correspondence_search.h File Reference

Ab-initio blob<->LED correspondence search. More...

#include "tracking/t_constellation.h"
#include "pose_metrics.h"
#include "camera_model.h"

Include dependency graph for correspondence_search.h:

Go to the source code of this file.

Data Structures
struct	cs_image_point
struct	cs_model_info
struct	correspondence_search

Macros
#define	MAX_BLOB_SEARCH_DEPTH   5
#define	ANCHOR_LED_MAX_DISTANCE_M_SQ   (0.025 * 0.025)
	Lambdatwist can sometimes have spurious failures, the anchor LED must be within 2.5mm to be accepted.

Enumerations
enum	correspondence_search_flags {   CS_FLAG_NONE = 0x0 , CS_FLAG_SHALLOW_SEARCH = 0x1 , CS_FLAG_DEEP_SEARCH = 0x2 , CS_FLAG_STOP_FOR_STRONG_MATCH = 0x4 ,   CS_FLAG_MATCH_ALL_BLOBS = 0x8 , CS_FLAG_HAVE_POSE_PRIOR = 0x10 , CS_FLAG_MATCH_GRAVITY = 0x20 }

Functions
struct correspondence_search *	correspondence_search_new (const enum u_logging_level *ct_log_level, struct camera_model *camera_calib)
void	correspondence_search_free (struct correspondence_search *cs)
void	correspondence_search_set_blobs (struct correspondence_search *cs, struct t_blob *blobs, int num_blobs)
bool	correspondence_search_find_one_pose (struct correspondence_search *cs, const struct t_constellation_search_model *model, enum correspondence_search_flags search_flags, struct xrt_pose *inout_pose, const struct xrt_vec3 *pos_error_thresh, const struct xrt_vec3 *rot_error_thresh, const struct xrt_vec3 *gravity_vector, float gravity_tolerance_rad, struct pose_metrics *out_score)
	Does a brute-force search for a device's pose.

Detailed Description

Ab-initio blob<->LED correspondence search.

Author

Jan Schmidt jan@c.nosp@m.entr.nosp@m.icula.nosp@m.r.co.nosp@m.m

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

Macro Definition Documentation

ANCHOR_LED_MAX_DISTANCE_M_SQ

#define ANCHOR_LED_MAX_DISTANCE_M_SQ   (0.025 * 0.025)

Lambdatwist can sometimes have spurious failures, the anchor LED must be within 2.5mm to be accepted.

Enumeration Type Documentation

correspondence_search_flags

enum correspondence_search_flags

Enumerator
CS_FLAG_SHALLOW_SEARCH	Do quick search @ depth 1-2 neighbour depth.
CS_FLAG_DEEP_SEARCH	do deeper searches @ up to MAX_LED_SEARCH_DEPTH/MAX_BLOB_SEARCH_DEPTH
CS_FLAG_STOP_FOR_STRONG_MATCH	Stop searching if a strong match is found, otherwise search all and return best match.
CS_FLAG_MATCH_ALL_BLOBS	Allow matching against all blobs, not just unlabelled ones or for the current device.
CS_FLAG_HAVE_POSE_PRIOR	If the input obj_cam_pose contains a valid prior.
CS_FLAG_MATCH_GRAVITY	Use the provided gravity vector to check pose verticality. Depends on CS_FLAG_HAVE_POSE_PRIOR.

Function Documentation

correspondence_search_find_one_pose()

bool correspondence_search_find_one_pose	(	struct correspondence_search *	cs,
		const struct t_constellation_search_model *	model,
		enum correspondence_search_flags	search_flags,
		struct xrt_pose *	inout_pose,
		const struct xrt_vec3 *	pos_error_thresh,
		const struct xrt_vec3 *	rot_error_thresh,
		const struct xrt_vec3 *	gravity_vector,
		float	gravity_tolerance_rad,
		struct pose_metrics *	out_score
	)

Does a brute-force search for a device's pose.

Note

The pose and score parameters are only written on success.

References CS_FLAG_DEEP_SEARCH, CS_FLAG_HAVE_POSE_PRIOR, CS_FLAG_MATCH_GRAVITY, CS_FLAG_SHALLOW_SEARCH, xrt_quat::math_quat_decompose_swing_twist(), os_monotonic_get_ns(), and POSE_MATCH_GOOD.