PoseSampleCollector.hh

 
#ifndef GM_TRACK_POSESAMPLECOLLECTOR
#define GM_TRACK_POSESAMPLECOLLECTOR
 
#include <gmTrack/config.hh>
 
#include <gmCore/io_eigen.hh>
#include <gmCore/Object.hh>
#include <gmTrack/Controller.hh>
#include <gmCore/Updateable.hh>
 
BEGIN_NAMESPACE_GMTRACK;
 
class PoseSampleCollector
  : public gmCore::Object,
    public gmCore::Updateable {
 
protected:
  struct Impl;
  std::unique_ptr<Impl> _impl;
 
public:
  PoseSampleCollector(Impl *impl = nullptr);
  ~PoseSampleCollector();
 
  void update(clock::time_point time, size_t frame);
 
  void setController(std::shared_ptr<Controller> controller);
 
  void addTrackerPosition(Eigen::Vector3f p);
 
  void addTrackerOrientation(Eigen::Quaternionf o);
 
  void setSamplesPerSecond(float n);
 
  void setWarningThreshold(float d);
 
  void setInlierThreshold(float r);
 
  void setOrientationWarningThreshold(float d);
 
  void setOrientationInlierThreshold(float r);
 
  const std::vector<Eigen::Vector3f> &getTrackerPositions() const;
 
  const std::vector<Eigen::Quaternionf> &getTrackerOrientations() const;
 
  static Eigen::Vector3f getAverage(std::vector<Eigen::Vector3f> samples,
                                    float *stddev = nullptr,
                                    float *maxdev = nullptr,
                                    float inlier_dist = -1.f,
                                    size_t *inlier_count = nullptr);
  static Eigen::Quaternionf getAverage(std::vector<Eigen::Quaternionf> samples,
                                       float *stddev = nullptr,
                                       float *maxdev = nullptr,
                                       float inlier_dist = -1.f,
                                       size_t *inlier_count = nullptr);
 
  void traverse(Visitor *visitor) override;
 
  GM_OFI_DECLARE;
 
};
 
END_NAMESPACE_GMTRACK;
 
#endif