#include <mrpt/slam/data_association.h>
Public Attributes | |
std::map< size_t, size_t > | associations |
For each landmark ID in the observations ID_obs, its association in the predictions ID_pred = associations[ID_obs] Note that not all observations may have an associated landmark in the predictions. | |
double | distance_maha |
Mahalanobis distance of the best associations found. | |
mrpt::math::CMatrixDouble | indiv_distances |
Individual mahalanobis distances between predictions (row indices) & observations (column indices). | |
mrpt::math::CMatrixBool | indiv_compatibility |
Like "indiv_distances" but passed thru the chi2 threshold. | |
vector_uint | indiv_compatibility_counts |
The sum of each column of indiv_compatibility, that is, the number of compatible pairings for each observation. | |
std::map< size_t, size_t > | obsidx2id |
std::map< size_t, size_t > | predidx2id |
Maps from indices in the prediction/observation vectors to their corresponding IDs. | |
std::map< size_t, size_t > | id2predidx |
std::map< size_t, size_t > | id2obsidx |
The oposite to obsidx2id & predidx2id. |
Definition at line 48 of file data_association.h.
std::map<size_t, size_t> mrpt::slam::TDataAssociationResults::associations |
For each landmark ID in the observations ID_obs, its association in the predictions ID_pred = associations[ID_obs] Note that not all observations may have an associated landmark in the predictions.
Definition at line 53 of file data_association.h.
Mahalanobis distance of the best associations found.
Definition at line 54 of file data_association.h.
std::map<size_t,size_t> mrpt::slam::TDataAssociationResults::id2obsidx |
std::map<size_t,size_t> mrpt::slam::TDataAssociationResults::id2predidx |
Definition at line 65 of file data_association.h.
Like "indiv_distances" but passed thru the chi2 threshold.
Definition at line 61 of file data_association.h.
The sum of each column of indiv_compatibility, that is, the number of compatible pairings for each observation.
Definition at line 62 of file data_association.h.
Individual mahalanobis distances between predictions (row indices) & observations (column indices).
Indices are for the appearing order in the arguments "predictions" & "observations", they are NOT landmark IDs. For helping in converting indices, see the members: obsidx2id, predidx2id, id2predidx, id2obsidx
Definition at line 60 of file data_association.h.
std::map<size_t,size_t> mrpt::slam::TDataAssociationResults::obsidx2id |
Definition at line 64 of file data_association.h.
std::map<size_t,size_t> mrpt::slam::TDataAssociationResults::predidx2id |
Maps from indices in the prediction/observation vectors to their corresponding IDs.
Definition at line 64 of file data_association.h.
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