otherObsPose = *pose_o2_wrt_o1;
N ? (accum/N) : 0;
Allowed "angular error" (in radians): this permits larger pairing threshold distances to more distant...
Classes for serialization, sockets, ini-file manipulation, streams, list of properties-values, timewatch, extensions to STL.
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...
std::deque< CObservationPtr >::const_iterator const_iterator
You can use CSensoryFrame::begin to get a iterator to the first element.
const_iterator begin() const
Returns a constant iterator to the first observation: this is an example of usage: ...
A cloud of points in 2D or 3D, which can be built from a sequence of laser scans or other sensors...
Can be used to avoid "not used parameters" warnings from the compiler.
This namespace contains representation of robot actions and observations.
Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...
Maximum linear distance between two points to be paired (meters)
Classes for 2D/3D geometry representation, both of single values and probability density distribution...
A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser sc...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Declares a class that represents any robot's observation.
#define IS_CLASS(ptrObj, class_name)
Evaluates to true if the given pointer to an object (derived from mrpt::utils::CSerializable) is of t...
const_iterator end() const
Returns a constant iterator to the end of the list of observations: this is an example of usage: ...
Parameters for the determination of matchings between point clouds, etc.
virtual void determineMatching3D(const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose3D &otherMapPose, mrpt::utils::TMatchingPairList &correspondences, const TMatchingParams ¶ms, TMatchingExtraResults &extraResults) const MRPT_OVERRIDE
Computes the matchings between this and another 3D points map - method used in 3D-ICP.
const POINTSMAP * buildAuxPointsMap(const void *options=NULL) const
Returns a cached points map representing this laser scan, building it upon the first call...