The SampleCollector is a utility for sampling tracker data. More...

#include <SampleCollector.hh>

Inheritance diagram for gramods::gmTrack::SampleCollector:

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Collaboration diagram for gramods::gmTrack::SampleCollector:

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Public Member Functions
	SampleCollector (Impl *impl=nullptr)

void	update (clock::time_point time, size_t frame)
	Updates the internal states. More...

void	setController (std::shared_ptr< Controller > controller)
	Sets the controller to use for reading tracker samples. More...

void	addTrackerPosition (Eigen::Vector3f p)
	Adds a tracker position. More...

void	addTrackerOrientation (Eigen::Quaternionf o)
	Adds a tracker orientation. More...

void	setSamplesPerSecond (float n)
	Sets the frequency at which samples are collected when the controller button is pressed. More...

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

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

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

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

const std::vector< Eigen::Vector3f > &	getTrackerPositions () const
	Returns the current list of tracker positions. More...

const std::vector< Eigen::Quaternionf > &	getTrackerOrientations () const
	Returns the current list of tracker orientations. More...

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

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

virtual	~Object ()
	Cleaning up internal data. More...

virtual void	initialize ()
	Called to initialize the Object. More...

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

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

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

Public Member Functions inherited from gramods::gmCore::Updateable
	Updateable (int priority=0)
	Configures the Updateable properties to the specified priority. More...

Static Public Member Functions
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)
	Calculates and returns the average point of a set of samples. More...

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)
	Calculates and returns the average point of a set of samples. More...

Static Public Member Functions inherited from gramods::gmCore::Updateable
static void	updateAll (clock::time_point t=clock::now(), std::optional< size_t > frame=std::nullopt)
	Updates all currently instanciated updateable objects. More...

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

Protected Attributes
std::unique_ptr< Impl >	_impl

Additional Inherited Members
Public Types inherited from gramods::gmCore::Updateable
typedef std::chrono::steady_clock	clock

Detailed Description

The SampleCollector is a utility for sampling tracker data.

Member Function Documentation

◆ addTrackerOrientation()

void gramods::gmTrack::SampleCollector::addTrackerOrientation ( Eigen::Quaternionf o )

Adds a tracker orientation.

XML-attribute: trackerOrientation

◆ addTrackerPosition()

void gramods::gmTrack::SampleCollector::addTrackerPosition ( Eigen::Vector3f p )

Adds a tracker position.

XML-attribute: trackerPosition

◆ getAverage() [1/2]

Eigen::Quaternionf gramods::gmTrack::SampleCollector::getAverage	(	std::vector< Eigen::Quaternionf >	samples,
		float *	stddev = `nullptr`,
		float *	maxdev = `nullptr`,
		float	inlier_dist = `-1.f`,
		size_t *	inlier_count = `nullptr`
	)

static

Calculates and returns the average point of a set of samples.

Optionally also standard deviation and maximum deviation can be estimated (expressed in radians).

Parameters

[in]	samples	The samples to estimate average of
[out]	stddev	Optional pointer to variable to write standard deviation to
[out]	maxdev	Optional pointer to variable to write maximum deviation to
[in]	inlier_dist	Optional threshold (in radians) for counting as inlier
[out]	inlier_count	Optional pointer to variable to write inlier count to

◆ getAverage() [2/2]

Eigen::Vector3f gramods::gmTrack::SampleCollector::getAverage	(	std::vector< Eigen::Vector3f >	samples,
		float *	stddev = `nullptr`,
		float *	maxdev = `nullptr`,
		float	inlier_dist = `-1.f`,
		size_t *	inlier_count = `nullptr`
	)

static

Calculates and returns the average point of a set of samples.

Optionally also standard deviation and maximum deviation can be estimated.

Parameters

[in]	samples	The samples to estimate average of
[out]	stddev	Optional pointer to variable to write standard deviation to
[out]	maxdev	Optional pointer to variable to write maximum deviation to
[in]	inlier_dist	Optional threshold for counting as inlier
[out]	inlier_count	Optional pointer to variable to write inlier count to

◆ getTrackerOrientations()

const std::vector< Eigen::Quaternionf > & gramods::gmTrack::SampleCollector::getTrackerOrientations ( ) const

Returns the current list of tracker orientations.

◆ getTrackerPositions()

const std::vector< Eigen::Vector3f > & gramods::gmTrack::SampleCollector::getTrackerPositions ( ) const

Returns the current list of tracker positions.

◆ setController()

void gramods::gmTrack::SampleCollector::setController ( std::shared_ptr< Controller > controller )

Sets the controller to use for reading tracker samples.

XML-attribute: controller

◆ setInlierThreshold()

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

Sets the data offset required to trigger a warning.

Default is π/4 radians.

XML-attribute: orientationWarningThreshold

◆ setSamplesPerSecond()

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

Sets the frequency at which samples are collected when the controller button is pressed.

Default is 1. At most one sample per frame will be used regardless of this value.

XML-attribute: samplesPerSecond

◆ setWarningThreshold()

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

overridevirtual

Propagates the specified visitor.

See also: Object::Visitor

Reimplemented from gramods::gmCore::Object.

◆ update()

void gramods::gmTrack::SampleCollector::update	(	clock::time_point	time,
		size_t	frame
	)

virtual

Updates the internal states.

Automatically called via gmCore::Updateable::updateAll().

Implements gramods::gmCore::Updateable.

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

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

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Attributes

Additional Inherited Members