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22 #if defined(MRPT_IS_X86_AMD64)
36 uint32_t _this_idx, uint32_t _other_idx,
float _this_x,
float _this_y,
37 float _this_z,
float _other_x,
float _other_y,
float _other_z)
57 #if defined(MRPT_IS_X86_AMD64)
58 #pragma pack(pop) // End of pack = 1
76 void dumpToFile(
const std::string& fileName)
const;
99 std::vector<float>& ys)
const;
121 std::vector<float>& xs, std::vector<float>& ys)
const;
132 const size_t num_elements_this_map,
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,...
TMatchingPair const * TMatchingPairConstPtr
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,...
void filterUniqueRobustPairs(const size_t num_elements_this_map, TMatchingPairList &out_filtered_list) const
Creates a filtered list of pairings with those ones which have a single correspondence which coincide...
void saveAsMATLABScript(const std::string &filName) const
Saves the correspondences as a MATLAB script which draws them.
Functions for estimating the optimal transformation between two frames of references given measuremen...
A structure for holding correspondences between two sets of points or points-like entities in 2D or 3...
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,...
TMatchingPair(uint32_t _this_idx, uint32_t _other_idx, float _this_x, float _this_y, float _this_z, float _other_x, float _other_y, float _other_z)
A class used to store a 2D pose, including the 2D coordinate point and a heading (phi) angle.
void dumpToFile(const std::string &fileName) const
Saves the correspondences to a text file.
float errorSquareAfterTransformation
bool operator<(const TMatchingPair &a, const TMatchingPair &b)
A comparison operator, for sorting lists of TMatchingPair's, first order by this_idx,...
bool operator==(const TMatchingPair &a, const TMatchingPair &b)
A comparison operator
std::ostream & operator<<(std::ostream &o, const mrpt::tfest::TMatchingPair &pair)
bool contains(const TMatchingPair &p) const
Test whether the given pair "p" is within the pairings.
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