#include <ProbMultiReg.h>
Public Member Functions | |
ProbMultiReg () | |
Null constructor. | |
ProbMultiReg (ProbMultiRegPar p) | |
Parameter constructor. | |
ProbMultiReg (ProbMultiRegPar p, BiRegPar pa) | |
Complete constructor. | |
ProbMultiReg (ProbMultiRegPar p, BiRegPar pa, BiRegType bType) | |
Complete constructor. | |
~ProbMultiReg () | |
Destructor. | |
void | registration (vector< Observation > observ, MultiRegSol *mrsols, int localizator=0) |
Registration method. | |
void | verboseOn () |
Activate debug mode. | |
void | verboseOff () |
Deactivate debug mode. | |
void | setLikelihood (vector< int > &ids, map< int, vector< Pose > > *lik) |
Sets the likelihood of a robot. | |
void | leastMeanSquare (Observation obs0, Observation obs1, BiRegOut *sol) |
Public Attributes | |
ProbMultiRegPar | par |
Parameters of class ProbMultiReg. | |
BiReg * | biReg |
Pointer to the binary registration class, needed from the multiple registration algorithm . |
MipAlgorithms::ProbMultiReg::ProbMultiReg | ( | ) |
Null constructor.
MipAlgorithms::ProbMultiReg::ProbMultiReg | ( | ProbMultiRegPar | p | ) |
Parameter constructor.
MipAlgorithms::ProbMultiReg::ProbMultiReg | ( | ProbMultiRegPar | p, | |
BiRegPar | pa | |||
) |
Complete constructor.
MipAlgorithms::ProbMultiReg::ProbMultiReg | ( | ProbMultiRegPar | p, | |
BiRegPar | pa, | |||
BiRegType | bType | |||
) |
Complete constructor.
MipAlgorithms::ProbMultiReg::~ProbMultiReg | ( | ) |
Destructor.
void MipAlgorithms::ProbMultiReg::registration | ( | vector< Observation > | observ, | |
MultiRegSol * | mrsols, | |||
int | localizator = 0 | |||
) |
Registration method.
observ | vector of Observation containing the Observations to be registered | |
mrsols | pointer to MultiRegSol in which solutiohn are written | |
localizator | Observation in respect of wich must be executed the registration; default = 0 |
void MipAlgorithms::ProbMultiReg::verboseOn | ( | ) | [inline] |
Activate debug mode.
void MipAlgorithms::ProbMultiReg::verboseOff | ( | ) | [inline] |
Deactivate debug mode.
void MipAlgorithms::ProbMultiReg::setLikelihood | ( | vector< int > & | ids, | |
map< int, vector< Pose > > * | lik | |||
) |
Sets the likelihood of a robot.
ids | Ids of the robots to which the likelihoods are refered. | |
lik | Pointer to the map of int-vector<Pose> to be set as likelihood. |
void MipAlgorithms::ProbMultiReg::leastMeanSquare | ( | Observation | obs0, | |
Observation | obs1, | |||
BiRegOut * | sol | |||
) |
funzione che implementa l'ottimizzazione ai minimi quadrati per il problema di registrazione tra due observation
obs0 | observation da rototraslare | |
obs1 | observation di base | |
sol | puntatore alla soluzione di ransac che contiene i numeri degli inliers da utilizzare |
Parameters of class ProbMultiReg.
Pointer to the binary registration class, needed from the multiple registration algorithm .