opentl::core::cvdata::T_MEAS_OBJ Class Reference

Structure holding a single object-level measurement. A single measurement is related to: 1 target, 1 modality, 1 camera, 1 thread. More...

List of all members.

Public Member Functions
std::size_t	getJacSize ()
	Get degree of freedom of Jac matrix.
std::size_t	getMeasDim ()
	Get size/length of a single feature element.
bool	getUseMHypos ()
	Return true, if this measurement contains multi-hypotheses data structures for z and E.
void	resizeAll (std::size_t measDim_, std::size_t jacSize_, std::vector< std::size_t > *multiHypos=NULL)
	Resizes all vectors within structure and sets internal variables accordingly.
	T_MEAS_OBJ (std::size_t measDim_=0, std::size_t jacSize_=0, std::vector< std::size_t > *multiHypos=NULL)
Public Attributes
std::vector< std::vector < double > >	E_mHypo
	E = pose residuals (z-h).
std::vector< double >	E_sHypo
std::vector< double >	h
	h = predicted pose (= initial value)
std::vector< double >	invCov
	invCov = covariance of pose parameters (= uncertainty of optimization procedure)
std::vector< std::vector < double > >	Jac
	Jac = I or [I | 0].
std::vector< std::vector < double > >	z_mHypo
	z = optimized pose
std::vector< double >	z_sHypo

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Detailed Description

Structure holding a single object-level measurement. A single measurement is related to: 1 target, 1 modality, 1 camera, 1 thread.

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Constructor & Destructor Documentation

opentl::core::cvdata::T_MEAS_OBJ::T_MEAS_OBJ	(	std::size_t	measDim_ = 0,
		std::size_t	jacSize_ = 0,
		std::vector< std::size_t > *	multiHypos = NULL
	)			[inline]

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Member Function Documentation

std::size_t opentl::core::cvdata::T_MEAS_OBJ::getJacSize

(

)

[inline]

Get degree of freedom of Jac matrix.

std::size_t opentl::core::cvdata::T_MEAS_OBJ::getMeasDim

(

)

[inline]

Get size/length of a single feature element.

bool opentl::core::cvdata::T_MEAS_OBJ::getUseMHypos

(

)

[inline]

Return true, if this measurement contains multi-hypotheses data structures for z and E.

void opentl::core::cvdata::T_MEAS_OBJ::resizeAll	(	std::size_t	measDim_,
		std::size_t	jacSize_,
		std::vector< std::size_t > *	multiHypos = NULL
	)			[inline]

Resizes all vectors within structure and sets internal variables accordingly.

Parameters:

	nMeas_	Number of features.
	featElementDim_	Length of one feature element.
	jacSize_	1st dim of matrix Jac

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Member Data Documentation

std::vector<std::vector<double> > opentl::core::cvdata::T_MEAS_OBJ::E_mHypo

E = pose residuals (z-h).

std::vector<double> opentl::core::cvdata::T_MEAS_OBJ::E_sHypo

std::vector<double> opentl::core::cvdata::T_MEAS_OBJ::h

h = predicted pose (= initial value)

std::vector<double> opentl::core::cvdata::T_MEAS_OBJ::invCov

invCov = covariance of pose parameters (= uncertainty of optimization procedure)

std::vector<std::vector<double> > opentl::core::cvdata::T_MEAS_OBJ::Jac

Jac = I or [I | 0].

std::vector<std::vector<double> > opentl::core::cvdata::T_MEAS_OBJ::z_mHypo

z = optimized pose

std::vector<double> opentl::core::cvdata::T_MEAS_OBJ::z_sHypo