jafar::bundle::observation Class Reference

Base class of observation object. More...

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Detailed Description

Base class of observation object.

Definition at line 32 of file bundleData.hpp.

#include <bundleData.hpp>

List of all members.

Public Types
enum	obsType { POINT_2D, POINT_3D, CPDV_EULER, CPDV_QUATERNION }
	List of Observation types. Names are explicit !
Public Member Functions
	observation (obsType type_=POINT_2D)
	Default constructor User gives the observation type.
	observation (observation const &O_)
	Copy constructor User gives a reference to an instantied observation object.
bool	readFromFile (std::ifstream &infile, double sigma=0.0)
	Set Values from infile file-stream.
void	getCovMatrix (jblas::mat &covX_) const
	Return Covariance matrix.
void	setValue (jblas::vec &x_, jblas::mat &covX_, int id_, int idFeature_, int idView_)
	Update observation info.
void	setValue (observation const &o_)
void	setResidual (jblas::vec prediction_)
	Update Residual vector User gives prediction vector and the method computes the residual.
void	getObs (jblas::vec &x_) const
	Return Data vector.
unsigned int	size () const
	Return Data vector size.
double	residualL2Norm ()
	Compute then return L2-Norm of the residual vector.
double	residualWL2Norm ()
	Compute then return Mahalonobis-Norm of the residual vector.
void	getResidual (jblas::vec &R_) const
	Return the residual vector.
void	getResidual (jblas::vec_range &VR_) const
	Retunr the residual vector.
Public Attributes
obsType	type
	Observation type.
int	id
	Observation Idenfier number.
int	idFeature
	Identifier number of the corresponding 3D structure element.
int	idView
	Identifier number of the corresponding view.
Private Member Functions
bool	readFromFile2D (std::ifstream &infile, double sigma)
bool	readFromFileSTRMOT (std::ifstream &infile)
Static Private Member Functions
static int	obsSize (obsType type_)
Private Attributes
jblas::vec	x
	Data vector.
jblas::vec	residual
	Residual vector.
jblas::mat	covX
	Assosciated covariance matrix.

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

• modules/bundle/include/bundle/bundleData.hpp