This class implements a base class for all visual tracker objects. More...

#include <VisualTracker.h>

Inheritance diagram for Ocean::Tracking::VisualTracker:

Data Structures
class	TransformationSample
	Definition of a simple tracking sample combining a tracking object id with a transformation. More...

Public Types
typedef unsigned int	ObjectId
	Definition of an object id.

typedef std::vector< TransformationSample >	TransformationSamples
	Definition of a vector holding a transformation sample object.

Public Member Functions
const Vector3 &	maximalPositionOffset () const
	Returns the maximal expected pose position offset between two successive frames for this tracker.

Scalar	maximalOrientationOffset () const
	Returns the maximal expected pose orientation offset between two successive frames for this tracker.

virtual bool	setMaxPositionOffset (const Vector3 &positionOffset)
	Sets or changes the maximal expected pose position offset between two successive frames for this tracker.

virtual bool	setMaxOrientationOffset (const Scalar orientationOffset)
	Sets or changes the maximal expected pose orientation offset between two successive frames for this tracker.

virtual bool	determinePoses (const Frames &frames, const SharedAnyCameras &anyCameras, TransformationSamples &transformations, const Quaternion &world_R_camera=Quaternion(false), Worker *worker=nullptr)
	Executes the tracking step for a collection of frames and corresponding cameras This function allows to specify an absolute orientation 'absoluteOrientation' provided by e.g., an IMU sensor.

virtual bool	determinePoses (const Frame &frame, const PinholeCamera &pinholeCamera, const bool frameIsUndistorted, TransformationSamples &transformations, const Quaternion &world_R_camera=Quaternion(false), Worker *worker=nullptr)=0
	Deprecated.

Public Member Functions inherited from Ocean::Tracking::Tracker
	Tracker ()
	Creates a new tracker object.

virtual	~Tracker ()
	Destructs a new tracker object.

Protected Member Functions
	VisualTracker ()=default
	Creates a new visual tracker object.

Protected Attributes
MotionModel	motionModel_
	Pose motion model to predict the pose of the next frame.

Vector3	maxPositionOffset_ = Vector3(Scalar(0.08), Scalar(0.08), Scalar(0.08))
	Maximal pose position offset between two frames.

Scalar	maxOrientationOffset_ = Numeric::deg2rad(15)
	Maximal pose orientation offset between two frames, in radian angle.

Lock	lock_
	Tracker lock object.

Detailed Description

This class implements a base class for all visual tracker objects.

Member Typedef Documentation

◆ ObjectId

typedef unsigned int Ocean::Tracking::VisualTracker::ObjectId

Definition of an object id.

◆ TransformationSamples

typedef std::vector<TransformationSample> Ocean::Tracking::VisualTracker::TransformationSamples

Definition of a vector holding a transformation sample object.

Constructor & Destructor Documentation

◆ VisualTracker()

Ocean::Tracking::VisualTracker::VisualTracker ( )

protecteddefault

Creates a new visual tracker object.

Member Function Documentation

◆ determinePoses() [1/2]

virtual bool Ocean::Tracking::VisualTracker::determinePoses	(	const Frame &	frame,
		const PinholeCamera &	pinholeCamera,
		const bool	frameIsUndistorted,
		TransformationSamples &	transformations,
		const Quaternion &	world_R_camera = `Quaternion(false)`,
		Worker *	worker = `nullptr`
	)

pure virtual

Deprecated.

Executes the tracking for a given frame. This function allows to specify an absolute orientation 'absoluteOrientation' provided by e.g., an IMU sensor.
This orientation can be defined in relation to an independent coordinate system not related with the tracking objects (as long as this coordinate system does not change between successive calls).
The tracker can use the provided orientation to improve tracking robustness.

Parameters

frame	The frame to be used for tracking, must be valid
pinholeCamera	The pinhole camera object associated with the frame, with width and height matching with the frame's resolution
frameIsUndistorted	True, if the original input frame is undistorted and thus feature must not be undistorted explicitly
transformations	Resulting 6DOF poses combined with the tracking ids
world_R_camera	Optional absolute orientation of the camera in the moment the frame was taken, defined in a coordinate system (e.g., world) not related with the tracking objects, an invalid object otherwise
worker	Optional worker object

Returns: True, if succeeded

Implemented in Ocean::Tracking::ORB::FeatureTracker6DOF, Ocean::Tracking::RMV::RMVFeatureTracker6DOF, and Ocean::Tracking::Pattern::PatternTracker6DOF.

◆ determinePoses() [2/2]

virtual bool Ocean::Tracking::VisualTracker::determinePoses	(	const Frames &	frames,
		const SharedAnyCameras &	anyCameras,
		TransformationSamples &	transformations,
		const Quaternion &	world_R_camera = `Quaternion(false)`,
		Worker *	worker = `nullptr`
	)

virtual

Executes the tracking step for a collection of frames and corresponding cameras This function allows to specify an absolute orientation 'absoluteOrientation' provided by e.g., an IMU sensor.

This orientation can be defined in relation to an independent coordinate system not related with the tracking objects (as long as this coordinate system does not change between successive calls).
The tracker can use the provided orientation to improve tracking robustness.

Note: The base implementation will only accept a single frame and camera and will return false for multiple frames and cameras. If the camera type is not a pinhole camera, the input frame will be undistorted and the camera will be converted to a pinhole camera, which is an expensive operation. For customization this function needs to be overriden.; Once the deprecated function below has been removed, this function will become purely virtual. For any derived class, it is strongly suggested to provide an override of this function.

Parameters

frames	The frames to be used for tracking, must have at least one element and have same number of elements as `anyCameras`, all elements must be valid
anyCameras	The camera objects associated with the frames, with width and height must match that of each corresponding frame, must have same number of elements as `frames`, all elements must be valid
transformations	The resulting 6DOF poses combined with the tracking IDs
world_R_camera	An optional absolute orientation of the camera in the moment the frame was taken, defined in a coordinate system (e.g., world) not related with the tracking objects, an invalid object otherwise
worker	An optional worker object

Returns: True, if succeeded

Reimplemented in Ocean::Tracking::RMV::RMVFeatureTracker6DOF.

◆ maximalOrientationOffset()

Scalar Ocean::Tracking::VisualTracker::maximalOrientationOffset ( ) const

inline

Returns the maximal expected pose orientation offset between two successive frames for this tracker.

Returns: Maximal pose orientation offset in radian

◆ maximalPositionOffset()

const Vector3 & Ocean::Tracking::VisualTracker::maximalPositionOffset ( ) const

inline

Returns the maximal expected pose position offset between two successive frames for this tracker.

Returns: Maximal pose position offset separately for each axis

◆ setMaxOrientationOffset()

virtual bool Ocean::Tracking::VisualTracker::setMaxOrientationOffset ( const Scalar orientationOffset )

virtual

Sets or changes the maximal expected pose orientation offset between two successive frames for this tracker.

Parameters

orientationOffset New orientation offset to be set in radian, with range (0, PI)

Returns: True, if succeeded

◆ setMaxPositionOffset()

virtual bool Ocean::Tracking::VisualTracker::setMaxPositionOffset ( const Vector3 & positionOffset )

virtual

Sets or changes the maximal expected pose position offset between two successive frames for this tracker.

Parameters

positionOffset New position offset to be set for each axis separately, with range (0, infinity)

Returns: True, if succeeded

Field Documentation

◆ lock_

Lock Ocean::Tracking::VisualTracker::lock_

mutableprotected

Tracker lock object.

◆ maxOrientationOffset_

Scalar Ocean::Tracking::VisualTracker::maxOrientationOffset_ = Numeric::deg2rad(15)

protected

Maximal pose orientation offset between two frames, in radian angle.

◆ maxPositionOffset_

Vector3 Ocean::Tracking::VisualTracker::maxPositionOffset_ = Vector3(Scalar(0.08), Scalar(0.08), Scalar(0.08))

protected

Maximal pose position offset between two frames.

◆ motionModel_

MotionModel Ocean::Tracking::VisualTracker::motionModel_

protected

Pose motion model to predict the pose of the next frame.

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

tracking/VisualTracker.h

Data Structures

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ ObjectId

◆ TransformationSamples

Constructor & Destructor Documentation

◆ VisualTracker()

Member Function Documentation

◆ determinePoses() [1/2]

◆ determinePoses() [2/2]

◆ maximalOrientationOffset()

◆ maximalPositionOffset()

◆ setMaxOrientationOffset()

◆ setMaxPositionOffset()

Field Documentation

◆ lock_

◆ maxOrientationOffset_

◆ maxPositionOffset_

◆ motionModel_