OSVR-Core
Public Types | Public Member Functions | Static Public Attributes | List of all members
osvr::vbtracker::ImagePointMeasurement Class Reference

Measurement class for auto-calibrating Kalman filter in video-based tracker. More...

#include <ImagePointMeasurement.h>

Public Types

using Vector = kalman::types::Vector< DIMENSION >
 
using SquareMatrix = kalman::types::SquareMatrix< DIMENSION >
 
using State = AugmentedStateWithBeacon
 
using Jacobian = kalman::types::Matrix< DIMENSION, kalman::types::Dimension< State >::value >
 
using Vector = kalman::types::Vector< DIMENSION >
 
using SquareMatrix = kalman::types::SquareMatrix< DIMENSION >
 
using State = AugmentedStateWithBeacon
 
using Jacobian = kalman::types::Matrix< DIMENSION, kalman::types::Dimension< State >::value >
 

Public Member Functions

EIGEN_MAKE_ALIGNED_OPERATOR_NEW ImagePointMeasurement (CameraModel const &cam, Eigen::Vector3d const &targetFromBody)
 
void updateFromState (State const &state)
 Updates some internal cached partial solutions.
 
Eigen::Vector3d const & getBeaconInCameraSpace () const
 
Vector getResidual (State const &state) const
 
void setMeasurement (Vector const &m)
 
Eigen::Matrix< double, 2, 3 > getBeaconJacobian () const
 
Eigen::Matrix< double, 2, 3 > getRotationJacobianNoIncrot () const
 This version assumes incrot == 0.
 
Eigen::Matrix< double, 2, 3 > getRotationJacobianNoIncrotElegant () const
 This version also assumes incrot == 0 but does the computation in a more elegant (manually factored) way. More...
 
Eigen::Matrix< double, 2, 3 > getRotationJacobian () const
 
Jacobian getJacobian (State const &state) const
 
void setVariance (double s)
 
SquareMatrix const & getCovariance (State &state) const
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW ImagePointMeasurement (CameraModel const &cam)
 
void updateFromState (State const &state)
 Updates some internal cached partial solutions.
 
Vector getResidual (State const &state) const
 
void setMeasurement (Vector const &m)
 
Eigen::Matrix< double, 2, 3 > getBeaconJacobian () const
 
Eigen::Matrix< double, 2, 3 > getRotationJacobian () const
 This version also assumes incrot == 0 but does the computation in a much more elegant way. More...
 
Jacobian getJacobian (State const &state) const
 
void setVariance (double s)
 
SquareMatrix getCovariance (State &state) const
 

Static Public Attributes

static const kalman::types::DimensionType DIMENSION = 2
 

Detailed Description

Measurement class for auto-calibrating Kalman filter in video-based tracker.

Member Function Documentation

§ getCovariance() [1/2]

SquareMatrix osvr::vbtracker::ImagePointMeasurement::getCovariance ( State state) const
inline
Todo:
make this better, perhaps state dependent?

§ getCovariance() [2/2]

SquareMatrix const& osvr::vbtracker::ImagePointMeasurement::getCovariance ( State state) const
inline
Todo:
make this better, perhaps state dependent?

§ getRotationJacobian()

Eigen::Matrix<double, 2, 3> osvr::vbtracker::ImagePointMeasurement::getRotationJacobian ( ) const
inline

This version also assumes incrot == 0 but does the computation in a much more elegant way.

§ getRotationJacobianNoIncrotElegant()

Eigen::Matrix<double, 2, 3> osvr::vbtracker::ImagePointMeasurement::getRotationJacobianNoIncrotElegant ( ) const
inline

This version also assumes incrot == 0 but does the computation in a more elegant (manually factored) way.


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