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mrpt::slam::TDataAssociationResults Struct Reference

The results from mrpt::slam::data_association. More...

#include <mrpt/slam/data_association.h>

List of all members.

Public Attributes

std::map< size_t, size_t > associations
 For each landmark ID in the observations ID_obs, its association in the predictions ID_pred = associations[ID_obs] Note that not all observations may have an associated landmark in the predictions.
double distance_maha
 Mahalanobis distance of the best associations found.
mrpt::math::CMatrixDouble indiv_distances
 Individual mahalanobis distances between predictions (row indices) & observations (column indices).
mrpt::math::CMatrixBool indiv_compatibility
 Like "indiv_distances" but passed thru the chi2 threshold.
vector_uint indiv_compatibility_counts
 The sum of each column of indiv_compatibility, that is, the number of compatible pairings for each observation.
std::map< size_t, size_t > obsidx2id
std::map< size_t, size_t > predidx2id
 Maps from indices in the prediction/observation vectors to their corresponding IDs.
std::map< size_t, size_t > id2predidx
std::map< size_t, size_t > id2obsidx
 The oposite to obsidx2id & predidx2id.


Detailed Description

The results from mrpt::slam::data_association.

Definition at line 48 of file data_association.h.


Member Data Documentation

For each landmark ID in the observations ID_obs, its association in the predictions ID_pred = associations[ID_obs] Note that not all observations may have an associated landmark in the predictions.

Definition at line 53 of file data_association.h.

Mahalanobis distance of the best associations found.

Definition at line 54 of file data_association.h.

The oposite to obsidx2id & predidx2id.

Definition at line 65 of file data_association.h.

Definition at line 65 of file data_association.h.

Like "indiv_distances" but passed thru the chi2 threshold.

Definition at line 61 of file data_association.h.

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

Definition at line 62 of file data_association.h.

Individual mahalanobis distances between predictions (row indices) & observations (column indices).

Indices are for the appearing order in the arguments "predictions" & "observations", they are NOT landmark IDs. For helping in converting indices, see the members: obsidx2id, predidx2id, id2predidx, id2obsidx

Definition at line 60 of file data_association.h.

Definition at line 64 of file data_association.h.

Maps from indices in the prediction/observation vectors to their corresponding IDs.

Definition at line 64 of file data_association.h.




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