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10 #include <gtest/gtest.h>
18 TEST(DataAssociation, TestNoICs)
37 for (
unsigned int da_metric = 0;
38 da_metric <
sizeof(damets) /
sizeof(damets[0]); ++da_metric)
42 for (
unsigned int da_method = 0;
43 da_method <
sizeof(dams) /
sizeof(dams[0]); ++da_method)
49 z, y, y_cov, DAresults, dam, damet, 0.99,
true,
50 std::vector<prediction_index_t>(),
metricMaha, 0.0);
53 <<
"For da_method=" << da_method
54 <<
" and da_metric=" << da_metric << endl;
@ metricMaha
Mahalanobis distance.
TDataAssociationMethod
Different algorithms for data association, used in mrpt::slam::data_association.
The results from mrpt::slam::data_association.
void data_association_independent_predictions(const mrpt::math::CMatrixDouble &Z_observations_mean, const mrpt::math::CMatrixDouble &Y_predictions_mean, const mrpt::math::CMatrixDouble &Y_predictions_cov, TDataAssociationResults &results, const TDataAssociationMethod method=assocJCBB, const TDataAssociationMetric metric=metricMaha, const double chi2quantile=0.99, const bool DAT_ASOC_USE_KDTREE=true, const std::vector< prediction_index_t > &predictions_IDs=std::vector< prediction_index_t >(), const TDataAssociationMetric compatibilityTestMetric=metricMaha, const double log_ML_compat_test_threshold=0.0)
Computes the data-association between the prediction of a set of landmarks and their observations,...
void setSize(size_t row, size_t col, bool zeroNewElements=false)
Changes the size of matrix, maintaining the previous contents.
@ assocJCBB
JCBB: Joint Compatibility Branch & Bound [Neira, Tardos 2001].
TDataAssociationMetric
Different metrics for data association, used in mrpt::slam::data_association For a comparison of both...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
EXPECT_EQ(out.image_pair_was_used.size(), NUM_IMGS)
std::map< observation_index_t, prediction_index_t > associations
For each observation (with row index IDX_obs in the input "Z_observations"), its association in the p...
This base provides a set of functions for maths stuff.
@ assocNN
Nearest-neighbor.
@ metricML
Matching likelihood (See TDataAssociationMetric for a paper explaining this metric)
TEST(DataAssociation, TestNoICs)
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