Tracker Class Reference

#include <Tracker.h>

Inheritance diagram for Tracker:

Signals
void	newOrigin (QMatrix4x4 origin)
void	newFps (int fps)

Public Member Functions
	Tracker (FilterConfig filterConfig, int maxUpdateRate=60)
virtual	~Tracker (void)
void	stop ()
void	stopAndDelete ()
virtual Similarity	getPose (int trackableId)=0
virtual Similarity	getOrigin ()=0
virtual bool	isTracked (int trackableId)=0

Protected Member Functions
virtual void	update ()=0
void	run ()
void	updateFPS (int timeElapsed)
void	initKalmanFilter (cv::KalmanFilter &KF)
void	fillMeasurements (cv::Mat &measurements, Similarity pose)
void	updateKalmanFilter (cv::KalmanFilter &KF, cv::Mat &measurement, Similarity &pose)

Protected Attributes
int	maxUpdateRate
QTime	t
int	executionTime
QQueue< int >	fpsQueue
int	avgFPS
QMutex	stopMutex
volatile bool	doStop
FilterConfig	filterConfig
int	nStates
int	nMeasurements
int	nInputs
Mat	measurements

Static Protected Attributes
static const int	fpsQueueLength = 32

Constructor & Destructor Documentation

Tracker::Tracker	(	FilterConfig	filterConfig,
		int	maxUpdateRate = 60
	)

Parameters

filterConfig	a configuration for filtering, see FilterConfig
maxUpdateRate	an upper bound for tracking framerate

virtual Tracker::~Tracker ( void  )

inlinevirtual

Member Function Documentation

void Tracker::fillMeasurements ( cv::Mat &  measurements, Similarity  pose  )

protected

(Kalman filter)

virtual Similarity Tracker::getOrigin ( )

pure virtual

returns the transformation between tracker origin and world origin

Implemented in FiducialTracker.

virtual Similarity Tracker::getPose ( int  trackableId)

pure virtual

returns estimated pose of trackable with trackableId

Implemented in FiducialTracker.

void Tracker::initKalmanFilter ( cv::KalmanFilter &  KF)

protected

virtual bool Tracker::isTracked ( int  trackableId)

pure virtual

is the object with the given id currently tracked?

Implemented in FiducialTracker.

void Tracker::newFps ( int  fps)

signal

average fps have been updated

void Tracker::newOrigin ( QMatrix4x4  origin)

signal

transformation of origin has been updated

void Tracker::run ( )

protected

main loop of thread

void Tracker::stop

(

)

stop the thread

void Tracker::stopAndDelete

(

)

stop the thread and delete this tracker

virtual void Tracker::update ( )

protectedpure virtual

this i where the tracking takes place in subclasses

Implemented in FiducialTracker.

void Tracker::updateFPS ( int  timeElapsed)

protected

void Tracker::updateKalmanFilter ( cv::KalmanFilter &  KF, cv::Mat &  measurement, Similarity &  pose  )

protected

Member Data Documentation

int Tracker::avgFPS

protected

volatile bool Tracker::doStop

protected

thread will stop soon if this is true

int Tracker::executionTime

protected

FilterConfig Tracker::filterConfig

protected

preferences for filtering

QQueue<int> Tracker::fpsQueue

protected

const int Tracker::fpsQueueLength = 32

staticprotected

int Tracker::maxUpdateRate

protected

an upper bound for tracking framerate

Mat Tracker::measurements

protected

measurment matrix for Kalman filter

int Tracker::nInputs

protected

the number of action control (Kalman filter)

int Tracker::nMeasurements

protected

the number of measured states (Kalman filter)

int Tracker::nStates

protected

the number of states (Kalman filter)

QMutex Tracker::stopMutex

protected

makes stopping the thread thread-safe

QTime Tracker::t

protected

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

• ShaderLamps/src/Tracker.h
• ShaderLamps/src/Tracker.cpp