This class implements a homography-based tracker for planar backgrounds. More...

Data Structures
class	KeyFrame
	This class composes several parameters necessary for a key-frame. More...

Public Member Functions
	HomographyTracker ()
	Creates a new tracker object. More...

bool	resetRegion (const AnyCamera &camera, const Box2 &region)
	Sets a new region of interest (or resets an existing region of interest). More...

bool	resetRegion (const AnyCamera &camera, const Box2 &region, const Quaternion &cameraOrientation, const Vector3 &planeNormal, HomogenousMatrix4 pose=nullptr, HomogenousMatrix4 plane=nullptr)
	Sets a new region of interest (or resets an existing region of interest). More...

bool	determineHomography (const AnyCamera &camera, const Frame &yFrame, SquareMatrix3 &homography, HomogenousMatrix4 pose, const Quaternion &cameraOrientation=Quaternion(false), Worker worker=nullptr)
	Determines the homography between the current frame and the initial frame. More...

void	reset ()
	Resets the homography tracker. More...

Protected Types
enum	HomographyQuality { HQ_FAILED , HQ_MODERATE , HQ_GOOD }
	Definition of homography qualities. More...

typedef std::vector< Vectors2 >	Vectors2Pyramid
	Definition of a pyramid of 2D image points, mainly a vector with image points located in individual pyramid frames. More...

typedef std::vector< Vectors3 >	Vectors3Pyramid
	Definition of a pyramid of 3D object points, mainly a vector with object points visible in individual pyramid frames. More...

Static Protected Member Functions
static bool	addNewFeaturePointsToPyramid (const CV::FramePyramid &yFramePyramid, Vectors2Pyramid &pointsPyramid, Vectors2Pyramid &initialPointsPyramid, const Box2 &region, const SquareMatrix3 &homography, const unsigned int minimalFeatures=30u, const unsigned int maximalFeatures=60u, Worker *worker=nullptr)
	Adds new feature points to all pyramid layers (at least to all desired layers e.g., layer 0 and 2) if the layers do not contain enough feature points already. More...

static bool	addNewFeaturePointsToPyramidLayer (const CV::FramePyramid &yFramePyramid, Vectors2Pyramid &pointsPyramid, const Triangles2 &layerSubRegionTriangles, const unsigned int layer, const unsigned int featureThreshold=25u, const unsigned int minimalFeatures=30u, const unsigned int maximalFeatures=60u, Worker *worker=nullptr)
	Adds new feature points to one specific pyramid layer if the layer does not contain enough feature points already. More...

static bool	trackPoints (const CV::FramePyramid &yPreviousFramePyramid, const CV::FramePyramid &yCurrentFramePyramid, Vectors2Pyramid &previousPointsPyramid, Vectors2Pyramid &currentPointsPyramid, const unsigned int startLayer, const float maximalOffsetPercent, Indices32 &validTrackedPointIndices, const SquareMatrix3 &roughHomography=SquareMatrix3(false), const unsigned int coarsestLayerRadius=2u, const unsigned int subPixelIterations=2u, Worker *worker=nullptr)

static HomographyQuality	determineHomographyWithPyramid (const AnyCamera &camera, const Plane3 &plane, const CV::FramePyramid &yPreviousFramePyramid, const CV::FramePyramid &yCurrentFramePyramid, Vectors2Pyramid &previousPointsPyramid, Vectors2Pyramid &currentPointsPyramid, Vectors2Pyramid &initialPointsPyramid, const SquareMatrix3 &previousHomography, const Box2 &region, SquareMatrix3 &homography, HomogenousMatrix4 pose, const SquareMatrix3 &predictedLocalHomography, const Quaternion &initialCameraOrientation, const Quaternion &currentCameraOrientation, RandomGenerator &randomGenerator, const float explicitMaximalOffsetPercent=-1.0f, Worker worker=nullptr)
	Determines the homography between two consecutive camera frames based on known feature points located in the previous frame (pyramid). More...

static bool	isRegionVisible (const Quaternion &wRi, const Quaternion &wRc, const Scalar maximalAngle=Numeric::deg2rad(50))
	Returns whether the region of interest is visible based on a simple angle threshold. More...

static bool	isRegionVisible (const AnyCamera &camera, const SquareMatrix3 &globalHomography, const Box2 &initialRegion)
	Returns whether the region of interest is visible based on the known homography for the current frame. More...

static bool	isHomographyPlausible (const SquareMatrix3 &pHi, const SquareMatrix3 &cHi, const Box2 &initialRegion, const Scalar maximalAngleChange=Numeric::deg2rad(5))
	Returns whether a given homography is plausible in the context of a previous homography. More...

static bool	isPosePlausible (const HomogenousMatrix4 &currentPose, const Quaternion &initialCameraOrientation, const Quaternion &currentCameraOrientation, const Scalar maximalAngle=Numeric::deg2rad(3))
	Returns whether a given 6DOF camera pose if plausible based on e.g., an IMU-based camera orientation. More...

Protected Attributes
CV::FramePyramid	previousFramePyramid_
	The frame pyramid of the previous frame. More...

CV::FramePyramid	currentFramePyramid_
	The frame pyramid of the current frame. More...

RandomGenerator	randomGenerator_
	The random generator object. More...

Vectors2Pyramid	initialPointsPyramid_
	The image points located in the coordinate system of the initial frame (the frame in which the tracking region has been defined). More...

Vectors2Pyramid	previousPointsPyramid_
	The image points located in 'previousFramePyramid_'. More...

Quaternion	initialCameraOrientation_
	The orientation of the initial camera frame, (wRi), if known. More...

Quaternion	previousCameraOrientation_
	The orientation of the camera matching with the previous camera frame, defined w.r.t. the world coordinate system (wTp). More...

SquareMatrix3	globalHomography_
	The homography transforming initial image points to current image points: currentImagePoint = globalHomography_ * initialImagePoint, (globalHomography_ = cHi). More...

Quaternion	globalCameraOrientation_
	The orientation of the camera frame for the last valid homography 'globalHomography_' (wTl), if known. More...

Box2	region_
	The tracking region (the region of interest) located on the plane, defined in the coordinate system of the initial frame. More...

Plane3	plane_
	The 3D plane on which all feature points will be located, if known. More...

KeyFrame	keyFrames_ [numberKeyFrames_]
	The two key frames which will be used during re-initialization. More...

bool	needsReInitialization_ = false
	True, if the tracker needs to be re-initialized. More...

Static Protected Attributes
static constexpr size_t	numberKeyFrames_ = 2

Detailed Description

This class implements a homography-based tracker for planar backgrounds.

The tracker can be started with a region of interest located on a planar background, while the entire surrounding area around the region may also be used for tracking.

Member Typedef Documentation

◆ Vectors2Pyramid

typedef std::vector<Vectors2> Ocean::Tracking::Point::HomographyTracker::Vectors2Pyramid

protected

Definition of a pyramid of 2D image points, mainly a vector with image points located in individual pyramid frames.

◆ Vectors3Pyramid

typedef std::vector<Vectors3> Ocean::Tracking::Point::HomographyTracker::Vectors3Pyramid

protected

Definition of a pyramid of 3D object points, mainly a vector with object points visible in individual pyramid frames.

Member Enumeration Documentation

◆ HomographyQuality

enum Ocean::Tracking::Point::HomographyTracker::HomographyQuality

protected

Definition of homography qualities.

Enumerator
HQ_FAILED	The homography is invalid.
HQ_MODERATE	The homography has a moderate quality, good enough for visualization, but not good enough to e.g., use the frame as key-frame.
HQ_GOOD	The homography has a good quality so that the corresponding frame e.g., can be used as key-frame.

Constructor & Destructor Documentation

◆ HomographyTracker()

Ocean::Tracking::Point::HomographyTracker::HomographyTracker ( )

inline

Creates a new tracker object.

Member Function Documentation

◆ addNewFeaturePointsToPyramid()

static bool Ocean::Tracking::Point::HomographyTracker::addNewFeaturePointsToPyramid	(	const CV::FramePyramid &	yFramePyramid,
		Vectors2Pyramid &	pointsPyramid,
		Vectors2Pyramid &	initialPointsPyramid,
		const Box2 &	region,
		const SquareMatrix3 &	homography,
		const unsigned int	minimalFeatures = `30u`,
		const unsigned int	maximalFeatures = `60u`,
		Worker *	worker = `nullptr`
	)

staticprotected

Adds new feature points to all pyramid layers (at least to all desired layers e.g., layer 0 and 2) if the layers do not contain enough feature points already.

Parameters

yFramePyramid	The frame pyramid of the frame for which the new feature points will be determined, must be valid
pointsPyramid	The pyramid of already existing feature points for the given frame (individual points for individual pyramid layers)
initialPointsPyramid	The pyramid of feature points defined in the initial camera frame corresponding with the points in 'pointsPyramid'
homography	The homography transforming points defined in the initial camera frame to points defined in the given camera frame (pyramid), must be valid, (currentPoint = homography * initialPoint)
region	The region of interest defined in the initial camera frame, this region will be used prioritize feature points in this area, can be invalid if no region of interest is known
minimalFeatures	The minimal number of feature points each pyramid layer should contain, with range [1, infinity)
maximalFeatures	The maximal number of feature points each pyramid layer should contain, with range [minimalFeatures, infinity)
worker	Optional worker object to distribute the computation

Returns: True, if succeeded

See also: addNewFeaturePointsToPyramidLayer().

◆ addNewFeaturePointsToPyramidLayer()

static bool Ocean::Tracking::Point::HomographyTracker::addNewFeaturePointsToPyramidLayer	(	const CV::FramePyramid &	yFramePyramid,
		Vectors2Pyramid &	pointsPyramid,
		const Triangles2 &	layerSubRegionTriangles,
		const unsigned int	layer,
		const unsigned int	featureThreshold = `25u`,
		const unsigned int	minimalFeatures = `30u`,
		const unsigned int	maximalFeatures = `60u`,
		Worker *	worker = `nullptr`
	)

staticprotected

Adds new feature points to one specific pyramid layer if the layer does not contain enough feature points already.

This function is supposed to be called out of 'addNewFeaturePointsToPyramid()'

Parameters

yFramePyramid	The frame pyramid of the frame for which the new feature points will be determined, must be valid
pointsPyramid	The pyramid of already existing feature points (individual points for individual pyramid layers)
layerSubRegionTriangles	The triangles defined a sub-region within the specified layer in which more feature points will be determined compared to the surrounding area, no triangle to avoid the usage of a hot spot
layer	The pyramid layer for which the new feature points will be added, with range [0, yFramePyramid.size() - 1]
featureThreshold	The strength threshold each new feature point must exceed to count as new feature candidate, with range [0, 255]
minimalFeatures	The minimal number of feature points each pyramid layer should contain, with range [1, infinity)
maximalFeatures	The maximal number of feature points (the ideal number of feature points) the pyramid layer should contain, in case the layer contains more points already, no additional point is added, with range [minimalFeatures, infinity)
worker	Optional worker object to distribute the computation

Returns: True, if succeeded

See also: addNewFeaturePointsToPyramid().

◆ determineHomography()

bool Ocean::Tracking::Point::HomographyTracker::determineHomography	(	const AnyCamera &	camera,
		const Frame &	yFrame,
		SquareMatrix3 &	homography,
		HomogenousMatrix4 *	pose,
		const Quaternion &	cameraOrientation = `Quaternion(false)`,
		Worker *	worker = `nullptr`
	)

Determines the homography between the current frame and the initial frame.

The initial frame is the frame given after the region of interest has been (re-)set.

Parameters

camera	The camera profile defining the projection, must be valid
yFrame	The current image frame for which the homography will be determined (matching with the camera profile), must have a pixel format FORMAT_Y8, must be valid
homography	The resulting homography transforming a point defined in the initial frame to a point defined in the current frame (currentPoint = homograph * initialPoint)
pose	Optional resulting 6DOF camera pose in case the tracker has been reset with a known 3D plane normal, otherwise an invalid pose
cameraOrientation	The orientation of the camera matching with the given (current) camera frame, defined w.r.t. the world coordinate system (wTc)
worker	Optional worker object to distribute the computation

Returns: True, if succeeded

◆ determineHomographyWithPyramid()

static HomographyQuality Ocean::Tracking::Point::HomographyTracker::determineHomographyWithPyramid	(	const AnyCamera &	camera,
		const Plane3 &	plane,
		const CV::FramePyramid &	yPreviousFramePyramid,
		const CV::FramePyramid &	yCurrentFramePyramid,
		Vectors2Pyramid &	previousPointsPyramid,
		Vectors2Pyramid &	currentPointsPyramid,
		Vectors2Pyramid &	initialPointsPyramid,
		const SquareMatrix3 &	previousHomography,
		const Box2 &	region,
		SquareMatrix3 &	homography,
		HomogenousMatrix4 *	pose,
		const SquareMatrix3 &	predictedLocalHomography,
		const Quaternion &	initialCameraOrientation,
		const Quaternion &	currentCameraOrientation,
		RandomGenerator &	randomGenerator,
		const float	explicitMaximalOffsetPercent = `-1.0f`,
		Worker *	worker = `nullptr`
	)

staticprotected

Determines the homography between two consecutive camera frames based on known feature points located in the previous frame (pyramid).

Parameters

camera	The camera profile defining the projection, must be valid
plane	The 3D plane on which the image points (the corresponding 3D object points) are located, must be valid
yPreviousFramePyramid	The frame pyramid of the previous camera frame, must have a pixel format FORMAT_Y8, must be valid
yCurrentFramePyramid	The frame pyramid of the current camera frame, must have a pixel format FORMAT_Y8, must be valid
previousPointsPyramid	The pyramid of known points located in the previous camera frame, these points will be used for homography estimation, points which could not be used for tracking will be removed during homography estimation, must be valid
currentPointsPyramid	The resulting pyramid of points located in the current camera frame, one point of each point in the pyramid of points for the previous camera frame 'previousPointsPyramid'
initialPointsPyramid	The pyramid of known points located in the initial camera frame, one point of each point in the pyramid of points for the previous camera frame 'previousPointsPyramid'
previousHomography	The known homography transforming points defined in the initial camera frame to points defined in the previous camera frame (defined for the finest pyramid layer), must be valid, (previousPoint = previousHomography * initialPoint)
region	The region of interest within the camera frame, must be valid
homography	The resulting homography transforming points defined in the initial camera frame to points defined in the current camera frame (defined for the finest pyramid layer), (currentPoint = previousHomography * initialPoint)
pose	Optional resulting 6DOF camera pose in case the tracker has been reset with a known 3D plane normal, otherwise an invalid pose
predictedLocalHomography	Optional known prediction of the homography transformation points defined in the previous camera frame to points defined in the current camera frame, a null matrix otherwise, (currentPoint = predictedLocalHomography * previousPoint)
initialCameraOrientation	The orientation of the camera frame for the initial frame, (wRi), if known
currentCameraOrientation	The orientation of the camera frame for the current frame, (wRc), if known
randomGenerator	Random generator to be used
explicitMaximalOffsetPercent	An explicit threshold defining the maximal offset between two corresponding feature points, defined in relation to the maximal frame size, with range [0, 1], -1 to use internal thresholds
worker	Optional worker object to distribute the computation

Returns: True, if succeeded

◆ isHomographyPlausible()

static bool Ocean::Tracking::Point::HomographyTracker::isHomographyPlausible	(	const SquareMatrix3 &	pHi,
		const SquareMatrix3 &	cHi,
		const Box2 &	initialRegion,
		const Scalar	maximalAngleChange = `Numeric::deg2rad(5)`
	)

staticprotected

Returns whether a given homography is plausible in the context of a previous homography.

Based on a region of interest, the homography is rated based on the angular difference within the transformed region of interest.
In case, the angle between two neighboring edges of the ROI exceeds a given threshold, the homography is rated is invalid.

Parameters

pHi	The homography transforming points defined in the initial camera frame to points defined in the previous camera frame (previousPoint = pHi * initialPoint), must be valid
cHi	The homography transforming points defined in the initial camera frame to points defined in the current camera frame (currentPoint = cHi * initialPoint), must be valid
initialRegion	The region of interest defined in the initial camera frame, must be valid
maximalAngleChange	The maximal allowed change of inner angles of the ROI so that the homography counts as plausible, in radian, with range [0, PI_4]

Returns: True, if so

◆ isPosePlausible()

static bool Ocean::Tracking::Point::HomographyTracker::isPosePlausible	(	const HomogenousMatrix4 &	currentPose,
		const Quaternion &	initialCameraOrientation,
		const Quaternion &	currentCameraOrientation,
		const Scalar	maximalAngle = `Numeric::deg2rad(3)`
	)

staticprotected

Returns whether a given 6DOF camera pose if plausible based on e.g., an IMU-based camera orientation.

Parameters

currentPose	The current 6DOF camera pose to be checked, must be valid
initialCameraOrientation	The orientation of the initial camera frame, (wTi), if known
currentCameraOrientation	The orientation of the current camera frame, (wTc), if known
maximalAngle	The maximal angle between the orientation of the given 6DOF camera pose and the IMU-based camera orientation so that the pose counts as plausible, in radian, with range [0, PI_2]

Returns: True, if so

◆ isRegionVisible() [1/2]

static bool Ocean::Tracking::Point::HomographyTracker::isRegionVisible	(	const AnyCamera &	camera,
		const SquareMatrix3 &	globalHomography,
		const Box2 &	initialRegion
	)

staticprotected

Returns whether the region of interest is visible based on the known homography for the current frame.

Parameters

camera	The camera profile defining the projection, must be valid
globalHomography	The homography transforming initial image points to current image points: currentImagePoint = globalHomography_ * initialImagePoint, (globalHomography_ = cHi)
initialRegion	The initial region of interest, must be valid

Returns: True, if so

◆ isRegionVisible() [2/2]

static bool Ocean::Tracking::Point::HomographyTracker::isRegionVisible	(	const Quaternion &	wRi,
		const Quaternion &	wRc,
		const Scalar	maximalAngle = `Numeric::deg2rad(50)`
	)

staticprotected

Returns whether the region of interest is visible based on a simple angle threshold.

The function determines the angle between viewing direction (the z-axis) for the current frame and the initial frame.
In case, the viewing angle exceeds a specified threshold, the region is rated to be invisible.
If one or both provided camera orientation are unknown, the region is rated to be visible.

Parameters

wRi	The rotation of the camera matching with the initial camera frame, can be invalid if unknown
wRc	The rotation of the camera matching with the current camera frame, can be invalid if unknown
maximalAngle	The maximal angle between both viewing directions, in radian, with range [0, PI_2]

◆ reset()

void Ocean::Tracking::Point::HomographyTracker::reset ( )

inline

Resets the homography tracker.

◆ resetRegion() [1/2]

bool Ocean::Tracking::Point::HomographyTracker::resetRegion	(	const AnyCamera &	camera,
		const Box2 &	region
	)

Sets a new region of interest (or resets an existing region of interest).

The tracker will be set to a new initial state and any resulting homography will be defined in relation to this initial state.

Parameters

camera	The camera profile defining the projection, must be valid
region	The region of interest to be set, defined in the coordinate system of the image frames used for tracking, must be valid

Returns: True, if succeeded

◆ resetRegion() [2/2]

bool Ocean::Tracking::Point::HomographyTracker::resetRegion	(	const AnyCamera &	camera,
		const Box2 &	region,
		const Quaternion &	cameraOrientation,
		const Vector3 &	planeNormal,
		HomogenousMatrix4 *	pose = `nullptr`,
		HomogenousMatrix4 *	plane = `nullptr`
	)

Sets a new region of interest (or resets an existing region of interest).

The tracker will be set to a new initial state and any resulting homography will be defined in relation to this initial state.

Parameters

camera	The camera profile defining the projection, must be valid
region	The region of interest to be set, defined in the coordinate system of the image frames used for tracking, must be valid
cameraOrientation	The orientation of the camera matching with the given (current) camera frame, defined w.r.t. the world coordinate system (wTc), must be valid
planeNormal	Normal the planar background at the region of interest, defined w.r.t. the world coordinate system (wN), must be valid
pose	Optional resulting 6DOF camera pose for the initial camera frame, transforming points defined in the coordinate system of the camera to points defined in the world coordinate system (wTc)
plane	Optional resulting transformation transforming points defined in the coordinate system of the plane to points defined in the coordinate system of the world coordinate system (wTp)

Returns: True, if succeeded

◆ trackPoints()

static bool Ocean::Tracking::Point::HomographyTracker::trackPoints	(	const CV::FramePyramid &	yPreviousFramePyramid,
		const CV::FramePyramid &	yCurrentFramePyramid,
		Vectors2Pyramid &	previousPointsPyramid,
		Vectors2Pyramid &	currentPointsPyramid,
		const unsigned int	startLayer,
		const float	maximalOffsetPercent,
		Indices32 &	validTrackedPointIndices,
		const SquareMatrix3 &	roughHomography = `SquareMatrix3(false)`,
		const unsigned int	coarsestLayerRadius = `2u`,
		const unsigned int	subPixelIterations = `2u`,
		Worker *	worker = `nullptr`
	)

staticprotected

Parameters

yPreviousFramePyramid	The pyramid image of the previous frame with pixel format FORMAT_Y8 (1 channel, uint8_t), must be valid
yCurrentFramePyramid	The pyramid image of the current frame with same pixel format as 'yPreviousFramePyramid', must be valid
previousPointsPyramid	The image points located in the pyramid image of the previous frame, which will be tracked to the current frame, (with different points for different pyramid layers)
currentPointsPyramid	The resulting image points located in the pyramid image of the current frame, one point for each point in the corresponding previous image layer
startLayer	The layer within the pyramid image of the previous frame from which the image points will be tracked, with range [0, yPreviousFramePyramid.layers() - 1]
maximalOffsetPercent	The maximal pixel offset between corresponding image points defined in percentage in relation to the max(layerWidth, layerHeight), with range [0, 1]
validTrackedPointIndices	The resulting indices of all previous image points which could be tracked reliably
roughHomography	Optional homography providing a rough guess for the location of the points in the current frame, defined for the finest pyramid layer (finestCurrentPoint = roughHomography * finestPreviousPoint), a null matrix otherwise
coarsestLayerRadius	The search radius on the coarsest pyramid layer used for tracking, with range [1, infinity)
subPixelIterations	The number of sub-pixel iterations that will be applied, each iteration doubles the sub-pixel accuracy, with range [1, infinity)
worker	Optional worker object to distribute the computation

Returns: True, if succeeded

Field Documentation

◆ currentFramePyramid_

CV::FramePyramid Ocean::Tracking::Point::HomographyTracker::currentFramePyramid_

protected

The frame pyramid of the current frame.

◆ globalCameraOrientation_

Quaternion Ocean::Tracking::Point::HomographyTracker::globalCameraOrientation_

protected

The orientation of the camera frame for the last valid homography 'globalHomography_' (wTl), if known.

◆ globalHomography_

SquareMatrix3 Ocean::Tracking::Point::HomographyTracker::globalHomography_

protected

The homography transforming initial image points to current image points: currentImagePoint = globalHomography_ * initialImagePoint, (globalHomography_ = cHi).

◆ initialCameraOrientation_

Quaternion Ocean::Tracking::Point::HomographyTracker::initialCameraOrientation_

protected

The orientation of the initial camera frame, (wRi), if known.

◆ initialPointsPyramid_

Vectors2Pyramid Ocean::Tracking::Point::HomographyTracker::initialPointsPyramid_

protected

The image points located in the coordinate system of the initial frame (the frame in which the tracking region has been defined).

◆ keyFrames_

KeyFrame Ocean::Tracking::Point::HomographyTracker::keyFrames_[numberKeyFrames_]

protected

The two key frames which will be used during re-initialization.

◆ needsReInitialization_

bool Ocean::Tracking::Point::HomographyTracker::needsReInitialization_ = false

protected

True, if the tracker needs to be re-initialized.

◆ numberKeyFrames_

constexpr size_t Ocean::Tracking::Point::HomographyTracker::numberKeyFrames_ = 2

staticconstexprprotected

◆ plane_

Plane3 Ocean::Tracking::Point::HomographyTracker::plane_

protected

The 3D plane on which all feature points will be located, if known.

◆ previousCameraOrientation_

Quaternion Ocean::Tracking::Point::HomographyTracker::previousCameraOrientation_

protected

The orientation of the camera matching with the previous camera frame, defined w.r.t. the world coordinate system (wTp).

◆ previousFramePyramid_

CV::FramePyramid Ocean::Tracking::Point::HomographyTracker::previousFramePyramid_

protected

The frame pyramid of the previous frame.

◆ previousPointsPyramid_

Vectors2Pyramid Ocean::Tracking::Point::HomographyTracker::previousPointsPyramid_

protected

The image points located in 'previousFramePyramid_'.

◆ randomGenerator_

RandomGenerator Ocean::Tracking::Point::HomographyTracker::randomGenerator_

protected

The random generator object.

◆ region_

Box2 Ocean::Tracking::Point::HomographyTracker::region_

protected

The tracking region (the region of interest) located on the plane, defined in the coordinate system of the initial frame.

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

point/HomographyTracker.h

Data Structures

Public Member Functions

Protected Types

Static Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Member Typedef Documentation

◆ Vectors2Pyramid

◆ Vectors3Pyramid

Member Enumeration Documentation

◆ HomographyQuality

Constructor & Destructor Documentation

◆ HomographyTracker()

Member Function Documentation

◆ addNewFeaturePointsToPyramid()

◆ addNewFeaturePointsToPyramidLayer()

◆ determineHomography()

◆ determineHomographyWithPyramid()

◆ isHomographyPlausible()

◆ isPosePlausible()

◆ isRegionVisible() [1/2]

◆ isRegionVisible() [2/2]

◆ reset()

◆ resetRegion() [1/2]

◆ resetRegion() [2/2]

◆ trackPoints()

Field Documentation

◆ currentFramePyramid_

◆ globalCameraOrientation_

◆ globalHomography_

◆ initialCameraOrientation_

◆ initialPointsPyramid_

◆ keyFrames_

◆ needsReInitialization_

◆ numberKeyFrames_

◆ plane_

◆ previousCameraOrientation_

◆ previousFramePyramid_

◆ previousPointsPyramid_

◆ randomGenerator_

◆ region_