This class implements a 6DOF pose with internal motion model. More...

Public Member Functions
	MotionModel ()
	Creates a new but invalid motion model. More...

	MotionModel (const HomogenousMatrix4 &transformation)
	Creates a new pose with a given homogeneous matrix. More...

	MotionModel (const Vector3 &translation, const Quaternion &orientation)
	Creates a new pose by a given translation and orientation. More...

	MotionModel (const Vector3 &translation, const Rotation &orientation)
	Creates a new pose by a given translation and orientation. More...

void	update (const HomogenousMatrix4 &pose)
	Updates the model with a new precise pose. More...

const HomogenousMatrix4 &	pose () const
	Returns the current pose of this motion model as transformation matrix. More...

const HomogenousMatrix4 &	predictedPose () const
	Returns the predicted pose of this motion model as transformation matrix. More...

const Pose &	velocity () const
	Returns the current velocity of this motion model. More...

const Pose &	predictedVelocity () const
	Returns the current velocity of this motion model. More...

void	reset ()
	Resets the motion model. More...

bool	isNull () const
	Returns whether no pose has been registered. More...

	operator bool () const
	Returns whether at least one pose has been registered. More...

Static Public Member Functions
static HomogenousMatrix4	interpolate (const HomogenousMatrix4 &pose0, const HomogenousMatrix4 &pose1, const Scalar factor)
	Applies a liner (and spherical linear) interpolation between two camera poses by application of an interpolation factor. More...

static HomogenousMatrix4	predictPose (const HomogenousMatrices4 &previousPoses, const Scalar factor=Scalar(0.4))
	Predicts (extrapolates) the camera pose for a current camera frame, if poses for the previous frames are known. More...

Private Attributes
HomogenousMatrix4	modelPose
	Current pose. More...

HomogenousMatrix4	modelPredictedPose
	Predicted pose. More...

Pose	modelVelocity
	Current velocity. More...

Pose	modelPredictedVelocity
	Predicted velocity. More...

bool	modelHasPose
	State determining whether at least one pose has been registered. More...

Detailed Description

This class implements a 6DOF pose with internal motion model.

Constructor & Destructor Documentation

◆ MotionModel() [1/4]

Ocean::Tracking::MotionModel::MotionModel ( )

Creates a new but invalid motion model.

◆ MotionModel() [2/4]

Ocean::Tracking::MotionModel::MotionModel ( const HomogenousMatrix4 & transformation )

explicit

Creates a new pose with a given homogeneous matrix.

The given transformation must be scale and shear free.

Parameters

transformation Matrix defining the pose

◆ MotionModel() [3/4]

Ocean::Tracking::MotionModel::MotionModel	(	const Vector3 &	translation,
		const Quaternion &	orientation
	)

Creates a new pose by a given translation and orientation.

Parameters

translation	Translation of the pose
orientation	Orientation of the pose

◆ MotionModel() [4/4]

Ocean::Tracking::MotionModel::MotionModel	(	const Vector3 &	translation,
		const Rotation &	orientation
	)

Creates a new pose by a given translation and orientation.

Parameters

translation	Translation of the pose
orientation	Orientation of the pose

Member Function Documentation

◆ interpolate()

HomogenousMatrix4 Ocean::Tracking::MotionModel::interpolate	(	const HomogenousMatrix4 &	pose0,
		const HomogenousMatrix4 &	pose1,
		const Scalar	factor
	)

inlinestatic

Applies a liner (and spherical linear) interpolation between two camera poses by application of an interpolation factor.

Parameters

pose0	The first camera pose that will be returned if an interpolation factor of 0.0 is applied
pose1	The second camera pose that will be returned if an interpolation factor of 1.0 is applied
factor	The interpolation factor with range [0.0, 1.0]

Returns: The resulting interpolated camera pose

◆ isNull()

bool Ocean::Tracking::MotionModel::isNull ( ) const

inline

Returns whether no pose has been registered.

Returns: True, if so

◆ operator bool()

Ocean::Tracking::MotionModel::operator bool ( ) const

inlineexplicit

Returns whether at least one pose has been registered.

Returns: True, if so

◆ pose()

const HomogenousMatrix4 & Ocean::Tracking::MotionModel::pose ( ) const

inline

Returns the current pose of this motion model as transformation matrix.

Returns: Current pose

◆ predictedPose()

const HomogenousMatrix4 & Ocean::Tracking::MotionModel::predictedPose ( ) const

inline

Returns the predicted pose of this motion model as transformation matrix.

Returns: Predicted pose

◆ predictedVelocity()

const Pose & Ocean::Tracking::MotionModel::predictedVelocity ( ) const

inline

Returns the current velocity of this motion model.

Returns: Current velocity

◆ predictPose()

static HomogenousMatrix4 Ocean::Tracking::MotionModel::predictPose	(	const HomogenousMatrices4 &	previousPoses,
		const Scalar	factor = `Scalar(0.4)`
	)

static

Predicts (extrapolates) the camera pose for a current camera frame, if poses for the previous frames are known.

This function predicts a pose for each two pairs of concurrent poses of the given set of previous poses.
The prediction of the most recent pose pairs is interpolated with the precision of the next pose pairs and so on.
Thus, the influence of the previous poses can be adjusted with the interpolation factor.
A given factor of of 0.4 means that the youngest poses have an influence of 60% while each older pose has an influence of 40% (recursively).

Parameters

previousPoses	A concurrent set of valid poses for the previous frames, at least two poses must be provided.
factor	The interpolation factor that defines the influence of the most recent poses, with range [0.0, 1.0]

◆ reset()

void Ocean::Tracking::MotionModel::reset ( )

Resets the motion model.

All gathered information will be lost.

◆ update()

void Ocean::Tracking::MotionModel::update ( const HomogenousMatrix4 & pose )

Updates the model with a new precise pose.

Parameters

pose	New pose to updating the model and creating a new prediction

◆ velocity()

const Pose & Ocean::Tracking::MotionModel::velocity ( ) const

inline

Returns the current velocity of this motion model.

Returns: Current velocity

Field Documentation

◆ modelHasPose

bool Ocean::Tracking::MotionModel::modelHasPose

private

State determining whether at least one pose has been registered.

◆ modelPose

HomogenousMatrix4 Ocean::Tracking::MotionModel::modelPose

private

Current pose.

◆ modelPredictedPose

HomogenousMatrix4 Ocean::Tracking::MotionModel::modelPredictedPose

private

Predicted pose.

◆ modelPredictedVelocity

Pose Ocean::Tracking::MotionModel::modelPredictedVelocity

private

Predicted velocity.

◆ modelVelocity

Pose Ocean::Tracking::MotionModel::modelVelocity

private

Current velocity.

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

MotionModel.h

Public Member Functions

Static Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ MotionModel() [1/4]

◆ MotionModel() [2/4]

◆ MotionModel() [3/4]

◆ MotionModel() [4/4]

Member Function Documentation

◆ interpolate()

◆ isNull()

◆ operator bool()

◆ pose()

◆ predictedPose()

◆ predictedVelocity()

◆ predictPose()

◆ reset()

◆ update()

◆ velocity()

Field Documentation

◆ modelHasPose

◆ modelPose

◆ modelPredictedPose

◆ modelPredictedVelocity

◆ modelVelocity