15#ifndef __CONSISTENCYTEST_H
16#define __CONSISTENCYTEST_H
18#include <mrpt/config.h>
46 double calcAlignmentError( std::map<unsigned, unsigned> &matched_planes, Eigen::Matrix4f &rigidTransf );
50 Eigen::Matrix4f
initPose( std::map<unsigned, unsigned> &matched_planes);
51 Eigen::Matrix4f
estimatePose( std::map<unsigned, unsigned> &matched_planes );
52 bool estimatePoseWithCovariance(std::map<unsigned, unsigned> &matched_planes, Eigen::Matrix4f &rigidTransf, Eigen::Matrix<float,6,6> &covarianceM);
57 Eigen::Matrix4f
initPose2D( std::map<unsigned, unsigned> &matched_planes);
61 Eigen::Matrix4f
getRTwithModel( std::map<unsigned, unsigned> &matched_planes );
Eigen::Matrix4f estimatePose(std::map< unsigned, unsigned > &matched_planes)
Eigen::Matrix4f estimatePoseRANSAC(std::map< unsigned, unsigned > &matched_planes)
Eigen::Matrix4f getRTwithModel(std::map< unsigned, unsigned > &matched_planes)
ConsistencyTest(PbMap &PBM_source, PbMap &PBM_target)
bool estimatePoseWithCovariance(std::map< unsigned, unsigned > &matched_planes, Eigen::Matrix4f &rigidTransf, Eigen::Matrix< float, 6, 6 > &covarianceM)
Eigen::Matrix4f initPose2D(std::map< unsigned, unsigned > &matched_planes)
Eigen::Matrix4f initPose(std::map< unsigned, unsigned > &matched_planes)
std::map< unsigned, unsigned > matched_planes
double calcAlignmentError(std::map< unsigned, unsigned > &matched_planes, Eigen::Matrix4f &rigidTransf)
A class used to store a Plane-based Map (PbMap).
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.