Simulated tracker for when we already have uv measurements! More...

#include <TrackSIM.h>

Inheritance diagram for ov_core::TrackSIM:

Public Member Functions
void	feed_measurement_simulation (double timestamp, const std::vector< int > &camids, const std::vector< std::vector< std::pair< size_t, Eigen::VectorXf >>> &feats)
	Feed function for a synchronized simulated cameras. More...

void	feed_new_camera (const CameraData &message) override
	Process a new image. More...

	TrackSIM (std::unordered_map< size_t, std::shared_ptr< CamBase >> cameras, int numaruco)
	Public constructor with configuration variables. More...

Public Member Functions inherited from ov_core::TrackBase
void	change_feat_id (size_t id_old, size_t id_new)
	Changes the ID of an actively tracked feature to another one. More...

virtual void	display_active (cv::Mat &img_out, int r1, int g1, int b1, int r2, int g2, int b2, std::string overlay="")
	Shows features extracted in the last image. More...

virtual void	display_history (cv::Mat &img_out, int r1, int g1, int b1, int r2, int g2, int b2, std::vector< size_t > highlighted={}, std::string overlay="")
	Shows a "trail" for each feature (i.e. its history) More...

std::shared_ptr< FeatureDatabase >	get_feature_database ()
	Get the feature database with all the track information. More...

std::unordered_map< size_t, std::vector< size_t > >	get_last_ids ()
	Getter method for active features in the last frame (ids per camera) More...

std::unordered_map< size_t, std::vector< cv::KeyPoint > >	get_last_obs ()
	Getter method for active features in the last frame (observations per camera) More...

int	get_num_features ()
	Getter method for number of active features. More...

void	set_num_features (int _num_features)
	Setter method for number of active features. More...

	TrackBase (std::unordered_map< size_t, std::shared_ptr< CamBase >> cameras, int numfeats, int numaruco, bool stereo, HistogramMethod histmethod)
	Public constructor with configuration variables. More...

virtual	~TrackBase ()

Additional Inherited Members
Public Types inherited from ov_core::TrackBase
enum	HistogramMethod { NONE, HISTOGRAM, CLAHE }
	Desired pre-processing image method. More...

Protected Attributes inherited from ov_core::TrackBase
std::unordered_map< size_t, std::shared_ptr< CamBase > >	camera_calib
	Camera object which has all calibration in it. More...

std::map< size_t, bool >	camera_fisheye
	If we are a fisheye model or not. More...

std::atomic< size_t >	currid
	Master ID for this tracker (atomic to allow for multi-threading) More...

std::shared_ptr< FeatureDatabase >	database
	Database with all our current features. More...

HistogramMethod	histogram_method
	What histogram equalization method we should pre-process images with? More...

std::unordered_map< size_t, std::vector< size_t > >	ids_last
	Set of IDs of each current feature in the database. More...

std::map< size_t, cv::Mat >	img_last
	Last set of images (use map so all trackers render in the same order) More...

std::map< size_t, cv::Mat >	img_mask_last
	Last set of images (use map so all trackers render in the same order) More...

std::vector< std::mutex >	mtx_feeds
	Mutexs for our last set of image storage (img_last, pts_last, and ids_last) More...

std::mutex	mtx_last_vars
	Mutex for editing the *_last variables. More...

int	num_features
	Number of features we should try to track frame to frame. More...

std::unordered_map< size_t, std::vector< cv::KeyPoint > >	pts_last
	Last set of tracked points. More...

boost::posix_time::ptime	rT1

boost::posix_time::ptime	rT2

boost::posix_time::ptime	rT3

boost::posix_time::ptime	rT4

boost::posix_time::ptime	rT5

boost::posix_time::ptime	rT6

boost::posix_time::ptime	rT7

bool	use_stereo
	If we should use binocular tracking or stereo tracking for multi-camera. More...

Detailed Description

Simulated tracker for when we already have uv measurements!

This class should be used when we are using the ov_msckf::Simulator class to generate measurements. It simply takes the resulting simulation data and appends it to the internal feature database.

Definition at line 35 of file TrackSIM.h.

Constructor & Destructor Documentation

◆ TrackSIM()

ov_core::TrackSIM::TrackSIM	(	std::unordered_map< size_t, std::shared_ptr< CamBase >>	cameras,
		int	numaruco
	)

inline

Public constructor with configuration variables.

Parameters

cameras	camera calibration object which has all camera intrinsics in it
numaruco	the max id of the arucotags, so we ensure that we start our non-auroc features above this value

Definition at line 43 of file TrackSIM.h.

Member Function Documentation

◆ feed_measurement_simulation()

void TrackSIM::feed_measurement_simulation	(	double	timestamp,
		const std::vector< int > &	camids,
		const std::vector< std::vector< std::pair< size_t, Eigen::VectorXf >>> &	feats
	)

Feed function for a synchronized simulated cameras.

Parameters

timestamp	Time that this image was collected
camids	Camera ids that we have simulated measurements for
feats	Raw uv simulated measurements

Definition at line 30 of file TrackSIM.cpp.

◆ feed_new_camera()

void ov_core::TrackSIM::feed_new_camera ( const CameraData & message )

inlineoverridevirtual

Process a new image.

Warning: This function should not be used!! Use feed_measurement_simulation() instead.

Parameters

message Contains our timestamp, images, and camera ids

Implements ov_core::TrackBase.

Definition at line 51 of file TrackSIM.h.

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

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ TrackSIM()

Member Function Documentation

◆ feed_measurement_simulation()

◆ feed_new_camera()