Main MRPT website > C++ reference for MRPT 1.5.6
Functions
ConsistencyTest.cpp File Reference
#include "pbmap-precomp.h"
#include <mrpt/math/CArrayNumeric.h>
#include <mrpt/math/CMatrixFixedNumeric.h>
#include <mrpt/math/ransac.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/pbmap/ConsistencyTest.h>
#include <mrpt/pbmap/SubgraphMatcher.h>
#include <mrpt/pbmap/PbMapLocaliser.h>
Include dependency graph for ConsistencyTest.cpp:

Go to the source code of this file.

Functions

CMatrixDouble getAlignment (const CMatrixDouble &matched_planes)
 
void ransacPlaneAlignment_fit (const CMatrixDouble &planeCorresp, const mrpt::vector_size_t &useIndices, vector< CMatrixDouble > &fitModels)
 
void ransac3Dplane_distance (const CMatrixDouble &planeCorresp, const vector< CMatrixDouble > &testModels, const double distanceThreshold, unsigned int &out_bestModelIndex, mrpt::vector_size_t &out_inlierIndices)
 
bool ransac3Dplane_degenerate (const CMatrixDouble &planeCorresp, const mrpt::vector_size_t &useIndices)
 Return "true" if the selected points are a degenerate (invalid) case. More...
 

Function Documentation

CMatrixDouble getAlignment ( const CMatrixDouble matched_planes)

Definition at line 469 of file ConsistencyTest.cpp.

References det().

Referenced by ransacPlaneAlignment_fit().

bool ransac3Dplane_degenerate ( const CMatrixDouble planeCorresp,
const mrpt::vector_size_t useIndices 
)

Return "true" if the selected points are a degenerate (invalid) case.

Definition at line 611 of file ConsistencyTest.cpp.

References ASSERT_, and cross().

Referenced by mrpt::pbmap::ConsistencyTest::estimatePoseRANSAC().

void ransac3Dplane_distance ( const CMatrixDouble planeCorresp,
const vector< CMatrixDouble > &  testModels,
const double  distanceThreshold,
unsigned int out_bestModelIndex,
mrpt::vector_size_t out_inlierIndices 
)

Definition at line 577 of file ConsistencyTest.cpp.

References ASSERT_, and mrpt::math::norm().

Referenced by mrpt::pbmap::ConsistencyTest::estimatePoseRANSAC().

void ransacPlaneAlignment_fit ( const CMatrixDouble planeCorresp,
const mrpt::vector_size_t useIndices,
vector< CMatrixDouble > &  fitModels 
)

Definition at line 548 of file ConsistencyTest.cpp.

References ASSERT_, and getAlignment().

Referenced by mrpt::pbmap::ConsistencyTest::estimatePoseRANSAC().




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