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:

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, struct t_constellation_search_model model, enum correspondence_search_flags search_flags, struct xrt_pose pose, struct xrt_vec3 pos_error_thresh, struct xrt_vec3 rot_error_thresh, struct xrt_vec3 gravity_vector, float gravity_tolerance_rad, struct pose_metrics *score)

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

Enumeration Type Documentation

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.