observations_overlap.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
#ifndef observations_overlap_H
#define observations_overlap_H

#include <mrpt/obs/obs_frwds.h>
#include <mrpt/obs/CSensoryFrame.h>

namespace mrpt
{
namespace slam
{
/**  \addtogroup mrpt_slam_grp
  *   @{ */

/** @name Observations overlap functions
        @{  */

/** Estimates the "overlap" or "matching ratio" of two observations (range
 * [0,1]), possibly taking into account their relative positions.
  *  \note This is used in mrpt::slam::CIncrementalMapPartitioner
  */
double observationsOverlap(
        const mrpt::obs::CObservation* o1, const mrpt::obs::CObservation* o2,
        const mrpt::poses::CPose3D* pose_o2_wrt_o1 = nullptr);

/** Estimates the "overlap" or "matching ratio" of two observations (range
 * [0,1]), possibly taking into account their relative positions.
  *  \note This is used in mrpt::slam::CIncrementalMapPartitioner
  */
inline double observationsOverlap(
        const mrpt::obs::CObservation::Ptr& o1,
        const mrpt::obs::CObservation::Ptr& o2,
        const mrpt::poses::CPose3D* pose_o2_wrt_o1 = nullptr)
{
        return observationsOverlap(o1.get(), o2.get(), pose_o2_wrt_o1);
}

/** Estimates the "overlap" or "matching ratio" of two set of observations
 * (range [0,1]), possibly taking into account their relative positions.
  *   This method computes the average between each of the observations in each
 * SF.
  *  \note This is used in mrpt::slam::CIncrementalMapPartitioner
  */
double observationsOverlap(
        const mrpt::obs::CSensoryFrame& sf1, const mrpt::obs::CSensoryFrame& sf2,
        const mrpt::poses::CPose3D* pose_sf2_wrt_sf1 = nullptr);

/** Estimates the "overlap" or "matching ratio" of two set of observations
 * (range [0,1]), possibly taking into account their relative positions.
  *   This method computes the average between each of the observations in each
 * SF.
  *  \note This is used in mrpt::slam::CIncrementalMapPartitioner
  */
inline double observationsOverlap(
        const mrpt::obs::CSensoryFrame::Ptr& sf1,
        const mrpt::obs::CSensoryFrame::Ptr& sf2,
        const mrpt::poses::CPose3D* pose_sf2_wrt_sf1 = nullptr)
{
        return observationsOverlap(*sf1.get(), *sf2.get(), pose_sf2_wrt_sf1);
}

/** @} */

/** @} */  // end grouping

}  // End of namespace
}  // End of namespace

#endif