Main implementation of xrt_tracked_slam. More...
Data Structures | |
| struct | Features |
| Tracker feature tracking info. More... | |
Data Fields | ||
| struct xrt_tracked_slam | base = {} | |
| struct xrt_frame_node | node = {} | |
| Will be called on destruction. | ||
| struct t_vit_bundle | vit | |
| VIT system function pointers. | ||
| struct vit_tracker_extension_set | exts | |
| VIT tracker supported extensions. | ||
| struct vit_tracker * | tracker | |
| Pointer to the tracker created by the loaded VIT system;. | ||
| struct xrt_slam_sinks | sinks = {} | |
| Pointers to the sinks below. | ||
| struct xrt_frame_sink | cam_sinks [XRT_TRACKING_MAX_SLAM_CAMS] | |
| Sends camera frames to the SLAM system. | ||
| struct xrt_imu_sink | imu_sink = {} | |
| Sends imu samples to the SLAM system. | ||
| struct xrt_pose_sink | gt_sink = {} | |
| Register groundtruth trajectory for stats. | ||
| struct xrt_hand_masks_sink | hand_masks_sink = {} | |
| Register latest masks to ignore. | ||
| bool | submit | |
| Whether to submit data pushed to sinks to the SLAM tracker. | ||
| uint32_t | cam_count | |
| Number of cameras used for tracking. | ||
| struct u_var_button | reset_state_btn | |
| Reset tracker state button. | ||
| enum u_logging_level | log_level | |
| Logging level for the SLAM tracker, set by SLAM_LOG var. | ||
| struct xrt_slam_sinks * | euroc_recorder | |
| EuRoC dataset recording sinks. | ||
| struct openvr_tracker * | ovr_tracker | |
| OpenVR lighthouse tracker. | ||
| timepoint_ns | last_imu_ts | |
| Last received IMU sample timestamp. | ||
| vector< timepoint_ns > | last_cam_ts | |
| Last received image timestamp per cam. | ||
| struct xrt_hand_masks_sample | last_hand_masks | |
| Last received hand masks info. | ||
| Mutex | last_hand_masks_mutex | |
| Mutex for last_hand_masks. | ||
| t_slam_prediction_type | pred_type | |
| Type of prediction to use. | ||
| u_var_combo | pred_combo | |
| UI combo box to select pred_type. | ||
| RelationHistory | slam_rels {} | |
| A history of relations produced purely from external SLAM tracker data. | ||
| int | dbg_pred_every = 1 | |
| Skip X SLAM poses so that you get tracked mostly by the prediction algo. | ||
| int | dbg_pred_counter = 0 | |
| SLAM pose counter for prediction debugging. | ||
| struct os_mutex | lock_ff | |
| Lock for gyro_ff and accel_ff. | ||
| struct m_ff_vec3_f32 * | gyro_ff | |
| Last gyroscope samples. | ||
| struct m_ff_vec3_f32 * | accel_ff | |
| Last accelerometer samples. | ||
| vector< u_sink_debug > | ui_sink | |
| Sink to display frames in UI of each camera. | ||
| xrt_vec3 | gravity_correction {0, 0, -MATH_GRAVITY_M_S2} | |
| Used to correct accelerometer measurements when integrating into the prediction. | ||
| struct xrt_space_relation | last_rel = XRT_SPACE_RELATION_ZERO | |
| Last reported/tracked pose. | ||
| timepoint_ns | last_ts | |
| Last reported/tracked pose timestamp. | ||
| struct { | ||
| bool use_moving_average_filter = false | ||
| double window = 66 | ||
| Time window in ms take the average on. More... | ||
| struct m_ff_vec3_f32 * pos_ff | ||
| struct m_ff_vec3_f32 * rot_ff | ||
| Predicted positions fifo. More... | ||
| bool use_exponential_smoothing_filter = false | ||
| Predicted rotations fifo (only xyz components, w is inferred) More... | ||
| float alpha = 0.1 | ||
How much should we lerp towards the target value on each update. More... | ||
| struct xrt_space_relation last = XRT_SPACE_RELATION_ZERO | ||
| Last filtered relation. More... | ||
| struct xrt_space_relation target = XRT_SPACE_RELATION_ZERO | ||
| Target relation. More... | ||
| bool use_one_euro_filter = false | ||
| m_filter_euro_vec3 pos_oe | ||
| One euro position filter. More... | ||
| m_filter_euro_quat rot_oe | ||
| One euro rotation filter. More... | ||
| const float min_cutoff = M_PI | ||
| Default minimum cutoff frequency. More... | ||
| const float min_dcutoff = 1 | ||
| Default minimum cutoff frequency for the derivative. More... | ||
| const float beta = 0.16 | ||
| Default speed coefficient. More... | ||
| } | filter | |
| Filters are used to smooth out the resulting trajectory. | ||
| TimingWriter * | slam_times_writer | |
| Timestamps of the pipeline for performance analysis. | ||
| FeaturesWriter * | slam_features_writer | |
| Feature tracking information for analysis. | ||
| TrajectoryWriter * | slam_traj_writer | |
| Estimated poses from the SLAM system. | ||
| TrajectoryWriter * | pred_traj_writer | |
| Predicted poses. | ||
| TrajectoryWriter * | filt_traj_writer | |
| Predicted and filtered poses. | ||
| struct { | ||
| bool enabled = false | ||
| Whether the timing extension is enabled. More... | ||
| float dur_ms [UI_TIMING_POSE_COUNT] | ||
| Timing durations in ms. More... | ||
| int idx = 0 | ||
Index of latest entry in dur_ms. More... | ||
| u_var_combo start_ts | ||
| UI combo box to select initial timing measurement. More... | ||
| u_var_combo end_ts | ||
| UI combo box to select final timing measurement. More... | ||
| int start_ts_idx | ||
Selected initial timing measurement in start_ts. More... | ||
| int end_ts_idx | ||
Selected final timing measurement in end_ts. More... | ||
| struct u_var_timing ui | ||
| Realtime UI for tracker durations. More... | ||
| vector< string > columns | ||
| Column names of the measured timestamps. More... | ||
| string joined_columns | ||
| Column names as a null separated string. More... | ||
| struct u_var_button enable_btn | ||
| Toggle tracker timing reports. More... | ||
| } | timing | |
| Tracker timing info for performance evaluation. | ||
| struct xrt::auxiliary::tracking::slam::TrackerSlam::Features | features | |
| struct { | ||
| Trajectory * trajectory | ||
| Empty if we've not received groundtruth. More... | ||
| xrt_pose origin | ||
| First ground truth pose. More... | ||
| float diffs_mm [UI_GTDIFF_POSE_COUNT] | ||
| Positional error wrt ground truth. More... | ||
| int diff_idx = 0 | ||
Index of last error in diffs_mm. More... | ||
| struct u_var_timing diff_ui | ||
| Realtime UI for positional error. More... | ||
| bool override_tracking = false | ||
| Force the tracker to report gt poses instead. More... | ||
| } | gt | |
| Ground truth related fields. | ||
 Data Fields inherited from xrt_tracked_slam | ||
| void(* | get_tracked_pose )(struct xrt_tracked_slam *, timepoint_ns when_ns, struct xrt_space_relation *out_relation) | |
| Called by the owning xrt_device to get the last estimated pose of the SLAM tracker. | ||
| Data Fields inherited from xrt_frame_node | ||
| struct xrt_frame_node * | next | |
| void(* | break_apart )(struct xrt_frame_node *node) | |
| Called first in when the graph is being destroyed, remove any references frames and other objects and stop threads. | ||
| void(* | destroy )(struct xrt_frame_node *node) | |
| Do the actual freeing of the objects. | ||
| Data Fields inherited from xrt_frame_sink | ||
| void(* | push_frame )(struct xrt_frame_sink *sink, struct xrt_frame *frame) | |
| Push a frame into the sink. | ||
| Data Fields inherited from xrt_imu_sink | ||
| void(* | push_imu )(struct xrt_imu_sink *, struct xrt_imu_sample *sample) | |
| Push an IMU sample into the sink. | ||
| Data Fields inherited from xrt_pose_sink | ||
| void(* | push_pose )(struct xrt_pose_sink *, struct xrt_pose_sample *sample) | |
Additional Inherited Members | |
| Public Member Functions inherited from xrt_tracked_slam | |
| int | t_slam_create (struct xrt_frame_context *xfctx, struct t_slam_tracker_config *config, struct xrt_tracked_slam **out_xts, struct xrt_slam_sinks **out_sink) |
| int | t_slam_start (struct xrt_tracked_slam *xts) |
| Public Member Functions inherited from xrt_frame_sink | |
| void | u_sink_create_format_converter (struct xrt_frame_context *xfctx, enum xrt_format f, struct xrt_frame_sink *downstream, struct xrt_frame_sink **out_xfs) |
| void | u_sink_create_to_r8g8b8_or_l8 (struct xrt_frame_context *xfctx, struct xrt_frame_sink *downstream, struct xrt_frame_sink **out_xfs) |
| void | u_sink_create_to_r8g8b8_bayer_or_l8 (struct xrt_frame_context *xfctx, struct xrt_frame_sink *downstream, struct xrt_frame_sink **out_xfs) |
| void | u_sink_create_to_rgb_yuv_yuyv_uyvy_or_l8 (struct xrt_frame_context *xfctx, struct xrt_frame_sink *downstream, struct xrt_frame_sink **out_xfs) |
| void | u_sink_create_to_yuv_yuyv_uyvy_or_l8 (struct xrt_frame_context *xfctx, struct xrt_frame_sink *downstream, struct xrt_frame_sink **out_xfs) |
| void | u_sink_create_to_yuv_or_yuyv (struct xrt_frame_context *xfctx, struct xrt_frame_sink *downstream, struct xrt_frame_sink **out_xfs) |
| void | u_sink_create_to_r8g8b8_r8g8b8a8_r8g8b8x8_or_l8 (struct xrt_frame_context *xfctx, struct xrt_frame_sink *downstream, struct xrt_frame_sink **out_xfs) |
| void | u_sink_deinterleaver_create (struct xrt_frame_context *xfctx, struct xrt_frame_sink *downstream, struct xrt_frame_sink **out_xfs) |
| bool | u_sink_queue_create (struct xrt_frame_context *xfctx, uint64_t max_size, struct xrt_frame_sink *downstream, struct xrt_frame_sink **out_xfs) |
| bool | u_sink_simple_queue_create (struct xrt_frame_context *xfctx, struct xrt_frame_sink *downstream, struct xrt_frame_sink **out_xfs) |
| void | u_sink_quirk_create (struct xrt_frame_context *xfctx, struct xrt_frame_sink *downstream, struct u_sink_quirk_params *params, struct xrt_frame_sink **out_xfs) |
| void | u_sink_split_multi_create (struct xrt_frame_context *xfctx, struct xrt_frame_sink **downstreams, size_t downstream_count, struct xrt_frame_sink **out_xfs) |
| void | u_sink_split_create (struct xrt_frame_context *xfctx, struct xrt_frame_sink *left, struct xrt_frame_sink *right, struct xrt_frame_sink **out_xfs) |
| Public Member Functions inherited from xrt_imu_sink | |
| void | u_imu_sink_split_create (struct xrt_frame_context *xfctx, struct xrt_imu_sink *downstream_one, struct xrt_imu_sink *downstream_two, struct xrt_imu_sink **out_imu_sink) |
| void | u_imu_sink_force_monotonic_create (struct xrt_frame_context *xfctx, struct xrt_imu_sink *downstream, struct xrt_imu_sink **out_imu_sink) |
| Static Public Member Functions inherited from xrt_tracked_slam | |
| static XRT_NONNULL_ALL void | xrt_tracked_slam_get_tracked_pose (struct xrt_tracked_slam *slam, timepoint_ns when_ns, struct xrt_space_relation *out_relation) |
| Static Public Member Functions inherited from xrt_frame_sink | |
| static void | xrt_sink_push_frame (struct xrt_frame_sink *sink, struct xrt_frame *frame) |
| Push a frame into the sink. | |
| Static Public Member Functions inherited from xrt_imu_sink | |
| static XRT_NONNULL_ALL void | xrt_sink_push_imu (struct xrt_imu_sink *sink, struct xrt_imu_sample *sample) |
| Static Public Member Functions inherited from xrt_pose_sink | |
| static XRT_NONNULL_ALL void | xrt_sink_push_pose (struct xrt_pose_sink *sink, struct xrt_pose_sample *sample) |
Detailed Description
Main implementation of xrt_tracked_slam.
This is an adapter class for SLAM tracking that wraps an external SLAM implementation.
Field Documentation
◆ accel_ff
| struct m_ff_vec3_f32* xrt::auxiliary::tracking::slam::TrackerSlam::accel_ff |
Last accelerometer samples.
Referenced by xrt::auxiliary::tracking::slam::predict_pose(), and t_slam_receive_imu().
◆ alpha
| float xrt::auxiliary::tracking::slam::TrackerSlam::alpha = 0.1 |
How much should we lerp towards the target value on each update.
Referenced by xrt::auxiliary::tracking::slam::filter_pose().
◆ beta
| const float xrt::auxiliary::tracking::slam::TrackerSlam::beta = 0.16 |
Default speed coefficient.
◆ cam_count
| uint32_t xrt::auxiliary::tracking::slam::TrackerSlam::cam_count |
Number of cameras used for tracking.
Referenced by receive_frame().
◆ cam_sinks
| struct xrt_frame_sink xrt::auxiliary::tracking::slam::TrackerSlam::cam_sinks[XRT_TRACKING_MAX_SLAM_CAMS] |
Sends camera frames to the SLAM system.
◆ columns
| vector<string> xrt::auxiliary::tracking::slam::TrackerSlam::columns |
Column names of the measured timestamps.
◆ dbg_pred_counter
| int xrt::auxiliary::tracking::slam::TrackerSlam::dbg_pred_counter = 0 |
SLAM pose counter for prediction debugging.
Referenced by xrt::auxiliary::tracking::slam::flush_poses().
◆ dbg_pred_every
| int xrt::auxiliary::tracking::slam::TrackerSlam::dbg_pred_every = 1 |
Skip X SLAM poses so that you get tracked mostly by the prediction algo.
Referenced by xrt::auxiliary::tracking::slam::flush_poses().
◆ diff_idx
| int xrt::auxiliary::tracking::slam::TrackerSlam::diff_idx = 0 |
Index of last error in diffs_mm.
◆ diff_ui
| struct u_var_timing xrt::auxiliary::tracking::slam::TrackerSlam::diff_ui |
Realtime UI for positional error.
◆ diffs_mm
| float xrt::auxiliary::tracking::slam::TrackerSlam::diffs_mm[UI_GTDIFF_POSE_COUNT] |
Positional error wrt ground truth.
◆ dur_ms
| float xrt::auxiliary::tracking::slam::TrackerSlam::dur_ms[UI_TIMING_POSE_COUNT] |
Timing durations in ms.
Referenced by xrt::auxiliary::tracking::slam::timing_ui_push().
◆ enable_btn
| struct u_var_button xrt::auxiliary::tracking::slam::TrackerSlam::enable_btn |
Toggle tracker timing reports.
◆ enabled
| bool xrt::auxiliary::tracking::slam::TrackerSlam::enabled = false |
Whether the timing extension is enabled.
Referenced by xrt::auxiliary::tracking::slam::timing_ui_push().
◆ end_ts
| u_var_combo xrt::auxiliary::tracking::slam::TrackerSlam::end_ts |
UI combo box to select final timing measurement.
◆ end_ts_idx
| int xrt::auxiliary::tracking::slam::TrackerSlam::end_ts_idx |
Selected final timing measurement in end_ts.
Referenced by xrt::auxiliary::tracking::slam::timing_ui_push().
◆ euroc_recorder
| struct xrt_slam_sinks* xrt::auxiliary::tracking::slam::TrackerSlam::euroc_recorder |
EuRoC dataset recording sinks.
Referenced by xrt::auxiliary::tracking::slam::flush_poses(), t_slam_gt_sink_push(), and t_slam_receive_imu().
◆ exts
| struct vit_tracker_extension_set xrt::auxiliary::tracking::slam::TrackerSlam::exts |
VIT tracker supported extensions.
◆ filt_traj_writer
| TrajectoryWriter* xrt::auxiliary::tracking::slam::TrackerSlam::filt_traj_writer |
Predicted and filtered poses.
Referenced by t_slam_get_tracked_pose().
◆ [struct]
| struct { ... } xrt::auxiliary::tracking::slam::TrackerSlam::filter |
Filters are used to smooth out the resulting trajectory.
Referenced by xrt::auxiliary::tracking::slam::filter_pose().
◆ gravity_correction
| xrt_vec3 xrt::auxiliary::tracking::slam::TrackerSlam::gravity_correction {0, 0, -MATH_GRAVITY_M_S2} |
Used to correct accelerometer measurements when integrating into the prediction.
- Todo:
- Should be automatically computed instead of required to be filled manually through the UI.
Referenced by xrt::auxiliary::tracking::slam::predict_pose().
◆ [struct]
| struct { ... } xrt::auxiliary::tracking::slam::TrackerSlam::gt |
Ground truth related fields.
Referenced by t_slam_get_tracked_pose(), and t_slam_gt_sink_push().
◆ gt_sink
| struct xrt_pose_sink xrt::auxiliary::tracking::slam::TrackerSlam::gt_sink = {} |
Register groundtruth trajectory for stats.
◆ gyro_ff
| struct m_ff_vec3_f32* xrt::auxiliary::tracking::slam::TrackerSlam::gyro_ff |
Last gyroscope samples.
Referenced by xrt::auxiliary::tracking::slam::predict_pose(), and t_slam_receive_imu().
◆ hand_masks_sink
| struct xrt_hand_masks_sink xrt::auxiliary::tracking::slam::TrackerSlam::hand_masks_sink = {} |
Register latest masks to ignore.
◆ idx
| int xrt::auxiliary::tracking::slam::TrackerSlam::idx = 0 |
Index of latest entry in dur_ms.
Referenced by xrt::auxiliary::tracking::slam::timing_ui_push().
◆ imu_sink
| struct xrt_imu_sink xrt::auxiliary::tracking::slam::TrackerSlam::imu_sink = {} |
Sends imu samples to the SLAM system.
◆ joined_columns
| string xrt::auxiliary::tracking::slam::TrackerSlam::joined_columns |
Column names as a null separated string.
◆ last
| struct xrt_space_relation xrt::auxiliary::tracking::slam::TrackerSlam::last = XRT_SPACE_RELATION_ZERO |
Last filtered relation.
Referenced by xrt::auxiliary::tracking::slam::filter_pose().
◆ last_cam_ts
| vector<timepoint_ns> xrt::auxiliary::tracking::slam::TrackerSlam::last_cam_ts |
Last received image timestamp per cam.
Referenced by receive_frame().
◆ last_hand_masks
| struct xrt_hand_masks_sample xrt::auxiliary::tracking::slam::TrackerSlam::last_hand_masks |
Last received hand masks info.
Referenced by receive_frame(), and t_slam_hand_mask_sink_push().
◆ last_hand_masks_mutex
| Mutex xrt::auxiliary::tracking::slam::TrackerSlam::last_hand_masks_mutex |
Mutex for last_hand_masks.
Referenced by receive_frame(), and t_slam_hand_mask_sink_push().
◆ last_imu_ts
| timepoint_ns xrt::auxiliary::tracking::slam::TrackerSlam::last_imu_ts |
Last received IMU sample timestamp.
Referenced by xrt::auxiliary::tracking::slam::predict_pose(), and t_slam_receive_imu().
◆ last_rel
| struct xrt_space_relation xrt::auxiliary::tracking::slam::TrackerSlam::last_rel = XRT_SPACE_RELATION_ZERO |
Last reported/tracked pose.
Referenced by t_slam_get_tracked_pose().
◆ last_ts
| timepoint_ns xrt::auxiliary::tracking::slam::TrackerSlam::last_ts |
Last reported/tracked pose timestamp.
Referenced by t_slam_get_tracked_pose().
◆ lock_ff
| struct os_mutex xrt::auxiliary::tracking::slam::TrackerSlam::lock_ff |
Lock for gyro_ff and accel_ff.
Referenced by xrt::auxiliary::tracking::slam::predict_pose(), and t_slam_receive_imu().
◆ log_level
| enum u_logging_level xrt::auxiliary::tracking::slam::TrackerSlam::log_level |
Logging level for the SLAM tracker, set by SLAM_LOG var.
◆ min_cutoff
| const float xrt::auxiliary::tracking::slam::TrackerSlam::min_cutoff = M_PI |
Default minimum cutoff frequency.
◆ min_dcutoff
| const float xrt::auxiliary::tracking::slam::TrackerSlam::min_dcutoff = 1 |
Default minimum cutoff frequency for the derivative.
◆ node
| struct xrt_frame_node xrt::auxiliary::tracking::slam::TrackerSlam::node = {} |
Will be called on destruction.
◆ origin
| xrt_pose xrt::auxiliary::tracking::slam::TrackerSlam::origin |
First ground truth pose.
Referenced by t_slam_get_tracked_pose(), and t_slam_gt_sink_push().
◆ override_tracking
| bool xrt::auxiliary::tracking::slam::TrackerSlam::override_tracking = false |
Force the tracker to report gt poses instead.
Referenced by t_slam_get_tracked_pose().
◆ ovr_tracker
| struct openvr_tracker* xrt::auxiliary::tracking::slam::TrackerSlam::ovr_tracker |
OpenVR lighthouse tracker.
◆ pos_oe
| m_filter_euro_vec3 xrt::auxiliary::tracking::slam::TrackerSlam::pos_oe |
One euro position filter.
Referenced by xrt::auxiliary::tracking::slam::filter_pose().
◆ pred_combo
| u_var_combo xrt::auxiliary::tracking::slam::TrackerSlam::pred_combo |
UI combo box to select pred_type.
◆ pred_traj_writer
| TrajectoryWriter* xrt::auxiliary::tracking::slam::TrackerSlam::pred_traj_writer |
Predicted poses.
Referenced by t_slam_get_tracked_pose().
◆ pred_type
| t_slam_prediction_type xrt::auxiliary::tracking::slam::TrackerSlam::pred_type |
Type of prediction to use.
Referenced by xrt::auxiliary::tracking::slam::predict_pose().
◆ reset_state_btn
| struct u_var_button xrt::auxiliary::tracking::slam::TrackerSlam::reset_state_btn |
Reset tracker state button.
◆ rot_ff
| struct m_ff_vec3_f32* xrt::auxiliary::tracking::slam::TrackerSlam::rot_ff |
Predicted positions fifo.
Referenced by xrt::auxiliary::tracking::slam::filter_pose().
◆ rot_oe
| m_filter_euro_quat xrt::auxiliary::tracking::slam::TrackerSlam::rot_oe |
One euro rotation filter.
Referenced by xrt::auxiliary::tracking::slam::filter_pose().
◆ sinks
| struct xrt_slam_sinks xrt::auxiliary::tracking::slam::TrackerSlam::sinks = {} |
Pointers to the sinks below.
◆ slam_features_writer
| FeaturesWriter* xrt::auxiliary::tracking::slam::TrackerSlam::slam_features_writer |
Feature tracking information for analysis.
Referenced by xrt::auxiliary::tracking::slam::flush_poses().
◆ slam_rels
| RelationHistory xrt::auxiliary::tracking::slam::TrackerSlam::slam_rels {} |
A history of relations produced purely from external SLAM tracker data.
Referenced by xrt::auxiliary::tracking::slam::flush_poses(), and xrt::auxiliary::tracking::slam::predict_pose().
◆ slam_times_writer
| TimingWriter* xrt::auxiliary::tracking::slam::TrackerSlam::slam_times_writer |
Timestamps of the pipeline for performance analysis.
Referenced by xrt::auxiliary::tracking::slam::flush_poses().
◆ slam_traj_writer
| TrajectoryWriter* xrt::auxiliary::tracking::slam::TrackerSlam::slam_traj_writer |
Estimated poses from the SLAM system.
Referenced by xrt::auxiliary::tracking::slam::flush_poses().
◆ start_ts
| u_var_combo xrt::auxiliary::tracking::slam::TrackerSlam::start_ts |
UI combo box to select initial timing measurement.
◆ start_ts_idx
| int xrt::auxiliary::tracking::slam::TrackerSlam::start_ts_idx |
Selected initial timing measurement in start_ts.
Referenced by xrt::auxiliary::tracking::slam::timing_ui_push().
◆ submit
| bool xrt::auxiliary::tracking::slam::TrackerSlam::submit |
Whether to submit data pushed to sinks to the SLAM tracker.
Referenced by receive_frame(), and t_slam_receive_imu().
◆ target
| struct xrt_space_relation xrt::auxiliary::tracking::slam::TrackerSlam::target = XRT_SPACE_RELATION_ZERO |
Target relation.
Referenced by xrt::auxiliary::tracking::slam::filter_pose().
◆ [struct]
| struct { ... } xrt::auxiliary::tracking::slam::TrackerSlam::timing |
Tracker timing info for performance evaluation.
Referenced by xrt::auxiliary::tracking::slam::timing_ui_push().
◆ tracker
| struct vit_tracker* xrt::auxiliary::tracking::slam::TrackerSlam::tracker |
Pointer to the tracker created by the loaded VIT system;.
Referenced by xrt::auxiliary::tracking::slam::flush_poses(), receive_frame(), and t_slam_receive_imu().
◆ trajectory
| Trajectory* xrt::auxiliary::tracking::slam::TrackerSlam::trajectory |
Empty if we've not received groundtruth.
Referenced by t_slam_get_tracked_pose(), and t_slam_gt_sink_push().
◆ ui
| struct u_var_timing xrt::auxiliary::tracking::slam::TrackerSlam::ui |
Realtime UI for tracker durations.
Referenced by xrt::auxiliary::tracking::slam::timing_ui_push().
◆ ui_sink
| vector<u_sink_debug> xrt::auxiliary::tracking::slam::TrackerSlam::ui_sink |
Sink to display frames in UI of each camera.
◆ use_exponential_smoothing_filter
| bool xrt::auxiliary::tracking::slam::TrackerSlam::use_exponential_smoothing_filter = false |
Predicted rotations fifo (only xyz components, w is inferred)
Referenced by xrt::auxiliary::tracking::slam::filter_pose().
◆ vit
| struct t_vit_bundle xrt::auxiliary::tracking::slam::TrackerSlam::vit |
VIT system function pointers.
Referenced by xrt::auxiliary::tracking::slam::flush_poses(), receive_frame(), t_slam_receive_imu(), and xrt::auxiliary::tracking::slam::timing_ui_push().
◆ window
| double xrt::auxiliary::tracking::slam::TrackerSlam::window = 66 |
Time window in ms take the average on.
Increasing it smooths out the tracking at the cost of adding delay.
Referenced by xrt::auxiliary::tracking::slam::filter_pose().
The documentation for this struct was generated from the following file:
- auxiliary/tracking/t_tracker_slam.cpp
