This class implements the abstract base class for all plane trackers. More...

#include <PlaneTracker.h>

Inheritance diagram for Ocean::Tracking::Offline::PlaneTracker:

Public Member Functions
virtual Plane3	plane () const
	Returns the plane of this tracker.

virtual bool	objectTransformation (HomogenousMatrix4 &transformation) const
	Determines the transformation that transforms points defined in the local coordinate of the tracked object into points defined in the world coordinate system.

Public Member Functions inherited from Ocean::Tracking::Offline::OfflineTracker
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 Member Functions
	PlaneTracker ()=default
	Creates a new plane tracker object.

	PlaneTracker (const Plane3 &plane)
	Creates a new plane tracker object.

virtual void	updatePlane (const Plane3 &plane)
	Updates the plane of this tracker and invokes the corresponding state event(s).

Protected Member Functions inherited from Ocean::Tracking::Offline::OfflineTracker
	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.

Protected Attributes
Plane3	plane_
	The plane of this tracker.

HomogenousMatrix4	objectTransformation_ = HomogenousMatrix4(false)
	The tracker object transformation the tracker coordinate system into the world coordinate system.

Protected Attributes inherited from Ocean::Tracking::Offline::OfflineTracker
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.

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...

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

Protected Types inherited from Ocean::Tracking::Offline::OfflineTracker
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...

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.

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.

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

Detailed Description

This class implements the abstract base class for all plane trackers.

See also: PlaneTrackerRef.

Constructor & Destructor Documentation

◆ PlaneTracker() [1/2]

Ocean::Tracking::Offline::PlaneTracker::PlaneTracker ( )

protecteddefault

Creates a new plane tracker object.

◆ PlaneTracker() [2/2]

Ocean::Tracking::Offline::PlaneTracker::PlaneTracker ( const Plane3 & plane )

inlineprotected

Creates a new plane tracker object.

Parameters

plane The plane of this tracker

Member Function Documentation

◆ objectTransformation()

virtual bool Ocean::Tracking::Offline::PlaneTracker::objectTransformation ( HomogenousMatrix4 & transformation ) const

virtual

Determines the transformation that transforms points defined in the local coordinate of the tracked object into points defined in the world coordinate system.

Parameters

transformation Resulting transformation

Returns: True, if succeeded

◆ plane()

virtual Plane3 Ocean::Tracking::Offline::PlaneTracker::plane ( ) const

virtual

Returns the plane of this tracker.

Returns: Plane that is tracked

◆ updatePlane()

virtual void Ocean::Tracking::Offline::PlaneTracker::updatePlane ( const Plane3 & plane )

protectedvirtual

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

Parameters

plane New plane for this tracker

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

Field Documentation

◆ objectTransformation_

HomogenousMatrix4 Ocean::Tracking::Offline::PlaneTracker::objectTransformation_ = HomogenousMatrix4(false)

protected

The tracker object transformation the tracker coordinate system into the world coordinate system.

◆ plane_

Plane3 Ocean::Tracking::Offline::PlaneTracker::plane_

protected

The plane of this tracker.

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

PlaneTracker.h

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ PlaneTracker() [1/2]

◆ PlaneTracker() [2/2]

Member Function Documentation

◆ objectTransformation()

◆ plane()

◆ updatePlane()

Field Documentation

◆ objectTransformation_

◆ plane_