3 #ifndef __TRACKERDATA_H
4 #define __TRACKERDATA_H
51 bInImage = bPotentiallyVisible =
false;
58 v2Image = Cam.
Project(v2ImPlane);
89 double dOneOverCameraZ = 1.0 / v3Cam[2];
90 for(
int m=0; m<6; m++)
94 v2CamFrameMotion[0] = (v4Motion[0] - v3Cam[0] * v4Motion[2] * dOneOverCameraZ) * dOneOverCameraZ;
95 v2CamFrameMotion[1] = (v4Motion[1] - v3Cam[1] * v4Motion[2] * dOneOverCameraZ) * dOneOverCameraZ;
96 m26Jacobian.T()[m] = m2CamDerivs * v2CamFrameMotion;
103 v2Image += m26Jacobian * v6;
void GetDerivsUnsafe(ATANCamera &Cam)
Vector< 2 > Project(const Vector< 2 > &camframe)
Matrix< 2, 6 > m26Jacobian
Vector<(Size==Dynamic?Dynamic:Size+1), Precision > unproject(const Vector< Size, Precision, Base > &v)
TrackerData(MapPoint *pMapPoint)
void Project(const SE3<> &se3CFromW, ATANCamera &Cam)
void LinearUpdate(const Vector< 6 > &v6)
void ProjectAndDerivs(SE3<> &se3, ATANCamera &Cam)
Vector< 2 > v2Error_CovScaled
double LargestRadiusInImage()
Matrix< 2, 2 > GetProjectionDerivs()
Vector<(Size==Dynamic?Dynamic:Size-1), Precision > project(const Vector< Size, Precision, Base > &v)
static CVD::ImageRef irImageSize