stereo::ransac::Pairs Class Reference

#include <ransac.hpp>

Classes
struct	pair

Public Member Functions
void	add (const Eigen::Vector3d &a, const Eigen::Vector3d &b, double dist)
double	trim (size_t n_po)
Eigen::Affine3d	getTransform ()
double	getMeanSquareError () const
size_t	size () const
void	clear ()

Public Attributes
std::vector< Eigen::Vector3d >	x
std::vector< Eigen::Vector3d >	p
std::vector< pair >	pairs
double	mse

Static Public Attributes
static const unsigned int	MIN_PAIRS = 3

Member Function Documentation

void Pairs::add	(	const Eigen::Vector3d &	a,
		const Eigen::Vector3d &	b,
		double	dist
	)

add a single pair, and the distance between that a and b

void Pairs::clear

(

)

remove all pairs

double Pairs::getMeanSquareError

(

)

const

Affine3d Pairs::getTransform

(

)

will return the transform that has to be applied to B, so that the MSE between the invididual pairs of A and B is minimized.

size_t Pairs::size

(

)

const

will return the number of pairs in the object

double Pairs::trim

(

size_t

n_po

)

trim the pairs to the

Parameters

n_po	pairs with the lowest distance. Will

Returns

the largest distance of those

Parameters

n_po

pairs.

Member Data Documentation

const unsigned int stereo::ransac::Pairs::MIN_PAIRS = 3

static

double stereo::ransac::Pairs::mse

std::vector<Eigen::Vector3d> stereo::ransac::Pairs::p

std::vector<pair> stereo::ransac::Pairs::pairs

std::vector<Eigen::Vector3d> stereo::ransac::Pairs::x

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The documentation for this class was generated from the following files:

• /build/rock-master-18.09-perception-stereo-0.20161215/src/ransac.hpp
• /build/rock-master-18.09-perception-stereo-0.20161215/src/ransac.cpp