osvr::vbtracker::RANSACKalmanPoseEstimator Class Reference

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)

Detailed Description

Definition at line 41 of file PoseEstimator_RANSACKalman.h.

Member Function Documentation

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.

Returns

true if a pose was estimated.

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

Filter in the orientation

we'll say variance goes up with distance squared.

Definition at line 44 of file PoseEstimator_RANSACKalman.cpp.

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

• plugins/unifiedvideoinertialtracker/PoseEstimator_RANSACKalman.h
• plugins/unifiedvideoinertialtracker/PoseEstimator_RANSACKalman.cpp