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:

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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

getAlignment()

CMatrixDouble getAlignment

(

const CMatrixDouble &

matched_planes

)

Definition at line 469 of file ConsistencyTest.cpp.

References det().

Referenced by ransacPlaneAlignment_fit().

ransac3Dplane_degenerate()

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().

ransac3Dplane_distance()

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().

ransacPlaneAlignment_fit()

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().