Template Class _TrackingRef¶

Defined in File Frame.h

Class Documentation¶

template <int __LEVELS> class _TrackingRef¶

Point cloud used to track frame poses.

This stores a point cloud generated from known frames. It is used to track a new frame by finding a projection of the point cloud which makes it look as much like the new frame as possible.

It is intended to use more than one old frame as source for the point cloud. Also other data like Kinect depth data could be imported.

ATTENTION: as the level zero point cloud is not used for tracking, it is not fully calculated. Only the weights are valid on this level!

Public Types

typedef std::shared_ptr<_TrackingRef> SharedPtr¶

Public Functions

_TrackingRef()¶

_TrackingRef(const _TrackingRef&)¶

_TrackingRef(const Frame::SharedPtr &frame)¶

~_TrackingRef()¶

int frameID()¶

void makePointCloud(int level)¶

void clearAll()¶

Public Members

Frame::SharedPtr frame¶

template<> Eigen::Vector3f *posData[__LEVELS]¶

template<> Eigen::Vector2f *gradData[__LEVELS]¶

template<> Eigen::Vector2f *colorAndVarData[__LEVELS]¶

template<> int *pointPosInXYGrid[__LEVELS]¶

template<> int numData[__LEVELS]¶