24 #ifndef TRACKERORIENTATION_H
25 #define TRACKERORIENTATION_H
47 : _image_scale(image_scale), _outlier_limit(outlier_limit), _xres(width), _yres(height)
57 enum { NOT_TRACKED = 0, IS_TRACKED } status2D;
58 enum { NONE = 0, USE_FOR_POSE, IS_OUTLIER, IS_INITIAL } status3D;
63 status2D = NOT_TRACKED;
66 Feature(
double vx,
double vy)
71 status2D = NOT_TRACKED;
83 std::map<int, Feature> _F_v;
93 cv::Mat _object_model;
101 void GetPose(
Pose &pose);
103 GetPose(
double gl_mat[16])
111 static void Project(cv::Mat &state, cv::Mat &projection,
void *param);
112 bool UpdatePose(cv::Mat &image);
113 bool UpdateRotationOnly(cv::Mat &gray, cv::Mat &image);
This file implements a camera used for projecting points and computing homographies.
This file implements a pose.
This file implements a tracking interface.
This file implements a feature tracker.
Simple Camera class for calculating distortions, orientation or projections with pre-calibrated camer...
Pose representation derived from the Rotation class
void GetMatrixGL(double gl[16], bool mirror=true)
Get the transformation matrix representation of the Pose using OpenGL's transposed format....
TrackerFeatures tracks features using OpenCV's cvGoodFeaturesToTrack and cvCalcOpticalFlowPyrLK
Pure virtual base class for tracking optical flow.
Track orientation based only on features in the image plane.
double Track(cv::Mat &image)
Pure virtual function for making the next track step. This analyses the image and updates class membe...