Go to the documentation of this file.
15 #ifndef __SUBGRAPHMATCHER_H
16 #define __SUBGRAPHMATCHER_H
18 #include <mrpt/config.h>
58 void exploreSubgraphTreeR(std::set<unsigned> &evalRef, std::set<unsigned> &evalCheck, std::map<unsigned, unsigned> &matched);
59 void exploreSubgraphTreeR_Area(std::set<unsigned> &evalRef, std::set<unsigned> &evalCheck, std::map<unsigned, unsigned> &matched);
bool evalUnaryConstraintsOdometry(Plane &plane1, Plane &plane2, PbMap &trgPbMap, bool useStructure=false)
config_heuristics configLocaliser
bool evalBinaryConstraints(Plane &plane1, Plane &plane2, Plane &planeA, Plane &planeB)
bool evalUnaryConstraints(Plane &plane1, Plane &plane2, PbMap &trgPbMap, bool useStructure=false)
std::vector< std::map< unsigned, unsigned > > alreadyExplored
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
void exploreSubgraphTreeR_Area(std::set< unsigned > &evalRef, std::set< unsigned > &evalCheck, std::map< unsigned, unsigned > &matched)
A class used to define the heuristic parameters and thresholds used to match sets of planes.
std::vector< std::vector< int8_t > > hashUnaryConstraints
bool evalBinaryConstraintsOdometry(Plane &plane1, Plane &plane2, Plane &planeA, Plane &planeB)
A class used to store a planar feature (Plane for short).
bool evalUnaryConstraintsOdometry2D(Plane &plane1, Plane &plane2, PbMap &trgPbMap, bool useStructure=false)
void setSourceSubgraph(Subgraph &subgSrc)
A class used to store a Plane-based Map (PbMap).
float calcAreaMatched(std::map< unsigned, unsigned > &matched_planes)
void exploreSubgraphTreeR(std::set< unsigned > &evalRef, std::set< unsigned > &evalCheck, std::map< unsigned, unsigned > &matched)
std::map< unsigned, unsigned > compareSubgraphs(Subgraph &subgraphSource, Subgraph &subgraphTarget, const int option=0)
std::map< unsigned, unsigned > winnerMatch
float calcAreaUnmatched(std::set< unsigned > &unmatched_planes)
void setTargetSubgraph(Subgraph &subgTrg)
bool evalUnaryConstraints2D(Plane &plane1, Plane &plane2, PbMap &trgPbMap, bool useStructure=false)
Page generated by Doxygen 1.8.17 for MRPT 1.4.0 SVN: at Sat Jan 18 22:37:07 UTC 2020 | | |