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mrpt::slam::CMetricMap::TMatchingPairList Class Reference

A list of TMatchingPair. More...

#include <mrpt/slam/CMetricMap.h>

Inherits std::deque< mrpt::slam::CMetricMap::TMatchingPair >.

List of all members.

Public Member Functions

bool indexOtherMapHasCorrespondence (unsigned int idx)
 Checks if the given index from the "other" map appears in the list.
void dumpToFile (const char *fileName)
 Saves the correspondences to a text file.
void saveAsMATLABScript (const std::string &filName)
 Saves the correspondences as a MATLAB script which draws them.
float overallSquareError (const CPose2D &q) const
 Computes the overall square error between the 2D points in the list of correspondences, given the 2D transformation "q"

\[ \sum\limits_i e_i \]

Where $ e_i $ are the elements of the square error vector as computed by computeSquareErrorVector.

float overallSquareErrorAndPoints (const CPose2D &q, vector_float &xs, 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.
void squareErrorVector (const CPose2D &q, 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 $ e_i $ is the square distance between the "this" (global) point and the "other" (local) point transformed through "q":

\[ e_i = | x_{this} - q \oplus x_{other} |^2 \]

.

void squareErrorVector (const CPose2D &q, vector_float &out_sqErrs, vector_float &xs, 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 $ e_i $ is the square distance between the "this" (global) point and the "other" (local) point transformed through "q":

\[ e_i = | x_{this} - q \oplus x_{other} |^2 \]

.

bool contains (const TMatchingPair &p) const
 Test whether the given pair "p" is within the pairings.


Detailed Description

A list of TMatchingPair.

Definition at line 204 of file CMetricMap.h.


Member Function Documentation

bool mrpt::slam::CMetricMap::TMatchingPairList::contains ( const TMatchingPair p  )  const

Test whether the given pair "p" is within the pairings.

void mrpt::slam::CMetricMap::TMatchingPairList::dumpToFile ( const char *  fileName  ) 

Saves the correspondences to a text file.

bool mrpt::slam::CMetricMap::TMatchingPairList::indexOtherMapHasCorrespondence ( unsigned int  idx  ) 

Checks if the given index from the "other" map appears in the list.

float mrpt::slam::CMetricMap::TMatchingPairList::overallSquareError ( const CPose2D q  )  const

Computes the overall square error between the 2D points in the list of correspondences, given the 2D transformation "q"

\[ \sum\limits_i e_i \]

Where $ e_i $ are the elements of the square error vector as computed by computeSquareErrorVector.

See also:
squareErrorVector, overallSquareErrorAndPoints

float mrpt::slam::CMetricMap::TMatchingPairList::overallSquareErrorAndPoints ( const CPose2D q,
vector_float xs,
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.

\[ \sum\limits_i e_i \]

Where $ e_i $ are the elements of the square error vector as computed by computeSquareErrorVector

See also:
squareErrorVector

void mrpt::slam::CMetricMap::TMatchingPairList::saveAsMATLABScript ( const std::string &  filName  ) 

Saves the correspondences as a MATLAB script which draws them.

void mrpt::slam::CMetricMap::TMatchingPairList::squareErrorVector ( const CPose2D q,
vector_float out_sqErrs,
vector_float xs,
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 $ e_i $ is the square distance between the "this" (global) point and the "other" (local) point transformed through "q":

\[ e_i = | x_{this} - q \oplus x_{other} |^2 \]

.

See also:
overallSquareError

void mrpt::slam::CMetricMap::TMatchingPairList::squareErrorVector ( const CPose2D q,
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 $ e_i $ is the square distance between the "this" (global) point and the "other" (local) point transformed through "q":

\[ e_i = | x_{this} - q \oplus x_{other} |^2 \]

.

See also:
overallSquareError




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