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observations_overlap.h
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1 /* +---------------------------------------------------------------------------+
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27  +---------------------------------------------------------------------------+ */
28 #ifndef observations_overlap_H
29 #define observations_overlap_H
30 
31 #include <mrpt/obs.h>
32 
33 #include <mrpt/slam/link_pragmas.h>
34 
35 namespace mrpt
36 {
37  namespace slam
38  {
39  /** \addtogroup mrpt_slam_grp
40  * @{ */
41 
42  /** @name Observations overlap functions
43  @{ */
44 
45  /** Estimates the "overlap" or "matching ratio" of two observations (range [0,1]), possibly taking into account their relative positions.
46  * \note This is used in mrpt::slam::CIncrementalMapPartitioner
47  */
48  double SLAM_IMPEXP observationsOverlap(
49  const mrpt::slam::CObservation* o1,
50  const mrpt::slam::CObservation* o2,
51  const mrpt::poses::CPose3D *pose_o2_wrt_o1 = NULL );
52 
53  /** Estimates the "overlap" or "matching ratio" of two observations (range [0,1]), possibly taking into account their relative positions.
54  * \note This is used in mrpt::slam::CIncrementalMapPartitioner
55  */
56  inline double observationsOverlap(
57  const mrpt::slam::CObservationPtr & o1,
58  const mrpt::slam::CObservationPtr & o2,
59  const mrpt::poses::CPose3D *pose_o2_wrt_o1 = NULL )
60  {
61  return observationsOverlap(o1.pointer(), o2.pointer(), pose_o2_wrt_o1 );
62  }
63 
64  /** Estimates the "overlap" or "matching ratio" of two set of observations (range [0,1]), possibly taking into account their relative positions.
65  * This method computes the average between each of the observations in each SF.
66  * \note This is used in mrpt::slam::CIncrementalMapPartitioner
67  */
68  double SLAM_IMPEXP observationsOverlap(
69  const mrpt::slam::CSensoryFrame &sf1,
70  const mrpt::slam::CSensoryFrame &sf2,
71  const mrpt::poses::CPose3D *pose_sf2_wrt_sf1 = NULL );
72 
73  /** Estimates the "overlap" or "matching ratio" of two set of observations (range [0,1]), possibly taking into account their relative positions.
74  * This method computes the average between each of the observations in each SF.
75  * \note This is used in mrpt::slam::CIncrementalMapPartitioner
76  */
77  inline double observationsOverlap(
78  const mrpt::slam::CSensoryFramePtr &sf1,
79  const mrpt::slam::CSensoryFramePtr &sf2,
80  const mrpt::poses::CPose3D *pose_sf2_wrt_sf1 = NULL )
81  {
82  return observationsOverlap(*sf1.pointer(), *sf2.pointer(), pose_sf2_wrt_sf1);
83  }
84 
85  /** @} */
86 
87  /** @} */ // end grouping
88 
89  } // End of namespace
90 } // End of namespace
91 
92 #endif


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