This class implements the base for all 6-DOF scene trackers. More...

#include <SceneTracker6DOF.h>

Inheritance diagram for Ocean::Devices::SceneTracker6DOF:

Data Structures
class	SceneElement
	This class implements the base class of all scene elements. More...

class	SceneElementDepth
	This class implements a scene element holding depth information. More...

class	SceneElementFeatureCorrespondences
	This class implements a scene element holding 2D/3D feature correspondences. More...

class	SceneElementMeshes
	This class implements a scene element holding 3D meshes. More...

class	SceneElementObjectPoints
	Definition of a scene element holding 3D object points. More...

class	SceneElementPlanes
	This class implements a scene element holding 3D planes. More...

class	SceneElementRoom
	This class implements a scene element holding room objects. More...

class	SceneTracker6DOFSample
	Definition of a sample holding one single 6DOF tracker measurement. More...

Public Types
typedef std::shared_ptr< SceneElement >	SharedSceneElement
	Definition of a shared pointer holding a scene element.

typedef std::vector< SharedSceneElement >	SharedSceneElements
	Definition of a vector holding scene elements.

typedef SmartObjectRef< SceneTracker6DOFSample, Sample >	SceneTracker6DOFSampleRef
	Definition of a smart object reference for 6-DOF scene tracker samples.

Public Types inherited from Ocean::Devices::Tracker6DOF
typedef SmartObjectRef< Tracker6DOFSample, Sample >	Tracker6DOFSampleRef
	Definition of a smart object reference for 6DOF tracker samples.

Public Types inherited from Ocean::Devices::OrientationTracker3DOF
typedef SmartObjectRef< OrientationTracker3DOFSample, Sample >	OrientationTracker3DOFSampleRef
	Definition of a smart object reference for 3DOF orientation tracker samples.

Public Types inherited from Ocean::Devices::Tracker
enum	TrackerType : uint32_t { TRACKER_INVALID = MINOR_INVALID , TRACKER_ORIENTATION_3DOF = (1u << 0u) , TRACKER_POSITION_3DOF = (1u << 1u) , TRACKER_6DOF = TRACKER_ORIENTATION_3DOF \| TRACKER_POSITION_3DOF , SCENE_TRACKER_6DOF = (1u << 2u) \| TRACKER_6DOF , TRACKER_GPS = (1u << 3u) , TRACKER_MAGNETIC = (1u << 4u) , TRACKER_VISUAL = (1u << 5u) , TRACKER_OBJECT = (1u << 6u) }
	Definition of different minor device types. More...

enum	ReferenceSystem { RS_OBJECT_IN_DEVICE , RS_DEVICE_IN_OBJECT }
	Definition of different tracking reference system. More...

typedef float	Frequency
	Definition of a tracker frequency in Hz.

typedef SmartObjectRef< TrackerSample, Sample >	TrackerSampleRef
	Definition of a smart object reference for tracker samples.

typedef Callback< void, const Tracker *, const bool, const ObjectIdSet &, const Timestamp & >	TrackerObjectCallback
	Definition of a callback function to subscribe for lost and found tracker events.

Public Types inherited from Ocean::Devices::Measurement
enum	InterpolationStrategy { IS_INVALID , IS_TIMESTAMP_NEAREST , IS_TIMESTAMP_INTERPOLATE }
	Definition of individual interpolation strategies for samples. More...

typedef unsigned int	ObjectId
	Definition of an object id.

typedef std::vector< ObjectId >	ObjectIds
	Definition of a vector holding object ids.

typedef std::unordered_set< ObjectId >	ObjectIdSet
	Definition of an unordered set holding object ids.

typedef std::unordered_map< std::string, Value >	Metadata
	Definition of an unordered map mapping keys to values.

typedef ObjectRef< Sample >	SampleRef
	Definition of an object reference for samples.

typedef Callback< void, const Measurement *, const SampleRef & >	SampleCallback
	Definition of a callback function to subscribe for new measurement sample events.

Public Types inherited from Ocean::Devices::Device
enum	MajorType : uint32_t { DEVICE_INVALID = 0u , DEVICE_MEASUREMENT = (1u << 0u) , DEVICE_SENSOR = (1u << 1u) \| DEVICE_MEASUREMENT , DEVICE_TRACKER = (1u << 2u) \| DEVICE_MEASUREMENT }
	Definition of all major device types. More...

enum	MinorType : uint32_t { MINOR_INVALID = 0u }
	Base definition of a minor type. More...

Public Types inherited from Ocean::Devices::PositionTracker3DOF
typedef SmartObjectRef< PositionTracker3DOFSample, Sample >	PositionTracker3DOFSampleRef
	Definition of a smart object reference for 3DOF position tracker samples.

Public Member Functions
virtual bool	exportSceneElements (const std::string &format, std::ostream &outputStream, const std::string &options=std::string()) const
	Exports the determined scene elements.

Public Member Functions inherited from Ocean::Devices::Tracker
virtual Frequency	frequency () const
	Returns the frequency of this tracker.

virtual bool	isObjectTracked (const ObjectId &objectId) const
	Returns whether a specific object is currently actively tracked by this tracker.

TrackerObjectEventSubscription	subscribeTrackerObjectEvent (TrackerObjectCallback &&callback)
	Subscribes a callback event function for tracker object (found or lost) events.

virtual HomogenousMatrixD4	reference () const
	Returns the reference coordinate system of this tracker.

Public Member Functions inherited from Ocean::Devices::Measurement
size_t	sampleCapacity () const
	Returns the capacity of the internal sample container.

bool	setSampleCapacity (const size_t capacity)
	Sets the capacity of the internal sample container.

virtual SampleRef	sample () const
	Returns the most recent sample.

virtual SampleRef	sample (const Timestamp timestamp) const
	Returns the sample with a specific timestamp.

virtual SampleRef	sample (const Timestamp &timestamp, const InterpolationStrategy interpolationStrategy) const
	Returns the sample best matching with a specified timestamp.

SampleEventSubscription	subscribeSampleEvent (SampleCallback &&callback)
	Subscribes a callback event function for new measurement sample events.

ObjectId	objectId (const std::string &description) const
	Returns the object id for an object description.

Strings	objectDescriptions () const
	Returns descriptions of all objects currently available.

std::string	objectDescription (const ObjectId objectId) const
	Returns the description of one object of this measurement.

Public Member Functions inherited from Ocean::Devices::Device
const std::string &	name () const
	Returns the name of this device.

virtual const std::string &	library () const =0
	Returns the name of the owner library.

virtual bool	isStarted () const
	Returns whether this device is active.

bool	isValid () const
	Returns whether this device is valid.

bool	isExclusive () const
	Returns whether this device can be use exclusively.

virtual bool	start ()
	Starts the device.

virtual bool	pause ()
	Pauses the device.

virtual bool	stop ()
	Stops the device.

virtual bool	setParameter (const std::string &parameter, const Value &value)
	Sets an abstract parameter of this device.

virtual bool	parameter (const std::string &parameter, Value &value)
	Returns an abstract parameter of this device.

DeviceType	type () const
	Returns the major and minor type of this device.

Static Public Member Functions
static DeviceType	deviceTypeSceneTracker6DOF ()
	Definition of this device type.

Static Public Member Functions inherited from Ocean::Devices::Tracker6DOF
static DeviceType	deviceTypeTracker6DOF ()
	Definition of this device type.

Static Public Member Functions inherited from Ocean::Devices::OrientationTracker3DOF
static DeviceType	deviceTypeOrientationTracker3DOF ()
	Return the device type of this tracker.

Static Public Member Functions inherited from Ocean::Devices::Tracker
static std::string	translateTrackerType (const TrackerType trackerType)
	Translates the tracker type to a readable string.

static TrackerType	translateTrackerType (const std::string &trackerType)
	Translates the tracker type from a readable string to a value.

static constexpr Frequency	unknownFrequency ()
	Definition of a constant as unknown frequency.

Static Public Member Functions inherited from Ocean::Devices::Measurement
static constexpr ObjectId	invalidObjectId ()
	Returns an invalid object id.

Static Public Member Functions inherited from Ocean::Devices::Device
static std::string	translateMajorType (const MajorType majorType)
	Translates the major devices type to a readable string.

static MajorType	translateMajorType (const std::string &majorType)
	Translates the major devices type from a readable string to a value.

Static Public Member Functions inherited from Ocean::Devices::PositionTracker3DOF
static DeviceType	deviceTypePositionTracker3DOF ()
	Returns the device type of this tracker.

Protected Member Functions
	SceneTracker6DOF (const std::string &name)
	Creates a new 6-DOF scene tracker object.

	~SceneTracker6DOF () override
	Destructs a 6-DOF tracker object.

Protected Member Functions inherited from Ocean::Devices::Tracker6DOF
	Tracker6DOF (const std::string &name)
	Creates a new 6DOF tracker object.

	~Tracker6DOF () override
	Destructs a 6DOF tracker object.

Protected Member Functions inherited from Ocean::Devices::OrientationTracker3DOF
	OrientationTracker3DOF (const std::string &name)
	Creates a new 3DOF orientation tracker object.

	~OrientationTracker3DOF () override
	Destructs a 3DOF orientation tracker.

Protected Member Functions inherited from Ocean::Devices::Tracker
	Tracker (const std::string &name, const DeviceType type)
	Creates a new tracker object.

	~Tracker () override
	Destructs a tracker object.

void	postFoundTrackerObjects (const ObjectIdSet &objectIds, const Timestamp &timestamp)
	Posts a new found tracker objects event.

void	postLostTrackerObjects (const ObjectIdSet &objectIds, const Timestamp &timestamp)
	Posts a new lost tracker objects event.

void	unsubscribeTrackerObjectEvent (const SubscriptionId subscriptionId)
	Unsubscribes a tracker object event callback function.

Protected Member Functions inherited from Ocean::Devices::Measurement
	Measurement (const std::string &name, const DeviceType type)
	Creates a new measurement object.

	~Measurement () override
	Destructs a measurement object.

void	postNewSample (const SampleRef &newSample)
	Posts a new measurement sample.

ObjectId	addUniqueObjectId (const std::string &description)
	Creates a unique object id for a new object (e.g., a tracking object like an image, a marker, or a location).

void	unsubscribeSampleEvent (const SubscriptionId subscriptionId)
	Unsubscribes a sample event callback function.

Protected Member Functions inherited from Ocean::Devices::Device
	Device (const Device &device)=delete
	Disabled copy constructor.

	Device (const std::string &name, const DeviceType type)
	Creates a new device by is name.

virtual	~Device ()
	Destructs a device.

Device &	operator= (const Device &device)=delete
	Disabled copy operator.

Protected Member Functions inherited from Ocean::Devices::PositionTracker3DOF
	PositionTracker3DOF (const std::string &name)
	Creates a new 3DOF position tracker object.

	~PositionTracker3DOF () override
	Destructs a 3DOF position tracker object.

Additional Inherited Members
Protected Types inherited from Ocean::Devices::Tracker
typedef std::unordered_map< SubscriptionId, TrackerObjectCallback >	TrackerObjectSubscriptionMap
	Definition of a map mapping subscription ids to tracker object event callback functions.

Protected Types inherited from Ocean::Devices::Measurement
typedef std::map< Timestamp, SampleRef >	SampleMap
	Definition of a map holding the most recent samples.

typedef std::unordered_map< std::string, ObjectId >	ObjectDescriptionToIdMap
	Definition of an unordered map mapping descriptions to unique object ids.

typedef std::unordered_map< ObjectId, std::string >	ObjectIdToDescriptionMap
	Definition of an unordered map mapping unique object ids to descriptions.

typedef std::unordered_map< SubscriptionId, SampleCallback >	SampleSubscriptionMap
	Definition of a map mapping subscription ids to event sample callback functions.

Protected Types inherited from Ocean::Devices::Device
typedef unsigned int	SubscriptionId
	Definition of a subscription id for event callbacks.

Static Protected Member Functions inherited from Ocean::Devices::Tracker
static ObjectIdSet	determineFoundObjects (const ObjectIdSet &previousObjects, const ObjectIdSet &currentObjects)
	Determines the ids which were not tracked in the previous iteration but tracked in the current iteration.

static ObjectIdSet	determineLostObjects (const ObjectIdSet &previousObjects, const ObjectIdSet &currentObjects)
	Determines the ids which were tracked in the previous iteration but not tracked in the current iteration.

Static Protected Member Functions inherited from Ocean::Devices::Device
static constexpr SubscriptionId	invalidSubscriptionId ()
	Returns an invalid subscription id.

Protected Attributes inherited from Ocean::Devices::Tracker
TrackerObjectSubscriptionMap	trackerObjectSubscriptionMap_
	Map holding all tracker object event subscriptions.

SubscriptionId	nextTrackerObjectSubscriptionId_ = SubscriptionId(invalidSubscriptionId() + 1u)
	The subscription id of the next event subscription.

Protected Attributes inherited from Ocean::Devices::Measurement
Lock	samplesLock_
	Sample lock.

Lock	subscriptionLock_
	Subscription lock.

Protected Attributes inherited from Ocean::Devices::Device
std::string	deviceName
	Name of this device.

DeviceType	deviceType
	Major and minor type of this device.

bool	deviceIsValid
	Flag determining whether this device is valid.

Lock	deviceLock
	Device lock.

Detailed Description

This class implements the base for all 6-DOF scene trackers.

Scene trackers provides 6-DOF transformations in combination with scene elements like point clouds, meshes, planes, or other content from the environment.

Member Typedef Documentation

◆ SceneTracker6DOFSampleRef

typedef SmartObjectRef<SceneTracker6DOFSample, Sample> Ocean::Devices::SceneTracker6DOF::SceneTracker6DOFSampleRef

Definition of a smart object reference for 6-DOF scene tracker samples.

◆ SharedSceneElement

typedef std::shared_ptr<SceneElement> Ocean::Devices::SceneTracker6DOF::SharedSceneElement

Definition of a shared pointer holding a scene element.

◆ SharedSceneElements

typedef std::vector<SharedSceneElement> Ocean::Devices::SceneTracker6DOF::SharedSceneElements

Definition of a vector holding scene elements.

Constructor & Destructor Documentation

◆ SceneTracker6DOF()

Ocean::Devices::SceneTracker6DOF::SceneTracker6DOF ( const std::string & name )

explicitprotected

Creates a new 6-DOF scene tracker object.

Parameters

name	The name of the 6DOF tracker, must be valid

◆ ~SceneTracker6DOF()

Ocean::Devices::SceneTracker6DOF::~SceneTracker6DOF ( )

overrideprotected

Destructs a 6-DOF tracker object.

Member Function Documentation

◆ deviceTypeSceneTracker6DOF()

SceneTracker6DOF::DeviceType Ocean::Devices::SceneTracker6DOF::deviceTypeSceneTracker6DOF ( )

inlinestatic

Definition of this device type.

◆ exportSceneElements()

virtual bool Ocean::Devices::SceneTracker6DOF::exportSceneElements	(	const std::string &	format,
		std::ostream &	outputStream,
		const std::string &	options = `std::string()`
	)		const

virtual

Exports the determined scene elements.

Parameters

format	The format of the exported data
outputStream	The output stream to which the data will be exported
options	Optional options to configure the export result

Returns: True, if succeeded; False, if not supported

Reimplemented in Ocean::Devices::MapBuilding::OnDeviceMapCreatorTracker6DOF.

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

SceneTracker6DOF.h

Data Structures

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members