Detailed Description

Definition at line 93 of file TMatchingPair.h.

#include <mrpt/utils/TMatchingPair.h>

Inheritance diagram for mrpt::utils::TMatchingPairList:

Public Member Functions
bool	indexOtherMapHasCorrespondence (size_t idx) const
	Checks if the given index from the "other" map appears in the list. More...

void	dumpToFile (const std::string &fileName) const
	Saves the correspondences to a text file. More...

void	saveAsMATLABScript (const std::string &filName) const
	Saves the correspondences as a MATLAB script which draws them. More...

float	overallSquareError (const mrpt::poses::CPose2D &q) const
	Computes the overall square error between the 2D points in the list of correspondences, given the 2D transformation "q" $\sum\limits_i e_i$ Where are the elements of the square error vector as computed by computeSquareErrorVector. More...

float	overallSquareErrorAndPoints (const mrpt::poses::CPose2D &q, std::vector< float > &xs, std::vector< float > &ys) const
	Computes the overall square error between the 2D points in the list of correspondences, given the 2D transformation "q", and return the transformed points as well. More...

void	squareErrorVector (const mrpt::poses::CPose2D &q, std::vector< float > &out_sqErrs) const
	Returns a vector with the square error between each pair of correspondences in the list, given the 2D transformation "q" Each element is the square distance between the "this" (global) point and the "other" (local) point transformed through "q": $e_i = \| x_{this} - q \oplus x_{other} \|^2$ . More...

void	squareErrorVector (const mrpt::poses::CPose2D &q, std::vector< float > &out_sqErrs, std::vector< float > &xs, std::vector< float > &ys) const
	Returns a vector with the square error between each pair of correspondences in the list and the transformed "other" (local) points, given the 2D transformation "q" Each element is the square distance between the "this" (global) point and the "other" (local) point transformed through "q": $e_i = \| x_{this} - q \oplus x_{other} \|^2$ . More...

bool	contains (const TMatchingPair &p) const
	Test whether the given pair "p" is within the pairings. More...

void	filterUniqueRobustPairs (const size_t num_elements_this_map, TMatchingPairList &out_filtered_list) const
	Creates a filtered list of pairings with those ones which have a single correspondence which coincides in both directions, i.e. More...

Public Attributes
T	elements
	STL member. More...

Member Function Documentation

◆ contains()

bool TMatchingPairList::contains ( const TMatchingPair & p ) const

Test whether the given pair "p" is within the pairings.

Definition at line 133 of file TMatchingPair.cpp.

References mrpt::utils::begin(), and mrpt::utils::end().

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◆ dumpToFile()

void TMatchingPairList::dumpToFile ( const std::string & fileName ) const

Saves the correspondences to a text file.

Definition at line 29 of file TMatchingPair.cpp.

References ASSERT_, mrpt::utils::begin(), mrpt::utils::end(), mrpt::utils::CFileOutputStream::fileOpenCorrectly(), and mrpt::utils::CStream::printf().

Referenced by mrpt::tfest::se2_l2_robust().

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◆ filterUniqueRobustPairs()

void TMatchingPairList::filterUniqueRobustPairs	(	const size_t	num_elements_this_map,
		TMatchingPairList &	out_filtered_list
	)		const

Creates a filtered list of pairings with those ones which have a single correspondence which coincides in both directions, i.e.

the best pairing of element i in map this is the best match for element j in map other, and viceversa

Definition at line 195 of file TMatchingPair.cpp.

Referenced by mrpt::maps::CPointsMap::determineMatching2D(), and mrpt::maps::CPointsMap::determineMatching3D().

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◆ indexOtherMapHasCorrespondence()

bool TMatchingPairList::indexOtherMapHasCorrespondence ( size_t idx ) const

Checks if the given index from the "other" map appears in the list.

Definition at line 77 of file TMatchingPair.cpp.

References mrpt::utils::begin(), and mrpt::utils::end().

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◆ overallSquareError()

float TMatchingPairList::overallSquareError ( const mrpt::poses::CPose2D & q ) const

Computes the overall square error between the 2D points in the list of correspondences, given the 2D transformation "q"

$\sum\limits_i e_i$

Where $ e_i $ are the elements of the square error vector as computed by computeSquareErrorVector.

See also: squareErrorVector, overallSquareErrorAndPoints

Definition at line 112 of file TMatchingPair.cpp.

References mrpt::math::sum().

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◆ overallSquareErrorAndPoints()

float TMatchingPairList::overallSquareErrorAndPoints	(	const mrpt::poses::CPose2D &	q,
		std::vector< float > &	xs,
		std::vector< float > &	ys
	)		const

Computes the overall square error between the 2D points in the list of correspondences, given the 2D transformation "q", and return the transformed points as well.

$\sum\limits_i e_i$

Where $ e_i $ are the elements of the square error vector as computed by computeSquareErrorVector

See also: squareErrorVector

Definition at line 122 of file TMatchingPair.cpp.

References mrpt::math::sum().

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◆ saveAsMATLABScript()

void TMatchingPairList::saveAsMATLABScript ( const std::string & filName ) const

Saves the correspondences as a MATLAB script which draws them.

Definition at line 46 of file TMatchingPair.cpp.

References mrpt::utils::begin(), mrpt::utils::end(), mrpt::system::os::fclose(), mrpt::system::os::fopen(), and mrpt::system::os::fprintf().

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◆ squareErrorVector() [1/2]

void TMatchingPairList::squareErrorVector	(	const mrpt::poses::CPose2D &	q,
		std::vector< float > &	out_sqErrs
	)		const

Returns a vector with the square error between each pair of correspondences in the list, given the 2D transformation "q" Each element $ e_i $ is the square distance between the "this" (global) point and the "other" (local) point transformed through "q":

$e_i = | x_{this} - q \oplus x_{other} |^2$

.

See also: overallSquareError

Definition at line 143 of file TMatchingPair.cpp.

References mrpt::utils::begin(), mrpt::utils::end(), and mrpt::math::square().

Referenced by mrpt::slam::CICP::ICP_Method_LM().

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◆ squareErrorVector() [2/2]

void TMatchingPairList::squareErrorVector	(	const mrpt::poses::CPose2D &	q,
		std::vector< float > &	out_sqErrs,
		std::vector< float > &	xs,
		std::vector< float > &	ys
	)		const

Returns a vector with the square error between each pair of correspondences in the list and the transformed "other" (local) points, given the 2D transformation "q" Each element $ e_i $ is the square distance between the "this" (global) point and the "other" (local) point transformed through "q":

$e_i = | x_{this} - q \oplus x_{other} |^2$

.

See also: overallSquareError

Definition at line 168 of file TMatchingPair.cpp.

References mrpt::utils::begin(), mrpt::utils::end(), and mrpt::math::square().

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Member Data Documentation

◆ elements

T std::vector< T >::elements

inherited

STL member.

Detailed Description

Public Member Functions

Public Attributes

Member Function Documentation

◆ contains()

◆ dumpToFile()

◆ filterUniqueRobustPairs()

◆ indexOtherMapHasCorrespondence()

◆ overallSquareError()

◆ overallSquareErrorAndPoints()

◆ saveAsMATLABScript()

◆ squareErrorVector() [1/2]

◆ squareErrorVector() [2/2]

Member Data Documentation

◆ elements