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observations_overlap.h
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1/* +---------------------------------------------------------------------------+
2 | Mobile Robot Programming Toolkit (MRPT) |
3 | http://www.mrpt.org/ |
4 | |
5 | Copyright (c) 2005-2016, Individual contributors, see AUTHORS file |
6 | See: http://www.mrpt.org/Authors - All rights reserved. |
7 | Released under BSD License. See details in http://www.mrpt.org/License |
8 +---------------------------------------------------------------------------+ */
9#ifndef observations_overlap_H
10#define observations_overlap_H
11
12#include <mrpt/obs/obs_frwds.h>
15
16namespace mrpt
17{
18 namespace slam
19 {
20 /** \addtogroup mrpt_slam_grp
21 * @{ */
22
23 /** @name Observations overlap functions
24 @{ */
25
26 /** Estimates the "overlap" or "matching ratio" of two observations (range [0,1]), possibly taking into account their relative positions.
27 * \note This is used in mrpt::slam::CIncrementalMapPartitioner
28 */
32 const mrpt::poses::CPose3D *pose_o2_wrt_o1 = NULL );
33
34 /** Estimates the "overlap" or "matching ratio" of two observations (range [0,1]), possibly taking into account their relative positions.
35 * \note This is used in mrpt::slam::CIncrementalMapPartitioner
36 */
37 inline double observationsOverlap(
40 const mrpt::poses::CPose3D *pose_o2_wrt_o1 = NULL )
41 {
42 return observationsOverlap(o1.pointer(), o2.pointer(), pose_o2_wrt_o1 );
43 }
44
45 /** Estimates the "overlap" or "matching ratio" of two set of observations (range [0,1]), possibly taking into account their relative positions.
46 * This method computes the average between each of the observations in each SF.
47 * \note This is used in mrpt::slam::CIncrementalMapPartitioner
48 */
50 const mrpt::obs::CSensoryFrame &sf1,
51 const mrpt::obs::CSensoryFrame &sf2,
52 const mrpt::poses::CPose3D *pose_sf2_wrt_sf1 = NULL );
53
54 /** Estimates the "overlap" or "matching ratio" of two set of observations (range [0,1]), possibly taking into account their relative positions.
55 * This method computes the average between each of the observations in each SF.
56 * \note This is used in mrpt::slam::CIncrementalMapPartitioner
57 */
58 inline double observationsOverlap(
61 const mrpt::poses::CPose3D *pose_sf2_wrt_sf1 = NULL )
62 {
63 return observationsOverlap(*sf1.pointer(), *sf2.pointer(), pose_sf2_wrt_sf1);
64 }
65
66 /** @} */
67
68 /** @} */ // end grouping
69
70 } // End of namespace
71} // End of namespace
72
73#endif
Declares a class that represents any robot's observation.
Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Definition: CPose3D.h:73
double SLAM_IMPEXP observationsOverlap(const mrpt::obs::CObservation *o1, const mrpt::obs::CObservation *o2, const mrpt::poses::CPose3D *pose_o2_wrt_o1=NULL)
Estimates the "overlap" or "matching ratio" of two observations (range [0,1]), possibly taking into a...
struct OBS_IMPEXP CSensoryFramePtr
struct OBS_IMPEXP CObservationPtr
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.



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