Struct Binary.CodeBook

A codebook contains the necessary information to perform fast comparisons for poses and trajectories. Poses and trajectories can be compared separately.

Namespace: Unity.Kinematica

Assembly: solution.dll

Syntax

public struct Binary.CodeBook

Remarks

Codedbooks are defined based on metrics which in turn are defined on a per-tag basis. The reason for this is to logically group similar poses into a combined codebook.

Fields

Name	Description
kNumCodeBits	Every float from each fragment will be encoded in a code of kNumCodeBits bits. This code is interpreted as an index pointing to the closest centroid to the encoded float.
kNumCodeValues	Number of values a code (encoding a float from a fragment) can have. A code can have any value in [0, kNumCodeValues - 1]
metricIndex	Denotes the metric this codebook has been created for.
numFragments	Denotes the number of fragments this codebook contains.
poses	Denotes the encoding for all poses contained in this codebook.
traitIndex	Denotes the trait this codebook has been created for.
trajectories	Denotes the encoding for all trajectories contained in this codebook.