Main MRPT website > C++ reference for MRPT 1.4.0
List of all members | Public Member Functions | Public Attributes
mrpt::utils::TMatchingPairList Class Reference

Detailed Description

A list of TMatchingPair.

Definition at line 66 of file TMatchingPair.h.

#include <mrpt/utils/TMatchingPair.h>

Inheritance diagram for mrpt::utils::TMatchingPairList:
Inheritance graph

Public Member Functions

bool indexOtherMapHasCorrespondence (size_t idx) const
 Checks if the given index from the "other" map appears in the list. More...
 
void dumpToFile (const std::string &fileName) const
 Saves the correspondences to a text file. More...
 
void saveAsMATLABScript (const std::string &filName) const
 Saves the correspondences as a MATLAB script which draws them. More...
 
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". More...
 
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. More...
 
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 $ e_i $ is the square distance between the "this" (global) point and the "other" (local) point transformed through "q": More...
 
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 $ e_i $ is the square distance between the "this" (global) point and the "other" (local) point transformed through "q": More...
 
bool contains (const TMatchingPair &p) const
 Test whether the given pair "p" is within the pairings. More...
 

Public Attributes

elements
 STL member. More...
 

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.




Page generated by Doxygen 1.9.1 for MRPT 1.4.0 SVN: at Sun Mar 7 18:43:46 UTC 2021