Inheritance diagram for gramods::gmTrack::TrackerRegistrationEstimator::Impl:

Collaboration diagram for gramods::gmTrack::TrackerRegistrationEstimator::Impl:

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Public Types
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.

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 Member Functions inherited from gramods::gmCore::Updateable::Impl
	Impl (Updateable *_this, int priority)

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 gramods::gmCore::Updateable::Impl
Updateable *	_this

Additional Inherited Members
Static Public Member Functions inherited from gramods::gmCore::Updateable::Impl
static void	updateAll (clock::time_point time, size_t frame)

static std::multimap< int, Updateable * > &	getList ()

Member Function Documentation

◆ expandPlanar()

void gramods::gmTrack::TrackerRegistrationEstimator::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/TrackerRegistrationEstimator.cpp