SLAM.LoopClosure.RGBDVisualVocabulary.Valid

Parameters, inputs, outputs, defaults and equations from the source file.

function Valid
    input State state;
    output Boolean valid;
  protected
    Real mean; Real energy;
  algorithm
    valid := state.generation >= 1 and state.generation <= identifierLimit
      and state.sourceRevision >= 1 and state.sourceRevision <= identifierLimit
      and state.version >= 1 and state.version <= identifierLimit
      and state.count >= 0 and state.count <= vocabularyCapacity
      and (not state.ready or state.count >= 1);
    mean := 0.0; energy := 0.0;
    for word in 1:vocabularyCapacity loop
      valid := valid and state.enabled[word] == (if word <= state.count then 1.0 else 0.0);
      // Disabled word storage is opaque, including restored padding.
      if word <= state.count then
        mean := 0.0; energy := 0.0;
        for component in 1:descriptorSize loop
          valid := valid and abs(state.words[word,component]) <= 1.0;
          mean := mean+state.words[word,component]/descriptorSize;
          energy := energy+state.words[word,component]*state.words[word,component];
        end for;
        valid := valid and abs(mean) <= 1e-6 and abs(energy-1.0) <= 1e-6;
      end if;
    end for;
  end Valid;