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 Types
Public Member Functions
std::size_t	getJacSize () const
	Get degree of freedom of transpJac matrix.
std::size_t	getMeasDim () const
	Get size/length of a single feature element.
T_MEAS_OBJ_TYPE	getMeasType () const
	Return type of measurement.
void	resizeAll (T_MEAS_OBJ_TYPE measType_, std::size_t measDim_, std::size_t jacSize_)
	Resizes all vectors within structure and sets internal variables accordingly.
	T_MEAS_OBJ (std::size_t measDim_=0, std::size_t jacSize_=0, T_MEAS_OBJ_TYPE measType_=VECTOR_RES)
Public Attributes
std::vector< double >	E_sHypo
	E = pose residuals (z-h).
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 > >	transpJac
	transpJac = I or [I | 0]
bool	validity
	Validity flag for this measurement (default = false).
std::vector< double >	z_sHypo
	z = optimized pose

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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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Member Enumeration Documentation

enum opentl::core::cvdata::T_MEAS_OBJ::T_MEAS_OBJ_TYPE

Possible measurement data types.

Enumerator:

SCALAR_RES	Scalar residual (but vectors Z,H).
VECTOR_RES	Vector residual (default).

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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,
		T_MEAS_OBJ_TYPE	measType_ = VECTOR_RES
	)			[inline]

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Member Function Documentation

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

(

)

const [inline]

Get degree of freedom of transpJac matrix.

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

(

)

const [inline]

Get size/length of a single feature element.

T_MEAS_OBJ_TYPE opentl::core::cvdata::T_MEAS_OBJ::getMeasType

(

)

const [inline]

Return type of measurement.

void opentl::core::cvdata::T_MEAS_OBJ::resizeAll	(	T_MEAS_OBJ_TYPE	measType_,
		std::size_t	measDim_,
		std::size_t	jacSize_
	)			[inline]

Resizes all vectors within structure and sets internal variables accordingly.

Parameters:

	measType_	Type of measurement (scalar or vector residual, single or multiple hypotheses).
	measDim_	Dimension of measurement.
	jacSize_	1st dim of matrix transpJac

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Member Data Documentation

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

E = pose residuals (z-h).

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::transpJac

transpJac = I or [I | 0]

bool opentl::core::cvdata::T_MEAS_OBJ::validity

Validity flag for this measurement (default = false).

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

z = optimized pose