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observations_overlap.h
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1 /* +---------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +---------------------------------------------------------------------------+ */
9 #ifndef observations_overlap_H
10 #define observations_overlap_H
11 
12 #include <mrpt/obs/obs_frwds.h>
13 #include <mrpt/obs/CSensoryFrame.h>
14 #include <mrpt/slam/link_pragmas.h>
15 
16 namespace mrpt
17 {
18  namespace slam
19  {
20  /** \addtogroup mrpt_slam_grp
21  * @{ */
22 
23  /** @name Observations overlap functions
24  @{ */
25 
26  /** Estimates the "overlap" or "matching ratio" of two observations (range [0,1]), possibly taking into account their relative positions.
27  * \note This is used in mrpt::slam::CIncrementalMapPartitioner
28  */
30  const mrpt::obs::CObservation* o1,
31  const mrpt::obs::CObservation* o2,
32  const mrpt::poses::CPose3D *pose_o2_wrt_o1 = NULL );
33 
34  /** Estimates the "overlap" or "matching ratio" of two observations (range [0,1]), possibly taking into account their relative positions.
35  * \note This is used in mrpt::slam::CIncrementalMapPartitioner
36  */
37  inline double observationsOverlap(
38  const mrpt::obs::CObservationPtr & o1,
39  const mrpt::obs::CObservationPtr & o2,
40  const mrpt::poses::CPose3D *pose_o2_wrt_o1 = NULL )
41  {
42  return observationsOverlap(o1.pointer(), o2.pointer(), pose_o2_wrt_o1 );
43  }
44 
45  /** Estimates the "overlap" or "matching ratio" of two set of observations (range [0,1]), possibly taking into account their relative positions.
46  * This method computes the average between each of the observations in each SF.
47  * \note This is used in mrpt::slam::CIncrementalMapPartitioner
48  */
50  const mrpt::obs::CSensoryFrame &sf1,
51  const mrpt::obs::CSensoryFrame &sf2,
52  const mrpt::poses::CPose3D *pose_sf2_wrt_sf1 = NULL );
53 
54  /** Estimates the "overlap" or "matching ratio" of two set of observations (range [0,1]), possibly taking into account their relative positions.
55  * This method computes the average between each of the observations in each SF.
56  * \note This is used in mrpt::slam::CIncrementalMapPartitioner
57  */
58  inline double observationsOverlap(
59  const mrpt::obs::CSensoryFramePtr &sf1,
60  const mrpt::obs::CSensoryFramePtr &sf2,
61  const mrpt::poses::CPose3D *pose_sf2_wrt_sf1 = NULL )
62  {
63  return observationsOverlap(*sf1.pointer(), *sf2.pointer(), pose_sf2_wrt_sf1);
64  }
65 
66  /** @} */
67 
68  /** @} */ // end grouping
69 
70  } // End of namespace
71 } // End of namespace
72 
73 #endif
double SLAM_IMPEXP observationsOverlap(const mrpt::obs::CObservation *o1, const mrpt::obs::CObservation *o2, const mrpt::poses::CPose3D *pose_o2_wrt_o1=NULL)
Estimates the "overlap" or "matching ratio" of two observations (range [0,1]), possibly taking into a...
Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Definition: CPose3D.h:72
Declares a class that represents any robot&#39;s observation.



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