This directory contains a MATLAB MEX wrapper for the pose regularization library. MATLAB interface scripts are included for convenience.
A MATLAB compile script is included. It is sufficient to go into the matlab/wrapper
directory and call the MATLAB compile function.
No particular dependencies are needed. If compilation fails, please check that you are able to compile example MEX files.
The library allows to regularize an input stream of poses in Euclidean space, thus removing jitter. Employing an explicit fidelity term allows to maintain features of the original signal, such as sharp variations in the direction of movement.
The input signal, for example the output of a tracking system, should be expressed as a series of 4x4 transformation matrices (where the top-left 3x3 submatrix is a rotation matrix, and the 3x1 vector next to it is the translation vector).
After adding the matlab directory to your path (recursively), you can
use the regularizeMatrices4x4 function as follows:
poses_regularized = regularizeMatrices4x4(poses_noisy, p, q, r, alpha, beta, inner_factor, steps, inner_steps);
Please refer to the global documentation of the library for the effect of each parameter.