#include </home/jenkins/root/workspace/OSVR-Core-Docs/plugins/unifiedvideoinertialtracker/TrackedBodyTarget.h>

Classes
struct	Impl

Public Member Functions
	TrackedBodyTarget (TrackedBody &body, BodyTargetInterface const &bodyIface, Eigen::Vector3d const &targetToBody, TargetSetupData const &setupData, TargetId id)

EIGEN_MAKE_ALIGNED_OPERATOR_NEW std::vector< BeaconData > const &	getBeaconDebugData () const

UnderlyingBeaconIdType	getNumBeacons () const

TrackedBody &	getBody ()

TrackedBody const &	getBody () const

TargetId	getId () const
	Get the target id within this body.

BodyTargetId	getQualifiedId () const
	Get a fully-qualified (within a tracking system) id for this target.

Eigen::Vector3d	getBeaconAutocalibPosition (ZeroBasedBeaconId i) const

Eigen::Vector3d	getBeaconAutocalibVariance (ZeroBasedBeaconId i) const

void	resetBeaconAutocalib ()
	Reset beacon autocalibration position and variance.

std::size_t	processLedMeasurements (LedMeasurementVec const &undistortedLeds)

void	disableKalman ()

void	permitKalman ()

bool	updatePoseEstimateFromLeds (CameraParameters const &camParams, osvr::util::time::TimeValue const &tv, BodyState &bodyState, osvr::util::time::TimeValue const &startingTime, bool validStateAndTime)

bool	uncalibratedRANSACPoseEstimateFromLeds (CameraParameters const &camParams, Eigen::Vector3d &xlate, Eigen::Quaterniond &quat, int skipBrightsCutoff=-1, std::size_t iterations=5)

bool	hasPoseEstimate () const

osvr::util::time::TimeValue const &	getLastUpdate () const

Eigen::Vector3d const &	getBeaconOffset () const

LedGroup const &	leds () const
	Get all beacons/leds, including unrecognized ones.

LedPtrList const &	usableLeds () const
	Get a list of pointers to all recognized, in-range beacons/leds.

std::size_t	numTrackingResets () const

double	getInternalStatusMeasurement (TargetStatusMeasurement measurement) const

Eigen::Vector3d const &	getTargetToBody () const

Eigen::Vector3d	getStateCorrection () const
	Get the beacon offset transformed into world space.

Eigen::Vector3d	computeTranslationCorrectionToBody (Eigen::Quaterniond const &orientation) const

Static Public Member Functions
static Eigen::Vector3d	computeTranslationCorrection (Eigen::Vector3d const &bodyFrameOffset, Eigen::Quaterniond const &orientation)

Detailed Description

Corresponds to a rigid arrangements of discrete beacons detected by video-based tracking - typically IR LEDs.

Definition at line 77 of file TrackedBodyTarget.h.

Constructor & Destructor Documentation

osvr::vbtracker::TrackedBodyTarget::TrackedBodyTarget	(	TrackedBody &	body,
		BodyTargetInterface const &	bodyIface,
		Eigen::Vector3d const &	targetToBody,
		TargetSetupData const &	setupData,
		TargetId	id
	)

Create the beacon state objects and initialize the beacon offset.

Make a copy of those beacons.

Create the beacon debug data

Create the LED identifier

Definition at line 230 of file TrackedBodyTarget.cpp.

Member Function Documentation

Eigen::Vector3d osvr::vbtracker::TrackedBodyTarget::getBeaconAutocalibPosition ( ZeroBasedBeaconId i ) const

Used to extract autocalibration results in a standalone calibration app, and to show information in a debug window.

Definition at line 285 of file TrackedBodyTarget.cpp.

Eigen::Vector3d osvr::vbtracker::TrackedBodyTarget::getBeaconAutocalibVariance ( ZeroBasedBeaconId i ) const

Used to extract autocalibration results in a standalone calibration app

Definition at line 295 of file TrackedBodyTarget.cpp.

std::size_t osvr::vbtracker::TrackedBodyTarget::processLedMeasurements ( LedMeasurementVec const & undistortedLeds )

Called each frame with the results of the blob finding and undistortion (part of the first phase of the tracking system)

Returns: number of LED measurements/blobs used locally on existing LEDs.

Clear the "usableLeds" that will be populated in a later step, if we get that far.

Only bother resetting if anyone is actually going to receive the data.

For some reason, filtering in that measurement caused an LED object to go bad. The above function wiped the LED object, but let's undo the match and usage of the measurement in case it was someone else's.

this is how many elements the match-count early-out saved us

Do the initial filtering of the LED group to just the identified ones before we pass it to an estimator.

Definition at line 311 of file TrackedBodyTarget.cpp.

void osvr::vbtracker::TrackedBodyTarget::disableKalman ( )

Override configured setting, disabling Kalman (normal) operating mode.

Definition at line 451 of file TrackedBodyTarget.cpp.

void osvr::vbtracker::TrackedBodyTarget::permitKalman ( )

Override configured setting, permitting Kalman (normal) operating mode.

Definition at line 453 of file TrackedBodyTarget.cpp.

bool osvr::vbtracker::TrackedBodyTarget::updatePoseEstimateFromLeds	(	CameraParameters const &	camParams,
		osvr::util::time::TimeValue const &	tv,
		BodyState &	bodyState,
		osvr::util::time::TimeValue const &	startingTime,
		bool	validStateAndTime
	)

Update the pose estimate using the updated LEDs - part of the third phase of tracking.

Must pre/post correct the state by our offset :-/

Todo:: make this state correction less hacky.

Will we permit Kalman this estimation?

OK, now must decide who we talk to for pose estimation.

Todo:: move state machine logic elsewhere?

Lost tracking somehow and we're in a SCAAT state.

pre-estimation transitions based on overall health

Smooth RANSAC here - we haven't lost all sight.

Pre-estimation transitions per-state

main estimation dispatch

End of main estimation dispatch

post-estimation transitions (based on state)

Update our local target-specific timestamp

Corresponding post-correction.

Definition at line 455 of file TrackedBodyTarget.cpp.

bool osvr::vbtracker::TrackedBodyTarget::uncalibratedRANSACPoseEstimateFromLeds	(	CameraParameters const &	camParams,
		Eigen::Vector3d &	xlate,
		Eigen::Quaterniond &	quat,
		int	skipBrightsCutoff = `-1`,
		std::size_t	iterations = `5`
	)

Perform a simple RANSAC pose estimation from updated LEDs (third phase of tracking) without storing the results internally or changing internal state, or using any internal calibration transforms. Intended for use during initial room calibration (startup).

Parameters

	camParams	Camera parameters for the image source (no distortion)
[out]	xlate	Pose estimate: translation in meters. Only modified if return value is true.
[out]	quat	Pose estimate: rotation. Only modified if return value is true.
	skipBrightsCutoff	If positive, the number of non-bright LEDs seen that will trigger us to skip using bright LEDs in pose estimation.

Returns: true if a pose was estimated and the out parameters were modified.

Definition at line 644 of file TrackedBodyTarget.cpp.

bool osvr::vbtracker::TrackedBodyTarget::hasPoseEstimate ( ) const

inline

Did this target yet, or last time it was asked to, compute a pose estimate?

Definition at line 161 of file TrackedBodyTarget.h.

Eigen::Vector3d const& osvr::vbtracker::TrackedBodyTarget::getBeaconOffset ( ) const

inline

Get the offset that was subtracted from all beacon positions upon initialization.

Definition at line 167 of file TrackedBodyTarget.h.

std::size_t osvr::vbtracker::TrackedBodyTarget::numTrackingResets ( ) const

Get the number of times tracking has reset - for debugging/optimization.

Definition at line 761 of file TrackedBodyTarget.cpp.

double osvr::vbtracker::TrackedBodyTarget::getInternalStatusMeasurement ( TargetStatusMeasurement measurement ) const

A way for tuning and debugging applications to peer inside the implementation.

Definition at line 771 of file TrackedBodyTarget.cpp.

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

plugins/unifiedvideoinertialtracker/TrackedBodyTarget.h
plugins/unifiedvideoinertialtracker/TrackedBodyTarget.cpp

Classes

Public Member Functions

Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation