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se3_ransac_unittest.cpp File Reference
#include <mrpt/random.h>
#include <mrpt/poses/CPose2D.h>
#include <mrpt/poses/CPosePDFGaussian.h>
#include <mrpt/poses/CPosePDFSOG.h>
#include <mrpt/math/geometry.h>
#include <mrpt/tfest/se2.h>
#include <mrpt/maps/CSimplePointsMap.h>
#include <gtest/gtest.h>
Include dependency graph for se3_ransac_unittest.cpp:

Go to the source code of this file.

Classes

struct  TObs
 

Functions

bool ransac_data_assoc_run ()
 
 TEST (tfest, ransac_data_assoc)
 

Variables

const size_t NUM_OBSERVATIONS_TO_SIMUL = 15
 
const size_t RANSAC_MINIMUM_INLIERS = 9
 
const float normalizationStd = 0.10f
 
const float ransac_mahalanobisDistanceThreshold = 5.0f
 
const size_t MINIMUM_RANSAC_ITERS = 100000
 
const size_t NUM_MAP_FEATS = 50
 
const double MAP_SIZE_X = 30
 
const double MAP_SIZE_Y = 15
 

Function Documentation

◆ ransac_data_assoc_run()

bool ransac_data_assoc_run ( )

◆ TEST()

TEST ( tfest  ,
ransac_data_assoc   
)

Definition at line 165 of file se3_ransac_unittest.cpp.

References ransac_data_assoc_run().

Variable Documentation

◆ MAP_SIZE_X

const double MAP_SIZE_X = 30

Definition at line 42 of file se3_ransac_unittest.cpp.

Referenced by ransac_data_assoc_run().

◆ MAP_SIZE_Y

const double MAP_SIZE_Y = 15

Definition at line 43 of file se3_ransac_unittest.cpp.

Referenced by ransac_data_assoc_run().

◆ MINIMUM_RANSAC_ITERS

const size_t MINIMUM_RANSAC_ITERS = 100000

Definition at line 39 of file se3_ransac_unittest.cpp.

Referenced by ransac_data_assoc_run().

◆ normalizationStd

const float normalizationStd = 0.10f

◆ NUM_MAP_FEATS

const size_t NUM_MAP_FEATS = 50

Definition at line 41 of file se3_ransac_unittest.cpp.

Referenced by ransac_data_assoc_run().

◆ NUM_OBSERVATIONS_TO_SIMUL

const size_t NUM_OBSERVATIONS_TO_SIMUL = 15

Definition at line 34 of file se3_ransac_unittest.cpp.

Referenced by ransac_data_assoc_run().

◆ ransac_mahalanobisDistanceThreshold

const float ransac_mahalanobisDistanceThreshold = 5.0f

◆ RANSAC_MINIMUM_INLIERS

const size_t RANSAC_MINIMUM_INLIERS = 9

Definition at line 35 of file se3_ransac_unittest.cpp.

Referenced by ransac_data_assoc_run().




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