#include <tracker.hpp>

Public Member Functions
	Tracker (MapT &map, const SensorT &sensor, const TrackerConfig config=TrackerConfig())

bool	track (const se::Image< float > &depth_img, Eigen::Matrix4f &T_WS)
	Track the current pose using ICP. More...

bool	track (const se::Image< float > &depth_img, Eigen::Matrix4f &T_WS, se::Image< Eigen::Vector3f > &surface_point_cloud_W, se::Image< Eigen::Vector3f > &surface_normals_W)
	Track the current pose using ICP. More...

void	renderTrackingResult (uint32_t *tracking_img_data)

Constructor & Destructor Documentation

◆ Tracker()

template<typename MapT , typename SensorT >

se::Tracker< MapT, SensorT >::Tracker	(	MapT &	map,
		const SensorT &	sensor,
		const TrackerConfig	config = `TrackerConfig()`
	)

inline

template<typename MapT , typename SensorT >

bool se::Tracker< MapT, SensorT >::track	(	const se::Image< float > &	depth_img,
		Eigen::Matrix4f &	T_WS
	)

Track the current pose using ICP.

Parameters

[in]	depth_image_	The depth image fitting the sensor model
[in,out]	T_WS	[in] The previous best pose estimate, [out] The new best pose estimate

template<typename MapT , typename SensorT >

bool se::Tracker< MapT, SensorT >::track	(	const se::Image< float > &	depth_img,
		Eigen::Matrix4f &	T_WS,
		se::Image< Eigen::Vector3f > &	surface_point_cloud_W,
		se::Image< Eigen::Vector3f > &	surface_normals_W
	)

Track the current pose using ICP.

Parameters

[in]	depth_image_	The depth image fitting the sensor model
[in,out]	T_WS	[in] The previous best pose estimate T_WS_ref, [out] The new best pose estimate T_WS
[in]	surface_point_cloud_W	Surface point cloud in world frame
[in]	surface_normals_W	Surface normals in world frame

template<typename MapT , typename SensorT >

void se::Tracker< MapT, SensorT >::renderTrackingResult ( uint32_t * tracking_img_data )

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