) --> bool
se3_l2_robust(...) method of builtins.PyCapsule instance
se3_l2_robust(in_correspondences: mrpt.pymrpt.mrpt.tfest.TMatchingPairListTempl_float_t, in_params: mrpt.pymrpt.mrpt.tfest.TSE3RobustParams, out_results: mrpt.pymrpt.mrpt.tfest.TSE3RobustResult) -> bool
 
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 
 
  The optimal transformation `q` fulfills 
 
, that is, the
  transformation of frame `other` with respect to `this`.
 
  
 
 
 The set of correspondences.
 
 
 Method parameters (see docs for TSE3RobustParams)
 
 
 Results: transformation, scale, etc.
 
 
 True if the minimum number of correspondences was found, false
 otherwise.
 
 
 Implemented by FAMD, 2008. Re-factored by JLBC, 2015.
 
 
 [New in MRPT 1.3.0] This function replaces
 mrpt::scanmatching::leastSquareErrorRigidTransformation6DRANSAC()
 
 
 se2_l2, se3_l2
 
C++: mrpt::tfest::se3_l2_robust(const class mrpt::tfest::TMatchingPairListTempl<float> &, const struct mrpt::tfest::TSE3RobustParams &, struct mrpt::tfest::TSE3RobustResult &) --> bool