Classes | Public Member Functions | Protected Types | Protected Member Functions | Static Protected Member Functions | Protected Attributes
Tracker Class Reference

#include <Tracker.h>

List of all members.

Classes

struct  Command

Public Member Functions

Vector< 3 > CalcSBIRotation (SmallBlurryImage *SBI1, SmallBlurryImage *SBI2)
void command (const std::string &params)
CVD::Image< TooN::Vector< 2 > > & ComputeGrid ()
Matrix< 6 > GetCurrentCov ()
KeyFrame::Ptr GetCurrentKF ()
SE3 GetCurrentPose ()
std::string GetMessageForUser ()
int getTrackingQuality ()
std::list< Trail > & getTrails ()
bool getTrailTrackingComplete ()
bool getTrailTrackingStarted ()
 Tracker (CVD::ImageRef irVideoSize, const ATANCamera &c, Map &m, MapMaker &mm)
void TrackFrame (CVD::Image< CVD::byte > &imFrame, bool bDraw)
void TrackFrame (CVD::Image< CVD::byte > &imFrame, bool bDraw, const TooN::SO3< double > &imuOrientation)

Protected Types

enum  { TRAIL_TRACKING_NOT_STARTED, TRAIL_TRACKING_STARTED, TRAIL_TRACKING_COMPLETE }
enum  { BAD, DODGY, GOOD }

Protected Member Functions

void AddNewKeyFrame ()
void ApplyMotionModel ()
void AssessTrackingQuality ()
bool AttemptRecovery ()
Vector< 6 > CalcPoseUpdate (std::vector< TrackerData * > vTD, double dOverrideSigma=0.0, bool bMarkOutliers=false)
void CalcSBIRotation ()
void GUICommandHandler (std::string sCommand, std::string sParams)
void RenderGrid ()
void Reset ()
int SearchForPoints (std::vector< TrackerData * > &vTD, int nRange, int nFineIts)
void TrackForInitialMap ()
void TrackMap ()
int TrailTracking_Advance ()
void TrailTracking_Start ()
void UpdateMotionModel ()

Static Protected Member Functions

static void GUICommandCallBack (void *ptr, std::string sCommand, std::string sParams)

Protected Attributes

int manMeasAttempted [LEVELS]
int manMeasFound [LEVELS]
bool mAutoreset
bool mbDidCoarse
bool mbDraw
bool mbJustRecoveredSoUseCoarse
bool mbUserPressedSpacebar
bool mbUseSBIInit
ATANCamera mCamera
KeyFrame::Ptr mCurrentKF
double mdMSDScaledVelocityMagnitude
double mdVelocityMagnitude
KeyFrame::Ptr mFirstKF
CVD::ImageRef mirSize
std::list< TrailmlTrails
MapmMap
MapMakermMapMaker
Matrix< 6 > mmCovariances
std::ostringstream mMessageForUser
int mnFrame
enum Tracker:: { ... }  mnInitialStage
int mnLastKeyFrameDropped
int mnLostFrames
KeyFrame::Ptr mOldKF
KeyFrame::Ptr mPreviousFrameKF
CVD::Image< TooN::Vector< 2 > > mProjVertices
SmallBlurryImagempSBILastFrame
SmallBlurryImagempSBIThisFrame
Relocaliser mRelocaliser
SE3 mse3CamFromWorld
SE3 mse3StartPos
SO3 mso3CurrentImu
SO3 mso3LastImu
enum Tracker:: { ... }  mTrackingQuality
Vector< 6 > mv6CameraVelocity
Vector< 6 > mv6SBIRot
std::vector< CommandmvQueuedCommands

Detailed Description

Definition at line 42 of file Tracker.h.


Member Enumeration Documentation

anonymous enum [protected]
Enumerator:
TRAIL_TRACKING_NOT_STARTED 
TRAIL_TRACKING_STARTED 
TRAIL_TRACKING_COMPLETE 

Definition at line 84 of file Tracker.h.

anonymous enum [protected]
Enumerator:
BAD 
DODGY 
GOOD 

Definition at line 134 of file Tracker.h.


Constructor & Destructor Documentation

Tracker::Tracker ( CVD::ImageRef  irVideoSize,
const ATANCamera c,
Map m,
MapMaker mm 
)

Definition at line 33 of file Tracker.cc.


Member Function Documentation

void Tracker::AddNewKeyFrame ( ) [protected]

Definition at line 1254 of file Tracker.cc.

void Tracker::ApplyMotionModel ( ) [protected]

Definition at line 1206 of file Tracker.cc.

void Tracker::AssessTrackingQuality ( ) [protected]

Definition at line 1263 of file Tracker.cc.

bool Tracker::AttemptRecovery ( ) [protected]

Definition at line 291 of file Tracker.cc.

Vector< 6 > Tracker::CalcPoseUpdate ( std::vector< TrackerData * >  vTD,
double  dOverrideSigma = 0.0,
bool  bMarkOutliers = false 
) [protected]

Definition at line 1105 of file Tracker.cc.

Vector< 3 > Tracker::CalcSBIRotation ( SmallBlurryImage SBI1,
SmallBlurryImage SBI2 
)

Definition at line 274 of file Tracker.cc.

void Tracker::CalcSBIRotation ( ) [protected]

Definition at line 1346 of file Tracker.cc.

void Tracker::command ( const std::string &  params)

Definition at line 1360 of file Tracker.cc.

CVD::Image< TooN::Vector< 2 > > & Tracker::ComputeGrid ( )

Definition at line 341 of file Tracker.cc.

Matrix<6> Tracker::GetCurrentCov ( ) [inline]

Definition at line 53 of file Tracker.h.

Definition at line 54 of file Tracker.h.

SE3 Tracker::GetCurrentPose ( ) [inline]

Definition at line 51 of file Tracker.h.

Definition at line 1341 of file Tracker.cc.

int Tracker::getTrackingQuality ( ) [inline]

Definition at line 59 of file Tracker.h.

std::list<Trail>& Tracker::getTrails ( ) [inline]

Definition at line 62 of file Tracker.h.

Definition at line 64 of file Tracker.h.

Definition at line 63 of file Tracker.h.

void Tracker::GUICommandCallBack ( void *  ptr,
std::string  sCommand,
std::string  sParams 
) [static, protected]

Definition at line 368 of file Tracker.cc.

void Tracker::GUICommandHandler ( std::string  sCommand,
std::string  sParams 
) [protected]

Definition at line 377 of file Tracker.cc.

void Tracker::RenderGrid ( ) [protected]

Definition at line 305 of file Tracker.cc.

void Tracker::Reset ( ) [protected]

Definition at line 64 of file Tracker.cc.

int Tracker::SearchForPoints ( std::vector< TrackerData * > &  vTD,
int  nRange,
int  nFineIts 
) [protected]

Definition at line 1041 of file Tracker.cc.

void Tracker::TrackForInitialMap ( ) [protected]

Definition at line 426 of file Tracker.cc.

void Tracker::TrackFrame ( CVD::Image< CVD::byte > &  imFrame,
bool  bDraw 
)
void Tracker::TrackFrame ( CVD::Image< CVD::byte > &  imFrame,
bool  bDraw,
const TooN::SO3< double > &  imuOrientation 
)
void Tracker::TrackMap ( ) [protected]

Definition at line 645 of file Tracker.cc.

int Tracker::TrailTracking_Advance ( ) [protected]

Definition at line 572 of file Tracker.cc.

void Tracker::TrailTracking_Start ( ) [protected]

Definition at line 535 of file Tracker.cc.

void Tracker::UpdateMotionModel ( ) [protected]

Definition at line 1236 of file Tracker.cc.


Member Data Documentation

Definition at line 132 of file Tracker.h.

int Tracker::manMeasFound[LEVELS] [protected]

Definition at line 133 of file Tracker.h.

bool Tracker::mAutoreset [protected]

Definition at line 123 of file Tracker.h.

bool Tracker::mbDidCoarse [protected]

Definition at line 109 of file Tracker.h.

bool Tracker::mbDraw [protected]

Definition at line 111 of file Tracker.h.

Definition at line 139 of file Tracker.h.

Definition at line 149 of file Tracker.h.

bool Tracker::mbUseSBIInit [protected]

Definition at line 146 of file Tracker.h.

Definition at line 74 of file Tracker.h.

Definition at line 69 of file Tracker.h.

Definition at line 108 of file Tracker.h.

double Tracker::mdVelocityMagnitude [protected]

Definition at line 107 of file Tracker.h.

Definition at line 90 of file Tracker.h.

CVD::ImageRef Tracker::mirSize [protected]

Definition at line 77 of file Tracker.h.

std::list<Trail> Tracker::mlTrails [protected]

Definition at line 89 of file Tracker.h.

Map& Tracker::mMap [protected]

Definition at line 72 of file Tracker.h.

Definition at line 73 of file Tracker.h.

Matrix<6> Tracker::mmCovariances [protected]

Definition at line 121 of file Tracker.h.

std::ostringstream Tracker::mMessageForUser [protected]

Definition at line 150 of file Tracker.h.

int Tracker::mnFrame [protected]

Definition at line 127 of file Tracker.h.

enum { ... } Tracker::mnInitialStage [protected]

Definition at line 128 of file Tracker.h.

int Tracker::mnLostFrames [protected]

Definition at line 135 of file Tracker.h.

Definition at line 122 of file Tracker.h.

Definition at line 91 of file Tracker.h.

CVD::Image<TooN::Vector<2> > Tracker::mProjVertices [protected]

Definition at line 68 of file Tracker.h.

Definition at line 142 of file Tracker.h.

Definition at line 143 of file Tracker.h.

Definition at line 75 of file Tracker.h.

SE3 Tracker::mse3CamFromWorld [protected]

Definition at line 104 of file Tracker.h.

SE3 Tracker::mse3StartPos [protected]

Definition at line 105 of file Tracker.h.

SO3 Tracker::mso3CurrentImu [protected]

Definition at line 114 of file Tracker.h.

SO3 Tracker::mso3LastImu [protected]

Definition at line 115 of file Tracker.h.

enum { ... } Tracker::mTrackingQuality [protected]
Vector<6> Tracker::mv6CameraVelocity [protected]

Definition at line 106 of file Tracker.h.

Vector<6> Tracker::mv6SBIRot [protected]

Definition at line 145 of file Tracker.h.

std::vector<Command> Tracker::mvQueuedCommands [protected]

Definition at line 156 of file Tracker.h.


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


ptam
Author(s): Stephan Weiss, Markus Achtelik, Simon Lynen
autogenerated on Tue Jan 7 2014 11:12:22