This class implements the base class for all visual offline tracker using frames to provide the tracking data. More...

Inheritance diagram for Ocean::Tracking::Offline::FrameTracker:

Data Structures
class	FramePyramidTrackerComponent
	This class implements the base class for all components of a frame tracker. More...

class	FrameTrackerComponent
	This class implements the base class for all components of a frame tracker. More...

class	TrackerComponent
	This class implements the base class for all components of a frame tracker. More...

Public Member Functions
bool	succeeded () const override
	Returns whether the offline tracker has finished and succeeded since the last start or has not been started yet. More...

const PinholeCamera &	camera () const
	Returns the camera object this is applied by this tracker. More...

Scalar	cameraPrecision () const
	Returns the camera precision of this tracker. More...

bool	start () override
	Starts the offline tracker. More...

virtual bool	setFrameProviderInterface (const CV::FrameProviderInterfaceRef &frameProviderInterface)
	Sets the frame provider interface that allows to request the individual frames for the offline tracker. More...

virtual bool	setTrackingFrameRange (const unsigned int lowerFrameIndex, const unsigned int upperFrameIndex, const unsigned int startFrameIndex=(unsigned int)(-1))
	Sets the frame range of this frame tracker. More...

virtual bool	setCamera (const PinholeCamera &pinholeCamera, const Scalar cameraPrecision, const bool optimizeCamera)
	Sets a camera object that will be used by this tracker. More...

Public Member Functions inherited from Ocean::Tracking::Offline::OfflineTracker
virtual	~OfflineTracker ()
	Frees the offline tracker object. More...

virtual bool	stop (const unsigned int timeout=0u)
	Stops the offline tracker. More...

unsigned int	id () const
	Returns the unique id of this tracker object. More...

virtual bool	running () const
	Returns whether the tracker has been started (and is currently tracking). More...

virtual bool	finished () const
	Returns whether the offline tracker has finished since the last start or has not been started yet. More...

virtual OfflinePoses	poses () const
	Returns the currently determined poses of this tracker. More...

virtual OfflinePose	pose (const unsigned int index) const
	Returns one pose of this tracker. More...

void	addEventCallback (const EventCallback &callback)
	Adds a state event callback function. More...

void	removeEventCallback (const EventCallback &callback)
	Removes a state event callback function. More...

Protected Member Functions
	FrameTracker ()=default
	Creates a new offline frame tracker object. More...

	FrameTracker (const CV::FrameProviderInterfaceRef &frameProviderInterface)
	Creates a new offline frame tracker object. More...

void	threadRun () override
	Thread run function. More...

virtual bool	applyFrameTracking (const FrameType &frameType)=0
	Frame tracker run function. More...

FrameType	applyFrameTrackingInitialization ()
	Applies the initialization of the frame tracker. More...

virtual void	updateCamera (const PinholeCamera &pinholeCamera)
	Updates the camera of this tracker and invokes the corresponding state event(s). More...

Protected Member Functions inherited from Ocean::Tracking::Offline::OfflineTracker
	OfflineTracker ()
	Creates a new offline tracker object. More...

void	updateTrackerProgress (const Scalar localProgress)
	Updates the tracker process progress value of this tracker. More...

void	updatePoses (const OfflinePoses &poses)
	Updates all poses of this tracker and invokes the corresponding state event(s). More...

void	removeIrregularPoses (const Scalar factor=Scalar(5))
	Removes irregular poses at the boundary between valid and invalid poses. More...

void	extrapolatePoses (const unsigned int number, const unsigned int base)
	Extrapolates poses at the boundary between valid and invalid poses. More...

Protected Member Functions inherited from Ocean::Thread
	Thread (const Thread &thread)=delete
	Disabled copy constructor. More...

void	createThread ()
	Creates the thread itself. More...

void	destroyThread ()
	Destroys the thread itself. More...

void	stopThreadExplicitly (const unsigned int timeout=5000u)
	Tries to stop the thread gracefully. More...

Thread &	operator= (const Thread &thread)=delete
	The disabled assign operator. More...

	Thread (const std::string &name=std::string())
	Creates a new thread object. More...

	Thread (const unsigned int randomNumberSeedValue, const std::string &name=std::string())
	Creates a new thread object. More...

virtual	~Thread ()
	Destructs a thread object. More...

bool	startThread ()
	Starts the thread. More...

void	stopThread ()
	Informs the thread to stop. More...

bool	terminateThread ()
	Terminates the thread. More...

bool	joinThread (const unsigned int timeout=(unsigned int)(-1))
	Waits until this thread has been stopped. More...

bool	shouldThreadStop () const
	Returns whether this thread should stop. More...

bool	isThreadInvokedToStart () const
	Returns whether this thread has been invoked to start immediately. More...

bool	isThreadActive () const
	Returns whether this thread is active. More...

Protected Attributes
CV::FrameProviderInterfaceRef	frameProviderInterface_
	Frame provider interface that allows to request the individual frames for this offline tracker. More...

unsigned int	lowerFrameIndex_ = (unsigned int)(-1)
	Index of the lower frame range. More...

unsigned int	startFrameIndex_ = (unsigned int)(-1)
	Index of the frame at that the tracking will start, or -1 if no specific frame is specified. More...

unsigned int	upperFrameIndex_ = (unsigned int)(-1)
	Index of the upper frame range. More...

PinholeCamera	camera_
	The camera object of this tracker. More...

Scalar	cameraPrecision_ = Scalar(-1)
	The precision of the camera object in squared pixel errors. More...

bool	optimizeCamera_ = true
	True, if the camera needs to be optimized during the tracking process. More...

bool	succeeded_ = true
	Succeeded state of the tracker. More...

Protected Attributes inherited from Ocean::Tracking::Offline::OfflineTracker
unsigned int	id_ = 0u
	The unique id that identifies this tracker. More...

bool	finished_ = true
	Finished state of the tracker. More...

bool	shouldStop_ = false
	Stop-request state of the tracker, this state should have the same state as the threadShouldStop variable but will be accessible in all trackers. More...

OfflinePoses	offlinePoses_
	Offline poses of this tracker. More...

EventCallbacks	eventCallbacks_
	State event callback functions. More...

Lock	lock_
	Tracker lock object. More...

EventStack	eventStack_
	The stack with progress event layers allowing for a convenient process progress event handling. More...

Lock	eventStackLock_
	The lock for the progress event layer stack. More...

Scalar	previousProcessProgress_ = Scalar(0)
	The previous process progress. More...

Friends
class	FrameTrackerComponent

Additional Inherited Members
Public Types inherited from Ocean::Tracking::Offline::OfflineTracker
enum	TrackingQuality { TQ_LOW , TQ_MODERATE , TQ_HIGH , TQ_ULTRA , TQ_INSANE , TQ_AUTOMATIC , TQ_COARSE , TQ_FINE }
	Definition of individual tracking qualities. More...

enum	AbstractMotionType { AMT_UNKNOWN , AMT_PURE_ROTATIONAL , AMT_COMPLEX }
	Definition of individual abstract camera motion types. More...

enum	CameraModel { CM_INVALID , CM_LOW_QUALITY , CM_MEDIUM_QUALITY , CM_HIGH_QUALITY }
	Definition of individual camera models. More...

typedef Callback< void, const TrackerEvent & >	EventCallback
	Definition of a component event callback function. More...

Protected Types inherited from Ocean::Tracking::Offline::OfflineTracker
typedef std::vector< EventStackLayer >	EventStack
	Definition of a vector holding EventStackLayer objects which actually is used to implement a stack of these objects. More...

typedef ConcurrentCallbacks< EventCallback >	EventCallbacks
	Definition of a vector holding event callback functions. More...

Protected Types inherited from Ocean::Thread
typedef std::pair< pthread_t, bool >	TimedJoinPair
	Definition of a pair holding a thread id and a boolean state. More...

enum	ThreadPriority { PRIORITY_IDLE , PRIORTY_BELOW_NORMAL , PRIORTY_NORMAL , PRIORTY_ABOVE_NORMAL , PRIORTY_HIGH , PRIORTY_REALTIME }
	Definition of different thread priority values. More...

Static Protected Member Functions inherited from Ocean::Tracking::Offline::OfflineTracker
static bool	isPlausibleCamera (const PinholeCamera &pinholeCamera, const CameraModel model)
	Checks whether the camera parameters of a given camera profiles matches to the specified camera model. More...

static void	extrapolateSinglePose (const OfflinePoses::Index invalidIndex, OfflinePoses &offlinePoses)
	Interpolates the pose of a single invalid pose which is enclosed by two valid poses. More...

static void	extrapolateLeftPoses (const OfflinePoses::Index invalidIndex, const unsigned int number, const unsigned int base, OfflinePoses &offlinePoses)
	Interpolates some poses to the left of a gap with invalid poses. More...

static void	extrapolateRightPoses (const OfflinePoses::Index invalidIndex, const unsigned int number, const unsigned int base, OfflinePoses &offlinePoses)
	Interpolates some poses to the right of a gap with invalid poses. More...

static void	extrapolateCenterPoses (const OfflinePoses::Index invalidIndex, const unsigned int number, const unsigned int base, OfflinePoses &offlinePoses)
	Interpolates some poses to the left or to the right of a gap with invalid poses. More...

static Lock &	idCounterLock ()
	Returns a reference to the lock for the tracker id counter. More...

Static Protected Member Functions inherited from Ocean::Thread
static void	sleep (unsigned int ms)
	Sleeps the calling thread for a given time. More...

static void	giveUp ()
	Gives up the remaining thread time. More...

static ThreadId	currentThreadId ()
	Returns the thread id of the current (calling) thread. More...

static ThreadPriority	threadPriority ()
	Returns the priority of the current thread. More...

static bool	setThreadPriority (const ThreadPriority priority)
	Sets the priority of the current thread. More...

template<typename TObject , typename TExpectedValue >
static bool	waitForValue (TObject &object, const TExpectedValue &expectedValue, const double timeout=-1.0)
	Waits until an object/variable has an expected value. More...

template<typename TObject , typename TExpectedValue >
static bool	waitForValue (TObject &object, const TExpectedValue &expectedValue, TemporaryScopedLock &temporaryScopedLock, const double timeout=-1.0)
	Waits until an object/variable has an expected value. More...

static int	pthread_timedjoin_np (pthread_t thread, void *retval, const struct timespec abstime)
	Implements a thread join function with timeout value. More...

Static Protected Attributes inherited from Ocean::Tracking::Offline::OfflineTracker
static unsigned int	idCounter_
	The tracker id counter. More...

Detailed Description

This class implements the base class for all visual offline tracker using frames to provide the tracking data.

Constructor & Destructor Documentation

◆ FrameTracker() [1/2]

Ocean::Tracking::Offline::FrameTracker::FrameTracker ( )

protecteddefault

Creates a new offline frame tracker object.

◆ FrameTracker() [2/2]

Ocean::Tracking::Offline::FrameTracker::FrameTracker ( const CV::FrameProviderInterfaceRef & frameProviderInterface )

inlineprotected

Creates a new offline frame tracker object.

Parameters

frameProviderInterface Frame provider interface to be set

Member Function Documentation

◆ applyFrameTracking()

virtual bool Ocean::Tracking::Offline::FrameTracker::applyFrameTracking ( const FrameType & frameType )

protectedpure virtual

Frame tracker run function.

Parameters

frameType Frame type of the tracking frames

Returns: True, if the tracking succeeded

Implemented in Ocean::Tracking::Offline::SLAMTracker, Ocean::Tracking::Offline::SLAMPlaneTracker, Ocean::Tracking::Offline::PlanarRectangleTracker, and Ocean::Tracking::Offline::PatternTracker.

◆ applyFrameTrackingInitialization()

FrameType Ocean::Tracking::Offline::FrameTracker::applyFrameTrackingInitialization ( )

protected

Applies the initialization of the frame tracker.

The function initializes the frame provider interface and waits until a valid frame type is known.

Returns: The frame type of the frame provider interface, an invalid frame type if the initialization fails

◆ camera()

const PinholeCamera & Ocean::Tracking::Offline::FrameTracker::camera ( ) const

inline

Returns the camera object this is applied by this tracker.

Returns: The pinhole camera object

◆ cameraPrecision()

Scalar Ocean::Tracking::Offline::FrameTracker::cameraPrecision ( ) const

inline

Returns the camera precision of this tracker.

Returns: The pinhole camera precision, in squared pixel errors, -1 if unknown

◆ setCamera()

virtual bool Ocean::Tracking::Offline::FrameTracker::setCamera	(	const PinholeCamera &	pinholeCamera,
		const Scalar	cameraPrecision,
		const bool	optimizeCamera
	)

virtual

Sets a camera object that will be used by this tracker.

Parameters

pinholeCamera	The pinhole camera object to be used
cameraPrecision	The precision of the given camera object, in squared pixel errors, should be -1 if unknown
optimizeCamera	True, to take the given camera object as rough estimation only

Returns: True, if succeeded

Reimplemented in Ocean::Tracking::Offline::PatternTracker.

◆ setFrameProviderInterface()

virtual bool Ocean::Tracking::Offline::FrameTracker::setFrameProviderInterface ( const CV::FrameProviderInterfaceRef & frameProviderInterface )

virtual

Sets the frame provider interface that allows to request the individual frames for the offline tracker.

Parameters

frameProviderInterface Frame provider interface to be set

Returns: True, if succeeded, returns false if the interface has been set already

◆ setTrackingFrameRange()

virtual bool Ocean::Tracking::Offline::FrameTracker::setTrackingFrameRange	(	const unsigned int	lowerFrameIndex,
		const unsigned int	upperFrameIndex,
		const unsigned int	startFrameIndex = `(unsigned int)(-1)`
	)

virtual

Sets the frame range of this frame tracker.

The range specify a subset of the entire frames that are investigated during tracking.
The given parameters should match the number of available frames provided by the frame provider.
If the frame provider provides less frames than specified by the range parameters, the parameters will be adjusted automatically.
The range cannot be adjusted if the tracker is active.

Parameters

lowerFrameIndex	Index of the first frame that will be investigated, with range [0, infinity)
upperFrameIndex	Index of the last frame that will be investigated, with range [lowerFrameIndex, infinity)
startFrameIndex	Index of the start frame at which the tracking will start, with range [lowerFrameIndex, upperFrameIndex], or -1 to use no specific start frame

Returns: True, if succeeded

See also: setFrameProviderInterface()

◆ start()

bool Ocean::Tracking::Offline::FrameTracker::start ( )

overridevirtual

Starts the offline tracker.

Ensure that a frame provider has been set before.

Returns: True, if succeeded

See also: stop(), finished(), setFrameProvider().

Reimplemented from Ocean::Tracking::Offline::OfflineTracker.

Reimplemented in Ocean::Tracking::Offline::SLAMTracker.

◆ succeeded()

bool Ocean::Tracking::Offline::FrameTracker::succeeded ( ) const

overridevirtual

Returns whether the offline tracker has finished and succeeded since the last start or has not been started yet.

Returns: True, if so

See also: finished().

Implements Ocean::Tracking::Offline::OfflineTracker.

◆ threadRun()

void Ocean::Tracking::Offline::FrameTracker::threadRun ( )

overrideprotectedvirtual

Thread run function.

Implements Ocean::Thread.

◆ updateCamera()

virtual void Ocean::Tracking::Offline::FrameTracker::updateCamera ( const PinholeCamera & pinholeCamera )

protectedvirtual

Updates the camera of this tracker and invokes the corresponding state event(s).

Parameters

pinholeCamera The new pinhole camera for this tracker

Reimplemented in Ocean::Tracking::Offline::SLAMPlaneTracker, and Ocean::Tracking::Offline::PlanarRectangleTracker.

Friends And Related Function Documentation

◆ FrameTrackerComponent

friend class FrameTrackerComponent

friend

Field Documentation

◆ camera_

PinholeCamera Ocean::Tracking::Offline::FrameTracker::camera_

protected

The camera object of this tracker.

◆ cameraPrecision_

Scalar Ocean::Tracking::Offline::FrameTracker::cameraPrecision_ = Scalar(-1)

protected

The precision of the camera object in squared pixel errors.

◆ frameProviderInterface_

CV::FrameProviderInterfaceRef Ocean::Tracking::Offline::FrameTracker::frameProviderInterface_

protected

Frame provider interface that allows to request the individual frames for this offline tracker.

◆ lowerFrameIndex_

unsigned int Ocean::Tracking::Offline::FrameTracker::lowerFrameIndex_ = (unsigned int)(-1)

protected

Index of the lower frame range.

◆ optimizeCamera_

bool Ocean::Tracking::Offline::FrameTracker::optimizeCamera_ = true

protected

True, if the camera needs to be optimized during the tracking process.

◆ startFrameIndex_

unsigned int Ocean::Tracking::Offline::FrameTracker::startFrameIndex_ = (unsigned int)(-1)

protected

Index of the frame at that the tracking will start, or -1 if no specific frame is specified.

◆ succeeded_

bool Ocean::Tracking::Offline::FrameTracker::succeeded_ = true

protected

Succeeded state of the tracker.

◆ upperFrameIndex_

unsigned int Ocean::Tracking::Offline::FrameTracker::upperFrameIndex_ = (unsigned int)(-1)

protected

Index of the upper frame range.

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

FrameTracker.h

Data Structures

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ FrameTracker() [1/2]

◆ FrameTracker() [2/2]

Member Function Documentation

◆ applyFrameTracking()

◆ applyFrameTrackingInitialization()

◆ camera()

◆ cameraPrecision()

◆ setCamera()

◆ setFrameProviderInterface()

◆ setTrackingFrameRange()

◆ start()

◆ succeeded()

◆ threadRun()

◆ updateCamera()

Friends And Related Function Documentation

◆ FrameTrackerComponent

Field Documentation

◆ camera_

◆ cameraPrecision_

◆ frameProviderInterface_

◆ lowerFrameIndex_

◆ optimizeCamera_

◆ startFrameIndex_

◆ succeeded_

◆ upperFrameIndex_