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<div class="title">TMatchingPair.h</div> </div>
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<a href="_t_matching_pair_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef TMatchingPair_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define TMatchingPair_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="utils__defs_8h.html">mrpt/utils/utils_defs.h</a>></span>
<a name="l00032"></a>00032
<a name="l00033"></a>00033 <span class="keyword">namespace </span>mrpt
<a name="l00034"></a>00034 {
<a name="l00035"></a>00035 <span class="keyword">namespace </span>utils
<a name="l00036"></a>00036 {
<a name="l00037"></a>00037 <span class="keyword">using namespace </span>mrpt::poses;
<a name="l00038"></a>00038
<a name="l00039"></a>00039 <span class="comment">// Pragma defined to ensure no structure packing, so we can use SSE2 vectorization on parts of this struture</span>
<a name="l00040"></a>00040 <span class="preprocessor">#pragma pack(push,1)</span>
<a name="l00041"></a>00041 <span class="preprocessor"></span><span class="comment"></span>
<a name="l00042"></a>00042 <span class="comment"> /** A structure for holding correspondences between two sets of points or points-like entities in 2D or 3D.</span>
<a name="l00043"></a>00043 <span class="comment"> * \ingroup mrpt_base_grp</span>
<a name="l00044"></a>00044 <span class="comment"> */</span>
<a name="l00045"></a>00045 <span class="keyword">struct </span><a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> TMatchingPair
<a name="l00046"></a>00046 {
<a name="l00047"></a><a class="code" href="structmrpt_1_1utils_1_1_t_matching_pair.html#a8e2b4d5b239882c9eda49eb0bd48c64b">00047</a> <a class="code" href="structmrpt_1_1utils_1_1_t_matching_pair.html" title="A structure for holding correspondences between two sets of points or points-like entities in 2D or 3...">TMatchingPair</a>() :
<a name="l00048"></a>00048 this_idx(0), other_idx(0),
<a name="l00049"></a>00049 this_x(0),this_y(0),this_z(0),
<a name="l00050"></a>00050 other_x(0),other_y(0),other_z(0),
<a name="l00051"></a>00051 errorSquareAfterTransformation(0)
<a name="l00052"></a>00052 {
<a name="l00053"></a>00053 }
<a name="l00054"></a>00054
<a name="l00055"></a><a class="code" href="structmrpt_1_1utils_1_1_t_matching_pair.html#ab57cb8dc0d34143351297ae8de8545cd">00055</a> <a class="code" href="structmrpt_1_1utils_1_1_t_matching_pair.html" title="A structure for holding correspondences between two sets of points or points-like entities in 2D or 3...">TMatchingPair</a>( <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _this_idx,<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _other_idx, <span class="keywordtype">float</span> _this_x, <span class="keywordtype">float</span> _this_y,<span class="keywordtype">float</span> _this_z, <span class="keywordtype">float</span> _other_x,<span class="keywordtype">float</span> _other_y,<span class="keywordtype">float</span> _other_z ) :
<a name="l00056"></a>00056 this_idx(_this_idx), other_idx(_other_idx),
<a name="l00057"></a>00057 this_x(_this_x),this_y(_this_y),this_z(_this_z),
<a name="l00058"></a>00058 other_x(_other_x),other_y(_other_y),other_z(_other_z),
<a name="l00059"></a>00059 errorSquareAfterTransformation(0)
<a name="l00060"></a>00060 {
<a name="l00061"></a>00061 }
<a name="l00062"></a>00062
<a name="l00063"></a><a class="code" href="structmrpt_1_1utils_1_1_t_matching_pair.html#ad3afd01161fd0bb006be0820e80715e8">00063</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="structmrpt_1_1utils_1_1_t_matching_pair.html#ad3afd01161fd0bb006be0820e80715e8">this_idx</a>;
<a name="l00064"></a><a class="code" href="structmrpt_1_1utils_1_1_t_matching_pair.html#aeea562d3f0ebbd9d5065f9cec3e1dac5">00064</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="structmrpt_1_1utils_1_1_t_matching_pair.html#aeea562d3f0ebbd9d5065f9cec3e1dac5">other_idx</a>;
<a name="l00065"></a><a class="code" href="structmrpt_1_1utils_1_1_t_matching_pair.html#a43f0730fcaa746082f9934547a1f5c96">00065</a> <span class="keywordtype">float</span> this_x,this_y,<a class="code" href="structmrpt_1_1utils_1_1_t_matching_pair.html#a43f0730fcaa746082f9934547a1f5c96">this_z</a>;
<a name="l00066"></a><a class="code" href="structmrpt_1_1utils_1_1_t_matching_pair.html#a4997b5fc95bc2b13e618087ef8174474">00066</a> <span class="keywordtype">float</span> other_x,other_y,<a class="code" href="structmrpt_1_1utils_1_1_t_matching_pair.html#a4997b5fc95bc2b13e618087ef8174474">other_z</a>;
<a name="l00067"></a><a class="code" href="structmrpt_1_1utils_1_1_t_matching_pair.html#a295d52adf7841f54d553f0158a25086a">00067</a> <span class="keywordtype">float</span> <a class="code" href="structmrpt_1_1utils_1_1_t_matching_pair.html#a295d52adf7841f54d553f0158a25086a">errorSquareAfterTransformation</a>;
<a name="l00068"></a>00068
<a name="l00069"></a>00069 };
<a name="l00070"></a>00070
<a name="l00071"></a>00071 <span class="preprocessor">#pragma pack(pop) // End of pack = 1</span>
<a name="l00072"></a>00072 <span class="preprocessor"></span>
<a name="l00073"></a>00073
<a name="l00074"></a><a class="code" href="namespacemrpt_1_1utils.html#af7beba77b6c2056d9c5d5fd795e7b45d">00074</a> <span class="keyword">typedef</span> <a class="code" href="structmrpt_1_1utils_1_1_t_matching_pair.html" title="A structure for holding correspondences between two sets of points or points-like entities in 2D or 3...">TMatchingPair</a>* <a class="code" href="namespacemrpt_1_1utils.html#af7beba77b6c2056d9c5d5fd795e7b45d">TMatchingPairPtr</a>;
<a name="l00075"></a>00075 <span class="comment"></span>
<a name="l00076"></a>00076 <span class="comment"> /** A list of TMatchingPair</span>
<a name="l00077"></a>00077 <span class="comment"> * \ingroup mrpt_base_grp</span>
<a name="l00078"></a>00078 <span class="comment"> */</span>
<a name="l00079"></a>00079 <span class="keyword">class </span><a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <a class="code" href="classmrpt_1_1utils_1_1_t_matching_pair_list.html" title="A list of TMatchingPair.">TMatchingPairList</a> : <span class="keyword">public</span> std::<a class="code" href="classstd_1_1vector.html" title="STL class.">vector</a><TMatchingPair>
<a name="l00080"></a>00080 {
<a name="l00081"></a>00081 <span class="keyword">public</span>:
<a name="l00082"></a>00082 <span class="comment"></span>
<a name="l00083"></a>00083 <span class="comment"> /** Checks if the given index from the "other" map appears in the list.</span>
<a name="l00084"></a>00084 <span class="comment"> */</span>
<a name="l00085"></a>00085 <span class="keywordtype">bool</span> indexOtherMapHasCorrespondence(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> idx);
<a name="l00086"></a>00086 <span class="comment"></span>
<a name="l00087"></a>00087 <span class="comment"> /** Saves the correspondences to a text file</span>
<a name="l00088"></a>00088 <span class="comment"> */</span>
<a name="l00089"></a>00089 <span class="keywordtype">void</span> dumpToFile(<span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &fileName);
<a name="l00090"></a>00090 <span class="comment"></span>
<a name="l00091"></a>00091 <span class="comment"> /** Saves the correspondences as a MATLAB script which draws them.</span>
<a name="l00092"></a>00092 <span class="comment"> */</span>
<a name="l00093"></a>00093 <span class="keywordtype">void</span> saveAsMATLABScript( <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &filName );
<a name="l00094"></a>00094 <span class="comment"></span>
<a name="l00095"></a>00095 <span class="comment"> /** Computes the overall square error between the 2D points in the list of correspondences, given the 2D transformation "q"</span>
<a name="l00096"></a>00096 <span class="comment"> * \f[ \sum\limits_i e_i \f]</span>
<a name="l00097"></a>00097 <span class="comment"> * Where \f$ e_i \f$ are the elements of the square error vector as computed by computeSquareErrorVector</span>
<a name="l00098"></a>00098 <span class="comment"> * \sa squareErrorVector, overallSquareErrorAndPoints</span>
<a name="l00099"></a>00099 <span class="comment"> */</span>
<a name="l00100"></a>00100 <span class="keywordtype">float</span> overallSquareError( <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose2_d.html" title="A class used to store a 2D pose.">CPose2D</a> &q ) <span class="keyword">const</span>;
<a name="l00101"></a>00101 <span class="comment"></span>
<a name="l00102"></a>00102 <span class="comment"> /** 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.</span>
<a name="l00103"></a>00103 <span class="comment"> * \f[ \sum\limits_i e_i \f]</span>
<a name="l00104"></a>00104 <span class="comment"> * Where \f$ e_i \f$ are the elements of the square error vector as computed by computeSquareErrorVector</span>
<a name="l00105"></a>00105 <span class="comment"> * \sa squareErrorVector</span>
<a name="l00106"></a>00106 <span class="comment"> */</span>
<a name="l00107"></a>00107 <span class="keywordtype">float</span> overallSquareErrorAndPoints(
<a name="l00108"></a>00108 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose2_d.html" title="A class used to store a 2D pose.">CPose2D</a> &q,
<a name="l00109"></a>00109 <a class="code" href="structmrpt_1_1dynamicsize__vector.html" title="The base class of MRPT vectors, actually, Eigen column matrices of dynamic size with specialized cons...">vector_float</a> &xs,
<a name="l00110"></a>00110 <a class="code" href="structmrpt_1_1dynamicsize__vector.html" title="The base class of MRPT vectors, actually, Eigen column matrices of dynamic size with specialized cons...">vector_float</a> &ys ) <span class="keyword">const</span>;
<a name="l00111"></a>00111
<a name="l00112"></a>00112 <span class="comment"></span>
<a name="l00113"></a>00113 <span class="comment"> /** Returns a vector with the square error between each pair of correspondences in the list, given the 2D transformation "q"</span>
<a name="l00114"></a>00114 <span class="comment"> * Each element \f$ e_i \f$ is the square distance between the "this" (global) point and the "other" (local) point transformed through "q":</span>
<a name="l00115"></a>00115 <span class="comment"> * \f[ e_i = | x_{this} - q \oplus x_{other} |^2 \f]</span>
<a name="l00116"></a>00116 <span class="comment"> * \sa overallSquareError</span>
<a name="l00117"></a>00117 <span class="comment"> */</span>
<a name="l00118"></a>00118 <span class="keywordtype">void</span> squareErrorVector(<span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose2_d.html" title="A class used to store a 2D pose.">CPose2D</a> &q, <a class="code" href="structmrpt_1_1dynamicsize__vector.html" title="The base class of MRPT vectors, actually, Eigen column matrices of dynamic size with specialized cons...">vector_float</a> &out_sqErrs ) <span class="keyword">const</span>;
<a name="l00119"></a>00119 <span class="comment"></span>
<a name="l00120"></a>00120 <span class="comment"> /** 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"</span>
<a name="l00121"></a>00121 <span class="comment"> * Each element \f$ e_i \f$ is the square distance between the "this" (global) point and the "other" (local) point transformed through "q":</span>
<a name="l00122"></a>00122 <span class="comment"> * \f[ e_i = | x_{this} - q \oplus x_{other} |^2 \f]</span>
<a name="l00123"></a>00123 <span class="comment"> * \sa overallSquareError</span>
<a name="l00124"></a>00124 <span class="comment"> */</span>
<a name="l00125"></a>00125 <span class="keywordtype">void</span> squareErrorVector(
<a name="l00126"></a>00126 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose2_d.html" title="A class used to store a 2D pose.">CPose2D</a> &q,
<a name="l00127"></a>00127 <a class="code" href="structmrpt_1_1dynamicsize__vector.html" title="The base class of MRPT vectors, actually, Eigen column matrices of dynamic size with specialized cons...">vector_float</a> &out_sqErrs,
<a name="l00128"></a>00128 <a class="code" href="structmrpt_1_1dynamicsize__vector.html" title="The base class of MRPT vectors, actually, Eigen column matrices of dynamic size with specialized cons...">vector_float</a> &xs,
<a name="l00129"></a>00129 <a class="code" href="structmrpt_1_1dynamicsize__vector.html" title="The base class of MRPT vectors, actually, Eigen column matrices of dynamic size with specialized cons...">vector_float</a> &ys ) <span class="keyword">const</span>;
<a name="l00130"></a>00130 <span class="comment"></span>
<a name="l00131"></a>00131 <span class="comment"> /** Test whether the given pair "p" is within the pairings */</span>
<a name="l00132"></a>00132 <span class="keywordtype">bool</span> contains (<span class="keyword">const</span> <a class="code" href="structmrpt_1_1utils_1_1_t_matching_pair.html" title="A structure for holding correspondences between two sets of points or points-like entities in 2D or 3...">TMatchingPair</a> &p) <span class="keyword">const</span>;
<a name="l00133"></a>00133 };
<a name="l00134"></a>00134 <span class="comment"></span>
<a name="l00135"></a>00135 <span class="comment"> /** A comparison operator, for sorting lists of TMatchingPair's, first order by this_idx, if equals, by other_idx */</span>
<a name="l00136"></a>00136 <span class="keywordtype">bool</span> <a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <a class="code" href="namespacemrpt_1_1utils.html#acefe37e26638c79a7d08ebbadcb944a2" title="A comparison operator, for sorting lists of TMatchingPair's, first order by this_idx, if equals, by other_idx.">operator < </a>(<span class="keyword">const</span> TMatchingPair& a, <span class="keyword">const</span> TMatchingPair& b);
<a name="l00137"></a>00137 <span class="comment"></span>
<a name="l00138"></a>00138 <span class="comment"> /** A comparison operator */</span>
<a name="l00139"></a>00139 <span class="keywordtype">bool</span> <a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <a class="code" href="namespacemrpt_1_1utils.html#a3156999622f3787343b1c008f12c29f9">operator == </a>(<span class="keyword">const</span> TMatchingPair& a,<span class="keyword">const</span> TMatchingPair& b);
<a name="l00140"></a>00140 <span class="comment"></span>
<a name="l00141"></a>00141 <span class="comment"> /** A comparison operator */</span>
<a name="l00142"></a>00142 <span class="keywordtype">bool</span> <a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <a class="code" href="namespacemrpt_1_1utils.html#a3156999622f3787343b1c008f12c29f9">operator == </a>(<span class="keyword">const</span> TMatchingPairList& a,<span class="keyword">const</span> TMatchingPairList& b);
<a name="l00143"></a>00143
<a name="l00144"></a>00144
<a name="l00145"></a>00145 } <span class="comment">// End of namespace</span>
<a name="l00146"></a>00146 } <span class="comment">// end of namespace</span>
<a name="l00147"></a>00147 <span class="preprocessor">#endif</span>
</pre></div></div>
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