ConsistencyTest.cpp File Reference

#include "pbmap-precomp.h"
#include <mrpt/math/CMatrixFixed.h>
#include <mrpt/math/CVectorFixed.h>
#include <mrpt/math/ransac.h>
#include <mrpt/pbmap/ConsistencyTest.h>
#include <mrpt/pbmap/PbMapLocaliser.h>
#include <mrpt/pbmap/SubgraphMatcher.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/poses/Lie/SE.h>

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Functions
CMatrixDouble	getAlignment (const CMatrixDouble &matched_planes)
void	ransacPlaneAlignment_fit (const CMatrixDouble &planeCorresp, const std::vector< size_t > &useIndices, vector< CMatrixDouble > &fitModels)
void	ransac3Dplane_distance (const CMatrixDouble &planeCorresp, const vector< CMatrixDouble > &testModels, const double distanceThreshold, unsigned int &out_bestModelIndex, std::vector< size_t > &out_inlierIndices)
bool	ransac3Dplane_degenerate (const CMatrixDouble &planeCorresp, const std::vector< size_t > &useIndices)
	Return "true" if the selected points are a degenerate (invalid) case. More...

Function Documentation

getAlignment()

CMatrixDouble getAlignment

(

const CMatrixDouble &

matched_planes

)

Definition at line 567 of file ConsistencyTest.cpp.

References mrpt::math::CMatrixDynamic< T >::cols(), and mrpt::math::CMatrixDynamic< T >::rows().

Referenced by ransacPlaneAlignment_fit().

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ransac3Dplane_degenerate()

bool ransac3Dplane_degenerate	(	const CMatrixDouble &	planeCorresp,
		const std::vector< size_t > &	useIndices
	)

Return "true" if the selected points are a degenerate (invalid) case.

Definition at line 725 of file ConsistencyTest.cpp.

References ASSERT_.

Referenced by mrpt::pbmap::ConsistencyTest::estimatePoseRANSAC().

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ransac3Dplane_distance()

void ransac3Dplane_distance	(	const CMatrixDouble &	planeCorresp,
		const vector< CMatrixDouble > &	testModels,
		const double	distanceThreshold,
		unsigned int &	out_bestModelIndex,
		std::vector< size_t > &	out_inlierIndices
	)

Definition at line 684 of file ConsistencyTest.cpp.

References ASSERT_, mrpt::math::CMatrixDynamic< T >::cols(), mrpt::math::MatrixVectorBase< Scalar, Derived >::dot(), and mrpt::math::norm().

Referenced by mrpt::pbmap::ConsistencyTest::estimatePoseRANSAC().

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ransacPlaneAlignment_fit()

void ransacPlaneAlignment_fit	(	const CMatrixDouble &	planeCorresp,
		const std::vector< size_t > &	useIndices,
		vector< CMatrixDouble > &	fitModels
	)

Definition at line 655 of file ConsistencyTest.cpp.

References ASSERT_, mrpt::math::MatrixBase< Scalar, Derived >::col(), and getAlignment().

Referenced by mrpt::pbmap::ConsistencyTest::estimatePoseRANSAC().

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