Unified Video-Based Tracker

Open Issues/Wishlist/Desired or Planned Features

• General: See `

  Todo:

  ` in code

These are split up into sections, since the tracker code is split up: there's the core tracker engine which is very generic and flexible, then the plugin which, in places (actually, one specific file - MakeHDKTrackingSystem.h), is effectively hard-coded to just set up the core to track an HDK right now. Naturally, removing the artificial limitations on the core's power is easier than working on the tracker core itself, though a number of the items on the tracker core are fairly simple: the "scary math" phase is effectively complete and hasn't really needed to be touched substantially in some time.

Plugin Interface (org_osvr_unifiedvideoinertial)

Items here are just in the plugin interface to the tracker core - there is far more functionality in the tracker core (and even in the inner part of the plugin interface - the TrackerThread object, etc can handle multiple tracked objects, multiple IMUs, etc) than is exposed by the plugin interface right now.

• Configuration: be able to instantiate an arbitrary set of bodies/targets.
• Report status of each body in an analog.

Other Interface Items

Like the plugin interface items above, these don't require changes to the tracker core.

• Port the pre-calibration tool to this tracker tracker core, along with a new JSON file format for calibrated beacons.

Video Tracker Shared (blob detection, etc)

• Option for "max area" as a blob filter parameter: the new "edge hole extractor" is much better at not recognizing random splotches of sunlight as blobs, but a max area filter would be cheap and easy and save computation down the line by reducing n...

Tracker Core (uvbi-core)

In general, the things that sound like large design changes are actually stubbed in or theoretically functional, but not tested/used in the current limited plugin interface that just sets up the core to track the HDK.

• General: See Assumptions.h and `

  Todo:

  ` in code