The RelativeTrackerPoseRegistrationEstimator is a utility for estimating the relative pose of fixed trackers. More...

#include <RelativeTrackerPoseRegistrationEstimator.hh>

Inheritance diagram for gramods::gmTrack::RelativeTrackerPoseRegistrationEstimator:

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Collaboration diagram for gramods::gmTrack::RelativeTrackerPoseRegistrationEstimator:

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Classes
struct	Impl

struct	Pose
	Type combining position and orientation. More...

Public Member Functions
void	addSinglePoseTracker (std::shared_ptr< SinglePoseTracker > tracker)
	Adds a SinglePoseTracker to register.

void	addMultiPoseTracker (std::shared_ptr< MultiPoseTracker > tracker)
	Adds a MultiPoseTracker to register.

void	setSamplesPerSecond (float n)
	Sets the frequency at which samples are collected.

void	setWarningThreshold (float d)
	Sets the data offset required to trigger a warning.

void	setInlierThreshold (float r)
	Set the maximum positional distance from the average allowed for a sample to be included in the average.

void	setOrientationWarningThreshold (float d)
	Sets the data offset required to trigger a warning.

void	setOrientationInlierThreshold (float r)
	Set the maximum orientational distance (in radians) from the average allowed for a sample to be included in the average.

size_t	getSinglePoseTrackerCount () const
	Returns the number of SinglePoseTracker associated with the estimator.

Pose	getSinglePoseTrackerPose (size_t idx) const
	Returns the pose of the specified SinglePoseTracker.

size_t	getMultiPoseTrackerCount () const
	Returns the number of MultiPoseTracker associated with the estimator.

std::map< int, Pose >	getMultiPoseTrackerPose (size_t idx) const
	Returns the poses of the trackeres in the specified MultiPoseTracker.

void	traverse (Visitor *visitor) override
	Propagates the specified visitor.

Public Member Functions inherited from gramods::gmCore::Object
	Object ()
	Initializes internal data.

virtual	~Object ()
	Cleaning up internal data.

virtual void	initialize ()
	Called to initialize the Object.

virtual void	accept (Visitor *visitor)
	Calls the visitors apply method with this as argument.

virtual std::string	getDefaultKey ()
	Returns the default key for the Object when automatically instantiated in a Configuration, i.e.

bool	isInitialized ()
	Returns true if the Object is initialized.

Static Public Attributes
static gramods::gmCore::OFactory::OFactoryInformation	_gm_ofi

Detailed Description

The RelativeTrackerPoseRegistrationEstimator is a utility for estimating the relative pose of fixed trackers.

These trackers may, for example, be attached to a frame that is moving during capturing. At least two different trackers are required for this to make sense.

Member Function Documentation

◆ addMultiPoseTracker()

void gramods::gmTrack::RelativeTrackerPoseRegistrationEstimator::addMultiPoseTracker ( std::shared_ptr< MultiPoseTracker > tracker )

Adds a MultiPoseTracker to register.

XML-attribute: multiPoseTracker

◆ addSinglePoseTracker()

void gramods::gmTrack::RelativeTrackerPoseRegistrationEstimator::addSinglePoseTracker ( std::shared_ptr< SinglePoseTracker > tracker )

Adds a SinglePoseTracker to register.

XML-attribute: singlePoseTracker

◆ getMultiPoseTrackerCount()

size_t gramods::gmTrack::RelativeTrackerPoseRegistrationEstimator::getMultiPoseTrackerCount ( ) const

Returns the number of MultiPoseTracker associated with the estimator.

◆ getMultiPoseTrackerPose()

std::map< int, RelativeTrackerPoseRegistrationEstimator::Pose > gramods::gmTrack::RelativeTrackerPoseRegistrationEstimator::getMultiPoseTrackerPose ( size_t idx ) const

Returns the poses of the trackeres in the specified MultiPoseTracker.

◆ getSinglePoseTrackerCount()

size_t gramods::gmTrack::RelativeTrackerPoseRegistrationEstimator::getSinglePoseTrackerCount ( ) const

Returns the number of SinglePoseTracker associated with the estimator.

◆ getSinglePoseTrackerPose()

RelativeTrackerPoseRegistrationEstimator::Pose gramods::gmTrack::RelativeTrackerPoseRegistrationEstimator::getSinglePoseTrackerPose ( size_t idx ) const

Returns the pose of the specified SinglePoseTracker.

◆ setInlierThreshold()

void gramods::gmTrack::RelativeTrackerPoseRegistrationEstimator::setInlierThreshold ( float r )

Set the maximum positional distance from the average allowed for a sample to be included in the average.

Default is -1 meaning that all samples are included.

◆ setOrientationInlierThreshold()

void gramods::gmTrack::RelativeTrackerPoseRegistrationEstimator::setOrientationInlierThreshold ( float r )

Set the maximum orientational distance (in radians) from the average allowed for a sample to be included in the average.

Default is -1 meaning that all samples are included.

◆ setOrientationWarningThreshold()

void gramods::gmTrack::RelativeTrackerPoseRegistrationEstimator::setOrientationWarningThreshold ( float d )

Sets the data offset required to trigger a warning.

Default is π/4 radians.

XML-attribute: orientationWarningThreshold

◆ setSamplesPerSecond()

void gramods::gmTrack::RelativeTrackerPoseRegistrationEstimator::setSamplesPerSecond ( float n )

Sets the frequency at which samples are collected.

Default is

At most one sample per frame will be used regardless of this value.

XML-attribute: samplesPerSecond

◆ setWarningThreshold()

void gramods::gmTrack::RelativeTrackerPoseRegistrationEstimator::setWarningThreshold ( float d )

Sets the data offset required to trigger a warning.

Default is 0.01, i.e. one cm.

XML-attribute: warningThreshold

◆ traverse()

void gramods::gmTrack::RelativeTrackerPoseRegistrationEstimator::traverse ( Visitor * visitor )

overridevirtual

Propagates the specified visitor.

See also: Object::Visitor

Reimplemented from gramods::gmCore::Object.

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

/home/karlu/private/program/gramods/modules/gmTrack/include/gmTrack/RelativeTrackerPoseRegistrationEstimator.hh
/home/karlu/private/program/gramods/modules/gmTrack/src/RelativeTrackerPoseRegistrationEstimator.cpp

Classes

Public Member Functions

Static Public Attributes