98 double dOverrideSigma = 0.0,
99 bool bMarkOutliers =
false);
Tracker(CVD::ImageRef irVideoSize, const ATANCamera &c, Map &m, MapMaker &mm)
Vector< 6 > CalcPoseUpdate(std::vector< TrackerData * > vTD, double dOverrideSigma=0.0, bool bMarkOutliers=false)
SmallBlurryImage * mpSBILastFrame
std::vector< Command > mvQueuedCommands
static void GUICommandCallBack(void *ptr, std::string sCommand, std::string sParams)
Vector< 6 > mv6CameraVelocity
CVD::ImageRef irCurrentPos
int SearchForPoints(std::vector< TrackerData * > &vTD, int nRange, int nFineIts)
void TrailTracking_Start()
void GetEulerAnglesFromRotationMatrix(Matrix< 3, 3, double > &m, float &heading, float &attitude, float &bank)
double mdVelocityMagnitude
std::string getVCorners()
double mdMSDScaledVelocityMagnitude
enum Tracker::@13 mnInitialStage
void AssessTrackingQuality()
void SetSendMessageToUnity(SendMessage sm)
std::string GetMessageForUser()
CVD::ImageRef irInitialPos
void GUICommandHandler(std::string sCommand, std::string sParams)
DetectionState currentState
SmallBlurryImage * mpSBIThisFrame
std::ostringstream mMessageForUser
int TrailTracking_Advance()
bool mbUserPressedSpacebar
KeyFrame mPreviousFrameKF
std::list< Trail > mlTrails
enum Tracker::@14 mTrackingQuality
void TrackForInitialMap()
void TrackFrame(CVD::Image< CVD::byte > &imFrame, uint hnd, bool bDraw)
int manMeasAttempted[LEVELS]
bool mbJustRecoveredSoUseCoarse
DetectionState GetCurrentDetectionState()
DetectionState
Enum for state of SLAM detection process.
int mnLastKeyFrameDropped
float RadiansToDegrees(float r)