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

[legend]

Public Member Functions
	Camera (ConstellationTracker tracker, std::weak_ptr< CameraMosaic > mosaic, const struct t_constellation_tracker_camera &camera_params, enum u_logging_level log_level_ptr)

	Camera (const Camera &)=delete

	Camera (Camera &&)=delete

Camera &	operator= (const Camera &)=delete

Camera &	operator= (Camera &&)=delete

std::optional< struct xrt_pose >	GetWorldPose (timepoint_ns when_ns)

void	DeferSampleToSlowThread (CameraSample &sample)

bool	TryDevicePose (std::unique_ptr< Device > &device, CameraSample &sample, struct xrt_pose &Tcv_cam_world, struct xrt_pose &Tcv_world_device_prior, struct xrt_pose &Tcv_world_device_candidate)
	Fast matching based on prior pose.

bool	TryDeviceBlobRecovery (std::unique_ptr< Device > &device, CameraSample &sample, struct xrt_pose &Tcv_cam_world, struct xrt_pose &Tcv_world_device_prior)

void	SlowSampleProcess (CameraSample &sample)

bool	FastSampleProcess (CameraSample &sample)
	Returns whether a slow search is needed.

void	PushPose (std::unique_ptr< Device > &device, struct pose_metrics &score, struct xrt_pose &Tcv_cam_device, t_blob_observation &tbo, bool optimize)

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

Data Fields
struct t_blob_sink	base

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

std::weak_ptr< CameraMosaic >	mosaic

struct t_camera_calibration	calibration

struct camera_model	model

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

struct {

struct CameraSample sample

struct correspondence_search * cs

}	slow_processing_thread_data

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

struct {

struct CameraSample sample

struct correspondence_search * cs

}	fast_processing_thread_data

os::Mutex	processing_lock
	Locks all processing data.

struct {

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.

References tracker, and TryDevicePose().

◆ TryDevicePose()

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

Fast matching based on prior pose.

References POSE_MATCH_GOOD, and POSE_MATCH_LED_IDS.

Referenced by FastSampleProcess().

Field Documentation

◆ base

struct 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

struct 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.

◆ [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

struct os_thread_helper xrt::tracking::constellation::Camera::slow_processing_thread

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

◆ tracker

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

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