00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://www.mrpt.org/ | 00005 | | 00006 | Copyright (C) 2005-2011 University of Malaga | 00007 | | 00008 | This software was written by the Machine Perception and Intelligent | 00009 | Robotics Lab, University of Malaga (Spain). | 00010 | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> | 00011 | | 00012 | This file is part of the MRPT project. | 00013 | | 00014 | MRPT is free software: you can redistribute it and/or modify | 00015 | it under the terms of the GNU General Public License as published by | 00016 | the Free Software Foundation, either version 3 of the License, or | 00017 | (at your option) any later version. | 00018 | | 00019 | MRPT is distributed in the hope that it will be useful, | 00020 | but WITHOUT ANY WARRANTY; without even the implied warranty of | 00021 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | 00022 | GNU General Public License for more details. | 00023 | | 00024 | You should have received a copy of the GNU General Public License | 00025 | along with MRPT. If not, see <http://www.gnu.org/licenses/>. | 00026 | | 00027 +---------------------------------------------------------------------------+ */ 00028 #ifndef observations_overlap_H 00029 #define observations_overlap_H 00030 00031 #include <mrpt/obs.h> 00032 00033 #include <mrpt/slam/link_pragmas.h> 00034 00035 namespace mrpt 00036 { 00037 namespace slam 00038 { 00039 /** \addtogroup mrpt_slam_grp 00040 * @{ */ 00041 00042 /** @name Observations overlap functions 00043 @{ */ 00044 00045 /** Estimates the "overlap" or "matching ratio" of two observations (range [0,1]), possibly taking into account their relative positions. 00046 * \note This is used in mrpt::slam::CIncrementalMapPartitioner 00047 */ 00048 double SLAM_IMPEXP observationsOverlap( 00049 const mrpt::slam::CObservation* o1, 00050 const mrpt::slam::CObservation* o2, 00051 const mrpt::poses::CPose3D *pose_o2_wrt_o1 = NULL ); 00052 00053 /** Estimates the "overlap" or "matching ratio" of two observations (range [0,1]), possibly taking into account their relative positions. 00054 * \note This is used in mrpt::slam::CIncrementalMapPartitioner 00055 */ 00056 inline double observationsOverlap( 00057 const mrpt::slam::CObservationPtr & o1, 00058 const mrpt::slam::CObservationPtr & o2, 00059 const mrpt::poses::CPose3D *pose_o2_wrt_o1 = NULL ) 00060 { 00061 return observationsOverlap(o1.pointer(), o2.pointer(), pose_o2_wrt_o1 ); 00062 } 00063 00064 /** Estimates the "overlap" or "matching ratio" of two set of observations (range [0,1]), possibly taking into account their relative positions. 00065 * This method computes the average between each of the observations in each SF. 00066 * \note This is used in mrpt::slam::CIncrementalMapPartitioner 00067 */ 00068 double SLAM_IMPEXP observationsOverlap( 00069 const mrpt::slam::CSensoryFrame &sf1, 00070 const mrpt::slam::CSensoryFrame &sf2, 00071 const mrpt::poses::CPose3D *pose_sf2_wrt_sf1 = NULL ); 00072 00073 /** Estimates the "overlap" or "matching ratio" of two set of observations (range [0,1]), possibly taking into account their relative positions. 00074 * This method computes the average between each of the observations in each SF. 00075 * \note This is used in mrpt::slam::CIncrementalMapPartitioner 00076 */ 00077 inline double observationsOverlap( 00078 const mrpt::slam::CSensoryFramePtr &sf1, 00079 const mrpt::slam::CSensoryFramePtr &sf2, 00080 const mrpt::poses::CPose3D *pose_sf2_wrt_sf1 = NULL ) 00081 { 00082 return observationsOverlap(*sf1.pointer(), *sf2.pointer(), pose_sf2_wrt_sf1); 00083 } 00084 00085 /** @} */ 00086 00087 /** @} */ // end grouping 00088 00089 } // End of namespace 00090 } // End of namespace 00091 00092 #endif
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