vpMarkersMeasurements Class Reference

Public Member Functions
	vpMarkersMeasurements (const vpCameraParameters &cam, const vpHomogeneousMatrix &cMw, const vpRotationMatrix &wRo, const std::vector< vpColVector > &markers, const double &sigmaDistance, const double &noise_stdev, const long &seed)
double	likelihoodParticle (const vpColVector &x, const vpColVector &meas)
vpColVector	state_to_measurement (const vpColVector &x)
vpColVector	measureGT (const vpColVector &wX)
vpColVector	measureWithNoise (const vpColVector &wX)
	vpMarkersMeasurements (const vpCameraParameters &cam, const vpHomogeneousMatrix &cMw, const vpRotationMatrix &wRo, const std::vector< vpColVector > &markers, const double &noise_stdev, const long &seed)
vpColVector	state_to_measurement (const vpColVector &x)
vpColVector	measureGT (const vpColVector &wX)
vpColVector	measureWithNoise (const vpColVector &wX)

Detailed Description

[Object_simulator]

[Markers_class]

Class that permits to convert the 3D position of the object into measurements.

Examples

pf-nonlinear-example.cpp, and tutorial-ukf.cpp.

Definition at line 150 of file pf-nonlinear-example.cpp.

Constructor & Destructor Documentation

vpMarkersMeasurements() [1/2]

vpMarkersMeasurements::vpMarkersMeasurements ( const vpCameraParameters &  cam, const vpHomogeneousMatrix &  cMw, const vpRotationMatrix &  wRo, const std::vector< vpColVector > &  markers, const double &  sigmaDistance, const double &  noise_stdev, const long &  seed  )

inline

Construct a new vpMarkersMeasurements object.

Parameters

[in]	cam	The camera parameters.
[in]	cMw	The pose of the world frame with regard to the camera frame.
[in]	wRo	The rotation matrix expressing the rotation between the world frame and object frame.
[in]	markers	The position of the markers in the object frame.
[in]	sigmaDistance	Standard deviation of the Gaussian function used for the computation of the likelihood. An error greater than 3 times this standard deviation will lead to a likelihood equal to 0.
[in]	noise_stdev	The standard deviation for the noise generator
[in]	seed	The seed for the noise generator

Definition at line 165 of file pf-nonlinear-example.cpp.

vpMarkersMeasurements() [2/2]

vpMarkersMeasurements::vpMarkersMeasurements ( const vpCameraParameters &  cam, const vpHomogeneousMatrix &  cMw, const vpRotationMatrix &  wRo, const std::vector< vpColVector > &  markers, const double &  noise_stdev, const long &  seed  )

inline

Construct a new vpMarkersMeasurements object.

Parameters

[in]	cam	The camera parameters.
[in]	cMw	The pose of the world frame with regard to the camera frame.
[in]	wRo	The rotation matrix expressing the rotation between the world frame and object frame.
[in]	markers	The position of the markers in the object frame.
[in]	noise_stdev	The standard deviation for the noise generator
[in]	seed	The seed for the noise generator

Definition at line 142 of file tutorial-ukf.cpp.

Member Function Documentation

likelihoodParticle()

double vpMarkersMeasurements::likelihoodParticle ( const vpColVector &  x, const vpColVector &  meas  )

inline

[Likelihood_function]

Compute the likelihood of a particle compared to the measurements. The likelihood equals zero if the particle is completely different of the measurements and equals one if it matches completely. The chosen likelihood is a Gaussian function that penalizes the mean distance between the projection of the markers corresponding to the particle position and the measurements of the markers in the image.

Parameters

[in]	x	The particle.
[in]	meas	The measurement vector. meas[2i] = u_i meas[2i + 1] = v_i .

Returns

double The likelihood of the particle.

Examples

pf-nonlinear-example.cpp.

Definition at line 192 of file pf-nonlinear-example.cpp.

References vpHomogeneousMatrix::build(), vpMeterPixelConversion::convertPoint(), and vpImagePoint::sqrDistance().

measureGT() [1/2]

vpColVector vpMarkersMeasurements::measureGT ( const vpColVector &  wX )

inline

[GT_measurements]

Perfect measurement of the projection of the markers in the image when the object is located at wX.

Parameters

[in]

wX

The actual position of the robot (wX[0]: x, wX[1]: y, wX[2] = z).

Returns

vpColVector [2*i] u_i [2*i + 1] v_i where i is the index of the marker.

Definition at line 248 of file pf-nonlinear-example.cpp.

References vpHomogeneousMatrix::build(), and vpMeterPixelConversion::convertPoint().

measureGT() [2/2]

vpColVector vpMarkersMeasurements::measureGT ( const vpColVector &  wX )

inline

[Measurement_function]

[GT_measurements]

Perfect measurement of the projection of the markers in the image when the object is located at wX.

Parameters

[in]

wX

The actual position of the robot (wX[0]: x, wX[1]: y, wX[2] = z).

Returns

vpColVector [2*i] u_i [2*i + 1] v_i where i is the index of the marker.

Definition at line 184 of file tutorial-ukf.cpp.

References vpHomogeneousMatrix::build(), and vpMeterPixelConversion::convertPoint().

measureWithNoise() [1/2]

vpColVector vpMarkersMeasurements::measureWithNoise ( const vpColVector &  wX )

inline

[GT_measurements]

[Noisy_measurements]

Noisy measurement of the projection of the markers in the image when the object is located at wX.

Parameters

[in]

wX

The actual position of the robot (wX[0]: x, wX[1]: y, wX[2] = z).

Returns

vpColVector [2*i] u_i [2*i + 1] v_i where i is the index of the marker.

Definition at line 274 of file pf-nonlinear-example.cpp.

References vpArray2D< Type >::size().

measureWithNoise() [2/2]

vpColVector vpMarkersMeasurements::measureWithNoise ( const vpColVector &  wX )

inline

[GT_measurements]

[Noisy_measurements]

Noisy measurement of the projection of the markers in the image when the object is located at wX.

Parameters

[in]

wX

The actual position of the robot (wX[0]: x, wX[1]: y, wX[2] = z).

Returns

vpColVector [2*i] u_i [2*i + 1] v_i where i is the index of the marker.

Definition at line 210 of file tutorial-ukf.cpp.

References vpArray2D< Type >::size().

state_to_measurement() [1/2]

vpColVector vpMarkersMeasurements::state_to_measurement ( const vpColVector &  x )

inline

[Likelihood_function]

Convert the state of the PF into the measurement space.

Parameters

[in]

x

The state of the PF.

Returns

vpColVector The state expressed in the measurement space.

Examples

tutorial-ukf.cpp.

Definition at line 223 of file pf-nonlinear-example.cpp.

References vpHomogeneousMatrix::build(), and vpMeterPixelConversion::convertPoint().

state_to_measurement() [2/2]

vpColVector vpMarkersMeasurements::state_to_measurement ( const vpColVector &  x )

inline

[Measurement_function]

Convert the prior of the UKF into the measurement space.

Parameters

[in]

x

The prior.

Returns

vpColVector The prior expressed in the measurement space.

Definition at line 158 of file tutorial-ukf.cpp.

References vpHomogeneousMatrix::build(), and vpMeterPixelConversion::convertPoint().