xrt::auxiliary::tracking::psvr Namespace Reference

Namespace for PSVR tracking implementation. More...

Data Structures
struct	blob_point
struct	View
struct	model_vertex
struct	match_data
struct	match_model
class	TrackerPSVR
	Main PSVR tracking class. More...
struct	close_pair
struct	proximity_data
struct	Helper
struct	blob_data

Typedefs
typedef enum xrt::auxiliary::tracking::psvr::blob_type	blob_type_t
typedef struct xrt::auxiliary::tracking::psvr::blob_point	blob_point_t
typedef enum xrt::auxiliary::tracking::psvr::led_tag	led_tag_t
typedef struct xrt::auxiliary::tracking::psvr::model_vertex	model_vertex_t
typedef struct xrt::auxiliary::tracking::psvr::match_data	match_data_t
typedef struct xrt::auxiliary::tracking::psvr::match_model	match_model_t
typedef struct xrt::auxiliary::tracking::psvr::proximity_data	proximity_data_t
typedef struct xrt::auxiliary::tracking::psvr::blob_data	blob_data_t

Enumerations
enum	blob_type { BLOB_TYPE_UNKNOWN , BLOB_TYPE_SIDE , BLOB_TYPE_FRONT , BLOB_TYPE_REAR }
enum	led_tag {   TAG_TL , TAG_TR , TAG_C , TAG_BL ,   TAG_BR , TAG_SL , TAG_SR }

Functions
static float	dist_3d (Eigen::Vector4f a, Eigen::Vector4f b)
static float	dist_3d_cv (const cv::Point3f &a, const cv::Point3f &b)
static void	init_filter (cv::KalmanFilter &kf, float process_cov, float meas_cov, float dt)
static void	filter_predict (std::vector< match_data_t > *pose, cv::KalmanFilter *filters, float dt)
static void	filter_update (std::vector< match_data_t > *pose, cv::KalmanFilter *filters, float dt)
static void	pose_filter_predict (Eigen::Vector4f *pose, cv::KalmanFilter *filter, float dt)
static void	pose_filter_update (Eigen::Vector4f *position, cv::KalmanFilter *filter, float dt)
static bool	match_possible (match_model_t *match)
static void	verts_to_measurement (std::vector< blob_point_t > *meas_data, std::vector< match_data_t > *match_vertices)
static float	last_diff (TrackerPSVR &t, std::vector< match_data_t > *meas_pose, std::vector< match_data_t > *last_pose)
static void	remove_outliers (std::vector< blob_point_t > *orig_points, std::vector< blob_point_t > *pruned_points, float outlier_thresh)
static void	merge_close_points (std::vector< blob_point_t > *orig_points, std::vector< blob_point_t > *merged_points, float merge_thresh)
static void	match_triangles (Eigen::Matrix4f *t1_mat, Eigen::Matrix4f *t1_to_t2_mat, const Eigen::Vector4f &t1_a, const Eigen::Vector4f &t1_b, const Eigen::Vector4f &t1_c, const Eigen::Vector4f &t2_a, const Eigen::Vector4f &t2_b, const Eigen::Vector4f &t2_c)
static Eigen::Matrix4f	solve_for_measurement (TrackerPSVR *t, std::vector< match_data_t > *measurement, std::vector< match_data_t > *solved)
static Eigen::Matrix4f	solve_with_imu (TrackerPSVR &t, std::vector< match_data_t > *measurements, std::vector< match_data_t > *match_measurements, std::vector< match_data_t > *solved, float search_radius)
static Eigen::Matrix4f	disambiguate (TrackerPSVR &t, std::vector< match_data_t > *measured_points, std::vector< match_data_t > *last_measurement, std::vector< match_data_t > *solved, uint32_t frame_no)
static void	create_model (TrackerPSVR &t)
static void	create_match_list (TrackerPSVR &t)
static void	do_view (TrackerPSVR &t, View &view, cv::Mat &grey, cv::Mat &rgb)
static void	sample_line (cv::Mat &src, const cv::Point2i &start, const cv::Point2i &end, int *inside_length)
static void	blob_intersections (cv::Mat &src, cv::KeyPoint *kp, struct blob_data *bd)
static void	tag_points (TrackerPSVR &t, std::vector< blob_data_t > *blob_datas)
static void	process (TrackerPSVR &t, struct xrt_frame *xf)
static void	run (TrackerPSVR &t)
static void	get_pose (TrackerPSVR &t, timepoint_ns when_ns, struct xrt_space_relation *out_relation)
static void	imu_data (TrackerPSVR &t, timepoint_ns timestamp_ns, struct xrt_tracking_sample *sample)
static void	frame (TrackerPSVR &t, struct xrt_frame *xf)
static void	break_apart (TrackerPSVR &t)

Detailed Description

Namespace for PSVR tracking implementation.

Function Documentation

get_pose()

static void xrt::auxiliary::tracking::psvr::get_pose ( TrackerPSVR &  t, timepoint_ns  when_ns, struct xrt_space_relation *  out_relation  )

static

Todo:

assuming that orientation is actually currently tracked.

References xrt::auxiliary::tracking::psvr::TrackerPSVR::oth.

sample_line()

static void xrt::auxiliary::tracking::psvr::sample_line ( cv::Mat &  src, const cv::Point2i &  start, const cv::Point2i &  end, int *  inside_length  )

static

Todo:

: we are counting pixels rather than measuring length - bresenhams may introduce some inaccuracy here.