MRPT  1.9.9
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mrpt::slam::TDataAssociationResults Struct Reference

Detailed Description

The results from mrpt::slam::data_association.

Definition at line 61 of file data_association.h.

#include <mrpt/slam/data_association.h>

Public Member Functions

 TDataAssociationResults ()
 
void clear ()
 

Public Attributes

std::map< observation_index_t, prediction_index_tassociations
 For each observation (with row index IDX_obs in the input "Z_observations"), its association in the predictions, as the row index in the "Y_predictions_mean" input (or it's mapping to a custom ID, if it was provided). More...
 
double distance {0}
 The Joint Mahalanobis distance or matching likelihood of the best associations found. More...
 
mrpt::math::CMatrixDouble indiv_distances
 Individual mahalanobis distances (or matching likelihood, depending on the selected metric) between predictions (row indices) & observations (column indices). More...
 
mrpt::math::CMatrixBool indiv_compatibility
 The result of a chi2 test for compatibility using mahalanobis distance - Indices are like in "indiv_distances". More...
 
std::vector< uint32_t > indiv_compatibility_counts
 The sum of each column of indiv_compatibility, that is, the number of compatible pairings for each observation. More...
 
size_t nNodesExploredInJCBB {0}
 Only for the JCBB method,the number of recursive calls expent in the algorithm. More...
 

Constructor & Destructor Documentation

◆ TDataAssociationResults()

mrpt::slam::TDataAssociationResults::TDataAssociationResults ( )
inline

Definition at line 63 of file data_association.h.

Member Function Documentation

◆ clear()

void mrpt::slam::TDataAssociationResults::clear ( )
inline

Definition at line 73 of file data_association.h.

References associations, distance, indiv_compatibility, indiv_compatibility_counts, indiv_distances, nNodesExploredInJCBB, and mrpt::math::CMatrixDynamic< T >::setSize().

Referenced by mrpt::slam::CRangeBearingKFSLAM2D::TDataAssocInfo::clear(), and mrpt::slam::CRangeBearingKFSLAM::TDataAssocInfo::clear().

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Member Data Documentation

◆ associations

std::map<observation_index_t, prediction_index_t> mrpt::slam::TDataAssociationResults::associations

For each observation (with row index IDX_obs in the input "Z_observations"), its association in the predictions, as the row index in the "Y_predictions_mean" input (or it's mapping to a custom ID, if it was provided).

Note that not all observations may have an associated prediction. An observation with index "IDX_obs" corresponds to the prediction number "associations[IDX_obs]", or it may not correspond to anyone if it's not present in the std::map (Tip: Use associations.find(IDX_obs)!=associations.end() )

Note
The types observation_index_t and prediction_index_t are just used for clarity, use normal size_t's.

Definition at line 96 of file data_association.h.

Referenced by clear(), mrpt::slam::CRangeBearingKFSLAM2D::OnGetObservationsAndDataAssociation(), mrpt::slam::CRangeBearingKFSLAM::OnGetObservationsAndDataAssociation(), and TEST().

◆ distance

double mrpt::slam::TDataAssociationResults::distance {0}

The Joint Mahalanobis distance or matching likelihood of the best associations found.

Definition at line 99 of file data_association.h.

Referenced by clear().

◆ indiv_compatibility

mrpt::math::CMatrixBool mrpt::slam::TDataAssociationResults::indiv_compatibility

The result of a chi2 test for compatibility using mahalanobis distance - Indices are like in "indiv_distances".

Definition at line 110 of file data_association.h.

Referenced by clear().

◆ indiv_compatibility_counts

std::vector<uint32_t> mrpt::slam::TDataAssociationResults::indiv_compatibility_counts

The sum of each column of indiv_compatibility, that is, the number of compatible pairings for each observation.

Definition at line 113 of file data_association.h.

Referenced by clear().

◆ indiv_distances

mrpt::math::CMatrixDouble mrpt::slam::TDataAssociationResults::indiv_distances

Individual mahalanobis distances (or matching likelihood, depending on the selected metric) between predictions (row indices) & observations (column indices).

Indices are for the appearing order in the arguments "Y_predictions_mean" & "Z_observations", they are NOT landmark IDs.

Definition at line 107 of file data_association.h.

Referenced by clear().

◆ nNodesExploredInJCBB

size_t mrpt::slam::TDataAssociationResults::nNodesExploredInJCBB {0}

Only for the JCBB method,the number of recursive calls expent in the algorithm.

Definition at line 117 of file data_association.h.

Referenced by clear().




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