Detailed Description

Definition at line 66 of file TMatchingPair.h.

#include <mrpt/utils/TMatchingPair.h>

Inheritance diagram for mrpt::utils::TMatchingPairList:

Public Member Functions
bool	indexOtherMapHasCorrespondence (size_t idx) const
	Checks if the given index from the "other" map appears in the list.

void	dumpToFile (const std::string &fileName) const
	Saves the correspondences to a text file.

void	saveAsMATLABScript (const std::string &filName) const
	Saves the correspondences as a MATLAB script which draws them.

float	overallSquareError (const mrpt::poses::CPose2D &q) const
	Computes the overall square error between the 2D points in the list of correspondences, given the 2D transformation "q".

float	overallSquareErrorAndPoints (const mrpt::poses::CPose2D &q, std::vector< float > &xs, std::vector< float > &ys) const
	Computes the overall square error between the 2D points in the list of correspondences, given the 2D transformation "q", and return the transformed points as well.

void	squareErrorVector (const mrpt::poses::CPose2D &q, std::vector< float > &out_sqErrs) const
	Returns a vector with the square error between each pair of correspondences in the list, given the 2D transformation "q" Each element is the square distance between the "this" (global) point and the "other" (local) point transformed through "q":

void	squareErrorVector (const mrpt::poses::CPose2D &q, std::vector< float > &out_sqErrs, std::vector< float > &xs, std::vector< float > &ys) const
	Returns a vector with the square error between each pair of correspondences in the list and the transformed "other" (local) points, given the 2D transformation "q" Each element is the square distance between the "this" (global) point and the "other" (local) point transformed through "q":

bool	contains (const TMatchingPair &p) const
	Test whether the given pair "p" is within the pairings.

Public Attributes
T	elements
	STL member.

Member Function Documentation

◆ contains()

bool mrpt::utils::TMatchingPairList::contains ( const TMatchingPair & p ) const

Test whether the given pair "p" is within the pairings.

◆ dumpToFile()

void mrpt::utils::TMatchingPairList::dumpToFile ( const std::string & fileName ) const

Saves the correspondences to a text file.

◆ indexOtherMapHasCorrespondence()

bool mrpt::utils::TMatchingPairList::indexOtherMapHasCorrespondence ( size_t idx ) const

Checks if the given index from the "other" map appears in the list.

◆ overallSquareError()

float mrpt::utils::TMatchingPairList::overallSquareError ( const mrpt::poses::CPose2D & q ) const

Computes the overall square error between the 2D points in the list of correspondences, given the 2D transformation "q".

$\sum\limits_i e_i$

Where $ e_i $ are the elements of the square error vector as computed by computeSquareErrorVector

See also: squareErrorVector, overallSquareErrorAndPoints

◆ overallSquareErrorAndPoints()

float mrpt::utils::TMatchingPairList::overallSquareErrorAndPoints	(	const mrpt::poses::CPose2D &	q,
		std::vector< float > &	xs,
		std::vector< float > &	ys
	)		const

Computes the overall square error between the 2D points in the list of correspondences, given the 2D transformation "q", and return the transformed points as well.

$\sum\limits_i e_i$

Where $ e_i $ are the elements of the square error vector as computed by computeSquareErrorVector

See also: squareErrorVector

◆ saveAsMATLABScript()

void mrpt::utils::TMatchingPairList::saveAsMATLABScript ( const std::string & filName ) const

Saves the correspondences as a MATLAB script which draws them.

◆ squareErrorVector() [1/2]

void mrpt::utils::TMatchingPairList::squareErrorVector	(	const mrpt::poses::CPose2D &	q,
		std::vector< float > &	out_sqErrs
	)		const

Returns a vector with the square error between each pair of correspondences in the list, given the 2D transformation "q" Each element $ e_i $ is the square distance between the "this" (global) point and the "other" (local) point transformed through "q":

$e_i = | x_{this} - q \oplus x_{other} |^2$

See also: overallSquareError

◆ squareErrorVector() [2/2]

void mrpt::utils::TMatchingPairList::squareErrorVector	(	const mrpt::poses::CPose2D &	q,
		std::vector< float > &	out_sqErrs,
		std::vector< float > &	xs,
		std::vector< float > &	ys
	)		const

Returns a vector with the square error between each pair of correspondences in the list and the transformed "other" (local) points, given the 2D transformation "q" Each element $ e_i $ is the square distance between the "this" (global) point and the "other" (local) point transformed through "q":

$e_i = | x_{this} - q \oplus x_{other} |^2$

See also: overallSquareError

Member Data Documentation

◆ elements

T std::vector< T >::elements

inherited

STL member.