se3_ransac_unittest.cpp File Reference

#include <mrpt/maps/CSimplePointsMap.h>
#include <mrpt/math/geometry.h>
#include <mrpt/poses/CPose2D.h>
#include <mrpt/poses/CPosePDFGaussian.h>
#include <mrpt/poses/CPosePDFSOG.h>
#include <mrpt/random.h>
#include <mrpt/tfest/se2.h>
#include <gtest/gtest.h>

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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

(

)

Definition at line 55 of file se3_ransac_unittest.cpp.

References ASSERT_, mrpt::poses::CPose2D::composePoint(), mrpt::poses::CPosePDFGaussian::cov, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::distanceTo(), mrpt::random::CRandomGenerator::drawGaussian1D(), mrpt::maps::CPointsMap::getPoint(), mrpt::random::getRandomGenerator(), mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::kdTreeRadiusSearch2D(), M_PI, MAP_SIZE_X, MAP_SIZE_Y, mrpt::poses::CPosePDFGaussian::mean, MINIMUM_RANSAC_ITERS, normalizationStd, NUM_MAP_FEATS, NUM_OBSERVATIONS_TO_SIMUL, mrpt::tfest::TMatchingPair::other_idx, mrpt::tfest::TMatchingPair::other_x, mrpt::tfest::TMatchingPair::other_y, params, mrpt::poses::CPose2D::phi(), mrpt::random::CRandomGenerator::randomize(), ransac_mahalanobisDistanceThreshold, RANSAC_MINIMUM_INLIERS, mrpt::maps::CSimplePointsMap::resize(), results, mrpt::tfest::se2_l2(), mrpt::tfest::se2_l2_robust(), mrpt::maps::CPointsMap::setPoint(), mrpt::maps::CPointsMap::size(), mrpt::square(), mrpt::tfest::TMatchingPair::this_idx, mrpt::tfest::TMatchingPair::this_x, mrpt::tfest::TMatchingPair::this_y, mrpt::vision::TStereoCalibParams::verbose, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

Referenced by TEST().

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TEST()

TEST	(	tfest	,
		ransac_data_assoc
	)

Definition at line 177 of file se3_ransac_unittest.cpp.

References EXPECT_TRUE(), and ransac_data_assoc_run().

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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

Definition at line 37 of file se3_ransac_unittest.cpp.

Referenced by mrpt::slam::CICP::TConfigParams::loadFromConfigFile(), ransac_data_assoc_run(), mrpt::slam::CICP::TConfigParams::saveToConfigFile(), and mrpt::tfest::se2_l2_robust().

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

Definition at line 38 of file se3_ransac_unittest.cpp.

Referenced by mrpt::slam::CGridMapAligner::TConfigParams::dumpToTextStream(), mrpt::slam::CGridMapAligner::TConfigParams::loadFromConfigFile(), mrpt::slam::CICP::TConfigParams::loadFromConfigFile(), ransac_data_assoc_run(), and mrpt::slam::CICP::TConfigParams::saveToConfigFile().

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().