Inheritance diagram for gramods::gmTrack::PoseRegistrationEstimator::Impl:
Collaboration diagram for gramods::gmTrack::PoseRegistrationEstimator::Impl:
Public Types | |
| typedef gmCore::Updateable::clock | clock |
 Public Types inherited from SampleCollector::Impl | |
| typedef gmCore::Updateable::clock | clock |
Public Member Functions | |
| void | update (clock::time_point t) override |
| float | estimateSphericity (std::vector< Eigen::Vector3f > samples) |
| void | performRegistration () |
| void | expandPlanar (std::vector< Eigen::Vector3f > &data, int &idx0, int &idx1) |
| Identifies the degenerate dimension and copies the data into two sets distributed in this dimension. More... | |
| bool | estimateRegistration (const std::vector< Eigen::Vector3f > &tracker_data, const std::vector< Eigen::Vector3f > &actual_data, Eigen::Matrix4f &M) |
| void | estimateUnitRegistration (const std::vector< Eigen::Vector3f > &tracker_data, const std::vector< Eigen::Vector3f > &actual_data, const Eigen::Matrix4f &M_raw, Eigen::Matrix4f &M_unit) |
| void | checkResult (const std::vector< Eigen::Vector3f > &tracker_data, const std::vector< Eigen::Vector3f > &actual_data, const Eigen::Matrix4f &M_unit, std::string type) |
Public Attributes | |
| std::vector< Eigen::Vector3f > | actual_positions |
| float | planar_sphericity = 0.3f |
| Eigen::Matrix4f | registration_raw |
| Eigen::Matrix4f | registration_unit |
| bool | successful_registration = false |
| size_t | position_to_collect = std::numeric_limits<size_t>::max() |
| Public Attributes inherited from SampleCollector::Impl | |
| std::vector< Eigen::Vector3f > | tracker_positions |
| std::vector< Eigen::Quaternionf > | tracker_orientations |
| std::vector< Eigen::Vector3f > | sample_positions |
| std::vector< Eigen::Quaternionf > | sample_orientations |
| clock::time_point | last_sample_time = clock::time_point::min() |
| float | samples_per_second = 1 |
| float | warning_threshold = 0.01f |
| float | orientation_warning_threshold = GM_PI_4 |
| bool | collecting = false |
| float | inlier_threshold = -1.f |
| float | orientation_inlier_threshold = -1.f |
| std::shared_ptr< gramods::gmTrack::Controller > | controller |
Member Function Documentation
◆ expandPlanar()
| void gramods::gmTrack::PoseRegistrationEstimator::Impl::expandPlanar | ( | std::vector< Eigen::Vector3f > & | data, |
| int & | idx0, | ||
| int & | idx1 | ||
| ) |
Identifies the degenerate dimension and copies the data into two sets distributed in this dimension.
- Parameters
-
idx0 If larger than or equal to zero, specifies the index of the first data point that should be used to identify the orientation of the data, otherwise set to that index. idx1 Specifies the index of the second data point that should be used to identify the orientation of the data, alternatively set to that index.
The documentation for this struct was generated from the following file:
- /home/karlu/private/program/gramods/modules/gmTrack/src/PoseRegistrationEstimator.cpp
