Public Member Functions
	RANSACKalmanPoseEstimator (double positionVarianceScale=1.e-1, double orientationVariance=1.e0)

bool	operator() (EstimatorInOutParams const &p, LedPtrList const &leds, osvr::util::time::TimeValue const &frameTime)
	Perform RANSAC-based pose estimation but filter results in via an EKF to the body state. More...

Member Function Documentation

§ operator()()

bool osvr::vbtracker::RANSACKalmanPoseEstimator::operator()	(	EstimatorInOutParams const &	p,
		LedPtrList const &	leds,
		osvr::util::time::TimeValue const &	frameTime
	)

Perform RANSAC-based pose estimation but filter results in via an EKF to the body state.

Call the main pose estimation to get the vector and quat.

If we got something, filter it in!

Predict first if appropriate.

Filter in the orientation

we'll say variance goes up with distance squared.

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