![]() |
Visual Servoing Platform
version 3.6.1 under development (2025-02-17)
|
#include <visp3/rbt/vpRBProbabilistic3DDriftDetector.h>
Public Member Functions | |
ColorStatistics ()=default | |
void | init (const vpRGBf &c, const vpRGBf &var) |
void | update (const vpRGBf &c, float weight) |
double | probability (const vpRGBf &c) |
double | trace () |
void | computeStddev () |
Public Attributes | |
vpRGBf | mean |
vpRGBf | variance |
vpRGBf | standardDev |
Online estimation of a Gaussian color distribution , Where
is a diagonal variance matrix
.
This class uses exponential moving average and variance estimation to approximage the distribution of the different RGB color components.
It does not estimate the full covariance matrix, but rather the variance of the individual RGB components.
Definition at line 102 of file vpRBProbabilistic3DDriftDetector.h.
|
default |
|
inline |
Definition at line 152 of file vpRBProbabilistic3DDriftDetector.h.
|
inline |
Definition at line 106 of file vpRBProbabilistic3DDriftDetector.h.
|
inline |
Computes the probability that the input color was sampled from the estimated distribution.
c |
Definition at line 134 of file vpRBProbabilistic3DDriftDetector.h.
|
inline |
Definition at line 147 of file vpRBProbabilistic3DDriftDetector.h.
|
inline |
Update the color distribution with a new sample c.
c | |
weight | The importance of c (between 0 and 1) in the distribution update (see Exponential moving average). A high value prioritizes the last seen values. |
Definition at line 119 of file vpRBProbabilistic3DDriftDetector.h.
vpRGBf vpRBProbabilistic3DDriftDetector::vpStored3DSurfaceColorPoint::ColorStatistics::mean |
Definition at line 159 of file vpRBProbabilistic3DDriftDetector.h.
vpRGBf vpRBProbabilistic3DDriftDetector::vpStored3DSurfaceColorPoint::ColorStatistics::standardDev |
Definition at line 161 of file vpRBProbabilistic3DDriftDetector.h.
vpRGBf vpRBProbabilistic3DDriftDetector::vpStored3DSurfaceColorPoint::ColorStatistics::variance |
Definition at line 160 of file vpRBProbabilistic3DDriftDetector.h.