osvr::vbtracker::BeaconBasedPoseEstimator Class Reference

Class to track an object that has identified LED beacons on it as seen in a camera, where the absolute location of the LEDs with respect to a common frame of reference is known. More...

#include <BeaconBasedPoseEstimator.h>

Public Member Functions
	BeaconBasedPoseEstimator (CameraParameters const &camParams, size_t requiredInliers=4, size_t permittedOutliers=2, ConfigParams const &params=ConfigParams{})
	Constructor that expects its beacons to be set later. More...
EIGEN_MAKE_ALIGNED_OPERATOR_NEW bool	EstimatePoseFromLeds (LedGroup &leds, OSVR_TimeValue const &tv, OSVR_PoseState &out)
	Produce an estimate of the pose of the model-space origin in camera space, where the origin is at the center of the image as described by the camera matrix. More...
std::size_t	getNumBeacons () const
bool	ProjectBeaconsToImage (std::vector< cv::Point2f > &outPose)
	Project the beacons into image space given the most-recent estimation of pose. More...
void	permitKalmanMode (bool permitKalman)
	Some uses of this may require explicitly disabling kalman mode until a condition is met. More...
void	dumpBeaconLocationsToStream (std::ostream &os) const
std::vector< BeaconData > const &	getBeaconDebugData () const
Eigen::Vector3d	getBeaconAutocalibPosition (std::size_t i) const
Eigen::Vector3d	getBeaconAutocalibVariance (std::size_t i) const
State getting methods
They extract state in the OSVR units (meters, not mm, for instance) even when the internal storage may vary.
OSVR_PoseState	GetState () const
OSVR_PoseState	GetPredictedState (double dt) const
Eigen::Vector3d	GetLinearVelocity () const
Eigen::Vector3d	GetAngularVelocity () const
Data set resets
Replace one of the data sets we're using with a new one.
bool	SetBeacons (const Point3Vector &beacons, Vec3Vector const &emissionDirection, std::vector< double > const &variance, BeaconIDPredicate const &autocalibrationFixedPredicate, double beaconAutocalibErrorScale=1)
bool	SetCameraParameters (CameraParameters const &camParams)

Static Public Member Functions
static BeaconIDPredicate	getDefaultBeaconFixedPredicate ()

Detailed Description

Class to track an object that has identified LED beacons on it as seen in a camera, where the absolute location of the LEDs with respect to a common frame of reference is known.

Returns the transformation that takes points from the model coordinate system to the camera coordinate system.

Constructor & Destructor Documentation

BeaconBasedPoseEstimator()

osvr::vbtracker::BeaconBasedPoseEstimator::BeaconBasedPoseEstimator	(	CameraParameters const &	camParams,
		size_t	requiredInliers = 4,
		size_t	permittedOutliers = 2,
		ConfigParams const &	params = ConfigParams{}
	)

Constructor that expects its beacons to be set later.

It is told the camera matrix and distortion coefficients, in a format suitable to send to OpenCV. See http://docs.opencv.org/doc/tutorials/calib3d/camera_calibration/camera_calibration.html for details on these formats.

Parameters

camParams	Intrinsic camera parameters (camera matrix and distortion)
beacons	3D beacon locations
requiredInliers	How many "good" points must be available
permittedOutliers	How many additional "bad" points we can have

Member Function Documentation

EstimatePoseFromLeds()

bool osvr::vbtracker::BeaconBasedPoseEstimator::EstimatePoseFromLeds	(	LedGroup &	leds,
		OSVR_TimeValue const &	tv,
		OSVR_PoseState &	out
	)

Produce an estimate of the pose of the model-space origin in camera space, where the origin is at the center of the image as described by the camera matrix.

This pose will be expressed in meters even though the beacon locations and camera focal depth are in millimeters.

Returns

Returns true on success, false on failure to make a pose.

permitKalmanMode()

void osvr::vbtracker::BeaconBasedPoseEstimator::permitKalmanMode

(

bool

permitKalman

)

Some uses of this may require explicitly disabling kalman mode until a condition is met.

This permits that.

ProjectBeaconsToImage()

bool osvr::vbtracker::BeaconBasedPoseEstimator::ProjectBeaconsToImage

(

std::vector< cv::Point2f > &

outPose

)

Project the beacons into image space given the most-recent estimation of pose.

Returns

true on success, false on failure.

SetBeacons()

bool osvr::vbtracker::BeaconBasedPoseEstimator::SetBeacons	(	const Point3Vector &	beacons,
		Vec3Vector const &	emissionDirection,
		std::vector< double > const &	variance,
		BeaconIDPredicate const &	autocalibrationFixedPredicate,
		double	beaconAutocalibErrorScale = 1
	)

A single entry in the variance array implies use that for all beacons.

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The documentation for this class was generated from the following files:

• plugins/videobasedtracker/BeaconBasedPoseEstimator.h
• plugins/videobasedtracker/BeaconBasedPoseEstimator.cpp
• plugins/videobasedtracker/BeaconBasedPoseEstimator_Kalman.cpp