Classes | |
| struct | CovariancePoint |
| struct | Point3D |
Functions | |
| double | det (CovariancePoint cov) |
| double | prob (Point3D point_test, Point3D mean, CovariancePoint cov) |
| double sgp_copy::det | ( | CovariancePoint | cov | ) |
Determinant a b c double sx; double sxy; double sxz; d e f double syx; double sy; double szy; g h i double szx; double syz; double sz;
Definition at line 436 of file RelPose.cpp.
| double sgp_copy::prob | ( | Point3D | point_test, |
| Point3D | mean, | ||
| CovariancePoint | cov | ||
| ) |
Approximation of the probability density Implementation of this formula:
/%4 (cov_sy cov_sz - cov_syz cov_szy) %3 (-cov_szx cov_syz + cov_syx cov_sz) |------------------------------------ - -------------------------------------- \ %2 %2
%1 (cov_szx cov_sy - cov_syx cov_szy)\ / %4 (cov_sxy cov_sz - cov_sxz cov_szy)
%3 (-cov_szx cov_sxz + cov_sx cov_sz) %1 (cov_szx cov_sxy - cov_sx cov_szy)\ / + ------------------------------------- + -------------------------------------| %3 + | %2 %2 / \
%4 (cov_sxy cov_syz - cov_sxz cov_sy) %3 (-cov_syx cov_sxz + cov_sx cov_syz) ------------------------------------- - -------------------------------------- %2 %2
%1 (-cov_syx cov_sxy + cov_sx cov_sy)\ + -------------------------------------| %1 %2 /
1% = dz := point_test_z - mean_z
2% = cov_bla := cov_szx cov_sxy cov_syz - cov_szx cov_sxz cov_sy - cov_syx cov_sxy cov_sz
+ cov_syx cov_sxz cov_szy + cov_sx cov_sy cov_sz - cov_sx cov_syz cov_szy
3% = dy := point_test_y - mean_y
4% = dx := point_test_x - mean_x
Definition at line 480 of file RelPose.cpp.