MIRA
CovObject.h
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38 
47 #ifndef _MIRA_COVOBJECT_H_
48 #define _MIRA_COVOBJECT_H_
49 
51 
52 namespace mira {
53 
55 
60 {
61 
62 public:
67  CovObject(Ogre::SceneManager* sceneManager, Ogre::SceneNode* parent=NULL);
68 
69 public:
70 
71  void setSigma(float sigma);
72  float getSigma() const {return mSigma;}
73 
74 public:
75 
76 
77  void setMean(const Eigen::Vector2f& x);
78  void setMean(const Eigen::Vector3f& x);
79 
80  void setCovariance(const Eigen::Matrix2f& cov);
81  void setCovariance(const Eigen::Matrix3f& cov);
82 
83  void setCovariance(const Eigen::Vector3f& sv,
84  const Ogre::Quaternion& orientation);
85 
86  const Eigen::Vector3f& getSingularValues() { return mW; }
87 
88 private:
89 
90  float mSigma;
91 
92  Eigen::Vector3f mW; // the singular values
93 };
94 
96 
97 }
98 
99 #endif
specialize cv::DataType for our ImgPixel and inherit from cv::DataType<Vec>
Definition: IOService.h:67
Declaration of MeshObject.
const Eigen::Vector3f & getSingularValues()
Definition: CovObject.h:86
Visualization of covariances.
Definition: CovObject.h:59
#define MIRA_GUI_VISUALIZATION_EXPORT
Definition: GuiVisualizationExports.h:61
Definition: MeshObject.h:67
float getSigma() const
Definition: CovObject.h:72