xrt::tracking::constellation::Camera Struct Reference

Collaboration diagram for xrt::tracking::constellation::Camera:

Public Member Functions
	Camera (ConstellationTracker *tracker, std::weak_ptr< CameraMosaic > mosaic, const t_constellation_tracker_camera &camera_params, enum u_logging_level *log_level_ptr, size_t index)
	Camera (const Camera &)=delete
	Camera (Camera &&)=delete
Camera &	operator= (const Camera &)=delete
Camera &	operator= (Camera &&)=delete
std::optional< xrt_pose >	GetWorldPose (timepoint_ns when_ns)
void	DeferSampleToSlowThread (CameraSample &sample)
bool	TryDevicePose (std::unique_ptr< Device > &device, CameraSample &sample, xrt_pose &Tcv_cam_world, std::optional< xrt_pose > &Tcv_world_device_prior, xrt_pose &Tcv_world_device_candidate, xrt_pose &Tcv_cam_device_found)
	Fast matching based on prior pose.
bool	TryDeviceBlobRecovery (std::unique_ptr< Device > &device, CameraSample &sample, xrt_pose &Tcv_cam_world, std::optional< xrt_pose > &Tcv_world_device_prior, xrt_pose &Tcv_cam_device_found)
void	SlowSampleProcess (CameraSample &sample)
bool	FastSampleProcess (CameraSample &sample)
	Returns whether a slow search is needed.
void	PushPose (CameraSample &sample, std::unique_ptr< Device > &device, pose_metrics &score, xrt_pose &Tcv_cam_device, bool optimize)
void	DebugScribbleSample (CameraSample &sample, bool fast)

Static Public Member Functions
static Camera *	Get (t_blob_sink *tbs)

Data Fields
t_blob_sink	base
ConstellationTracker *	tracker
	The owner tracker, so we can retrieve it from the blob sink callback.
std::weak_ptr< CameraMosaic >	mosaic
t_camera_calibration	calibration
camera_model	model
CameraScribbleSettings	scribble_settings {}
size_t	index
	The index in the mosaic.
os_thread_helper	slow_processing_thread {}
	Does "slow" processing for this camera when fast recovery paths fail.
struct {
std::optional< CameraSample >   sample {std::nullopt}
correspondence_search *   cs {nullptr}
u_sink_debug   debug_sink {}
}	slow_processing_thread_data
os_thread_helper	fast_processing_thread {}
	Does "fast" processing for this camera, trying to recover a pose quickly.
struct {
std::optional< CameraSample >   sample {std::nullopt}
correspondence_search *   cs {nullptr}
u_sink_debug   debug_sink {}
}	fast_processing_thread_data
os::Mutex	processing_lock
	Locks all processing data.
struct {
xrt_pose   Txr_origin_cam
bool   has_concrete_pose
}	locked_data
	All data protected by the processing lock.

Member Function Documentation

FastSampleProcess()

bool xrt::tracking::constellation::Camera::FastSampleProcess

(

CameraSample &

sample

)

Returns whether a slow search is needed.

TryDevicePose()

bool xrt::tracking::constellation::Camera::TryDevicePose	(	std::unique_ptr< Device > &	device,
		CameraSample &	sample,
		xrt_pose &	Tcv_cam_world,
		std::optional< xrt_pose > &	Tcv_world_device_prior,
		xrt_pose &	Tcv_world_device_candidate,
		xrt_pose &	Tcv_cam_device_found
	)

Fast matching based on prior pose.

References POSE_MATCH_GOOD, and POSE_MATCH_LED_IDS.

Field Documentation

base

t_blob_sink xrt::tracking::constellation::Camera::base

Initial value:

= {
            .push_blobs = constellation_tracker_camera_push_blobs,
            .destroy = constellation_tracker_camera_destroy,
        }

fast_processing_thread

os_thread_helper xrt::tracking::constellation::Camera::fast_processing_thread {}

Does "fast" processing for this camera, trying to recover a pose quickly.

It's valid for this to happen at the same time as a slow process.

index

size_t xrt::tracking::constellation::Camera::index

The index in the mosaic.

[struct]

struct { ... } xrt::tracking::constellation::Camera::locked_data

All data protected by the processing lock.

processing_lock

os::Mutex xrt::tracking::constellation::Camera::processing_lock

mutable

Locks all processing data.

slow_processing_thread

os_thread_helper xrt::tracking::constellation::Camera::slow_processing_thread {}

Does "slow" processing for this camera when fast recovery paths fail.

tracker

ConstellationTracker* xrt::tracking::constellation::Camera::tracker

The owner tracker, so we can retrieve it from the blob sink callback.

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The documentation for this struct was generated from the following files:

• tracking/constellation/t_constellation_tracker_internal.hpp
• tracking/constellation/constellation_debug_scribble.cpp
• tracking/constellation/t_constellation_tracker.cpp