Result of the data-association step (Matcher::findClosests), before outlier rejection. More...
#include <PointMatcher.h>
Public Types | |
| typedef Matrix | Dists |
| Squared distances to closest points, dense matrix of ScalarType. | |
| typedef IntMatrix | Ids |
| Identifiers of closest points, dense matrix of integers. | |
Public Member Functions | |
| T | getDistsQuantile (const T quantile) const |
| Get the distance at the T-ratio closest point. | |
| T | getMedianAbsDeviation () const |
| Calculate the Median of Absolute Deviation(MAD), which is median(|x-median(x)|), a kind of robust standard deviation. | |
| T | getStandardDeviation () const |
| Matches () | |
| In case of too few matches the dists are filled with InvalidDist. | |
| Matches (const Dists &dists, const Ids ids) | |
| Construct matches from distances to and identifiers of closest points. | |
| Matches (const int knn, const int pointsCount) | |
| Construct uninitialized matches from number of closest points (knn) and number of points (pointsCount) | |
Public Attributes | |
| Dists | dists |
| squared distances to closest points | |
| Ids | ids |
| identifiers of closest points | |
Static Public Attributes | |
| static constexpr T | InvalidDist = std::numeric_limits<T>::infinity() |
| In case of too few matches the ids are filled with InvalidId. | |
| static constexpr int | InvalidId = -1 |
Result of the data-association step (Matcher::findClosests), before outlier rejection.
This class holds a list of associated reference identifiers, along with the corresponding squared distance, for all points in the reading. A single point in the reading can have one or multiple matches.
Definition at line 363 of file PointMatcher.h.
| typedef Matrix PointMatcher< T >::Matches::Dists |
Squared distances to closest points, dense matrix of ScalarType.
Definition at line 365 of file PointMatcher.h.
| typedef IntMatrix PointMatcher< T >::Matches::Ids |
Identifiers of closest points, dense matrix of integers.
Definition at line 366 of file PointMatcher.h.
| PointMatcher< T >::Matches::Matches | ( | ) |
In case of too few matches the dists are filled with InvalidDist.
Construct empty matches.
Definition at line 43 of file Matches.cpp.
| PointMatcher< T >::Matches::Matches | ( | const Dists & | dists, |
| const Ids | ids | ||
| ) |
Construct matches from distances to and identifiers of closest points.
Definition at line 47 of file Matches.cpp.
| PointMatcher< T >::Matches::Matches | ( | const int | knn, |
| const int | pointsCount | ||
| ) |
Construct uninitialized matches from number of closest points (knn) and number of points (pointsCount)
Definition at line 54 of file Matches.cpp.
| T PointMatcher< T >::Matches::getDistsQuantile | ( | const T | quantile | ) | const |
Get the distance at the T-ratio closest point.
Definition at line 61 of file Matches.cpp.
| T PointMatcher< T >::Matches::getMedianAbsDeviation | ( | ) | const |
Calculate the Median of Absolute Deviation(MAD), which is median(|x-median(x)|), a kind of robust standard deviation.
Definition at line 91 of file Matches.cpp.
| T PointMatcher< T >::Matches::getStandardDeviation | ( | ) | const |
Definition at line 125 of file Matches.cpp.
| Dists PointMatcher< T >::Matches::dists |
squared distances to closest points
Definition at line 376 of file PointMatcher.h.
| Ids PointMatcher< T >::Matches::ids |
identifiers of closest points
Definition at line 377 of file PointMatcher.h.
constexpr T PointMatcher< T >::Matches::InvalidDist = std::numeric_limits<T>::infinity() [static] |
In case of too few matches the ids are filled with InvalidId.
Definition at line 370 of file PointMatcher.h.
constexpr int PointMatcher< T >::Matches::InvalidId = -1 [static] |
Definition at line 369 of file PointMatcher.h.