Metrics for constellation tracking poses. More...

#include "xrt/xrt_defines.h"
#include "tracking/t_constellation.h"
#include "camera_model.h"

Include dependency graph for pose_metrics.h:

Data Structures
struct	pose_rect

struct	pose_metrics

struct	pose_metrics_visible_led_info

struct	pose_metrics_blob_match_info

Macros
#define	MAX_OBJECT_LEDS 64

#define	WORST_REPROJECTION_ERROR 10.0

#define	CLOSEST_ACCEPTABLE_POSE_M 0.05
	Device origin poses closer than this are probably invalid solves.

#define	FARTHEST_ACCEPTABLE_POSE_M 15.0
	Poses farther away than this are definitely invalid solves.

#define	POSE_SET_FLAGS(score, f) ((score)->match_flags \|= (f))

#define	POSE_CLEAR_FLAGS(score, f) ((score)->match_flags &= ~(f))

#define	POSE_HAS_FLAGS(score, f) (((score)->match_flags & (f)) == (f))

#define	POSE_CLEAR_VALID(score) POSE_CLEAR_FLAGS(score, POSE_MATCH_GOOD \| POSE_MATCH_STRONG)

Enumerations
enum	pose_match_flags { POSE_MATCH_GOOD = 1 << 0 , POSE_MATCH_STRONG = 1 << 1 , POSE_MATCH_POSITION = 1 << 2 , POSE_MATCH_ORIENT = 1 << 3 , POSE_HAD_PRIOR = 1 << 4 , POSE_MATCH_LED_IDS = 1 << 5 , POSE_MATCH_DEGENERATE = 1 << 6 }

Functions
static XRT_MAYBE_UNUSED bool	pose_rect_has_area (struct pose_rect *rect)

void	pose_metrics_match_pose_to_blobs (const struct xrt_pose pose, struct t_blob blobs, int num_blobs, struct t_constellation_tracker_led_model led_model, t_constellation_device_id_t device_id, struct camera_model calib, struct pose_metrics_blob_match_info *match_info)

void	pose_metrics_evaluate_pose (struct pose_metrics score, const struct xrt_pose pose, struct t_blob blobs, int num_blobs, struct t_constellation_tracker_led_model leds_model, t_constellation_device_id_t device_id, struct camera_model calib, struct pose_rect out_bounds)

void	pose_metrics_evaluate_pose_with_prior (struct pose_metrics score, const struct xrt_pose pose, bool prior_must_match, const struct xrt_pose pose_prior, const struct xrt_vec3 pos_error_thresh, const struct xrt_vec3 rot_error_thresh, struct t_blob blobs, int num_blobs, struct t_constellation_tracker_led_model led_model, t_constellation_device_id_t device_id, struct camera_model calib, struct pose_rect *out_bounds)

bool	pose_metrics_score_is_better_pose (struct pose_metrics old_score, struct pose_metrics new_score)
	Compares whether new_score is a better pose than old_score.

Detailed Description

Metrics for constellation tracking poses.

Author: Jan Schmidt jan@c.nosp@m.entr.nosp@m.icula.nosp@m.r.co.nosp@m.m; Beyley Cardellio ep1cm.nosp@m.1n10.nosp@m.n123@.nosp@m.gmai.nosp@m.l.com

Macro Definition Documentation

#define CLOSEST_ACCEPTABLE_POSE_M 0.05

Device origin poses closer than this are probably invalid solves.

#define FARTHEST_ACCEPTABLE_POSE_M 15.0

Poses farther away than this are definitely invalid solves.

Enumerator
POSE_MATCH_GOOD	A reasonable pose match - most LEDs matched to within a few pixels error.
POSE_MATCH_STRONG	A strong pose match is a match with very low error.
POSE_MATCH_POSITION	The position of the pose matched the prior well.
POSE_MATCH_ORIENT	The orientation of the pose matched the prior well.
POSE_HAD_PRIOR	If a pose prior was supplied when calculating the score, then rot/trans_error are set.
POSE_MATCH_LED_IDS	The LED IDs on the blobs all matched the LEDs we thought (or were unassigned)
POSE_MATCH_DEGENERATE	Set when the pose cannot explain the device entirely on it's own. One case is when too few blobs matched for the reprojection error to say anything about the fit, a P3P solve or fewer. Such a solve reproduces its own points by construction, so its error is near zero whether or not the pose is right. Another case this may be triggered is when the amount of blobs is too low for the LED model in question to be confident about a slow solve. See t_constellation_tracker_led_model_match_parameters.

bool pose_metrics_score_is_better_pose	(	struct pose_metrics *	old_score,
		struct pose_metrics *	new_score
	)

Compares whether new_score is a better pose than old_score.

Parameters

old_score	The old score to compare against.
new_score	The new score to compare against the old score.

Returns: true if the new score is a better pose than the old score, false otherwise.