XML Documentation for gmTrack

This page lists elements defined in the gmTrack module and parameters (P), containers (C), their types and their corresponding C++ methods.

Parameters are set either as attributes or with the param tag, e.g. <param name="fullscreen" value="true">. Containers are typically automatically associated with the child type, through the Object::getDefaultKey() method, however it can be explicitly controlled through the KEY="container" attribute. Observe also that futher documentation for how an attribute should be used is sometimes available adjacent to the C++ methods.

XML attributes are parsed by stream operators. For more information about how this is done, refer to the documentation of the respective stream operator in the gramods namespace.

AnalogsMapper

Analogs filter that re-maps analog indices to a standard order for application compatibility between tracker systems. (more)

	Attribute	Type	Method	Documentation
C	analogsTracker	AnalogsTracker	setAnalogsTracker
P	horizontalAnalog	int	setHorizontalAnalog	Sets which analog to map to horizontal analog, as an index starting at zero.
P	mapping	size2	addMapping	Adds a mapping in the form of two integer indices: from and to button index, respectively.
P	triggerAnalog	int	setTriggerAnalog	Sets which analog to map to trigger analog, as an index starting at zero.
P	verticalAnalog	int	setVerticalAnalog	Sets which analog to map to vertical analog, as an index starting at zero.

ArucoBoardComplex

The Aruco board complex creates a potentially non-flat Aruco "board", or rig, by combinging a set of Aruco boards with different pose relative to the complex base. (more)

	Attribute	Type	Method	Documentation
C	arucoBoard	ArucoBoard	addArucoBoard
P	orientation	Quaternionf	addOrientation	Add a board orientation.
P	position	Vector3f	addPosition	Add a board position of the complex, in xml as (x y z).

ArucoGridBoard

The Aruco grid board creates a flat grid of fiducial markers. (more)

	Attribute	Type	Method	Documentation
P	columns	size_t	setColumns	Set the number of columns of markers to track.
P	dictionary	string	setDictionary	Set dictionary to pull marker definition from.
P	firstId	size_t	setFirstId	Set the first id to use from the dictionary when defining the markers.
P	markerSeparation	float	setMarkerSeparation	Set the distance between the markers, typically in meters.
P	markerSize	float	setMarkerSize	Set the size of the markers, typically in meters.
P	orientation	Quaternionf	setOrientation	Set the orientation of the board grid.
P	position	Vector3f	setPosition	Set the position of the board grid relative to the origin of the board.
P	rows	size_t	setRows	Set the number of columns of markers to track.

ArucoPoseTracker

Pose tracker that tracks pose using feducial markers. (more)

	Attribute	Type	Method	Documentation
C	arucoBoard	ArucoBoard	addArucoBoard
P	cameraConfigurationFile	filesystem::path	setCameraConfigurationFile	Sets the (cv::FileStorage) file to read camera parameters from.
P	inverted	bool	setInverted	If set to true the pose tracker will estimate the camera pose relative the markers.
P	refindMarkers	bool	setRefindMarkers	Set to true if markers that were not found should be detected based on the information from found markers.
P	showDebug	bool	setShowDebug	Set to true to activate debug graphics.
C	videoSource	OpenCvVideoCapture	setVideoSource

ButtonsMapper

Buttons filter that re-maps button indices to a standard order for application compatibility between tracker systems. (more)

	Attribute	Type	Method	Documentation
C	buttonsTracker	ButtonsTracker	setButtonsTracker
P	mainButton	int	setMainButton	Sets which button to map to main button, as an index starting at zero.
P	mapping	size2	addMapping	Adds a mapping in the form of two integer indices: from and to button index, respectively.
P	menuButton	int	setMenuButton	Sets which button to map to menu button, as an index starting at zero.
P	secondaryButton	int	setSecondaryButton	Sets which button to map to secondary button, as an index starting at zero.

Controller

A controller is a combination of one or more of a pose tracker, buttons tracker and analogs tracker, also called Wand. (more)

	Attribute	Type	Method	Documentation
C	analogsTracker	AnalogsTracker	setAnalogsTracker
C	buttonsTracker	ButtonsTracker	setButtonsTracker
C	singlePoseTracker	SinglePoseTracker	setSinglePoseTracker

MultiToSinglePoseTracker

The base of MultiToSinglePoseTrackers. (more)

	Attribute	Type	Method	Documentation
C	multiPoseTracker	MultiPoseTracker	setMultiPoseTracker
P	sensor	int	setSensor	Sets the index from the MultiPoseTracker to extract as SinglePoseTracker.

OffsetSinglePoseTracker

Provides the pose as an offset from another single pose tracker. (more)

	Attribute	Type	Method	Documentation
P	offsetMatrix	Matrix4f	setOffsetMatrix	Sets the orientation and position offset by extracting these data from an offset matrix.
P	orientationOffset	Quaternionf	setOrientationOffset	Sets the orientation offset, in local tracker coordinates, to add to the pose data.
P	positionOffset	Vector3f	setPositionOffset	Sets the position offset, in local tracker coordinates, to add to the pose data.
C	singlePoseTracker	SinglePoseTracker	setSinglePoseTracker

OpenCvVideoCapture

The OpenCvVideoCapture uses OpenCVs VideoCapture to read off video image data. (more)

	Attribute	Type	Method	Documentation
P	backend	string	setBackend	Specifies backend to use for reading camera or video stream.
P	cameraFourCC	string	setCameraFourCC	Specifies the FourCC for the camera stream.
P	cameraFramerate	int	setCameraFramerate	Sets the framerate to request from the camera.
P	cameraHeight	int	setCameraHeight	Sets the height of the resolution to request from the camera.
P	cameraId	int	setCameraId	Sets the camera id to capture data from.
P	cameraWidth	int	setCameraWidth	Sets the width of the resolution to request from the camera.
P	videoFile	filesystem::path	setVideoFile	Sets the video file to read from.

PoseSampleCollector

The PoseSampleCollector is a utility for sampling tracker data. (more)

	Attribute	Type	Method	Documentation
C	controller	Controller	::setController
P	orientationWarningThreshold	float	::setOrientationWarningThreshold
P	samplesPerSecond	float	::setSamplesPerSecond
P	trackerOrientation	Quaternionf	::addTrackerOrientation
P	trackerPosition	Vector3f	::addTrackerPosition
P	warningThreshold	float	::setWarningThreshold

RegisteredMultiPoseTracker

Provides the pose from another multi pose tracker in a registered coordinate system. (more)

	Attribute	Type	Method	Documentation
P	biasMatrix	Matrix4f	setBiasMatrix	Sets the matrix that describes the transform from the tracker space to the registered space.
C	multiPoseTracker	MultiPoseTracker	setMultiPoseTracker
P	orientationBias	Quaternionf	setOrientationBias	Sets an orientation bias to the registration.
P	positionBias	Vector3f	setPositionBias	Sets a position bias to the registration.
P	registrationMatrix	Matrix4f	setRegistrationMatrix	Sets the matrix that describes the transform from the tracker space to the registered space.

RegisteredSinglePoseTracker

Provides the pose from another single pose tracker in a registered coordinate system. (more)

	Attribute	Type	Method	Documentation
P	biasMatrix	Matrix4f	setBiasMatrix	Sets a bias to the registration.
P	orientationBias	Quaternionf	setOrientationBias	Sets an orientation bias to the registration.
P	positionBias	Vector3f	setPositionBias	Sets a position bias to the registration.
P	registrationMatrix	Matrix4f	setRegistrationMatrix	Sets the matrix that describes the transform from the tracker space to the registered space.
C	singlePoseTracker	SinglePoseTracker	setSinglePoseTracker

RelativeSinglePoseTracker

The base of RelativeSinglePoseTrackers. (more)

	Attribute	Type	Method	Documentation
C	originTracker	SinglePoseTracker	setOriginTracker
C	targetTracker	SinglePoseTracker	setTargetTracker

RelativeTrackerPoseRegistrationEstimator

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

	Attribute	Type	Method	Documentation
P	inlierThreshold	float	setInlierThreshold	Set the maximum positional distance from the average allowed for a sample to be included in the average.
C	multiPoseTracker	MultiPoseTracker	addMultiPoseTracker
P	orientationInlierThreshold	float	setOrientationInlierThreshold	Set the maximum orientational distance (in radians) from the average allowed for a sample to be included in the average.
P	orientationWarningThreshold	float	setOrientationWarningThreshold	Sets the data offset required to trigger a warning.
P	samplesPerSecond	float	setSamplesPerSecond	Sets the frequency at which samples are collected.
C	singlePoseTracker	SinglePoseTracker	addSinglePoseTracker
P	warningThreshold	float	setWarningThreshold	Sets the data offset required to trigger a warning.

SingleToMultiPoseTracker

The base of SingleToMultiPoseTrackers. (more)

	Attribute	Type	Method	Documentation
C	singlePoseTracker	SinglePoseTracker	addSinglePoseTracker

TimeSampleAnalogsTracker

This analogs tracker reports analog states as specified in the samples of the node. (more)

	Attribute	Type	Method	Documentation
P	analogs	float3	addAnalogs	Adds an analogs sample as three floats representing three analog inputs.
P	time	double	addTime	Adds a time sample in seconds, from the start of the program.

TimeSampleButtonsTracker

This buttons tracker reports button states as specified in the samples of the node. (more)

	Attribute	Type	Method	Documentation
P	buttons	size_t	addButtons	Adds a button states sample as an integer where the least significant bit represents the main button.
P	time	double	addTime	Adds a time sample in seconds, from the start of the program.

TimeSamplePoseTracker

Pose tracker plays back linear interpolation between specified samples. (more)

	Attribute	Type	Method	Documentation
P	orientation	Quaternionf	addOrientation	Add a orientation sample.
P	position	Vector3f	addPosition	Adds a position sample, in xml as (x y z).
P	time	double	addTime	Adds a time sample in seconds, from the start of the program.

TrackerRegistrationEstimator (extends PoseSampleCollector)

The TrackerRegistrationEstimator is a utility for estimating the base of a tracking system's coordinates, i e registration of the tracking system into room or display system coordinates. (more)

	Attribute	Type	Method	Documentation
P	actualPosition	Vector3f	addActualPosition	Adds a known calibration point, in room coordinates.

VrpnAnalogsTracker

Analogs tracker reading data off a VRPN server. (more)

	Attribute	Type	Method	Documentation
P	connectionString	string	setConnectionString	The address to the button tracker at the VRPN server, such as "tracker@localhost".

VrpnButtonsTracker

Buttons tracker reading data off a VRPN server. (more)

	Attribute	Type	Method	Documentation
P	connectionString	string	setConnectionString	The address to the button tracker at the VRPN server, such as "tracker@localhost".

VrpnPoseTracker

Pose tracker reading data off a VRPN server. (more)

	Attribute	Type	Method	Documentation
P	connectionString	string	setConnectionString	The address to the pose tracker at the VRPN server, such as "tracker@localhost".

VrpnServer

This class sets up a VRPN server that post data from AnalogsTracker, ButtonsTracker, SinglePoseTracker and MultiPoseTracker instances. (more)

	Attribute	Type	Method	Documentation
C	analogsTracker	AnalogsTracker	addAnalogsTracker
C	buttonsTracker	ButtonsTracker	addButtonsTracker
C	multiPoseTracker	MultiPoseTracker	addMultiPoseTracker
P	port	int	setPort	Sets the port to bind the VRPN server to.
C	singlePoseTracker	SinglePoseTracker	addSinglePoseTracker
P	trackerName	string	addTrackerName	Add a name to associate with a tracker in this VRPN server.