osvr::vbtracker::AssignMeasurementsToLeds Class Reference

Public Types
using	LedAndMeasurement = std::pair< Led &, LedMeasurement const & >
using	LedMeasDistance = std::tuple< std::size_t, std::size_t, float >
using	HeapValueType = LedMeasDistance
using	HeapType = std::vector< HeapValueType >
using	size_type = HeapType::size_type

Public Member Functions
	AssignMeasurementsToLeds (LedGroup &leds, LedMeasurementVec const &measurements, const std::size_t numBeacons, float blobMoveThresh, bool verbose=false)
void	populateStructures ()
	Must call first, and only once. More...
size_type	discardInvalidEntries (bool verbose=false)
	Discards invalid entries (those where either the LED or the measurement, or both, have already been assigned) from the heap, and returns the count of entries so discarded. More...
bool	resumbitMeasurement (LedMeasurement const &meas)
	In case a measurement update goes bad, we can try to "un-mark" a measurement as consumed. More...
bool	hasMoreMatches (bool verbose=false)
	Searches the heap, discarding now-invalid entries, until it finds an entry where both the LED and the measurement are unclaimed, or it runs out of entries. More...
LedAndMeasurement	getMatch (bool verbose=false)
	Requires that hasMoreMatches() has been run and returns true. More...
bool	haveMadeMaxMatches () const
	Have we made as many matches as we possibly can? (that is, the minimum of the number of LED objects and the number of measurements) More...
size_type	maxMatches () const
	The maximum number of matches theoretically achievable with this input: the minimum of the number of LED objects and the number of measurements.
bool	empty () const
	Is our heap of possibilities empty? More...
size_type	size () const
	Entries in the heap of possibilities. More...
size_type	theoreticalMaxSize () const
	This is the size it could have potentially been, had all LEDs been within the distance threshold. More...
double	heapSizeFraction () const
	The fraction of the theoretical max that the size is. More...
size_type	numUnclaimedLedObjects () const
void	eraseUnclaimedLedObjects (bool verbose=false)
size_type	numUnclaimedMeasurements () const
template<typename F >
void	forEachUnclaimedMeasurement (F &&op)
size_type	numCompletedMatches () const

Member Function Documentation

discardInvalidEntries()

size_type osvr::vbtracker::AssignMeasurementsToLeds::discardInvalidEntries ( bool  verbose = false )

inline

Discards invalid entries (those where either the LED or the measurement, or both, have already been assigned) from the heap, and returns the count of entries so discarded.

Great, we found one!

empty()

bool osvr::vbtracker::AssignMeasurementsToLeds::empty ( ) const

inline

Is our heap of possibilities empty?

Not terribly harmful here, just illogical, so assert instead of unconditional check and throw.

eraseUnclaimedLedObjects()

void osvr::vbtracker::AssignMeasurementsToLeds::eraseUnclaimedLedObjects ( bool  verbose = false )

inline

already used

forEachUnclaimedMeasurement()

template<typename F >

void osvr::vbtracker::AssignMeasurementsToLeds::forEachUnclaimedMeasurement ( F &&  op )

inline

already used

Apply the operation.

getMatch()

LedAndMeasurement osvr::vbtracker::AssignMeasurementsToLeds::getMatch ( bool  verbose = false )

inline

Requires that hasMoreMatches() has been run and returns true.

Mark that we've used this LED and measurement.

Postcondition check - shouldn't be valid anymore, we just consumed it.

Now, remove this entry from the heap.

Count it

and return the reward.

hasMoreMatches()

bool osvr::vbtracker::AssignMeasurementsToLeds::hasMoreMatches ( bool  verbose = false )

inline

Searches the heap, discarding now-invalid entries, until it finds an entry where both the LED and the measurement are unclaimed, or it runs out of entries.

Early out: We've already matched up all of one type or another.

haveMadeMaxMatches()

bool osvr::vbtracker::AssignMeasurementsToLeds::haveMadeMaxMatches ( ) const

inline

Have we made as many matches as we possibly can? (that is, the minimum of the number of LED objects and the number of measurements)

Not terribly harmful here, just illogical, so assert instead of unconditional check and throw.

heapSizeFraction()

double osvr::vbtracker::AssignMeasurementsToLeds::heapSizeFraction ( ) const

inline

The fraction of the theoretical max that the size is.

Not terribly harmful here, just illogical, so assert instead of unconditional check and throw.

populateStructures()

void osvr::vbtracker::AssignMeasurementsToLeds::populateStructures ( )

inline

Must call first, and only once.

Clean up LEDs and populate their ref vector.

Populate the measurement ref vector.

Do the O(n * m) distance computation to populate the vector that will become our min-heap.

WARNING: watch the order of arguments to this function, since the type of the indices is identical...

Turn that vector into our min-heap.

More efficient to do this one-time 3N=O(n) operation, than repeatedly push_heap (2log(N)=O(log n)) as we go, because:

• we don't need the heap property until we've completed processing all the input (so push_heap gives us no benefit there)
• the max number of comparisons, by the requirements of the standard, are lower (and linear) and stay lower for the make_heap approach for a heap size of > 5.

resumbitMeasurement()

bool osvr::vbtracker::AssignMeasurementsToLeds::resumbitMeasurement ( LedMeasurement const &  meas )

inline

In case a measurement update goes bad, we can try to "un-mark" a measurement as consumed.

Todo:

do we throw a logic error here?

Un-count the match.

Restore the entry in the refs table.

size()

size_type osvr::vbtracker::AssignMeasurementsToLeds::size ( ) const

inline

Entries in the heap of possibilities.

Not terribly harmful here, just illogical, so assert instead of nconditional check and throw.

theoreticalMaxSize()

size_type osvr::vbtracker::AssignMeasurementsToLeds::theoreticalMaxSize ( ) const

inline

This is the size it could have potentially been, had all LEDs been within the distance threshold.

(O(n m))

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

• plugins/unifiedvideoinertialtracker/AssignMeasurementsToLeds.h