t_tracking.h File Reference
Tracking API interface. More...
#include "util/u_logging.h"#include "xrt/xrt_defines.h"#include "xrt/xrt_frame.h"#include "xrt/xrt_tracking.h"#include "util/u_misc.h"#include <stdio.h>
Include dependency graph for t_tracking.h:
Go to the source code of this file.
Data Structures | |
| struct | t_camera_calibration_rt5_params |
| Parameters for T_DISTORTION_OPENCV_RADTAN_5. More... | |
| struct | t_camera_calibration_rt8_params |
| Parameters for T_DISTORTION_OPENCV_RADTAN_8. More... | |
| struct | t_camera_calibration_rt14_params |
| Parameters for T_DISTORTION_OPENCV_RADTAN_14. More... | |
| struct | t_camera_calibration_kb4_params |
| Parameters for T_DISTORTION_FISHEYE_KB4. More... | |
| struct | t_camera_calibration_wmr_params |
| Parameters for T_DISTORTION_WMR. More... | |
| struct | t_camera_calibration |
| Essential calibration data for a single camera, or single lens/sensor of a stereo camera. More... | |
| struct | t_stereo_camera_calibration |
| Stereo camera calibration data to be given to trackers. More... | |
| struct | t_inertial_calibration |
| Parameters for accelerometer and gyroscope calibration. More... | |
| struct | t_imu_calibration |
| Combined IMU calibration data. More... | |
| struct | t_convert_table |
| struct | t_hsv_filter_color |
| struct | t_hsv_filter_params |
| Parameters for constructing an HSV filter. More... | |
| struct | t_hsv_filter_large_table |
| struct | t_hsv_filter_optimized_table |
| struct | t_slam_camera_calibration |
| Extension to camera calibration for SLAM tracking. More... | |
| struct | t_slam_imu_calibration |
| Extension to IMU calibration for SLAM tracking. More... | |
| struct | t_slam_calibration |
| Calibration information necessary for SLAM tracking. More... | |
| struct | t_slam_tracker_config |
| SLAM tracker configuration. More... | |
| struct | t_calibration_status |
| struct | t_calibration_params |
Macros | |
| #define | XRT_DISTORTION_MAX_DIM (14) |
| Maximum size of rectilinear distortion coefficient array. More... | |
| #define | T_HSV_SIZE 32 |
| #define | T_HSV_STEP (256 / T_HSV_SIZE) |
| #define | T_HSV_DEFAULT_PARAMS() |
Typedefs | |
| typedef struct cJSON | cJSON |
Enumerations | |
| enum | t_camera_distortion_model { T_DISTORTION_OPENCV_RADTAN_5 , T_DISTORTION_OPENCV_RADTAN_8 , T_DISTORTION_OPENCV_RADTAN_14 , T_DISTORTION_FISHEYE_KB4 , T_DISTORTION_WMR } |
| The distortion model this camera calibration falls under. More... | |
| enum | t_slam_prediction_type { SLAM_PRED_NONE = 0 , SLAM_PRED_SP_SO_SA_SL , SLAM_PRED_SP_SO_IA_SL , SLAM_PRED_SP_SO_IA_IL , SLAM_PRED_IP_IO_IA_IL , SLAM_PRED_COUNT } |
| SLAM prediction type. More... | |
| enum | t_board_pattern { T_BOARD_CHECKERS , T_BOARD_SB_CHECKERS , T_BOARD_CIRCLES , T_BOARD_ASYMMETRIC_CIRCLES } |
| Board pattern type. More... | |
Functions | |
| static const char * | t_stringify_camera_distortion_model (const enum t_camera_distortion_model model) |
| Stringifies a t_camera_distortion_model. More... | |
| static size_t | t_num_params_from_distortion_model (const enum t_camera_distortion_model model) |
| Returns the number of parameters needed for this t_camera_distortion_model to be held by an OpenCV Mat and correctly interpreted by OpenCV's (un)projection functions. More... | |
| void | t_convert_fill_table (struct t_convert_table *t) |
| void | t_convert_make_y8u8v8_to_r8g8b8 (struct t_convert_table *t) |
| void | t_convert_make_y8u8v8_to_h8s8v8 (struct t_convert_table *t) |
| void | t_convert_make_h8s8v8_to_r8g8b8 (struct t_convert_table *t) |
| void | t_convert_in_place_y8u8v8_to_r8g8b8 (uint32_t width, uint32_t height, size_t stride, void *data_ptr) |
| void | t_convert_in_place_y8u8v8_to_h8s8v8 (uint32_t width, uint32_t height, size_t stride, void *data_ptr) |
| void | t_convert_in_place_h8s8v8_to_r8g8b8 (uint32_t width, uint32_t height, size_t stride, void *data_ptr) |
| void | t_hsv_build_convert_table (struct t_hsv_filter_params *params, struct t_convert_table *t) |
| void | t_hsv_build_large_table (struct t_hsv_filter_params *params, struct t_hsv_filter_large_table *t) |
| void | t_hsv_build_optimized_table (struct t_hsv_filter_params *params, struct t_hsv_filter_optimized_table *t) |
| static uint8_t | t_hsv_filter_sample (struct t_hsv_filter_optimized_table *t, uint32_t y, uint32_t u, uint32_t v) |
| void | t_slam_fill_default_config (struct t_slam_tracker_config *config) |
| Fills in a t_slam_tracker_config with default values. More... | |
| void | t_calibration_gui_params_load_or_default (struct t_calibration_params *p) |
| void | t_calibration_gui_params_to_json (cJSON **out_json, struct t_calibration_params *p) |
| void | t_calibration_gui_params_parse_from_json (const cJSON *params, struct t_calibration_params *p) |
| int | t_calibration_stereo_create (struct xrt_frame_context *xfctx, const struct t_calibration_params *params, struct t_calibration_status *status, struct xrt_frame_sink *gui, struct xrt_frame_sink **out_sink) |
| Create the camera calibration frame sink. More... | |
| int | t_convert_yuv_or_yuyv_create (struct xrt_frame_sink *next, struct xrt_frame_sink **out_sink) |
| int | t_debug_hsv_picker_create (struct xrt_frame_context *xfctx, struct xrt_frame_sink *passthrough, struct xrt_frame_sink **out_sink) |
| int | t_debug_hsv_viewer_create (struct xrt_frame_context *xfctx, struct xrt_frame_sink *passthrough, struct xrt_frame_sink **out_sink) |
| int | t_debug_hsv_filter_create (struct xrt_frame_context *xfctx, struct xrt_frame_sink *passthrough, struct xrt_frame_sink **out_sink) |
Detailed Description
Tracking API interface.
