xrt::tracking::constellation::optimizer::FactorFitness Struct Reference

How well one kind of sensor was fit, so that a bad solve can be attributed to the sensor that could not be explained rather than guessed at from the parameter values. More...

#include </builds/monado/monado/src/xrt/tracking/constellation/optimizer/math.hpp>

Collaboration diagram for xrt::tracking::constellation::optimizer::FactorFitness:

Public Member Functions
double	meanChiSquared () const
	Chi squared per residual row. Around 1 when the data matches the model and its noise model.
double	rmsSigma () const
	The average size of a residual, in standard deviations.

Data Fields
size_t	num_residuals
	How many residual rows this kind of factor contributes.
double	chi_squared
	Sum of the squared whitened residuals, 2 * cost.

Detailed Description

How well one kind of sensor was fit, so that a bad solve can be attributed to the sensor that could not be explained rather than guessed at from the parameter values.

Both factors are whitened, so their residuals are in standard deviations and these numbers are comparable to each other and to 1. A mean_chi_squared far above 1 means the model cannot explain that sensor's data.

Member Function Documentation

meanChiSquared()

double xrt::tracking::constellation::optimizer::FactorFitness::meanChiSquared ( ) const

inline

Chi squared per residual row. Around 1 when the data matches the model and its noise model.

References num_residuals.

Referenced by xrt::tracking::constellation::optimizer::rig_calibration::RigCalibration::optimize(), and rmsSigma().

rmsSigma()

double xrt::tracking::constellation::optimizer::FactorFitness::rmsSigma ( ) const

inline

The average size of a residual, in standard deviations.

References meanChiSquared().

Referenced by xrt::tracking::constellation::optimizer::rig_calibration::RigCalibration::optimize().

Field Documentation

chi_squared

double xrt::tracking::constellation::optimizer::FactorFitness::chi_squared

Sum of the squared whitened residuals, 2 * cost.

Referenced by xrt::tracking::constellation::optimizer::rig_calibration::RigCalibration::optimize().

num_residuals

size_t xrt::tracking::constellation::optimizer::FactorFitness::num_residuals

How many residual rows this kind of factor contributes.

Referenced by xrt::tracking::constellation::optimizer::evaluateFactorFitness(), meanChiSquared(), and xrt::tracking::constellation::optimizer::rig_calibration::RigCalibration::optimize().

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The documentation for this struct was generated from the following file:

• tracking/constellation/optimizer/math.hpp