10#define TMatchingPair_H
23#if defined(MRPT_IS_X86_AMD64)
33 this_idx(0), other_idx(0),
34 this_x(0),this_y(0),this_z(0),
35 other_x(0),other_y(0),other_z(0),
36 errorSquareAfterTransformation(0)
40 TMatchingPair(
unsigned int _this_idx,
unsigned int _other_idx,
float _this_x,
float _this_y,
float _this_z,
float _other_x,
float _other_y,
float _other_z ) :
41 this_idx(_this_idx), other_idx(_other_idx),
42 this_x(_this_x),this_y(_this_y),this_z(_this_z),
43 other_x(_other_x),other_y(_other_y),other_z(_other_z),
44 errorSquareAfterTransformation(0)
56#if defined(MRPT_IS_X86_AMD64)
90 std::vector<float> &xs,
91 std::vector<float> &ys )
const;
108 std::vector<float> &out_sqErrs,
109 std::vector<float> &xs,
110 std::vector<float> &ys )
const;
A class used to store a 2D pose.
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,...
bool contains(const TMatchingPair &p) const
Test whether the given pair "p" is within the pairings.
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 trans...
bool indexOtherMapHasCorrespondence(size_t idx) const
Checks if the given index from the "other" map appears in the list.
float overallSquareError(const mrpt::poses::CPose2D &q) const
Computes the overall square error between the 2D points in the list of correspondences,...
void saveAsMATLABScript(const std::string &filName) const
Saves the correspondences as a MATLAB script which draws them.
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,...
void dumpToFile(const std::string &fileName) const
Saves the correspondences to a text file.
bool BASE_IMPEXP operator==(const mrpt::utils::TCamera &a, const mrpt::utils::TCamera &b)
bool BASE_IMPEXP operator<(const TMatchingPair &a, const TMatchingPair &b)
A comparison operator, for sorting lists of TMatchingPair's, first order by this_idx,...
TMatchingPair * TMatchingPairPtr
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
A structure for holding correspondences between two sets of points or points-like entities in 2D or 3...
float errorSquareAfterTransformation
TMatchingPair(unsigned int _this_idx, unsigned int _other_idx, float _this_x, float _this_y, float _this_z, float _other_x, float _other_y, float _other_z)