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

Syntax

public struct 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

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.

Declaration

public static readonly int kNumCodeBits

Field Value

Type	Description
Int32

kNumCodeValues

Number of values a code (encoding a float from a fragment) can have. A code can have any value in

[0, kNumCodeValues - 1]

Declaration

public static readonly int kNumCodeValues

Field Value

Type	Description
Int32

metricIndex

Denotes the metric this codebook has been created for.

Declaration

public Binary.MetricIndex metricIndex

Field Value

Type	Description
Binary.MetricIndex

numFragments

Denotes the number of fragments this codebook contains.

Declaration

public int numFragments

Field Value

Type	Description
Int32

poses

Denotes the encoding for all poses contained in this codebook.

Declaration

public Binary.CodeBook.Encoding poses

Field Value

Type	Description
Binary.CodeBook.Encoding

traitIndex

Denotes the trait this codebook has been created for.

Declaration

public Binary.TraitIndex traitIndex

Field Value

Type	Description
Binary.TraitIndex

trajectories

Denotes the encoding for all trajectories contained in this codebook.

Declaration

public Binary.CodeBook.Encoding trajectories

Field Value

Type	Description
Binary.CodeBook.Encoding