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

Detailed Description

[Object_simulator]

[Markers_class]

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

Examples: tutorial-pf.cpp, and tutorial-ukf.cpp.

Definition at line 125 of file tutorial-ukf.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 &	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

Examples: tutorial-pf.cpp, and tutorial-ukf.cpp.

Definition at line 138 of file tutorial-ukf.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,
		const double &	likelihood_stdev )

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
[in]	likelihood_stdev	The standard deviation for the likelihood computation. A particle that is * likelihood_stdev further than the measurements will have a weight of 0.

Definition at line 208 of file tutorial-pf.cpp.

Member Function Documentation

◆ likelihood()

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

inline

[Noisy_measurements]

[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: tutorial-pf.cpp.

Definition at line 312 of file tutorial-pf.cpp.

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

Referenced by likelihood().

◆ measureGT() [1/2]

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.

Examples: tutorial-pf.cpp, and tutorial-ukf.cpp.

Definition at line 180 of file tutorial-ukf.cpp.

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

Referenced by measureWithNoise().

◆ 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 261 of file tutorial-pf.cpp.

References vpHomogeneousMatrix::buildFrom(), 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.

Examples: tutorial-pf.cpp, and tutorial-ukf.cpp.

Definition at line 206 of file tutorial-ukf.cpp.

References measureGT(), and 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 287 of file tutorial-pf.cpp.

References measureGT(), and vpArray2D< Type >::size().

◆ state_to_measurement() [1/2]

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.

Examples: tutorial-pf.cpp, and tutorial-ukf.cpp.

Definition at line 154 of file tutorial-ukf.cpp.

References vpHomogeneousMatrix::buildFrom(), 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 235 of file tutorial-pf.cpp.

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

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ vpMarkersMeasurements() [1/2]

◆ vpMarkersMeasurements() [2/2]

Member Function Documentation

◆ likelihood()

◆ measureGT() [1/2]

◆ measureGT() [2/2]

◆ measureWithNoise() [1/2]

◆ measureWithNoise() [2/2]

◆ state_to_measurement() [1/2]

◆ state_to_measurement() [2/2]