#include <vpRBProbabilistic3DDriftDetector.h>

Public Member Functions
	ColorStatistics ()=default
void	init (const vpRGBf &c, const vpRGBf &var)
void	update (const vpRGBf &c, float weight)
double	probability (const vpRGBf &c)
double	trace ()
double	covarianceScaleFactor () const

Public Attributes
vpRGBf	mean
vpRGBf	variance
vpRGBf	initVariance

Detailed Description

Online estimation of a Gaussian color distribution $\mathcal{N}(\mathbf{\bar c}, \mathbf{\Sigma_c^2})$ , Where $\mathbf{\Sigma_c^2}$ is a diagonal variance matrix $diag(\sigma_r^2, \sigma_g^2, \sigma_b^2)$ .

This class uses exponential moving average and variance estimation to approximage the distribution of the different RGB color components.

It does not estimate the full covariance matrix, but rather the variance of the individual RGB components.

Definition at line 116 of file vpRBProbabilistic3DDriftDetector.h.

Constructor & Destructor Documentation

◆ ColorStatistics()

vpRBProbabilistic3DDriftDetector::vpStored3DSurfaceColorPoint::ColorStatistics::ColorStatistics ( )

default

Member Function Documentation

◆ covarianceScaleFactor()

double vpRBProbabilistic3DDriftDetector::vpStored3DSurfaceColorPoint::ColorStatistics::covarianceScaleFactor ( ) const

inline

Definition at line 186 of file vpRBProbabilistic3DDriftDetector.h.

References variance.

◆ init()

void vpRBProbabilistic3DDriftDetector::vpStored3DSurfaceColorPoint::ColorStatistics::init	(	const vpRGBf &	c,
		const vpRGBf &	var )

inline

Definition at line 120 of file vpRBProbabilistic3DDriftDetector.h.

References initVariance, mean, and variance.

Referenced by vpRBProbabilistic3DDriftDetector::update().

◆ probability()

double vpRBProbabilistic3DDriftDetector::vpStored3DSurfaceColorPoint::ColorStatistics::probability ( const vpRGBf & c )

inline

Computes the probability that the input color was sampled from the estimated distribution.

Parameters

c

Returns: the probability $p(\mathbf{c} | \mathcal{N}(\mathbf{\bar c}, \mathbf{\Sigma_c}))$

Definition at line 150 of file vpRBProbabilistic3DDriftDetector.h.

References vpRGBf::B, vpRGBf::G, initVariance, mean, and vpRGBf::R.

◆ trace()

double vpRBProbabilistic3DDriftDetector::vpStored3DSurfaceColorPoint::ColorStatistics::trace ( )

inline

Definition at line 174 of file vpRBProbabilistic3DDriftDetector.h.

References variance.

◆ update()

void vpRBProbabilistic3DDriftDetector::vpStored3DSurfaceColorPoint::ColorStatistics::update	(	const vpRGBf &	c,
		float	weight )

inline

Update the color distribution with a new sample c.

Parameters

c
weight	The importance of c (between 0 and 1) in the distribution update (see Exponential moving average). A high value prioritizes the last seen values.

Definition at line 135 of file vpRBProbabilistic3DDriftDetector.h.

References vpRGBf::B, vpRGBf::G, mean, vpRGBf::R, and variance.