Re: [Toon-members] tag patches - kalman filter build fix, minor fixes

[Ryan Pavlik]

I was just using constantvelocity.h: we used the library to create a SCAAT filter implementation for a camera-based tracker, so we had to produce our own measurement model class.  Unfortunately, we're a bit stuck right now since the Jacobian we computed using Matlab and our measurement model gives us NaN all over the place when rotation is zero.  Our general impression at the moment is that we might need another way to handle the measurement non-linearity rather than the Jacobian, but we haven't gone any further than that yet.  We did look at the measurement.h code as an example of how to structure our own, and will probably use it to process some accelerometer data, but haven't implemented that yet.

In the examples, a camerameasurement.h file was referenced, but there's no such file in the actual distributed code.  Is this just a suggestion of how to structure things, or is there an actual implementation of that class somewhere that might be committed?

Ryan

On Thu, May 6, 2010 at 7:07 AM, Gerhard Reitmayr <address@hidden> wrote:

Hi Ryan,

Thanks for the update. I added the two small ones already to the repository.

For the transformCovariance one, I have another implementation that I believe is better using cholesky to calculate the inverse. I will check this in, once I tested that it produces the same results. In this one the transformCovariance function is not needed, so we might not need the fixes in TooN.

Also, I saw that all the other headers (constantvelocity, measurements.h) etc. are stale and do not work. I am in the process of fixing them, but just wanted to ask, if you are using those as well ?

cheers,
 Gerhard

On 6 May 2010, at 01:28, Ryan Pavlik wrote:

> All,
>
> Here are the changes to tag, split up into logical chunks.  The only major one is the build fix to the kalman filter class: the other two are minor details.
>
> Thanks!
>
> Ryan
>
> --
> Ryan Pavlik
> Human-Computer Interaction Graduate Student
> Virtual Reality Applications Center
> Iowa State University
>
> address@hidden
> http://academic.cleardefinition.com/
>

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--
Gerhard Reitmayr
Institute for Computer Graphics and Vision
http://www.icg.tugraz.at/Members/gerhard
tel: ++43 316 873 5082

-- 
Ryan Pavlik
HCI Graduate Student
Virtual Reality Applications Center
Iowa State University

address@hidden
http://academic.cleardefinition.com
Internal VRAC/HCI Site: http://tinyurl.com/rpavlik