constellation_rerun_common.hpp File Reference

Shared internal helpers for every constellation rerun recorder. More...

#include "xrt/xrt_defines.h"
#include "xrt/xrt_frame.h"
#include "math/m_api.h"
#include "math/m_vec3.h"
#include "tracking/t_tracking.h"
#include "tracking/t_constellation.h"
#include "tracking/t_camera_models.hpp"
#include <rerun.hpp>
#include <algorithm>
#include <array>
#include <cassert>
#include <cmath>
#include <cstdint>
#include <cstring>
#include <format>
#include <memory>
#include <string>
#include <vector>

Include dependency graph for constellation_rerun_common.hpp:

Go to the source code of this file.

Data Structures
struct	xrt::tracking::constellation::RerunStream
	The recording stream a rerun recorder logs through. More...

Functions
xrt_pose	xrt::tracking::constellation::predictedCameraDevicePose (const xrt_pose &Tcv_world_cam, const xrt_pose &Tcv_world_device)
	The pose the solved poses predict this camera would have observed the device at.
float	xrt::tracking::constellation::orientationErrorDegrees (const xrt_quat &a, const xrt_quat &b)
	The angle between two orientations, in degrees.
float	xrt::tracking::constellation::reprojectionErrorPixels (const t_camera_model_params &dist, const xrt_pose &Tcv_world_cam, const xrt_pose &Tcv_world_device, uint32_t num_points, std::span< const xrt_vec2 > points2d, std::span< const xrt_vec3 > points3d)
rerun::components::Translation3D	xrt::tracking::constellation::toRerunTranslation (const xrt_vec3 &position)
rerun::Rotation3D	xrt::tracking::constellation::toRerunRotation (const xrt_quat &orientation)
rerun::Transform3D	xrt::tracking::constellation::toRerunTransform (const xrt_pose &pose, bool from_parent=true)
rerun::Pinhole	xrt::tracking::constellation::makePinhole (const t_camera_calibration &calibration)
	The camera's intrinsics as the projection rerun needs to place an image in the 3D scene.
rerun::Image	xrt::tracking::constellation::makeImage (const xrt_frame &frame)
rerun::components::Color	xrt::tracking::constellation::deviceColor (t_constellation_device_id_t device_id, float brightness)
	A stable colour per device, so one device keeps its colour across every recorder and every view.
rerun::components::Color	xrt::tracking::constellation::cameraColor (size_t mosaic_idx, size_t camera_idx, float brightness)
	A stable colour per camera, chosen the same way as deviceColor and for the same reason.
std::string_view	xrt::tracking::constellation::getWorldEntityName ()
	The root every 3D entity hangs off, so the recorders agree on where the world is.
std::string	xrt::tracking::constellation::getWorldCameraEntityName (size_t mosaic_idx, size_t camera_idx)
	Where a camera sits in the world. Its image, observations and metrics are logged under this.

Variables
constexpr float	xrt::tracking::constellation::kLedPointRadiusM = 0.003f
	How large a LED is drawn in the 3D views, in meters.
constexpr float	xrt::tracking::constellation::kAxisLength = 0.03f
constexpr float	xrt::tracking::constellation::kBlobRadiusPixels = 3.0f
constexpr float	xrt::tracking::constellation::kTrajectoryPointRadiusM = 0.005f
constexpr float	xrt::tracking::constellation::kTrajectoryLineRadiusM = 0.002f

Detailed Description

Shared internal helpers for every constellation rerun recorder.

Author

Beyley Cardellio ep1cm.nosp@m.1n10.nosp@m.n123@.nosp@m.gmai.nosp@m.l.com

Function Documentation

cameraColor()

rerun::components::Color xrt::tracking::constellation::cameraColor ( size_t  mosaic_idx, size_t  camera_idx, float  brightness  )

inline

A stable colour per camera, chosen the same way as deviceColor and for the same reason.

References xrt::tracking::constellation::cameraColor().

Referenced by xrt::tracking::constellation::cameraColor().

deviceColor()

rerun::components::Color xrt::tracking::constellation::deviceColor ( t_constellation_device_id_t  device_id, float  brightness  )

inline

A stable colour per device, so one device keeps its colour across every recorder and every view.

References xrt::tracking::constellation::deviceColor().

Referenced by xrt::tracking::constellation::deviceColor().

getWorldCameraEntityName()

std::string xrt::tracking::constellation::getWorldCameraEntityName ( size_t  mosaic_idx, size_t  camera_idx  )

inline

Where a camera sits in the world. Its image, observations and metrics are logged under this.

References xrt::tracking::constellation::getWorldCameraEntityName(), and xrt::tracking::constellation::getWorldEntityName().

Referenced by xrt::tracking::constellation::getWorldCameraEntityName(), and xrt::tracking::constellation::RerunContext::logSample().

getWorldEntityName()

std::string_view xrt::tracking::constellation::getWorldEntityName ( )

inline

The root every 3D entity hangs off, so the recorders agree on where the world is.

References xrt::tracking::constellation::getWorldEntityName().

Referenced by xrt::tracking::constellation::getWorldCameraEntityName(), and xrt::tracking::constellation::getWorldEntityName().

makePinhole()

rerun::Pinhole xrt::tracking::constellation::makePinhole ( const t_camera_calibration &  calibration )

inline

The camera's intrinsics as the projection rerun needs to place an image in the 3D scene.

References t_camera_calibration::image_size_pixels, t_camera_calibration::intrinsics, and xrt::tracking::constellation::makePinhole().

Referenced by xrt::tracking::constellation::makePinhole().

orientationErrorDegrees()

float xrt::tracking::constellation::orientationErrorDegrees ( const xrt_quat &  a, const xrt_quat &  b  )

inline

The angle between two orientations, in degrees.

References xrt::tracking::constellation::orientationErrorDegrees().

Referenced by xrt::tracking::constellation::orientationErrorDegrees().

predictedCameraDevicePose()

xrt_pose xrt::tracking::constellation::predictedCameraDevicePose ( const xrt_pose &  Tcv_world_cam, const xrt_pose &  Tcv_world_device  )

inline

The pose the solved poses predict this camera would have observed the device at.

References xrt::tracking::constellation::predictedCameraDevicePose().

Referenced by xrt::tracking::constellation::predictedCameraDevicePose().

Variable Documentation

kLedPointRadiusM

constexpr float xrt::tracking::constellation::kLedPointRadiusM = 0.003f

constexpr

How large a LED is drawn in the 3D views, in meters.