CIncrementalMapPartitioner.cpp File Reference

#include "slam-precomp.h"
#include <mrpt/config/CConfigFilePrefixer.h>
#include <mrpt/graphs/CGraphPartitioner.h>
#include <mrpt/maps/CMultiMetricMap.h>
#include <mrpt/opengl/CGridPlaneXY.h>
#include <mrpt/opengl/CSetOfObjects.h>
#include <mrpt/opengl/CSimpleLine.h>
#include <mrpt/opengl/CSphere.h>
#include <mrpt/poses/CPose3DPDFParticles.h>
#include <mrpt/poses/CPosePDFParticles.h>
#include <mrpt/serialization/stl_serialization.h>
#include <mrpt/slam/CIncrementalMapPartitioner.h>
#include <mrpt/slam/observations_overlap.h>
#include <mrpt/system/CTicTac.h>
#include <Eigen/Dense>

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Functions
static double	eval_similarity_metric_map_matching (const CIncrementalMapPartitioner *parent, const map_keyframe_t &kf1, const map_keyframe_t &kf2, const mrpt::poses::CPose3D &relPose2wrt1)
static double	eval_similarity_observation_overlap (const map_keyframe_t &kf1, const map_keyframe_t &kf2, const mrpt::poses::CPose3D &relPose2wrt1)

Function Documentation

eval_similarity_metric_map_matching()

static double eval_similarity_metric_map_matching ( const CIncrementalMapPartitioner *  parent, const map_keyframe_t &  kf1, const map_keyframe_t &  kf2, const mrpt::poses::CPose3D &  relPose2wrt1  )

static

Definition at line 38 of file CIncrementalMapPartitioner.cpp.

Referenced by mrpt::slam::CIncrementalMapPartitioner::addMapFrame().

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eval_similarity_observation_overlap()

static double eval_similarity_observation_overlap ( const map_keyframe_t &  kf1, const map_keyframe_t &  kf2, const mrpt::poses::CPose3D &  relPose2wrt1  )

static

Definition at line 45 of file CIncrementalMapPartitioner.cpp.

References mrpt::slam::observationsOverlap(), and mrpt::slam::map_keyframe_t::raw_observations.

Referenced by mrpt::slam::CIncrementalMapPartitioner::addMapFrame().

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