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	POSE_SET_FLAG(score, f) ((score)->match_flags \|= (f))

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

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

Enumerations
enum	pose_match_flags { POSE_MATCH_GOOD = 0x1 , POSE_MATCH_STRONG = 0x2 , POSE_MATCH_POSITION = 0x10 , POSE_MATCH_ORIENT = 0x20 , POSE_HAD_PRIOR = 0x100 , POSE_MATCH_LED_IDS = 0x200 }

Functions
static XRT_MAYBE_UNUSED bool	pose_rect_has_area (struct pose_rect *rect)

void	pose_metrics_match_pose_to_blobs (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, 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, struct xrt_pose pose, bool prior_must_match, 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

Enumeration Type Documentation

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)

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.