Classes | Public Types | Public Member Functions | Public Attributes | 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 Types

enum  {
  I_FIRST, I_SECOND, I_FAILED, T_GOOD,
  T_DODGY, T_LOST, T_RECOVERED_GOOD, T_RECOVERED_DODGY,
  NOT_TRACKING, INITIALIZING, T_TOOK_KF
}

Public Member Functions

SE3 GetCurrentPose ()
std::string GetMessageForUser ()
void pressSpacebar ()
void resetMap ()
void setLastFrameLost (bool lost, bool useGuessForRecovery=false)
void setPredictedCamFromW (SE3<> &camFromW)
void TakeKF (bool force)
 Tracker (CVD::ImageRef irVideoSize, const ATANCamera &c, Map &m, MapMaker &mm)
void TrackFrame (CVD::Image< CVD::byte > &imFrame, bool bDraw)
void tryToRecover ()

Public Attributes

enum Tracker:: { ... }  lastStepResult
double minKFTimeDist
int numPointsAttempted
int numPointsFound

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

SE3 KFZeroDesiredCamFromWorld
bool lastFrameLost
int manMeasAttempted [LEVELS]
int manMeasFound [LEVELS]
bool mbDidCoarse
bool mbDraw
bool mbJustRecoveredSoUseCoarse
bool mbUserPressedSpacebar
bool mbUseSBIInit
ATANCamera mCamera
KeyFrame mCurrentKF
double mdMSDScaledVelocityMagnitude
double mdVelocityMagnitude
KeyFrame mFirstKF
CVD::ImageRef mirSize
std::list< TrailmlTrails
MapmMap
MapMakermMapMaker
std::ostringstream mMessageForUser
int mnFrame
enum Tracker:: { ... }  mnInitialStage
int mnLastKeyFrameDropped
clock_t mnLastKeyFrameDroppedClock
int mnLostFrames
KeyFrame mPreviousFrameKF
SmallBlurryImagempSBILastFrame
SmallBlurryImagempSBIThisFrame
Relocaliser mRelocaliser
SE3 mse3CamFromWorld
SE3 mse3StartPos
enum Tracker:: { ... }  mTrackingQuality
Vector< 6 > mv6CameraVelocity
Vector< 6 > mv6SBIRot
std::vector< CommandmvQueuedCommands
SE3 predictedCFromW
bool useGuess

Detailed Description

Definition at line 43 of file Tracker.h.


Member Enumeration Documentation

anonymous enum
Enumerator:
I_FIRST 
I_SECOND 
I_FAILED 
T_GOOD 
T_DODGY 
T_LOST 
T_RECOVERED_GOOD 
T_RECOVERED_DODGY 
NOT_TRACKING 
INITIALIZING 
T_TOOK_KF 

Definition at line 62 of file Tracker.h.

anonymous enum [protected]
Enumerator:
TRAIL_TRACKING_NOT_STARTED 
TRAIL_TRACKING_STARTED 
TRAIL_TRACKING_COMPLETE 

Definition at line 89 of file Tracker.h.

anonymous enum [protected]
Enumerator:
BAD 
DODGY 
GOOD 

Definition at line 131 of file Tracker.h.


Constructor & Destructor Documentation

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

Definition at line 29 of file Tracker.cc.


Member Function Documentation

void Tracker::AddNewKeyFrame ( ) [protected]

Definition at line 1071 of file Tracker.cc.

void Tracker::ApplyMotionModel ( ) [protected]

Definition at line 1030 of file Tracker.cc.

void Tracker::AssessTrackingQuality ( ) [protected]

Definition at line 1081 of file Tracker.cc.

bool Tracker::AttemptRecovery ( ) [protected]

Definition at line 246 of file Tracker.cc.

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

Definition at line 937 of file Tracker.cc.

void Tracker::CalcSBIRotation ( ) [protected]

Definition at line 1141 of file Tracker.cc.

SE3 Tracker::GetCurrentPose ( ) [inline]

Definition at line 53 of file Tracker.h.

Definition at line 1136 of file Tracker.cc.

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

Definition at line 320 of file Tracker.cc.

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

Definition at line 329 of file Tracker.cc.

void Tracker::pressSpacebar ( ) [inline]

Definition at line 58 of file Tracker.h.

void Tracker::RenderGrid ( ) [protected]

Definition at line 271 of file Tracker.cc.

void Tracker::Reset ( ) [protected]

Definition at line 54 of file Tracker.cc.

void Tracker::resetMap ( ) [inline]

Definition at line 59 of file Tracker.h.

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

Definition at line 874 of file Tracker.cc.

void Tracker::setLastFrameLost ( bool  lost,
bool  useGuessForRecovery = false 
) [inline]

Definition at line 71 of file Tracker.h.

void Tracker::setPredictedCamFromW ( SE3<> &  camFromW) [inline]

Definition at line 70 of file Tracker.h.

void Tracker::TakeKF ( bool  force)

Definition at line 222 of file Tracker.cc.

void Tracker::TrackForInitialMap ( ) [protected]

Definition at line 370 of file Tracker.cc.

void Tracker::TrackFrame ( CVD::Image< CVD::byte > &  imFrame,
bool  bDraw 
)

Definition at line 91 of file Tracker.cc.

void Tracker::TrackMap ( ) [protected]

Definition at line 531 of file Tracker.cc.

int Tracker::TrailTracking_Advance ( ) [protected]

Definition at line 460 of file Tracker.cc.

void Tracker::TrailTracking_Start ( ) [protected]

Definition at line 431 of file Tracker.cc.

Definition at line 199 of file Tracker.cc.

void Tracker::UpdateMotionModel ( ) [protected]

Definition at line 1052 of file Tracker.cc.


Member Data Documentation

Definition at line 97 of file Tracker.h.

bool Tracker::lastFrameLost [protected]

Definition at line 137 of file Tracker.h.

Definition at line 129 of file Tracker.h.

int Tracker::manMeasFound[LEVELS] [protected]

Definition at line 130 of file Tracker.h.

bool Tracker::mbDidCoarse [protected]

Definition at line 115 of file Tracker.h.

bool Tracker::mbDraw [protected]

Definition at line 117 of file Tracker.h.

Definition at line 136 of file Tracker.h.

Definition at line 148 of file Tracker.h.

bool Tracker::mbUseSBIInit [protected]

Definition at line 145 of file Tracker.h.

Definition at line 79 of file Tracker.h.

Definition at line 71 of file Tracker.h.

Definition at line 114 of file Tracker.h.

double Tracker::mdVelocityMagnitude [protected]

Definition at line 113 of file Tracker.h.

Definition at line 95 of file Tracker.h.

Definition at line 65 of file Tracker.h.

CVD::ImageRef Tracker::mirSize [protected]

Definition at line 82 of file Tracker.h.

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

Definition at line 94 of file Tracker.h.

Map& Tracker::mMap [protected]

Definition at line 77 of file Tracker.h.

Definition at line 78 of file Tracker.h.

std::ostringstream Tracker::mMessageForUser [protected]

Definition at line 149 of file Tracker.h.

int Tracker::mnFrame [protected]

Definition at line 120 of file Tracker.h.

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

Definition at line 121 of file Tracker.h.

Definition at line 122 of file Tracker.h.

int Tracker::mnLostFrames [protected]

Definition at line 132 of file Tracker.h.

Definition at line 96 of file Tracker.h.

Definition at line 141 of file Tracker.h.

Definition at line 142 of file Tracker.h.

Definition at line 80 of file Tracker.h.

SE3 Tracker::mse3CamFromWorld [protected]

Definition at line 110 of file Tracker.h.

SE3 Tracker::mse3StartPos [protected]

Definition at line 111 of file Tracker.h.

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

Definition at line 112 of file Tracker.h.

Vector<6> Tracker::mv6SBIRot [protected]

Definition at line 144 of file Tracker.h.

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

Definition at line 155 of file Tracker.h.

Definition at line 61 of file Tracker.h.

Definition at line 60 of file Tracker.h.

SE3 Tracker::predictedCFromW [protected]

Definition at line 124 of file Tracker.h.

bool Tracker::useGuess [protected]

Definition at line 138 of file Tracker.h.


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


uga_tum_ardrone
Author(s):
autogenerated on Sat Jun 8 2019 20:30:11