MRPT
2.0.4

A list of TMatchingPair.
Definition at line 70 of file TMatchingPair.h.
#include <mrpt/tfest/TMatchingPair.h>
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"
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":
. 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":
. 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...  
bool TMatchingPairList::contains  (  const TMatchingPair &  p  )  const 
Test whether the given pair "p" is within the pairings.
Definition at line 122 of file TMatchingPair.cpp.
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_, and mrpt::format().
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 184 of file TMatchingPair.cpp.
Referenced by mrpt::maps::CPointsMap::determineMatching2D(), and mrpt::maps::CPointsMap::determineMatching3D().
bool TMatchingPairList::indexOtherMapHasCorrespondence  (  size_t  idx  )  const 
Checks if the given index from the "other" map appears in the list.
Definition at line 73 of file TMatchingPair.cpp.
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"
Where are the elements of the square error vector as computed by computeSquareErrorVector.
Definition at line 104 of file TMatchingPair.cpp.
References mrpt::math::size().
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.
Where are the elements of the square error vector as computed by computeSquareErrorVector
Definition at line 111 of file TMatchingPair.cpp.
References mrpt::math::size().
void TMatchingPairList::saveAsMATLABScript  (  const std::string &  filName  )  const 
Saves the correspondences as a MATLAB script which draws them.
Definition at line 42 of file TMatchingPair.cpp.
References mrpt::system::os::fclose(), mrpt::system::os::fopen(), and mrpt::system::os::fprintf().
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 is the square distance between the "this" (global) point and the "other" (local) point transformed through "q":
.
Definition at line 132 of file TMatchingPair.cpp.
References mrpt::containers::begin(), mrpt::d2f(), mrpt::containers::end(), mrpt::poses::CPose2D::phi(), mrpt::math::size(), mrpt::square(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().
Referenced by mrpt::slam::CICP::ICP_Method_LM().
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 is the square distance between the "this" (global) point and the "other" (local) point transformed through "q":
.
Definition at line 157 of file TMatchingPair.cpp.
References mrpt::containers::begin(), mrpt::d2f(), mrpt::containers::end(), mrpt::poses::CPose2D::phi(), mrpt::math::size(), mrpt::square(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

inherited 
STL member.
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