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 );
66 Eigen::Matrix4f estimatePoseRANSAC( std::map<unsigned, unsigned> &matched_planes );