ConfigParams.cpp

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// Copyright 2016 Sensics, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//        http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

// Internal Includes
#include "ConfigParams.h"

// Library/third-party includes
// - none

// Standard includes
// - none

namespace osvr {
namespace vbtracker {
    ConfigParams::ConfigParams() {
        const double positionNoise = 0.1661102065530816;
        const double rotationNoise = 1.3e-1;
        processNoiseAutocorrelation[0] = positionNoise;
        processNoiseAutocorrelation[1] = positionNoise;
        processNoiseAutocorrelation[2] = positionNoise;
        processNoiseAutocorrelation[3] = rotationNoise;
        processNoiseAutocorrelation[4] = rotationNoise;
        processNoiseAutocorrelation[5] = rotationNoise;

        manualBeaconOffset[0] = 0;
        manualBeaconOffset[1] = 0;
        manualBeaconOffset[2] = 0;

        cameraPosition[0] = 0;
        cameraPosition[1] = 1.2;
        cameraPosition[2] = -0.5;
    }

    TuningParams::TuningParams()
        : noveltyPenaltyBase(1.282636090487287),
          distanceMeasVarianceBase(0.9163785097),
          distanceMeasVarianceIntercept(308.2142264) {}
} // namespace vbtracker
} // namespace osvr