pose_averageT_pose_averagePoseAveragePoseAveragepose_average (Operator)
Name
pose_averageT_pose_averagePoseAveragePoseAveragepose_average — Compute the average of a set of poses.
Signature
void PoseAverage(const HTuple& Poses, const HTuple& Weights, const HTuple& Mode, const HTuple& SigmaT, const HTuple& SigmaR, HTuple* AveragePose, HTuple* Quality)
static HPose HPose::PoseAverage(const HPoseArray& Poses, const HTuple& Weights, const HString& Mode, const HTuple& SigmaT, const HTuple& SigmaR, HTuple* Quality)
static HPose HPose::PoseAverage(const HPoseArray& Poses, const HTuple& Weights, const HString& Mode, double SigmaT, double SigmaR, HTuple* Quality)
static HPose HPose::PoseAverage(const HPoseArray& Poses, const HTuple& Weights, const char* Mode, double SigmaT, double SigmaR, HTuple* Quality)
static HPose HPose::PoseAverage(const HPoseArray& Poses, const HTuple& Weights, const wchar_t* Mode, double SigmaT, double SigmaR, HTuple* Quality)
(
Windows only)
static void HOperatorSet.PoseAverage(HTuple poses, HTuple weights, HTuple mode, HTuple sigmaT, HTuple sigmaR, out HTuple averagePose, out HTuple quality)
static HPose HPose.PoseAverage(HPose[] poses, HTuple weights, string mode, HTuple sigmaT, HTuple sigmaR, out HTuple quality)
static HPose HPose.PoseAverage(HPose[] poses, HTuple weights, string mode, double sigmaT, double sigmaR, out HTuple quality)
def pose_average(poses: Sequence[int], weights: Sequence[Union[float, int]], mode: str, sigma_t: Union[float, int, str], sigma_r: Union[float, int, str]) -> Tuple[Sequence[Union[float, int]], Sequence[float]]
Description
pose_averagepose_averagePoseAveragePoseAveragepose_average computes the average rotation and translation of the
poses passed in PosesPosesPosesposesposes, and returns this average pose in
AveragePoseAveragePoseAveragePoseaveragePoseaverage_pose.
The poses can be weighted using the parameter WeightsWeightsWeightsweightsweights. If an
empty tuple is passed as weight, all poses have the same influence on the
result. Otherwise, a tuple that contains one positive weight per
pose needs to be passed. A higher weight leads to a higher influence of
that pose on the average.
pose_averagepose_averagePoseAveragePoseAveragepose_average supports two modes for averaging the poses, which
can be selected with the parameter ModeModeModemodemode.
'direct'"direct""direct""direct""direct" selects a direct computation of the average, where the
translation and rotation are averaged independently from each other.
'iterative'"iterative""iterative""iterative""iterative" uses the average pose computed by the
'direct'"direct""direct""direct""direct" method as initial value for an iterative method, which
computes the local mode of the poses.
The iterative method is slower than the direct method. However, it returns
more accurate poses especially in the presence of outlier poses, as such
outliers are downweighted automatically.
For the iterative method, the relative weight of the translation and the
rotation can be set with the parameters SigmaTSigmaTSigmaTsigmaTsigma_t and
SigmaRSigmaRSigmaRsigmaRsigma_r, respectively. Both values can be set to 'auto'"auto""auto""auto""auto",
in which case they are automatically estimated. In this case,
SigmaTSigmaTSigmaTsigmaTsigma_t is set to the spread of the translations of the poses, and
SigmaRSigmaRSigmaRsigmaRsigma_r is set to a constant value.
Both values describe the expected spread of the translation and the
rotation, and influence the weighting of the poses.
For the direct method, both parameters are ignored.
A measure of the quality of the computed pose is returned in
QualityQualityQualityqualityquality.
QualityQualityQualityqualityquality contains a tuple with four elements, which describe
the average and maximum deviation of the passed poses from the returned
average pose AveragePoseAveragePoseAveragePoseaveragePoseaverage_pose.
The order of the values is: Root-Mean-Square error of the translation,
Root-Mean-Square error of the rotation, maximum translation and maximum
rotation deviation. The weights passed in WeightsWeightsWeightsweightsweights are used in the
Root-Mean-Square errors of translation and rotation, but not for the last
two quality measures.
Execution Information
- Multithreading type: reentrant (runs in parallel with non-exclusive operators).
- Multithreading scope: global (may be called from any thread).
- Processed without parallelization.
Parameters
PosesPosesPosesposesposes (input_control) pose-array → HPose, HTupleSequence[int]HTupleHtuple (integer) (int / long) (Hlong) (Hlong)
Set of poses of which the average if computed.
WeightsWeightsWeightsweightsweights (input_control) number-array → HTupleSequence[Union[float, int]]HTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)
Empty tuple, or one weight per pose.
Default:
[]
Restriction:
Weights > 0 && length(Weights) == 0 || length(Weights) == length(Poses) / 7
ModeModeModemodemode (input_control) string → HTuplestrHTupleHtuple (string) (string) (HString) (char*)
Averaging mode.
Default:
'iterative'
"iterative"
"iterative"
"iterative"
"iterative"
List of values:
'direct'"direct""direct""direct""direct", 'iterative'"iterative""iterative""iterative""iterative"
SigmaTSigmaTSigmaTsigmaTsigma_t (input_control) number → HTupleUnion[float, int, str]HTupleHtuple (real / integer / string) (double / int / long / string) (double / Hlong / HString) (double / Hlong / char*)
Weight of the translation.
Default:
'auto'
"auto"
"auto"
"auto"
"auto"
Suggested values:
'auto'"auto""auto""auto""auto", 0.1, 1, 100
SigmaRSigmaRSigmaRsigmaRsigma_r (input_control) number → HTupleUnion[float, int, str]HTupleHtuple (real / integer / string) (double / int / long / string) (double / Hlong / HString) (double / Hlong / char*)
Weight of the rotation.
Default:
'auto'
"auto"
"auto"
"auto"
"auto"
Suggested values:
'auto'"auto""auto""auto""auto", 0.1, 1, 10
AveragePoseAveragePoseAveragePoseaveragePoseaverage_pose (output_control) pose → HPose, HTupleSequence[Union[float, int]]HTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)
Weighted mean of the poses.
QualityQualityQualityqualityquality (output_control) number-array → HTupleSequence[float]HTupleHtuple (real) (double) (double) (double)
Deviation of the mean from the input poses.
Assertion:
length(Quality) == 4
Result
If the parameters are valid, the operator pose_averagepose_averagePoseAveragePoseAveragepose_average returns
2 (
H_MSG_TRUE)
. If necessary, an exception is raised.
Possible Predecessors
read_poseread_poseReadPoseReadPoseread_pose,
hom_mat3d_to_posehom_mat3d_to_poseHomMat3dToPoseHomMat3dToPosehom_mat3d_to_pose
See also
read_poseread_poseReadPoseReadPoseread_pose,
hom_mat3d_to_posehom_mat3d_to_poseHomMat3dToPoseHomMat3dToPosehom_mat3d_to_pose,
pose_to_hom_mat3dpose_to_hom_mat3dPoseToHomMat3dPoseToHomMat3dpose_to_hom_mat3d
Module
Foundation