msceqf::TrackManager Class Reference

This class manages the multiple tracks of feature traked in time. More...

#include <track_manager.hpp>

Public Member Functions
	TrackManager (const TrackManagerOptions &opts, const Vector4 &intrinsics)
	TrackManager constructor.
void	processCamera (Camera &cam)
	Process a single camera measurement. Forward camera measurement to tracker, and update tracks.
void	processFeatures (const TriangulatedFeatures &features)
	Process a single features measurement. update tracks.
const Tracks &	tracks () const
	Get all the tracks.
void	tracksIds (const fp &timestamp, std::unordered_set< uint > &active_ids, std::unordered_set< uint > &lost_ids) const
	Get all the ids corresponding to active and lost tracks at a given timestamp. Active tracks are defined as tracks that have are actively tracked at a given timestamp. Lost tracks are defined as tracks that are not being tracked at a given timestamp and thus they do not have coordinates at a given timestamp.
void	activeTracksIds (const fp &timestamp, std::unordered_set< uint > &active_ids) const
	Get all the ids corresponding to active tracks at a given timestamp. Active tracks are defined as tracks that have are actively tracked at a given timestamp.
void	lostTracksIds (const fp &timestamp, std::unordered_set< uint > &lost_ids) const
	Get all the ids corresponding to lost tracks at a given timestamp. Lost tracks are defined as tracks that are not being tracked at a given timestamp and thus they do not have coordinates at a given timestamp.
void	removeTracksId (const std::unordered_set< uint > &ids)
	Remove all the tracks corresponding to given ids.
void	removeTracksTail (const fp &timestamp, const bool &remove_equal=true)
	Remove the tail of tracks. This method remove from each track all the coordinates as well as the timestamps that are older (or equal) to the given timestamp.
void	clear ()
	Clear all the tracks.
const PinholeCameraUniquePtr &	cam () const
	Get the camera pointer.

Detailed Description

This class manages the multiple tracks of feature traked in time.

Constructor & Destructor Documentation

TrackManager()

msceqf::TrackManager::TrackManager	(	const TrackManagerOptions &	opts,
		const Vector4 &	intrinsics )

TrackManager constructor.

Parameters

opts	Tracker options
intrinsics	Camera intrinsics as R4 vector (fx, fy, cx, cy)

Member Function Documentation

activeTracksIds()

void msceqf::TrackManager::activeTracksIds	(	const fp &	timestamp,
		std::unordered_set< uint > &	active_ids ) const

Get all the ids corresponding to active tracks at a given timestamp. Active tracks are defined as tracks that have are actively tracked at a given timestamp.

Parameters

timestamp	Timestamp
active_ids	Active tracks ids

Here is the caller graph for this function:

cam()

const PinholeCameraUniquePtr & msceqf::TrackManager::cam

(

)

const

Get the camera pointer.

Returns

Pointer to the camera object

Here is the caller graph for this function:

lostTracksIds()

void msceqf::TrackManager::lostTracksIds	(	const fp &	timestamp,
		std::unordered_set< uint > &	lost_ids ) const

Get all the ids corresponding to lost tracks at a given timestamp. Lost tracks are defined as tracks that are not being tracked at a given timestamp and thus they do not have coordinates at a given timestamp.

Parameters

timestamp	Timestamp
lost_ids	Lost tracks ids

processCamera()

void msceqf::TrackManager::processCamera

(

Camera &

cam

)

Process a single camera measurement. Forward camera measurement to tracker, and update tracks.

Parameters

cam	Camera measurement

processFeatures()

void msceqf::TrackManager::processFeatures

(

const TriangulatedFeatures &

features

)

Process a single features measurement. update tracks.

Parameters

features

Features measurement

removeTracksId()

void msceqf::TrackManager::removeTracksId

(

const std::unordered_set< uint > &

ids

)

Remove all the tracks corresponding to given ids.

Parameters

ids	Ids of tracks to be removed

Note

The use of unordered_set as a hash set improves performance compared to a std::vector<uint>

removeTracksTail()

void msceqf::TrackManager::removeTracksTail	(	const fp &	timestamp,
		const bool &	remove_equal = true )

Remove the tail of tracks. This method remove from each track all the coordinates as well as the timestamps that are older (or equal) to the given timestamp.

Parameters

timestamp	Timestamp
remove_equal	Flag to indicate whether to include in the removal also the coordinates and timestamps at the given timestamp

tracks()

const Tracks & msceqf::TrackManager::tracks

(

)

const

Get all the tracks.

Returns

Tracks

Here is the caller graph for this function:

tracksIds()

void msceqf::TrackManager::tracksIds	(	const fp &	timestamp,
		std::unordered_set< uint > &	active_ids,
		std::unordered_set< uint > &	lost_ids ) const

Get all the ids corresponding to active and lost tracks at a given timestamp. Active tracks are defined as tracks that have are actively tracked at a given timestamp. Lost tracks are defined as tracks that are not being tracked at a given timestamp and thus they do not have coordinates at a given timestamp.

Parameters

timestamp	Timestamp
active_ids	Active tracks ids
lost_ids	Lost tracks ids

---

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

• include/vision/track_manager.hpp