Provides an API to react to tracking related events, and update the current tracking status. More...

#include <auterion_sdk/tracking/tracking_interface.hpp>

Public Types
enum	TrackingKeyControl { NONE = 0 , ADJUST_DOWN = 1 , ADJUST_UP = 2 , ADJUST_LEFT = 3 , ADJUST_RIGHT = 4 }
	Enum representing the control commands for tracking adjustments. More...

using	ImageCallback = std::function< void(const auterion::Image &image)>

using	CameraInfoCallback = std::function< void(const sensor_msgs::msg::CameraInfo::SharedPtr &camera_info)>

using	TrackSelectionCallback = std::function< void(const TrackingSelection &selection)>

using	TrackStopCallback = std::function< void(void)>

using	TrackZoomChangeCallback = std::function< void(const int change)>

using	TrackKeyControlCallback = std::function< void(const TrackingKeyControl key)>

Public Member Functions
	TrackingInterface (auterion::SDK &sdk, std::shared_ptr< auterion::Camera > camera=nullptr)
	Constructor that accepts a camera object. More...

	TrackingInterface (auterion::SDK &sdk, std::optional< auterion::CameraDescriptor > camera_descriptor)
	[Deprecated] Constructor that selects a camera based on a provided descriptor. More...

void	subscribeImage (const ImageCallback &callback)
	Subscribes to incoming images. More...

void	subscribeCameraInfo (const CameraInfoCallback &callback)
	Subscribes to camera information data. More...

void	subscribeTrackingSelection (const TrackSelectionCallback &callback)
	Subscribes to tracking selection requests. More...

void	subscribeTrackingOff (const TrackStopCallback &callback)
	Subscribes to the tracking off events. More...

void	subscribeTrackingZoomChange (const TrackZoomChangeCallback &callback)
	Subscribes to the tracking zoom change events. More...

void	subscribeKeyControl (const TrackKeyControlCallback &callback)
	Subscribes to the tracking key control events. More...

void	updateImage (const cv::Mat &image, const auterion::ImageHeader::Encoding &encoding, const std::optional< cv::Rect > &displayed_region=std::nullopt, const std::optional< TrackingResult > &tracking_result=std::nullopt)
	Updates image for connected systems to display and publishes the tracking result over MAVLink to be rendered by the receiving system. More...

void	updateImage (const cv::Mat &image, const auterion::ImageHeader::Encoding &encoding, const TrackingResult &tracking_result)
	Updates image for connected systems to display and publishes the tracking result over MAVLink to be rendered by the receiving system. More...

void	updateResult (TrackingResult &tracking_result) const
	Updates the tracking result for connected systems. More...

bool	getPoseBodyCamera (Eigen::Vector3d &t_body_camera, Eigen::Quaterniond &q_body_camera) const
	Get the pose of the camera with respect to the body frame. More...

Detailed Description

Provides an API to react to tracking related events, and update the current tracking status.

Member Enumeration Documentation

◆ TrackingKeyControl

enum auterion::TrackingInterface::TrackingKeyControl

Enum representing the control commands for tracking adjustments.

This enum defines the possible commands that can be used to adjust the tracking direction.

Enumerator
NONE	Not set.
ADJUST_DOWN	Move down.
ADJUST_UP	Move up.
ADJUST_LEFT	Move left.
ADJUST_RIGHT	Move right.

Constructor & Destructor Documentation

◆ TrackingInterface() [1/2]

auterion::TrackingInterface::TrackingInterface	(	auterion::SDK &	sdk,
		std::shared_ptr< auterion::Camera >	camera = `nullptr`
	)

Constructor that accepts a camera object.

Use this constructor to manually pass a camera object. Callbacks to camera data must be registered using the auterion::Camera object.

Parameters

sdk	Reference to the auterion::SDK instance.
camera	Shared pointer to a camera object. If not provided, defaults to nullptr.

◆ TrackingInterface() [2/2]

auterion::TrackingInterface::TrackingInterface	(	auterion::SDK &	sdk,
		std::optional< auterion::CameraDescriptor >	camera_descriptor
	)

[Deprecated] Constructor that selects a camera based on a provided descriptor.

Use this constructor to automatically find a camera based on the provided (or default) descriptor. Callbacks to camera data must be registered using the auterion::TrackingInterface object.

Parameters

sdk	Reference to the auterion::SDK instance.
camera_descriptor	[Optional] Descriptor used to find the camera. If not provided, the first available camera is selected.

Member Function Documentation

◆ getPoseBodyCamera()

bool auterion::TrackingInterface::getPoseBodyCamera	(	Eigen::Vector3d &	t_body_camera,
		Eigen::Quaterniond &	q_body_camera
	)		const

Get the pose of the camera with respect to the body frame.

This function retrieves the pose of the camera relative to the body frame / FMU of the vehicle. The pose is represented by a rotation quaternion and a translation vector. ROS2 coordinate frame conventions are followed. Specifically:

The body frame is defined FLU (front=x, left=y,up=z).
The quaternion represents the orientation of the camera frame w.r.t. the body frame.
The translation represents the position of the camera frame w.r.t. the body frame.

Parameters

t_body_camera	Translation of the camera with respect to the body frame.
q_body_camera	Rotation quaternion of the camera with respect to the body frame.

Returns: true if the pose is successfully retrieved, false otherwise.

◆ subscribeCameraInfo()

void auterion::TrackingInterface::subscribeCameraInfo ( const CameraInfoCallback & callback )

Subscribes to camera information data.

Parameters

callback A callback function that will be called with the incoming camera information.

◆ subscribeImage()

void auterion::TrackingInterface::subscribeImage ( const ImageCallback & callback )

Subscribes to incoming images.

Parameters

callback A callback function that will be called with the incoming image.

◆ subscribeKeyControl()

void auterion::TrackingInterface::subscribeKeyControl ( const TrackKeyControlCallback & callback )

Subscribes to the tracking key control events.

Parameters

callback A callback function that will be called when the user uses the arrows to move the tracked point.

◆ subscribeTrackingOff()

void auterion::TrackingInterface::subscribeTrackingOff ( const TrackStopCallback & callback )

Subscribes to the tracking off events.

Parameters

callback A callback function that will be called when tracking is disabled.

◆ subscribeTrackingSelection()

void auterion::TrackingInterface::subscribeTrackingSelection ( const TrackSelectionCallback & callback )

Subscribes to tracking selection requests.

Parameters

callback A callback function that will be called with the tracking selection.

◆ subscribeTrackingZoomChange()

void auterion::TrackingInterface::subscribeTrackingZoomChange ( const TrackZoomChangeCallback & callback )

Subscribes to the tracking zoom change events.

Parameters

callback A callback function that will be called with the change of zoom level (int).

◆ updateImage() [1/2]

void auterion::TrackingInterface::updateImage	(	const cv::Mat &	image,
		const auterion::ImageHeader::Encoding &	encoding,
		const std::optional< cv::Rect > &	displayed_region = `std::nullopt`,
		const std::optional< TrackingResult > &	tracking_result = `std::nullopt`
	)

Updates image for connected systems to display and publishes the tracking result over MAVLink to be rendered by the receiving system.

Parameters

image	The image to display.
encoding	The encoding of the image.
displayed_region	(optional) The region of the original image visible in the displayed image.
tracking_result	(optional) The tracking result containing the new tracking data.

◆ updateImage() [2/2]

void auterion::TrackingInterface::updateImage	(	const cv::Mat &	image,
		const auterion::ImageHeader::Encoding &	encoding,
		const TrackingResult &	tracking_result
	)

Updates image for connected systems to display and publishes the tracking result over MAVLink to be rendered by the receiving system.

This overload assumes the displayed region is the full image.

Parameters

image	The image to display.
encoding	The encoding of the image.
tracking_result	The tracking result containing the new tracking data.

◆ updateResult()

void auterion::TrackingInterface::updateResult ( TrackingResult & tracking_result ) const

Updates the tracking result for connected systems.

Parameters

tracking_result The tracking result containing the new tracking data.

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

include/auterion_sdk/tracking/tracking_interface.hpp

Public Types

Public Member Functions

Detailed Description

Member Enumeration Documentation

◆ TrackingKeyControl

Constructor & Destructor Documentation

◆ TrackingInterface() [1/2]

◆ TrackingInterface() [2/2]

Member Function Documentation

◆ getPoseBodyCamera()

◆ subscribeCameraInfo()

◆ subscribeImage()

◆ subscribeKeyControl()

◆ subscribeTrackingOff()

◆ subscribeTrackingSelection()

◆ subscribeTrackingZoomChange()

◆ updateImage() [1/2]

◆ updateImage() [2/2]

◆ updateResult()