8#ifndef META_OCEAN_TRACKING_MAPBUILDING_TRACKER_MONO_H
9#define META_OCEAN_TRACKING_MAPBUILDING_TRACKER_MONO_H
This class implements the abstract base class for all AnyCamera objects.
Definition AnyCamera.h:130
This class implements a frame pyramid.
Definition FramePyramid.h:37
This class implements Ocean's image class.
Definition Frame.h:1808
std::function< bool(const AnyCamera &camera, const Frame &yFrame, Vectors2 &imagePoints, SharedUnifiedDescriptors &imagePointDescriptors)> ImageFeaturePointDetectorFunction
Definition of a function which detects and describes feature points in a given image.
Definition Relocalizer.h:42
This class implements a relocalizer for mono cameras.
Definition RelocalizerMono.h:33
This class implements a tracker for mono cameras.
Definition TrackerMono.h:30
TrackerMono()=default
Creates a new tracker object.
void createDebuggingElementFeatureCorrespondences(const AnyCamera &anyCamera, const HomogenousMatrix4 &world_T_camera)
Creates the feature correspondences debugging element.
ObjectPointIdMap objectPointIdMap_
The map mapping object point ids to object point indices.
Definition TrackerMono.h:94
Vectors3 previousObjectPoints_
The previous object points.
Definition TrackerMono.h:91
bool track(const AnyCamera &anyCamera, const Frame &yFrame, HomogenousMatrix4 &world_T_camera, const unsigned int minimalNumberCorrespondences, const Scalar maximalProjectionError, const HomogenousMatrix4 &world_T_roughCamera=HomogenousMatrix4(false), Worker *worker=nullptr)
Tracks the current frame a given frame.
std::unordered_map< Index32, Index32 > ObjectPointIdMap
Definition of an unordered map mapping object point ids to object point indices.
Definition TrackerMono.h:36
bool setFeatureMap(SharedUnifiedFeatureMap featureMap) override
Sets or updates the feature map to be used for relocalization.
Vectors2 previousImagePoints_
The previous image points.
Definition TrackerMono.h:88
CV::FramePyramid yCurrentFramePyramid_
The frame pyramid holding the current camera image.
Definition TrackerMono.h:85
CV::FramePyramid yPreviousFramePyramid_
The frame pyramid holding the previous camera image.
Definition TrackerMono.h:82
TrackerMono(ImageFeaturePointDetectorFunction imageFeaturePointDetectorFunction)
Creates a new tracker object.
This class implements a worker able to distribute function calls over different threads.
Definition Worker.h:33
float Scalar
Definition of a scalar type.
Definition Math.h:129
std::vector< Vector2 > Vectors2
Definition of a vector holding Vector2 objects.
Definition Vector2.h:64
std::vector< Vector3 > Vectors3
Definition of a vector holding Vector3 objects.
Definition Vector3.h:65
std::shared_ptr< UnifiedFeatureMap > SharedUnifiedFeatureMap
Definition of a shared pointer holding a UnifiedFeatureMap object.
Definition UnifiedFeatureMap.h:38
The namespace covering the entire Ocean framework.
Definition Accessor.h:15