/* Model level defines for the test case of SfM with only camera translation. */ #define SFM_STATE_SIZE 7 /* These are the components of the state vector */ #define STATE_Tx 1 #define STATE_Ty 2 #define STATE_Tz 3 #define STATE_Wx 4 #define STATE_Wy 5 #define STATE_Wz 6 #define STATE_B 7 #define STATE_FEATURE_START 8 #define ARBITRARY_SCALE 1 /* These constants define initial estimates */ #define ESTIMATE_BETA 80 /* 1 / 12mm */ #define ESTIMATE_WORLD_Z 5.0 /* meters from focal point */ /* System noise covariance values */ #define COV_SYSTEM_Tx_Tx 0.01 /* 10 cm std dev ? */ #define COV_SYSTEM_Ty_Ty 0.01 #define COV_SYSTEM_Tz_Tz 1.0e-3 #define COV_SYSTEM_Wx_Wx 1.0e-10 #define COV_SYSTEM_Wy_Wy 1.0e-10 #define COV_SYSTEM_Wz_Wz 1.0e-10 #define COV_SYSTEM_BETA 1.0e-3 #define COV_SYSTEM_Fn_Fn 1.0e-8 /* features assumed STATIC ! */ /* Initial estimate error covariance */ #define COV_ESTIMATE_Td_Td 1.0e-6 /* to within a centimeter */ #define COV_ESTIMATE_Wd_Wd 1.0e-6 /* to within a centimeter */ #define COV_ESTIMATE_BETA 1.0e1 #define COV_ESTIMATE_Fn_Fn 0.1 /* a meter ? */ #define COV_ESTIMATE_Fz_Fz 0.6 /* more ambiguity */ extern m_elem global_rotation[]; /* needed by kalman_camera */ extern int feature_size; /* needed by eval_camera */ extern int debug;