This class is the base class for all offline tracker objects. More...

#include <OfflineTracker.h>

Inheritance diagram for Ocean::Tracking::Offline::OfflineTracker:

Data Structures
class	EventStackLayer
	This class implements one layer in a progress event stack allowing to define the start and stop progress value. More...

class	ScopedEventStackLayer
	This class implements an event stack layer object that pushes the relative progress parameters on the stack during creation and pops the layer if the object is disposed. More...

Public Types
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...

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

Public Member Functions
virtual	~OfflineTracker ()
	Frees the offline tracker object.

virtual bool	start ()
	Starts the offline tracker.

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

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

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

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

virtual bool	succeeded () const =0
	Returns whether the offline tracker has finished and succeeded since the last start or has not been started yet.

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

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

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

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

Protected Types
using	EventStack = std::vector< EventStackLayer >
	Definition of a vector holding EventStackLayer objects which actually is used to implement a stack of these objects.

using	EventCallbacks = ConcurrentCallbacks< EventCallback >
	Definition of a vector holding event callback functions.

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

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

Protected Member Functions
	OfflineTracker ()
	Creates a new offline tracker object.

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

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

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

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

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

void	createThread ()
	Creates the thread itself.

void	destroyThread ()
	Destroys the thread itself.

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

virtual void	threadRun ()=0
	This function has to be overloaded in derived class.

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

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

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

virtual	~Thread ()
	Destructs a thread object.

bool	startThread ()
	Starts the thread.

void	stopThread ()
	Informs the thread to stop.

bool	terminateThread ()
	Terminates the thread.

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

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

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

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

Static Protected Member Functions
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.

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

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.

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.

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.

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

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

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

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

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

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

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.

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.

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

Protected Attributes
unsigned int	id_ = 0u
	The unique id that identifies this tracker.

bool	finished_ = true
	Finished state of the tracker.

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.

OfflinePoses	offlinePoses_
	Offline poses of this tracker.

EventCallbacks	eventCallbacks_
	State event callback functions.

Lock	lock_
	Tracker lock object.

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

Lock	eventStackLock_
	The lock for the progress event layer stack.

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

Static Protected Attributes
static unsigned int	idCounter_
	The tracker id counter.

Private Member Functions
void	pushProgressEventStackLayer (const EventStackLayer &layer)
	Pushes a new progress event stack layer on the stack of this tracker.

void	popProgressEventStackLayer (const EventStackLayer &layer)
	Pops a progress event stack layer from the stack of this tracker.

Friends
class	EventStackLayer

Detailed Description

This class is the base class for all offline tracker objects.

See also: OfflineTrackerRef.

Member Typedef Documentation

◆ EventCallback

using Ocean::Tracking::Offline::OfflineTracker::EventCallback = Callback<void, const TrackerEvent&>

Definition of a component event callback function.

The first parameter provides the event.

◆ EventCallbacks

using Ocean::Tracking::Offline::OfflineTracker::EventCallbacks = ConcurrentCallbacks<EventCallback>

protected

Definition of a vector holding event callback functions.

◆ EventStack

using Ocean::Tracking::Offline::OfflineTracker::EventStack = std::vector<EventStackLayer>

protected

Definition of a vector holding EventStackLayer objects which actually is used to implement a stack of these objects.

Member Enumeration Documentation

◆ AbstractMotionType

enum Ocean::Tracking::Offline::OfflineTracker::AbstractMotionType

Definition of individual abstract camera motion types.

Enumerator
AMT_UNKNOWN	An unknown abstract camera motion.
AMT_PURE_ROTATIONAL	A pure rotational camera motion.
AMT_COMPLEX	A complex camera motion (may include rotational and translational motion).

◆ CameraModel

enum Ocean::Tracking::Offline::OfflineTracker::CameraModel

Definition of individual camera models.

Enumerator
CM_INVALID	Invalid camera model parameter.
CM_LOW_QUALITY	Low quality camera, equivalent to a state-of-the-art webcams.
CM_MEDIUM_QUALITY	Medium camera model, equivalent to an amateur camera.
CM_HIGH_QUALITY	High quality camera, equivalent to a professional cinema camera.

◆ TrackingQuality

enum Ocean::Tracking::Offline::OfflineTracker::TrackingQuality

Definition of individual tracking qualities.

Enumerator
TQ_LOW	A low tracking quality with high performance.
TQ_MODERATE	A moderate tracking quality with moderate performance.
TQ_HIGH	A high tracking quality with low performance.
TQ_ULTRA	A very high tracking quality with very low performance.
TQ_INSANE	An insane tracking quality with very low performance.
TQ_AUTOMATIC	Automatic tracking quality.
TQ_COARSE	Coverage with coarse grid.
TQ_FINE	Coverage with fine grid.

Constructor & Destructor Documentation

◆ ~OfflineTracker()

virtual Ocean::Tracking::Offline::OfflineTracker::~OfflineTracker ( )

virtual

Frees the offline tracker object.

◆ OfflineTracker()

Ocean::Tracking::Offline::OfflineTracker::OfflineTracker ( )

protected

Creates a new offline tracker object.

Member Function Documentation

◆ addEventCallback()

void Ocean::Tracking::Offline::OfflineTracker::addEventCallback ( const EventCallback & callback )

inline

Adds a state event callback function.

Parameters

callback The callback function to be added

◆ extrapolateCenterPoses()

static void Ocean::Tracking::Offline::OfflineTracker::extrapolateCenterPoses	(	const OfflinePoses::Index	invalidIndex,
		const unsigned int	number,
		const unsigned int	base,
		OfflinePoses &	offlinePoses
	)

staticprotected

Interpolates some poses to the left or to the right of a gap with invalid poses.

Parameters

invalidIndex	The index of the invalid pose with valid poses
number	The number of poses that will be extrapolated in the area
base	The maximal number of poses that are used as interpolation base
offlinePoses	The offline poses on which the poses are extrapolated

◆ extrapolateLeftPoses()

static void Ocean::Tracking::Offline::OfflineTracker::extrapolateLeftPoses	(	const OfflinePoses::Index	invalidIndex,
		const unsigned int	number,
		const unsigned int	base,
		OfflinePoses &	offlinePoses
	)

staticprotected

Interpolates some poses to the left of a gap with invalid poses.

Parameters

invalidIndex	The index of the invalid pose with valid poses on the right
number	The number of poses that will be extrapolated in the left area
base	The maximal number of poses that are used as interpolation base
offlinePoses	The offline poses on which the poses are extrapolated

◆ extrapolatePoses()

void Ocean::Tracking::Offline::OfflineTracker::extrapolatePoses	(	const unsigned int	number,
		const unsigned int	base
	)

protected

Extrapolates poses at the boundary between valid and invalid poses.

Parameters

number	The number of poses that will be extrapolated at each border
base	The maximal number of poses that are used as interpolation base

◆ extrapolateRightPoses()

static void Ocean::Tracking::Offline::OfflineTracker::extrapolateRightPoses	(	const OfflinePoses::Index	invalidIndex,
		const unsigned int	number,
		const unsigned int	base,
		OfflinePoses &	offlinePoses
	)

staticprotected

Interpolates some poses to the right of a gap with invalid poses.

Parameters

invalidIndex	The index of the invalid pose with valid poses on the left
number	The number of poses that will be extrapolated in the right area
base	The maximal number of poses that are used as interpolation base
offlinePoses	The offline poses on which the poses are extrapolated

◆ extrapolateSinglePose()

static void Ocean::Tracking::Offline::OfflineTracker::extrapolateSinglePose	(	const OfflinePoses::Index	invalidIndex,
		OfflinePoses &	offlinePoses
	)

staticprotected

Interpolates the pose of a single invalid pose which is enclosed by two valid poses.

Parameters

invalidIndex	The index of the (single) invalid pose
offlinePoses	The offline poses on which the poses are extrapolated

◆ finished()

virtual bool Ocean::Tracking::Offline::OfflineTracker::finished ( ) const

virtual

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

Returns: True, if so

See also: start().

◆ id()

unsigned int Ocean::Tracking::Offline::OfflineTracker::id ( ) const

inline

Returns the unique id of this tracker object.

Each tracker has an own unique id allowing to separate individual trackers or their events.

Returns: Unique tracker id

◆ idCounterLock()

static Lock & Ocean::Tracking::Offline::OfflineTracker::idCounterLock ( )

staticprotected

Returns a reference to the lock for the tracker id counter.

Returns: The lock for the tracker id counter

◆ isPlausibleCamera()

static bool Ocean::Tracking::Offline::OfflineTracker::isPlausibleCamera	(	const PinholeCamera &	pinholeCamera,
		const CameraModel	model
	)

staticprotected

Checks whether the camera parameters of a given camera profiles matches to the specified camera model.

Parameters

pinholeCamera	The pinhole camera profile that will be checked
model	The model to that the camera profiles must match

Returns: True, if so

◆ popProgressEventStackLayer()

void Ocean::Tracking::Offline::OfflineTracker::popProgressEventStackLayer ( const EventStackLayer & layer )

private

Pops a progress event stack layer from the stack of this tracker.

Do not call this function, this function will be called by the ScopedEventStackLayer object only.

Parameters

layer New layer to be pushed

See also: ScopedEventStackLayer

◆ pose()

virtual OfflinePose Ocean::Tracking::Offline::OfflineTracker::pose ( const unsigned int index ) const

virtual

Returns one pose of this tracker.

Parameters

index The index of the frame for that the pose will be returned

Returns: Tracker pose

◆ poses()

virtual OfflinePoses Ocean::Tracking::Offline::OfflineTracker::poses ( ) const

virtual

Returns the currently determined poses of this tracker.

Returns: Tracker poses

◆ pushProgressEventStackLayer()

void Ocean::Tracking::Offline::OfflineTracker::pushProgressEventStackLayer ( const EventStackLayer & layer )

private

Pushes a new progress event stack layer on the stack of this tracker.

Do not call this function, this function will be called by the ScopedEventStackLayer object only.

Parameters

layer New layer to be pushed

See also: ScopedEventStackLayer

◆ removeEventCallback()

void Ocean::Tracking::Offline::OfflineTracker::removeEventCallback ( const EventCallback & callback )

inline

Removes a state event callback function.

Parameters

callback The callback function to be removed

◆ removeIrregularPoses()

void Ocean::Tracking::Offline::OfflineTracker::removeIrregularPoses ( const Scalar factor = Scalar(5) )

protected

Removes irregular poses at the boundary between valid and invalid poses.

A pose is voted as irregular if the rotation angle between two successive frame is larger than the median rotation angle (between successive frame) multiplied by a factor.

Parameters

factor The factor that is multiplied with the media angle

◆ running()

virtual bool Ocean::Tracking::Offline::OfflineTracker::running ( ) const

virtual

Returns whether the tracker has been started (and is currently tracking).

Returns: True, if so

◆ start()

virtual bool Ocean::Tracking::Offline::OfflineTracker::start ( )

virtual

Starts the offline tracker.

Returns: True, if succeeded

See also: stop(), finished().

Reimplemented in Ocean::Tracking::Offline::FrameTracker, and Ocean::Tracking::Offline::SLAMTracker.

◆ stop()

virtual bool Ocean::Tracking::Offline::OfflineTracker::stop ( const unsigned int timeout = 0u )

virtual

Stops the offline tracker.

All poses that have been determined since the start of the tracker will be untouched.

Parameters

timeout if 0, this call is asynchronous and will return immediately. Otherwise wait time in ms or -1 for infinite wait

Returns: True, if succeeded

See also: start().

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

◆ succeeded()

virtual bool Ocean::Tracking::Offline::OfflineTracker::succeeded ( ) const

pure virtual

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().

Implemented in Ocean::Tracking::Offline::FrameTracker.

◆ updatePoses()

void Ocean::Tracking::Offline::OfflineTracker::updatePoses ( const OfflinePoses & poses )

protected

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

Parameters

poses New poses for this tracker

◆ updateTrackerProgress()

void Ocean::Tracking::Offline::OfflineTracker::updateTrackerProgress ( const Scalar localProgress )

protected

Updates the tracker process progress value of this tracker.

This tracker stores a stack with EventStackLayer objects defining a hierarchy of individual relative progress ranges.
The given progress value should be independent of any stack layer and should simply give the progress state of e.g. a component.

Parameters

localProgress The local progress value of e.g. a component, with range [0, 1]

Friends And Related Symbol Documentation

◆ EventStackLayer

friend class EventStackLayer

friend

Field Documentation

◆ eventCallbacks_

EventCallbacks Ocean::Tracking::Offline::OfflineTracker::eventCallbacks_

protected

State event callback functions.

◆ eventStack_

EventStack Ocean::Tracking::Offline::OfflineTracker::eventStack_

protected

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

◆ eventStackLock_

Lock Ocean::Tracking::Offline::OfflineTracker::eventStackLock_

protected

The lock for the progress event layer stack.

◆ finished_

bool Ocean::Tracking::Offline::OfflineTracker::finished_ = true

protected

Finished state of the tracker.

◆ id_

unsigned int Ocean::Tracking::Offline::OfflineTracker::id_ = 0u

protected

The unique id that identifies this tracker.

◆ idCounter_

unsigned int Ocean::Tracking::Offline::OfflineTracker::idCounter_

staticprotected

The tracker id counter.

◆ lock_

Lock Ocean::Tracking::Offline::OfflineTracker::lock_

mutableprotected

Tracker lock object.

◆ offlinePoses_

OfflinePoses Ocean::Tracking::Offline::OfflineTracker::offlinePoses_

protected

Offline poses of this tracker.

◆ previousProcessProgress_

Scalar Ocean::Tracking::Offline::OfflineTracker::previousProcessProgress_ = Scalar(0)

protected

The previous process progress.

◆ shouldStop_

bool Ocean::Tracking::Offline::OfflineTracker::shouldStop_ = false

protected

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

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

OfflineTracker.h

Data Structures

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Static Protected Attributes

Private Member Functions

Friends

Detailed Description

Member Typedef Documentation

◆ EventCallback

◆ EventCallbacks

◆ EventStack

Member Enumeration Documentation

◆ AbstractMotionType

◆ CameraModel

◆ TrackingQuality

Constructor & Destructor Documentation

◆ ~OfflineTracker()

◆ OfflineTracker()

Member Function Documentation

◆ addEventCallback()

◆ extrapolateCenterPoses()

◆ extrapolateLeftPoses()

◆ extrapolatePoses()

◆ extrapolateRightPoses()

◆ extrapolateSinglePose()

◆ finished()

◆ id()

◆ idCounterLock()

◆ isPlausibleCamera()

◆ popProgressEventStackLayer()

◆ pose()

◆ poses()

◆ pushProgressEventStackLayer()

◆ removeEventCallback()

◆ removeIrregularPoses()

◆ running()

◆ start()

◆ stop()

◆ succeeded()

◆ updatePoses()

◆ updateTrackerProgress()

Friends And Related Symbol Documentation

◆ EventStackLayer

Field Documentation

◆ eventCallbacks_

◆ eventStack_

◆ eventStackLock_

◆ finished_

◆ id_

◆ idCounter_

◆ lock_

◆ offlinePoses_

◆ previousProcessProgress_

◆ shouldStop_