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osvr::vbtracker::ImagePointMeasurement Class Reference

#include </home/jenkins/root/workspace/OSVR-Core-Docs/plugins/unifiedvideoinertialtracker/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
 
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
 
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.

Definition at line 53 of file ImagePointMeasurement.h.

Member Function Documentation

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.

Definition at line 141 of file ImagePointMeasurement.h.

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

Definition at line 282 of file ImagePointMeasurement.h.

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.

Definition at line 134 of file ImagePointMeasurement.h.

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

Definition at line 264 of file ImagePointMeasurement.h.

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