xrt::auxiliary::tracking::psmv Namespace Reference

Namespace for PS Move tracking implementation. More...

Data Structures
struct	FindLowestScore
	Helper struct that keeps the value that produces the lowest "score" as computed by your functor. More...
struct	TrackerPSMV
	The core object of the PS Move tracking setup. More...
struct	View
	Single camera. More...

Functions
static void	do_view (TrackerPSMV &t, View &view, cv::Mat &grey, cv::Mat &rgb)
	Perform per-view (two in a stereo camera image) processing on an image, before tracking math is performed. More...
template<typename ValueType , typename FunctionType >
static FindLowestScore< ValueType, FunctionType >	make_lowest_score_finder (FunctionType scoreFunctor)
	Factory function for FindLowestScore to deduce the functor type. More...
static cv::Point3f	world_point_from_blobs (const cv::Point2f &left, const cv::Point2f &right, const cv::Matx44d &disparity_to_depth)
	Convert our 2d point + disparities into 3d points. More...
static void	process (TrackerPSMV &t, struct xrt_frame *xf)
	Perform tracking computations on a frame of video data. More...
static void	run (TrackerPSMV &t)
	Tracker processing thread function. More...
static void	get_pose (TrackerPSMV &t, enum xrt_input_name name, timepoint_ns when_ns, struct xrt_space_relation *out_relation)
	Retrieves a pose from the filter. More...
static void	imu_data (TrackerPSMV &t, timepoint_ns timestamp_ns, struct xrt_tracking_sample *sample)
static void	frame (TrackerPSMV &t, struct xrt_frame *xf)
static void	break_apart (TrackerPSMV &t)

Detailed Description

Namespace for PS Move tracking implementation.

Function Documentation

do_view()

static void xrt::auxiliary::tracking::psmv::do_view ( TrackerPSMV &  t, View &  view, cv::Mat &  grey, cv::Mat &  rgb  )

static

Perform per-view (two in a stereo camera image) processing on an image, before tracking math is performed.

Right now, this is mainly finding blobs/keypoints.

Todo:

Re-enable masks.

get_pose()

static void xrt::auxiliary::tracking::psmv::get_pose ( TrackerPSMV &  t, enum xrt_input_name  name, timepoint_ns  when_ns, struct xrt_space_relation *  out_relation  )

static

Retrieves a pose from the filter.

References xrt::auxiliary::tracking::psmv::TrackerPSMV::oth.

make_lowest_score_finder()

template<typename ValueType , typename FunctionType >

static FindLowestScore< ValueType, FunctionType > xrt::auxiliary::tracking::psmv::make_lowest_score_finder ( FunctionType  scoreFunctor )

static

Factory function for FindLowestScore to deduce the functor type.

process()

static void xrt::auxiliary::tracking::psmv::process ( TrackerPSMV &  t, struct xrt_frame *  xf  )

static

Perform tracking computations on a frame of video data.

Todo:

don't really need the square root to be done here.

Todo:

do we need to avoid claiming the same counterpart several times?

Todo:

tune cutoff for residual arbitrarily "too large"

run()

static void xrt::auxiliary::tracking::psmv::run ( TrackerPSMV &  t )

static

Tracker processing thread function.

world_point_from_blobs()

static cv::Point3f xrt::auxiliary::tracking::psmv::world_point_from_blobs ( const cv::Point2f &  left, const cv::Point2f &  right, const cv::Matx44d &  disparity_to_depth  )

static

Convert our 2d point + disparities into 3d points.