MRPT  1.9.9
se3_ransac_unittest.cpp File Reference
#include <mrpt/maps/CSimplePointsMap.h>
#include <mrpt/math/geometry.h>
#include <mrpt/poses/CPose2D.h>
#include <mrpt/poses/CPosePDFGaussian.h>
#include <mrpt/poses/CPosePDFSOG.h>
#include <mrpt/random.h>
#include <mrpt/tfest/se2.h>
#include <gtest/gtest.h>
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Classes

struct  TObs
 

Functions

bool ransac_data_assoc_run ()
 
 TEST (tfest, ransac_data_assoc)
 

Variables

const size_t NUM_OBSERVATIONS_TO_SIMUL = 15
 
const size_t RANSAC_MINIMUM_INLIERS = 9
 
const float normalizationStd = 0.10f
 
const float ransac_mahalanobisDistanceThreshold = 5.0f
 
const size_t MINIMUM_RANSAC_ITERS = 100000
 
const size_t NUM_MAP_FEATS = 50
 
const double MAP_SIZE_X = 30
 
const double MAP_SIZE_Y = 15
 

Function Documentation

◆ ransac_data_assoc_run()

bool ransac_data_assoc_run ( )

Definition at line 55 of file se3_ransac_unittest.cpp.

References ASSERT_, mrpt::poses::CPose2D::composePoint(), mrpt::poses::CPosePDFGaussian::cov, mrpt::DEG2RAD(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::distanceTo(), mrpt::random::CRandomGenerator::drawGaussian1D(), mrpt::maps::CPointsMap::getPoint(), mrpt::random::getRandomGenerator(), mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::kdTreeRadiusSearch2D(), M_PI, MAP_SIZE_X, MAP_SIZE_Y, mrpt::poses::CPosePDFGaussian::mean, MINIMUM_RANSAC_ITERS, normalizationStd, NUM_MAP_FEATS, NUM_OBSERVATIONS_TO_SIMUL, mrpt::tfest::TMatchingPair::other_idx, mrpt::tfest::TMatchingPair::other_x, mrpt::tfest::TMatchingPair::other_y, mrpt::poses::CPose2D::phi(), mrpt::random::CRandomGenerator::randomize(), ransac_mahalanobisDistanceThreshold, RANSAC_MINIMUM_INLIERS, mrpt::maps::CSimplePointsMap::resize(), results, mrpt::tfest::se2_l2(), mrpt::tfest::se2_l2_robust(), mrpt::maps::CPointsMap::setPoint(), mrpt::maps::CPointsMap::size(), mrpt::square(), mrpt::tfest::TMatchingPair::this_idx, mrpt::tfest::TMatchingPair::this_x, mrpt::tfest::TMatchingPair::this_y, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

Referenced by TEST().

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◆ TEST()

TEST ( tfest  ,
ransac_data_assoc   
)

Definition at line 177 of file se3_ransac_unittest.cpp.

References ransac_data_assoc_run().

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Variable Documentation

◆ MAP_SIZE_X

const double MAP_SIZE_X = 30

Definition at line 42 of file se3_ransac_unittest.cpp.

Referenced by ransac_data_assoc_run().

◆ MAP_SIZE_Y

const double MAP_SIZE_Y = 15

Definition at line 43 of file se3_ransac_unittest.cpp.

Referenced by ransac_data_assoc_run().

◆ MINIMUM_RANSAC_ITERS

const size_t MINIMUM_RANSAC_ITERS = 100000

Definition at line 39 of file se3_ransac_unittest.cpp.

Referenced by ransac_data_assoc_run().

◆ normalizationStd

◆ NUM_MAP_FEATS

const size_t NUM_MAP_FEATS = 50

Definition at line 41 of file se3_ransac_unittest.cpp.

Referenced by ransac_data_assoc_run().

◆ NUM_OBSERVATIONS_TO_SIMUL

const size_t NUM_OBSERVATIONS_TO_SIMUL = 15

Definition at line 34 of file se3_ransac_unittest.cpp.

Referenced by ransac_data_assoc_run().

◆ ransac_mahalanobisDistanceThreshold

◆ RANSAC_MINIMUM_INLIERS

const size_t RANSAC_MINIMUM_INLIERS = 9

Definition at line 35 of file se3_ransac_unittest.cpp.

Referenced by ransac_data_assoc_run().




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