osvr::vbtracker::VideoBasedTracker Class Reference

Public Types
typedef std::function< void(OSVR_ChannelCount, OSVR_Pose3 const &)>	PoseHandler

Public Member Functions
	VideoBasedTracker (ConfigParams const &params=ConfigParams{})
bool	processImage (cv::Mat frame, cv::Mat grayImage, OSVR_TimeValue const &tv, PoseHandler handler)
	The main method that processes an image into tracked poses. More...
BeaconBasedPoseEstimator const &	getFirstEstimator () const
	For debug purposes.
BeaconBasedPoseEstimator &	getFirstEstimator ()
	For debug purposes.
Sensor addition methods
Adds a sensor, given an LedIdentifier and parameters to create a pose estimator. Parameters identifier Takes unique ownership of the passed LedIdentifier object camParams An object with the camera matrix and distortion parameters. locations A list of the 3d locations (in mm) of each marker emissionDirection Normalized vectors for each beacon in body space giving their emission direction. variance A single default base measurement variance used as a starting point for all beacons. autocalibrationFixedPredicate A function that, when given a 1-based ID of a beacon, returns "true" if the autocalibration routines should consider that beacon "fixed" and not subject to autocalibration. requiredInliers How many "good" points must be available permittedOutliers How many additional "bad" points we can have
void	addSensor (LedIdentifierPtr &&identifier, CameraParameters const &camParams, Point3Vector const &locations, Vec3Vector const &emissionDirection, double variance, BeaconIDPredicate const &autocalibrationFixedPredicate=getDefaultBeaconFixedPredicate(), size_t requiredInliers=4, size_t permittedOutliers=2)
void	addSensor (LedIdentifierPtr &&identifier, CameraParameters const &camParams, Point3Vector const &locations, Vec3Vector const &emissionDirection, BeaconIDPredicate const &autocalibrationFixedPredicate, size_t requiredInliers=4, size_t permittedOutliers=2)
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.For those who want the default variance but want to provide an autocalibration fixed predicate or more. More...
void	addSensor (LedIdentifierPtr &&identifier, CameraParameters const &camParams, Point3Vector const &locations, Vec3Vector const &emissionDirection, std::vector< double > const &variance=std::vector< double >{}, BeaconIDPredicate const &autocalibrationFixedPredicate=getDefaultBeaconFixedPredicate(), size_t requiredInliers=4, size_t permittedOutliers=2, double beaconAutocalibErrorScale=1)
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. Takes a vector of default measurement variances, one per beacon. More...

Static Public Member Functions
static BeaconIDPredicate	getDefaultBeaconFixedPredicate ()

Member Function Documentation

addSensor() [1/2]

void osvr::vbtracker::VideoBasedTracker::addSensor ( LedIdentifierPtr &&  identifier, CameraParameters const &  camParams, Point3Vector const &  locations, Vec3Vector const &  emissionDirection, BeaconIDPredicate const &  autocalibrationFixedPredicate, size_t  requiredInliers = 4, size_t  permittedOutliers = 2  )

inline

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.For those who want the default variance but want to provide an autocalibration fixed predicate or more.

addSensor() [2/2]

void osvr::vbtracker::VideoBasedTracker::addSensor	(	LedIdentifierPtr &&	identifier,
		CameraParameters const &	camParams,
		Point3Vector const &	locations,
		Vec3Vector const &	emissionDirection,
		std::vector< double > const &	variance = std::vector<double>{},
		BeaconIDPredicate const &	autocalibrationFixedPredicate = getDefaultBeaconFixedPredicate(),
		size_t	requiredInliers = 4,
		size_t	permittedOutliers = 2,
		double	beaconAutocalibErrorScale = 1
	)

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. Takes a vector of default measurement variances, one per beacon.

By default (if empty) a default overall base measurement variance is used. If only a single entry is in the vector, it is used for every beacon.

(This is actually the one that does the work.)

processImage()

bool osvr::vbtracker::VideoBasedTracker::processImage	(	cv::Mat	frame,
		cv::Mat	grayImage,
		OSVR_TimeValue const &	tv,
		PoseHandler	handler
	)

The main method that processes an image into tracked poses.

Returns

true if user hit q to quit in a debug window, if such a thing exists.

Perform the undistortion of keypoints

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

• plugins/videobasedtracker/VideoBasedTracker.h
• plugins/videobasedtracker/VideoBasedTracker.cpp