AveragedQuat4f Class Reference

#include <CVTrackedArucoCube.h>

Public Member Functions
	AveragedQuat4f (int numValues, SLQuat4f initValue)
void	init (int numValues, SLQuat4f initValue)
	Initializes the average value array to a given value. More...
void	set (SLQuat4f value)
	Sets the current value in the value array and builds the average. More...
SLQuat4f	average ()
size_t	size ()

Private Attributes
float	_oneOverNumValues {}
	multiplier instead of divider More...
vector< SLQuat4f >	_values
	value array More...
int	_currentValueIndex {}
	current value index within _values More...
SLQuat4f	_average
	average value More...

Detailed Description

Definition at line 20 of file CVTrackedArucoCube.h.

Constructor & Destructor Documentation

AveragedQuat4f()

AveragedQuat4f::AveragedQuat4f ( int  numValues, SLQuat4f  initValue  )

inline

Definition at line 23 of file CVTrackedArucoCube.h.

    {
        init(numValues, initValue);
    }

Member Function Documentation

average()

SLQuat4f AveragedQuat4f::average ( )

inline

Definition at line 76 of file CVTrackedArucoCube.h.

{ return _average; }

init()

void AveragedQuat4f::init ( int  numValues, SLQuat4f  initValue  )

inline

Initializes the average value array to a given value.

Definition at line 29 of file CVTrackedArucoCube.h.

    {
        assert(numValues > 0 && "Num. of values must be greater than zero");
        _values.clear();
        _values.resize(numValues, initValue);
        _oneOverNumValues  = 1.0f / (float)_values.size();
        _average           = initValue;
        _currentValueIndex = 0;
    }

set()

void AveragedQuat4f::set ( SLQuat4f  value )

inline

Sets the current value in the value array and builds the average.

Definition at line 40 of file CVTrackedArucoCube.h.

    {
        assert(_values.size() > 0 && "_value vector not initialized");
 
        // Short cut for no averaging
        if (_values.size() == 1)
            _average = value;
        else
        {
            if (_currentValueIndex == _values.size())
                _currentValueIndex = 0;
 
            // Correct the sum continuously
            _values[_currentValueIndex] = value;
 
            _average.set(0.0f, 0.0f, 0.0f, 0.0f);
            for (int i = 0; i < _values.size(); i++)
            {
                SLQuat4f current = _values[i];
                float    weight  = _oneOverNumValues;
 
                if (i > 0 && current.dot(_values[0]) < -0.001)
                    weight = -weight;
 
                _average.set(_average.x() + current.x() * weight,
                             _average.y() + current.y() * weight,
                             _average.z() + current.z() * weight,
                             _average.w() + current.w() * weight);
            }
 
            _average.normalize();
 
            _currentValueIndex++;
        }
    }

size()

size_t AveragedQuat4f::size ( )

inline

Definition at line 77 of file CVTrackedArucoCube.h.

{ return _values.size(); }

Member Data Documentation

_average

SLQuat4f AveragedQuat4f::_average

private

average value

Definition at line 83 of file CVTrackedArucoCube.h.

_currentValueIndex

int AveragedQuat4f::_currentValueIndex {}

private

current value index within _values

Definition at line 82 of file CVTrackedArucoCube.h.

_oneOverNumValues

float AveragedQuat4f::_oneOverNumValues {}

private

multiplier instead of divider

Definition at line 80 of file CVTrackedArucoCube.h.

_values

vector<SLQuat4f> AveragedQuat4f::_values

private

value array

Definition at line 81 of file CVTrackedArucoCube.h.

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

• CVTrackedArucoCube.h