RegisteredMultiPoseTracker.hh

 
#ifndef GRAMODS_TRACK_REGISTEREDMULTIPOSETRACKER
#define GRAMODS_TRACK_REGISTEREDMULTIPOSETRACKER
 
// Required before gmCore/OFactory.hh for some compilers
#include <gmCore/io_eigen.hh>
 
#include <gmTrack/MultiPoseTracker.hh>
 
#include <gmCore/OFactory.hh>
 
BEGIN_NAMESPACE_GMTRACK;
 
class RegisteredMultiPoseTracker
  : public MultiPoseTracker {
 
public:
 
  RegisteredMultiPoseTracker();
  ~RegisteredMultiPoseTracker();
 
  void setMultiPoseTracker(std::shared_ptr<MultiPoseTracker> tracker);
 
  void setRegistrationMatrix(Eigen::Matrix4f m);
 
  void setBiasMatrix(Eigen::Matrix4f m);
 
  void setPositionBias(Eigen::Vector3f p);
 
  void setOrientationBias(Eigen::Quaternionf q);
 
  bool getPose(std::map<int, PoseSample> &p) override;
 
  void traverse(Visitor *visitor) override;
 
  GM_OFI_DECLARE;
 
private:
  struct Impl;
  std::unique_ptr<Impl> _impl;
};
 
END_NAMESPACE_GMTRACK;
 
#endif