Visual Servoing Platform  version 3.2.0 under development (2018-10-16)
vpMbEdgeKltMultiTracker Class Reference

#include <visp3/mbt/vpMbEdgeKltMultiTracker.h>

+ Inheritance diagram for vpMbEdgeKltMultiTracker:

Public Types

enum  vpMbtOptimizationMethod { GAUSS_NEWTON_OPT = 0, LEVENBERG_MARQUARDT_OPT = 1 }
 

Public Member Functions

 vpMbEdgeKltMultiTracker ()
 
 vpMbEdgeKltMultiTracker (const unsigned int nbCameras)
 
 vpMbEdgeKltMultiTracker (const std::vector< std::string > &cameraNames)
 
virtual ~vpMbEdgeKltMultiTracker ()
 
virtual void display (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo_, const vpCameraParameters &cam_, const vpColor &col, const unsigned int thickness=1, const bool displayFullModel=false)
 
virtual void display (const vpImage< vpRGBa > &I, const vpHomogeneousMatrix &cMo_, const vpCameraParameters &cam_, const vpColor &col, const unsigned int thickness=1, const bool displayFullModel=false)
 
virtual void display (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, const vpHomogeneousMatrix &c1Mo, const vpHomogeneousMatrix &c2Mo, const vpCameraParameters &cam1, const vpCameraParameters &cam2, const vpColor &color, const unsigned int thickness=1, const bool displayFullModel=false)
 
virtual void display (const vpImage< vpRGBa > &I1, const vpImage< vpRGBa > &I2, const vpHomogeneousMatrix &c1Mo, const vpHomogeneousMatrix &c2Mo, const vpCameraParameters &cam1, const vpCameraParameters &cam2, const vpColor &color, const unsigned int thickness=1, const bool displayFullModel=false)
 
virtual void display (const std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, const std::map< std::string, vpHomogeneousMatrix > &mapOfCameraPoses, const std::map< std::string, vpCameraParameters > &mapOfCameraParameters, const vpColor &col, const unsigned int thickness=1, const bool displayFullModel=false)
 
virtual void display (const std::map< std::string, const vpImage< vpRGBa > * > &mapOfImages, const std::map< std::string, vpHomogeneousMatrix > &mapOfCameraPoses, const std::map< std::string, vpCameraParameters > &mapOfCameraParameters, const vpColor &col, const unsigned int thickness=1, const bool displayFullModel=false)
 
virtual std::vector< std::string > getCameraNames () const
 
virtual void getCameraParameters (vpCameraParameters &camera) const
 
virtual void getCameraParameters (vpCameraParameters &cam1, vpCameraParameters &cam2) const
 
virtual void getCameraParameters (const std::string &cameraName, vpCameraParameters &camera) const
 
virtual void getCameraParameters (std::map< std::string, vpCameraParameters > &mapOfCameraParameters) const
 
virtual unsigned int getClipping (const std::string &cameraName) const
 
virtual vpMbHiddenFaces< vpMbtPolygon > & getFaces ()
 
vpMbHiddenFaces< vpMbtPolygon > & getEdgeFaces (const std::string &cameraName)
 
std::map< std::string, vpMbHiddenFaces< vpMbtPolygon > > getEdgeFaces () const
 
vpMbHiddenFaces< vpMbtPolygon > & getKltFaces (const std::string &cameraName)
 
std::map< std::string, vpMbHiddenFaces< vpMbtPolygon > > getKltFaces () const
 
double getFactorKLT () const
 
double getFactorMBT () const
 
virtual unsigned int getNbPolygon () const
 
virtual std::map< std::string, unsigned int > getEdgeMultiNbPolygon () const
 
virtual std::map< std::string, unsigned int > getKltMultiNbPolygon () const
 
unsigned int getNumberOfCameras () const
 
virtual void getPose (vpHomogeneousMatrix &c1Mo, vpHomogeneousMatrix &c2Mo) const
 
virtual void getPose (const std::string &cameraName, vpHomogeneousMatrix &cMo_) const
 
virtual void getPose (std::map< std::string, vpHomogeneousMatrix > &mapOfCameraPoses) const
 
virtual vpColVector getError () const
 
virtual vpColVector getRobustWeights () const
 
virtual void init (const vpImage< unsigned char > &I)
 
virtual void initClick (const vpImage< unsigned char > &I, const std::vector< vpPoint > &points3D_list, const std::string &displayFile="")
 
virtual void initClick (const vpImage< unsigned char > &I, const std::string &initFile, const bool displayHelp=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
 
virtual void initClick (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, const std::string &initFile1, const std::string &initFile2, const bool displayHelp=false, const bool firstCameraIsReference=true)
 
virtual void initClick (const std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, const std::string &initFile, const bool displayHelp=false)
 
virtual void initClick (const std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, const std::map< std::string, std::string > &mapOfInitFiles, const bool displayHelp=false)
 
virtual void initCircle (const vpPoint &, const vpPoint &, const vpPoint &, const double, const int, const std::string &name="")
 
virtual void initCylinder (const vpPoint &, const vpPoint &, const double, const int, const std::string &name="")
 
virtual void initFromPose (const vpImage< unsigned char > &I, const std::string &initFile)
 
virtual void initFromPose (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo)
 
virtual void initFromPose (const vpImage< unsigned char > &I, const vpPoseVector &cPo)
 
virtual void initFromPose (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, const vpHomogeneousMatrix &c1Mo, const vpHomogeneousMatrix &c2Mo, const bool firstCameraIsReference=true)
 
virtual void initFromPose (const std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, const vpHomogeneousMatrix &cMo_)
 
virtual void initFromPose (const std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, const std::map< std::string, vpHomogeneousMatrix > &mapOfCameraPoses)
 
virtual void initFaceFromCorners (vpMbtPolygon &polygon)
 
virtual void initFaceFromLines (vpMbtPolygon &polygon)
 
virtual void loadConfigFile (const std::string &configFile)
 
virtual void loadConfigFile (const std::string &configFile1, const std::string &configFile2, const bool firstCameraIsReference=true)
 
virtual void loadConfigFile (const std::map< std::string, std::string > &mapOfConfigFiles)
 
virtual void loadModel (const std::string &modelFile, const bool verbose=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
 
virtual void reInitModel (const vpImage< unsigned char > &I, const std::string &cad_name, const vpHomogeneousMatrix &cMo_, const bool verbose=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
 
virtual void reInitModel (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, const std::string &cad_name, const vpHomogeneousMatrix &c1Mo, const vpHomogeneousMatrix &c2Mo, const bool verbose=false, const bool firstCameraIsReference=true)
 
virtual void reInitModel (const std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, const std::string &cad_name, const std::map< std::string, vpHomogeneousMatrix > &mapOfCameraPoses, const bool verbose=false)
 
virtual void resetTracker ()
 
virtual void setAngleAppear (const double &a)
 
virtual void setAngleDisappear (const double &a)
 
virtual void setCameraParameters (const vpCameraParameters &camera)
 
virtual void setCameraParameters (const vpCameraParameters &camera1, const vpCameraParameters &camera2, const bool firstCameraIsReference=true)
 
virtual void setCameraParameters (const std::string &cameraName, const vpCameraParameters &camera)
 
virtual void setCameraParameters (const std::map< std::string, vpCameraParameters > &mapOfCameraParameters)
 
virtual void setCameraTransformationMatrix (const std::string &cameraName, const vpHomogeneousMatrix &cameraTransformationMatrix)
 
virtual void setCameraTransformationMatrix (const std::map< std::string, vpHomogeneousMatrix > &mapOfTransformationMatrix)
 
virtual void setClipping (const unsigned int &flags)
 
virtual void setClipping (const std::string &cameraName, const unsigned int &flags)
 
virtual void setCovarianceComputation (const bool &flag)
 
virtual void setDisplayFeatures (const bool displayF)
 
virtual void setFarClippingDistance (const double &dist)
 
virtual void setFarClippingDistance (const std::string &cameraName, const double &dist)
 
void setFactorKLT (const double factor)
 
void setFactorMBT (const double factor)
 
void setGoodNbRayCastingAttemptsRatio (const double &ratio)
 
void setNbRayCastingAttemptsForVisibility (const unsigned int &attempts)
 
virtual void setLod (const bool useLod, const std::string &name="")
 
virtual void setLod (const bool useLod, const std::string &cameraName, const std::string &name)
 
virtual void setMinLineLengthThresh (const double minLineLengthThresh, const std::string &name="")
 
virtual void setMinLineLengthThresh (const double minLineLengthThresh, const std::string &cameraName, const std::string &name)
 
virtual void setMinPolygonAreaThresh (const double minPolygonAreaThresh, const std::string &name="")
 
virtual void setMinPolygonAreaThresh (const double minPolygonAreaThresh, const std::string &cameraName, const std::string &name)
 
virtual void setNearClippingDistance (const double &dist)
 
virtual void setNearClippingDistance (const std::string &cameraName, const double &dist)
 
virtual void setOgreShowConfigDialog (const bool showConfigDialog)
 
virtual void setOgreVisibilityTest (const bool &v)
 
virtual void setOptimizationMethod (const vpMbtOptimizationMethod &opt)
 
virtual void setPose (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo)
 
virtual void setPose (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, const vpHomogeneousMatrix &c1Mo, const vpHomogeneousMatrix &c2Mo, const bool firstCameraIsReference=true)
 
virtual void setPose (const std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, const vpHomogeneousMatrix &cMo_)
 
virtual void setPose (const std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, const std::map< std::string, vpHomogeneousMatrix > &mapOfCameraPoses)
 
virtual void setProjectionErrorComputation (const bool &flag)
 
virtual void setReferenceCameraName (const std::string &referenceCameraName)
 
virtual void setScanLineVisibilityTest (const bool &v)
 
virtual void setThresholdAcceptation (const double th)
 
virtual void testTracking ()
 
virtual void track (const vpImage< unsigned char > &I)
 
virtual void track (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2)
 
virtual void track (std::map< std::string, const vpImage< unsigned char > * > &mapOfImages)
 
Inherited functionalities from vpMbTracker
virtual unsigned int getClipping () const
 
virtual void getPose (vpHomogeneousMatrix &cMo_) const
 
virtual vpHomogeneousMatrix getPose () const
 
virtual double computeCurrentProjectionError (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &_cMo, const vpCameraParameters &_cam)
 
virtual double getAngleAppear () const
 
virtual double getAngleDisappear () const
 
virtual vpMatrix getCovarianceMatrix () const
 
virtual double getInitialMu () const
 
virtual double getLambda () const
 
virtual unsigned int getMaxIter () const
 
virtual double getProjectionError () const
 
virtual vpColVector getEstimatedDoF () const
 
virtual double getFarClippingDistance () const
 
virtual double getNearClippingDistance () const
 
virtual vpMbtOptimizationMethod getOptimizationMethod () const
 
virtual vpMbtPolygongetPolygon (const unsigned int index)
 
virtual std::pair< std::vector< vpPolygon >, std::vector< std::vector< vpPoint > > > getPolygonFaces (const bool orderPolygons=true, const bool useVisibility=true, const bool clipPolygon=false)
 
virtual double getStopCriteriaEpsilon () const
 
virtual void initFromPoints (const vpImage< unsigned char > &I, const std::string &initFile)
 
virtual void initFromPoints (const vpImage< unsigned char > &I, const std::vector< vpImagePoint > &points2D_list, const std::vector< vpPoint > &points3D_list)
 
virtual void setEstimatedDoF (const vpColVector &v)
 
virtual void setInitialMu (const double mu)
 
virtual void setLambda (const double gain)
 
virtual void setMaxIter (const unsigned int max)
 
void setProjectionErrorMovingEdge (const vpMe &me)
 
void setProjectionErrorKernelSize (const unsigned int &size)
 
virtual void setMask (const vpImage< bool > &mask)
 
virtual void setStopCriteriaEpsilon (const double eps)
 
virtual void setProjectionErrorDisplay (const bool display)
 
virtual void setProjectionErrorDisplayArrowLength (const unsigned int length)
 
virtual void setProjectionErrorDisplayArrowThickness (const unsigned int thickness)
 
void savePose (const std::string &filename) const
 
void setPoseSavingFilename (const std::string &filename)
 
Inherited functionalities from vpMbEdgeMultiTracker
virtual vpMbHiddenFaces< vpMbtPolygon > & getFaces (const std::string &cameraName)
 
virtual std::map< std::string, vpMbHiddenFaces< vpMbtPolygon > > getFaces () const
 
void getLcircle (std::list< vpMbtDistanceCircle * > &circlesList, const unsigned int level=0) const
 
virtual void getLcircle (const std::string &cameraName, std::list< vpMbtDistanceCircle * > &circlesList, const unsigned int level=0) const
 
void getLcylinder (std::list< vpMbtDistanceCylinder * > &cylindersList, const unsigned int level=0) const
 
virtual void getLcylinder (const std::string &cameraName, std::list< vpMbtDistanceCylinder * > &cylindersList, const unsigned int level=0) const
 
void getLline (std::list< vpMbtDistanceLine * > &linesList, const unsigned int level=0) const
 
virtual void getLline (const std::string &cameraName, std::list< vpMbtDistanceLine * > &linesList, const unsigned int level=0) const
 
virtual void getMovingEdge (vpMe &p_me) const
 
virtual vpMe getMovingEdge () const
 
virtual void getMovingEdge (const std::string &cameraName, vpMe &p_me) const
 
virtual vpMe getMovingEdge (const std::string &cameraName) const
 
virtual unsigned int getNbPoints (const unsigned int level=0) const
 
virtual unsigned int getNbPoints (const std::string &cameraName, const unsigned int level=0) const
 
virtual unsigned int getNbPolygon (const std::string &cameraName) const
 
virtual std::map< std::string, unsigned int > getMultiNbPolygon () const
 
virtual void setGoodMovingEdgesRatioThreshold (const double threshold)
 
virtual void setMovingEdge (const vpMe &me)
 
virtual void setMovingEdge (const std::string &cameraName, const vpMe &me)
 
virtual void setScales (const std::vector< bool > &scales)
 
virtual void setUseEdgeTracking (const std::string &name, const bool &useEdgeTracking)
 
Inherited functionalities from vpMbEdgeTracker
std::vector< bool > getScales () const
 
double getGoodMovingEdgesRatioThreshold () const
 
Inherited functionalities from vpMbKltMultiTracker
virtual void addCircle (const vpPoint &P1, const vpPoint &P2, const vpPoint &P3, const double r, const std::string &name="")
 
virtual vpMbHiddenFaces< vpMbtPolygon > & getFaces (const std::string &cameraName)
 
virtual std::map< std::string, vpMbHiddenFaces< vpMbtPolygon > > getFaces () const
 
virtual std::list< vpMbtDistanceCircle * > & getFeaturesCircle ()
 
virtual std::list< vpMbtDistanceCircle * > & getFeaturesCircle (const std::string &cameraName)
 
virtual std::list< vpMbtDistanceKltPoints * > & getFeaturesKlt ()
 
virtual std::list< vpMbtDistanceKltPoints * > & getFeaturesKlt (const std::string &cameraName)
 
virtual std::list< vpMbtDistanceKltCylinder * > & getFeaturesKltCylinder ()
 
virtual std::list< vpMbtDistanceKltCylinder * > & getFeaturesKltCylinder (const std::string &cameraName)
 
virtual std::map< std::string, std::vector< vpImagePoint > > getKltImagePoints () const
 
virtual std::map< std::string, std::map< int, vpImagePoint > > getKltImagePointsWithId () const
 
virtual std::map< std::string, vpKltOpencvgetKltOpencv () const
 
virtual std::map< std::string, std::vector< cv::Point2f > > getKltPoints () const
 
virtual std::map< std::string, int > getKltNbPoints () const
 
virtual std::map< std::string, unsigned int > getMultiNbPolygon () const
 
virtual void setKltMaskBorder (const unsigned int &e)
 
virtual void setKltOpencv (const vpKltOpencv &t)
 
virtual void setKltOpencv (const std::map< std::string, vpKltOpencv > &mapOfOpenCVTrackers)
 
virtual void setKltThresholdAcceptation (const double th)
 
virtual void setUseKltTracking (const std::string &name, const bool &useKltTracking)
 
Deprecated functions
virtual std::map< std::string, int > getNbKltPoints () const
 
virtual void setMaskBorder (const unsigned int &e)
 
Inherited functionalities from vpMbKltTracker
unsigned int getKltMaskBorder () const
 
double getKltThresholdAcceptation () const
 
Deprecated functions
unsigned int getMaskBorder () const
 
double getThresholdAcceptation () const
 

Protected Types

enum  FeatureType { LINE, CYLINDER, CIRCLE }
 

Protected Member Functions

virtual void computeVVS (std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, const unsigned int lvl=0)
 
virtual void computeVVSInit ()
 
virtual void computeVVSInteractionMatrixAndResidu ()
 
virtual void computeVVSInteractionMatrixAndResidu (std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, std::map< std::string, vpVelocityTwistMatrix > &mapOfVelocityTwist)
 
virtual void computeVVSWeights ()
 
virtual unsigned int initMbtTracking (std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, unsigned int lvl)
 
virtual void postTracking (std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, const unsigned int lvl)
 
virtual void reinit ()
 
virtual void trackMovingEdges (std::map< std::string, const vpImage< unsigned char > * > &mapOfImages)
 
Protected Member Functions Inherited from vpMbEdgeMultiTracker
virtual void cleanPyramid (std::map< std::string, std::vector< const vpImage< unsigned char > * > > &pyramid)
 
virtual void computeProjectionError ()
 
virtual void computeVVSFirstPhasePoseEstimation (const unsigned int iter, bool &isoJoIdentity_)
 
virtual void initPyramid (const std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, std::map< std::string, std::vector< const vpImage< unsigned char > * > > &pyramid)
 
Protected Member Functions Inherited from vpMbEdgeTracker
void cleanPyramid (std::vector< const vpImage< unsigned char > * > &_pyramid)
 
void computeProjectionError (const vpImage< unsigned char > &_I)
 
void computeVVS (const vpImage< unsigned char > &_I, const unsigned int lvl)
 
virtual void computeVVSInteractionMatrixAndResidu (const vpImage< unsigned char > &I)
 
void initPyramid (const vpImage< unsigned char > &_I, std::vector< const vpImage< unsigned char > * > &_pyramid)
 
void addCircle (const vpPoint &P1, const vpPoint &P2, const vpPoint &P3, const double r, int idFace=-1, const std::string &name="")
 
void addCylinder (const vpPoint &P1, const vpPoint &P2, const double r, int idFace=-1, const std::string &name="")
 
void addLine (vpPoint &p1, vpPoint &p2, int polygon=-1, std::string name="")
 
void addPolygon (vpMbtPolygon &p)
 
void computeVVSFirstPhase (const vpImage< unsigned char > &I, const unsigned int iter, double &count, const unsigned int lvl=0)
 
void computeVVSFirstPhaseFactor (const vpImage< unsigned char > &I, const unsigned int lvl=0)
 
void displayFeaturesOnImage (const vpImage< unsigned char > &I, const unsigned int lvl)
 
void downScale (const unsigned int _scale)
 
unsigned int initMbtTracking (unsigned int &nberrors_lines, unsigned int &nberrors_cylinders, unsigned int &nberrors_circles)
 
void initMovingEdge (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &_cMo)
 
void reInitLevel (const unsigned int _lvl)
 
void reinitMovingEdge (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &_cMo)
 
void removeCircle (const std::string &name)
 
void removeCylinder (const std::string &name)
 
void removeLine (const std::string &name)
 
void resetMovingEdge ()
 
void trackMovingEdge (const vpImage< unsigned char > &I)
 
void updateMovingEdge (const vpImage< unsigned char > &I)
 
void updateMovingEdgeWeights ()
 
void upScale (const unsigned int _scale)
 
void visibleFace (const vpImage< unsigned char > &_I, const vpHomogeneousMatrix &_cMo, bool &newvisibleline)
 
Protected Member Functions Inherited from vpMbTracker
virtual void computeVVSWeights (vpRobust &robust, const vpColVector &error, vpColVector &w)
 
void addPolygon (const std::vector< vpPoint > &corners, const int idFace=-1, const std::string &polygonName="", const bool useLod=false, const double minPolygonAreaThreshold=2500.0, const double minLineLengthThreshold=50.0)
 
void addPolygon (const vpPoint &p1, const vpPoint &p2, const vpPoint &p3, const double radius, const int idFace=-1, const std::string &polygonName="", const bool useLod=false, const double minPolygonAreaThreshold=2500.0)
 
void addPolygon (const vpPoint &p1, const vpPoint &p2, const int idFace=-1, const std::string &polygonName="", const bool useLod=false, const double minLineLengthThreshold=50)
 
void addPolygon (const std::vector< std::vector< vpPoint > > &listFaces, const int idFace=-1, const std::string &polygonName="", const bool useLod=false, const double minLineLengthThreshold=50)
 
void addProjectionErrorCircle (const vpPoint &P1, const vpPoint &P2, const vpPoint &P3, const double r, int idFace=-1, const std::string &name="")
 
void addProjectionErrorCylinder (const vpPoint &P1, const vpPoint &P2, const double r, int idFace=-1, const std::string &name="")
 
void addProjectionErrorLine (vpPoint &p1, vpPoint &p2, int polygon=-1, std::string name="")
 
void addProjectionErrorPolygon (const std::vector< vpPoint > &corners, const int idFace=-1, const std::string &polygonName="", const bool useLod=false, const double minPolygonAreaThreshold=2500.0, const double minLineLengthThreshold=50.0)
 
void addProjectionErrorPolygon (const vpPoint &p1, const vpPoint &p2, const vpPoint &p3, const double radius, const int idFace=-1, const std::string &polygonName="", const bool useLod=false, const double minPolygonAreaThreshold=2500.0)
 
void addProjectionErrorPolygon (const vpPoint &p1, const vpPoint &p2, const int idFace=-1, const std::string &polygonName="", const bool useLod=false, const double minLineLengthThreshold=50)
 
void addProjectionErrorPolygon (const std::vector< std::vector< vpPoint > > &listFaces, const int idFace=-1, const std::string &polygonName="", const bool useLod=false, const double minLineLengthThreshold=50)
 
void createCylinderBBox (const vpPoint &p1, const vpPoint &p2, const double &radius, std::vector< std::vector< vpPoint > > &listFaces)
 
virtual void computeCovarianceMatrixVVS (const bool isoJoIdentity_, const vpColVector &w_true, const vpHomogeneousMatrix &cMoPrev, const vpMatrix &L_true, const vpMatrix &LVJ_true, const vpColVector &error)
 
void computeJTR (const vpMatrix &J, const vpColVector &R, vpColVector &JTR) const
 
double computeProjectionErrorImpl (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &_cMo, const vpCameraParameters &_cam, unsigned int &nbFeatures)
 
virtual void computeVVSCheckLevenbergMarquardt (const unsigned int iter, vpColVector &error, const vpColVector &m_error_prev, const vpHomogeneousMatrix &cMoPrev, double &mu, bool &reStartFromLastIncrement, vpColVector *const w=NULL, const vpColVector *const m_w_prev=NULL)
 
virtual void computeVVSPoseEstimation (const bool isoJoIdentity_, const unsigned int iter, vpMatrix &L, vpMatrix &LTL, vpColVector &R, const vpColVector &error, vpColVector &error_prev, vpColVector &LTR, double &mu, vpColVector &v, const vpColVector *const w=NULL, vpColVector *const m_w_prev=NULL)
 
virtual void extractGroup (SoVRMLGroup *sceneGraphVRML2, vpHomogeneousMatrix &transform, int &idFace)
 
virtual void extractFaces (SoVRMLIndexedFaceSet *face_set, vpHomogeneousMatrix &transform, int &idFace, const std::string &polygonName="")
 
virtual void extractLines (SoVRMLIndexedLineSet *line_set, int &idFace, const std::string &polygonName="")
 
virtual void extractCylinders (SoVRMLIndexedFaceSet *face_set, vpHomogeneousMatrix &transform, int &idFace, const std::string &polygonName="")
 
vpPoint getGravityCenter (const std::vector< vpPoint > &_pts) const
 
void initProjectionErrorCircle (const vpPoint &p1, const vpPoint &p2, const vpPoint &p3, const double radius, const int idFace=0, const std::string &name="")
 
void initProjectionErrorCylinder (const vpPoint &p1, const vpPoint &p2, const double radius, const int idFace=0, const std::string &name="")
 
void initProjectionErrorFaceFromCorners (vpMbtPolygon &polygon)
 
void initProjectionErrorFaceFromLines (vpMbtPolygon &polygon)
 
virtual void loadVRMLModel (const std::string &modelFile)
 
virtual void loadCAOModel (const std::string &modelFile, std::vector< std::string > &vectorOfModelFilename, int &startIdFace, const bool verbose=false, const bool parent=true, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
 
void projectionErrorInitMovingEdge (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &_cMo)
 
void projectionErrorResetMovingEdges ()
 
void projectionErrorVisibleFace (const vpImage< unsigned char > &_I, const vpHomogeneousMatrix &_cMo)
 
void removeComment (std::ifstream &fileId)
 
bool parseBoolean (std::string &input)
 
std::map< std::string, std::string > parseParameters (std::string &endLine)
 
std::string & ltrim (std::string &s) const
 
std::string & rtrim (std::string &s) const
 
std::string & trim (std::string &s) const
 
bool samePoint (const vpPoint &P1, const vpPoint &P2) const
 
Protected Member Functions Inherited from vpMbKltMultiTracker
virtual void computeVVS ()
 
virtual void computeVVSInteractionMatrixAndResidu (std::map< std::string, vpVelocityTwistMatrix > &mapOfVelocityTwist)
 
virtual void postTracking (std::map< std::string, const vpImage< unsigned char > * > &mapOfImages)
 
virtual void preTracking (std::map< std::string, const vpImage< unsigned char > * > &mapOfImages)
 
Protected Member Functions Inherited from vpMbKltTracker
bool postTracking (const vpImage< unsigned char > &I, vpColVector &w)
 
void preTracking (const vpImage< unsigned char > &I)
 
virtual void reinit (const vpImage< unsigned char > &I)
 

Protected Attributes

double m_factorKLT
 
double m_factorMBT
 
double thresholdKLT
 
double thresholdMBT
 
std::map< std::string, vpHomogeneousMatrixm_mapOfCameraTransformationMatrix
 
std::string m_referenceCameraName
 
unsigned int m_nbrow
 
vpMatrix m_L_hybridMulti
 
vpColVector m_error_hybridMulti
 
vpColVector m_w_hybridMulti
 
vpColVector m_weightedError_hybridMulti
 
std::map< std::string, vpMbEdgeTracker * > m_mapOfEdgeTrackers
 
std::map< std::string, std::vector< const vpImage< unsigned char > * > > m_mapOfPyramidalImages
 
vpMatrix m_L_edgeMulti
 
vpColVector m_error_edgeMulti
 
vpColVector m_w_edgeMulti
 
vpColVector m_weightedError_edgeMulti
 
vpMe me
 
std::vector< std::list< vpMbtDistanceLine * > > lines
 
std::vector< std::list< vpMbtDistanceCircle * > > circles
 
std::vector< std::list< vpMbtDistanceCylinder * > > cylinders
 
unsigned int nline
 
unsigned int ncircle
 
unsigned int ncylinder
 
unsigned int nbvisiblepolygone
 
double percentageGdPt
 
std::vector< bool > scales
 
std::vector< const vpImage< unsigned char > * > Ipyramid
 
unsigned int scaleLevel
 
unsigned int nbFeaturesForProjErrorComputation
 
vpColVector m_factor
 
vpRobust m_robustLines
 
vpRobust m_robustCylinders
 
vpRobust m_robustCircles
 
vpColVector m_wLines
 
vpColVector m_wCylinders
 
vpColVector m_wCircles
 
vpColVector m_errorLines
 
vpColVector m_errorCylinders
 
vpColVector m_errorCircles
 
vpMatrix m_L_edge
 
vpColVector m_error_edge
 
vpColVector m_w_edge
 
vpColVector m_weightedError_edge
 
vpRobust m_robust_edge
 
vpCameraParameters cam
 
vpHomogeneousMatrix cMo
 
vpMatrix oJo
 
bool isoJoIdentity
 
std::string modelFileName
 
bool modelInitialised
 
std::string poseSavingFilename
 
bool computeCovariance
 
vpMatrix covarianceMatrix
 
bool computeProjError
 
double projectionError
 
bool displayFeatures
 
vpMbtOptimizationMethod m_optimizationMethod
 
vpMbHiddenFaces< vpMbtPolygonfaces
 
double angleAppears
 
double angleDisappears
 
double distNearClip
 
double distFarClip
 
unsigned int clippingFlag
 
bool useOgre
 
bool ogreShowConfigDialog
 
bool useScanLine
 
unsigned int nbPoints
 
unsigned int nbLines
 
unsigned int nbPolygonLines
 
unsigned int nbPolygonPoints
 
unsigned int nbCylinders
 
unsigned int nbCircles
 
bool useLodGeneral
 
bool applyLodSettingInConfig
 
double minLineLengthThresholdGeneral
 
double minPolygonAreaThresholdGeneral
 
std::map< std::string, std::string > mapOfParameterNames
 
bool m_computeInteraction
 
double m_lambda
 
unsigned int m_maxIter
 
double m_stopCriteriaEpsilon
 
double m_initialMu
 
std::vector< vpMbtDistanceLine * > m_projectionErrorLines
 
std::vector< vpMbtDistanceCylinder * > m_projectionErrorCylinders
 
std::vector< vpMbtDistanceCircle * > m_projectionErrorCircles
 
vpMbHiddenFaces< vpMbtPolygonm_projectionErrorFaces
 
bool m_projectionErrorOgreShowConfigDialog
 
vpMe m_projectionErrorMe
 
unsigned int m_projectionErrorKernelSize
 
vpMatrix m_SobelX
 
vpMatrix m_SobelY
 
bool m_projectionErrorDisplay
 
unsigned int m_projectionErrorDisplayLength
 
unsigned int m_projectionErrorDisplayThickness
 
vpCameraParameters m_projectionErrorCam
 
const vpImage< bool > * m_mask
 
std::map< std::string, vpMbKltTracker * > m_mapOfKltTrackers
 
vpMatrix m_L_kltMulti
 
vpColVector m_error_kltMulti
 
vpColVector m_w_kltMulti
 
vpColVector m_weightedError_kltMulti
 
cv::Mat cur
 
vpHomogeneousMatrix c0Mo
 
bool firstInitialisation
 
unsigned int maskBorder
 
double threshold_outlier
 
double percentGood
 
vpHomogeneousMatrix ctTc0
 
vpKltOpencv tracker
 
std::list< vpMbtDistanceKltPoints * > kltPolygons
 
std::list< vpMbtDistanceKltCylinder * > kltCylinders
 
std::list< vpMbtDistanceCircle * > circles_disp
 
unsigned int m_nbInfos
 
unsigned int m_nbFaceUsed
 
vpMatrix m_L_klt
 
vpColVector m_error_klt
 
vpColVector m_w_klt
 
vpColVector m_weightedError_klt
 
vpRobust m_robust_klt
 

Detailed Description

Hybrid stereo (or more) tracker based on moving-edges and keypoints tracked using KLT tracker.

Warning
This class is deprecated for user usage. You should rather use the high level vpMbGenericTracker class.
This class is only available if OpenCV is installed, and used.

The Tutorial: Markerless model-based tracking with stereo cameras (deprecated) is a good starting point to use this class.

The tracker requires the knowledge of the 3D model that could be provided in a vrml or in a cao file. The cao format is described in loadCAOModel(). It may also use an xml file used to tune the behavior of the tracker and an init file used to compute the pose at the very first image.

Examples:
mbtEdgeKltMultiTracking.cpp, tutorial-mb-tracker-stereo-mono.cpp, and tutorial-mb-tracker-stereo.cpp.

Definition at line 79 of file vpMbEdgeKltMultiTracker.h.

Member Enumeration Documentation

enum vpMbEdgeMultiTracker::FeatureType
protectedinherited
Enumerator
LINE 
CYLINDER 
CIRCLE 

Definition at line 362 of file vpMbEdgeMultiTracker.h.

Enumerator
GAUSS_NEWTON_OPT 
LEVENBERG_MARQUARDT_OPT 

Definition at line 113 of file vpMbTracker.h.

Constructor & Destructor Documentation

vpMbEdgeKltMultiTracker::vpMbEdgeKltMultiTracker ( )

Basic constructor

Definition at line 59 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbTracker::m_lambda, m_mapOfCameraTransformationMatrix, and vpMbTracker::m_maxIter.

vpMbEdgeKltMultiTracker::vpMbEdgeKltMultiTracker ( const unsigned int  nbCameras)

Construct a vpMbEdgeKltMultiTracker with the specified number of cameras.

Parameters
nbCameras: Number of cameras to use.

Definition at line 76 of file vpMbEdgeKltMultiTracker.cpp.

References vpTrackingException::fatalError, vpMbTracker::m_lambda, m_mapOfCameraTransformationMatrix, vpMbKltMultiTracker::m_mapOfKltTrackers, vpMbTracker::m_maxIter, and m_referenceCameraName.

vpMbEdgeKltMultiTracker::vpMbEdgeKltMultiTracker ( const std::vector< std::string > &  cameraNames)

Construct a vpMbEdgeKltMultiTracker with the specified list of camera names.

Parameters
cameraNames: List of camera names.

Definition at line 116 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbTracker::m_lambda, and vpMbTracker::m_maxIter.

vpMbEdgeKltMultiTracker::~vpMbEdgeKltMultiTracker ( )
virtual

Definition at line 125 of file vpMbEdgeKltMultiTracker.cpp.

Member Function Documentation

void vpMbKltMultiTracker::addCircle ( const vpPoint P1,
const vpPoint P2,
const vpPoint P3,
const double  r,
const std::string &  name = "" 
)
virtualinherited

Add a circle to the list of circles.

Parameters
P1: Center of the circle.
P2,P3: Two points on the plane containing the circle. With the center of the circle we have 3 points defining the plane that contains the circle.
r: Radius of the circle.
name: Name of the circle.

Definition at line 151 of file vpMbKltMultiTracker.cpp.

References vpMbKltMultiTracker::m_mapOfKltTrackers.

Referenced by vpMbEdgeTracker::setGoodMovingEdgesRatioThreshold().

void vpMbEdgeTracker::addCircle ( const vpPoint P1,
const vpPoint P2,
const vpPoint P3,
const double  r,
int  idFace = -1,
const std::string &  name = "" 
)
protectedinherited

Add a circle to the list of circles.

Parameters
P1: Center of the circle.
P2,P3: Two points on the plane containing the circle. With the center of the circle we have 3 points defining the plane that contains the circle.
r: Radius of the circle.
idFace: Id of the face that is associated to the circle to handle visibility test.
name: the optional name of the circle.

Definition at line 1912 of file vpMbEdgeTracker.cpp.

References vpMbtDistanceCircle::buildFrom(), vpMbTracker::cam, vpMbEdgeTracker::circles, vpMbEdgeTracker::downScale(), vpMbTracker::faces, vpMbtDistanceCircle::hiddenface, vpMbtDistanceCircle::index_polygon, vpMath::maximum(), vpMbEdgeTracker::me, vpMbEdgeTracker::ncircle, vpMbtDistanceCircle::p1, vpMbtDistanceCircle::p2, vpMbtDistanceCircle::p3, vpMbtDistanceCircle::radius, vpMbTracker::samePoint(), vpMbEdgeTracker::scales, vpMbtDistanceCircle::setCameraParameters(), vpMbtDistanceCircle::setIndex(), vpMbtDistanceCircle::setMovingEdge(), vpMbtDistanceCircle::setName(), and vpMbEdgeTracker::upScale().

Referenced by vpMbEdgeTracker::initCircle().

void vpMbEdgeTracker::addCylinder ( const vpPoint P1,
const vpPoint P2,
const double  r,
int  idFace = -1,
const std::string &  name = "" 
)
protectedinherited
void vpMbEdgeTracker::addLine ( vpPoint P1,
vpPoint P2,
int  polygon = -1,
std::string  name = "" 
)
protectedinherited
void vpMbEdgeTracker::addPolygon ( vpMbtPolygon p)
protectedinherited

Add a polygon to the list of polygons.

Parameters
p: The polygon to add.

Definition at line 2059 of file vpMbEdgeTracker.cpp.

References vpMbEdgeTracker::addLine(), vpMbtPolygon::getIndex(), vpPolygon3D::getNbPoint(), and vpPolygon3D::p.

void vpMbEdgeMultiTracker::cleanPyramid ( std::map< std::string, std::vector< const vpImage< unsigned char > * > > &  pyramid)
protectedvirtualinherited
void vpMbEdgeTracker::cleanPyramid ( std::vector< const vpImage< unsigned char > * > &  _pyramid)
protectedinherited

Clean the pyramid of image allocated with the initPyramid() method. The vector has a size equal to zero at the end of the method.

Parameters
_pyramid: The pyramid of image to clean.

Definition at line 2631 of file vpMbEdgeTracker.cpp.

Referenced by vpMbEdgeKltTracker::init(), vpMbEdgeTracker::init(), vpMbEdgeKltTracker::setPose(), vpMbEdgeTracker::track(), and vpMbEdgeTracker::~vpMbEdgeTracker().

double vpMbTracker::computeCurrentProjectionError ( const vpImage< unsigned char > &  I,
const vpHomogeneousMatrix _cMo,
const vpCameraParameters _cam 
)
virtualinherited

Compute projection error given an input image and camera pose, parameters. This projection error uses locations sampled exactly where the model is projected using the camera pose and intrinsic parameters. You may want to use

See also
setProjectionErrorComputation
getProjectionError

to get a projection error computed at the ME locations after a call to track(). It works similarly to vpMbTracker::getProjectionError function:

Get the error angle between the gradient direction of the model features projected at the resulting pose and their normal. The error is expressed in degree between 0 and 90.

Parameters
I: Input grayscale image.
_cMo: Camera pose.
_cam: Camera parameters.

Reimplemented in vpMbGenericTracker.

Examples:
mbtGenericTrackingDepthOnly.cpp.

Definition at line 3113 of file vpMbTracker.cpp.

References vpMbTracker::computeProjectionErrorImpl(), vpMath::deg(), vpException::fatalError, and vpMbTracker::modelInitialised.

void vpMbTracker::computeJTR ( const vpMatrix interaction,
const vpColVector error,
vpColVector JTR 
) const
protectedinherited

Compute $ J^T R $, with J the interaction matrix and R the vector of residu.

Exceptions
vpMatrixException::incorrectMatrixSizeErrorif the sizes of the matrices do not allow the computation.
Warning
The JTR vector is resized.
Parameters
interaction: The interaction matrix (size Nx6).
error: The residu vector (size Nx1).
JTR: The resulting JTR column vector (size 6x1).

Definition at line 2480 of file vpMbTracker.cpp.

References vpCPUFeatures::checkSSE2(), vpArray2D< Type >::data, vpArray2D< Type >::getCols(), vpArray2D< Type >::getRows(), vpMatrixException::incorrectMatrixSizeError, and vpColVector::resize().

Referenced by vpMbEdgeMultiTracker::computeVVSFirstPhasePoseEstimation(), vpMbEdgeTracker::computeVVSFirstPhasePoseEstimation(), and vpMbTracker::computeVVSPoseEstimation().

double vpMbTracker::computeProjectionErrorImpl ( const vpImage< unsigned char > &  I,
const vpHomogeneousMatrix _cMo,
const vpCameraParameters _cam,
unsigned int &  nbFeatures 
)
protectedinherited

Definition at line 3130 of file vpMbTracker.cpp.

References vpMbTracker::clippingFlag, vpMbHiddenFaces< PolygonType >::computeClippedPolygons(), vpCameraParameters::computeFov(), vpMbHiddenFaces< PolygonType >::computeScanLineRender(), vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpMbHiddenFaces< PolygonType >::initOgre(), vpMbHiddenFaces< PolygonType >::isOgreInitialised(), vpMbtDistanceCircle::isTracked(), vpMbtDistanceLine::isTracked(), vpMbtDistanceCylinder::isTracked(), vpMbtDistanceCircle::isVisible(), vpMbtDistanceLine::isVisible(), vpMbtDistanceCylinder::isVisible(), vpMbTracker::m_projectionErrorCam, vpMbTracker::m_projectionErrorCircles, vpMbTracker::m_projectionErrorCylinders, vpMbTracker::m_projectionErrorDisplay, vpMbTracker::m_projectionErrorDisplayLength, vpMbTracker::m_projectionErrorDisplayThickness, vpMbTracker::m_projectionErrorFaces, vpMbTracker::m_projectionErrorLines, vpMbTracker::m_projectionErrorOgreShowConfigDialog, vpMbTracker::m_SobelX, vpMbTracker::m_SobelY, vpMbtDistanceCircle::meEllipse, vpMbtDistanceLine::meline, vpMbtDistanceCylinder::meline1, vpMbtDistanceCylinder::meline2, vpMbTracker::projectionErrorInitMovingEdge(), vpMbTracker::projectionErrorResetMovingEdges(), vpMbTracker::projectionErrorVisibleFace(), vpMbHiddenFaces< PolygonType >::setBackgroundSizeOgre(), vpMbtDistanceCircle::setCameraParameters(), vpMbtDistanceLine::setCameraParameters(), vpMbtDistanceCylinder::setCameraParameters(), vpMbHiddenFaces< PolygonType >::setOgreShowConfigDialog(), vpMbTracker::useOgre, and vpMbTracker::useScanLine.

Referenced by vpMbTracker::computeCurrentProjectionError().

void vpMbTracker::computeVVSCheckLevenbergMarquardt ( const unsigned int  iter,
vpColVector error,
const vpColVector m_error_prev,
const vpHomogeneousMatrix cMoPrev,
double &  mu,
bool &  reStartFromLastIncrement,
vpColVector *const  w = NULL,
const vpColVector *const  m_w_prev = NULL 
)
protectedvirtualinherited
void vpMbEdgeTracker::computeVVSFirstPhase ( const vpImage< unsigned char > &  I,
const unsigned int  iter,
double &  count,
const unsigned int  lvl = 0 
)
protectedinherited
void vpMbEdgeKltMultiTracker::computeVVSInteractionMatrixAndResidu ( )
protectedvirtual

Reimplemented from vpMbEdgeMultiTracker.

Definition at line 267 of file vpMbEdgeKltMultiTracker.cpp.

References vpException::fatalError.

Referenced by computeVVS().

void vpMbTracker::createCylinderBBox ( const vpPoint p1,
const vpPoint p2,
const double &  radius,
std::vector< std::vector< vpPoint > > &  listFaces 
)
protectedinherited
void vpMbEdgeKltMultiTracker::display ( const vpImage< unsigned char > &  I,
const vpHomogeneousMatrix cMo_,
const vpCameraParameters cam_,
const vpColor col,
const unsigned int  thickness = 1,
const bool  displayFullModel = false 
)
virtual

Display the 3D model from a given position of the camera.

Parameters
I: The grayscale image.
cMo_: Pose used to project the 3D model into the image.
cam_: The camera parameters.
col: The desired color.
thickness: The thickness of the lines.
displayFullModel: If true, the full model is displayed (even the non visible faces).

Reimplemented from vpMbEdgeMultiTracker.

Examples:
mbtEdgeKltMultiTracking.cpp.

Definition at line 364 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbEdgeMultiTracker::display(), vpMbTracker::displayFeatures, vpMbtDistanceKltCylinder::displayPrimitive(), vpMbtDistanceKltPoints::displayPrimitive(), vpMbtDistanceKltCylinder::hasEnoughPoints(), vpMbtDistanceKltPoints::hasEnoughPoints(), vpMbtDistanceKltCylinder::isTracked(), vpMbtDistanceKltPoints::isTracked(), vpMbtPolygon::isVisible(), vpMbKltMultiTracker::m_mapOfKltTrackers, and vpMbtDistanceKltPoints::polygon.

void vpMbEdgeKltMultiTracker::display ( const vpImage< vpRGBa > &  I,
const vpHomogeneousMatrix cMo_,
const vpCameraParameters cam_,
const vpColor color,
const unsigned int  thickness = 1,
const bool  displayFullModel = false 
)
virtual

Display the 3D model from a given position of the camera.

Parameters
I: The color image.
cMo_: Pose used to project the 3D model into the image.
cam_: The camera parameters.
color: The desired color.
thickness: The thickness of the lines.
displayFullModel: If true, the full model is displayed (even the non visible faces).

Reimplemented from vpMbEdgeMultiTracker.

Definition at line 402 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbEdgeMultiTracker::display(), vpMbTracker::displayFeatures, vpMbtDistanceKltCylinder::displayPrimitive(), vpMbtDistanceKltPoints::displayPrimitive(), vpMbtDistanceKltCylinder::hasEnoughPoints(), vpMbtDistanceKltPoints::hasEnoughPoints(), vpMbtDistanceKltCylinder::isTracked(), vpMbtDistanceKltPoints::isTracked(), vpMbtPolygon::isVisible(), vpMbKltMultiTracker::m_mapOfKltTrackers, and vpMbtDistanceKltPoints::polygon.

void vpMbEdgeKltMultiTracker::display ( const vpImage< unsigned char > &  I1,
const vpImage< unsigned char > &  I2,
const vpHomogeneousMatrix c1Mo,
const vpHomogeneousMatrix c2Mo,
const vpCameraParameters cam1,
const vpCameraParameters cam2,
const vpColor color,
const unsigned int  thickness = 1,
const bool  displayFullModel = false 
)
virtual

Display the 3D model from a given position of the camera.

Parameters
I1: The first grayscale image.
I2: The second grayscale image.
c1Mo: Pose used to project the 3D model into the first image.
c2Mo: Pose used to project the 3D model into the second image.
cam1: The first camera parameters.
cam2: The second camera parameters.
color: The desired color.
thickness: The thickness of the lines.
displayFullModel: If true, the full model is displayed (even the non visible faces).

Reimplemented from vpMbEdgeMultiTracker.

Definition at line 445 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbEdgeMultiTracker::display(), vpMbTracker::displayFeatures, vpMbtDistanceKltCylinder::displayPrimitive(), vpMbtDistanceKltPoints::displayPrimitive(), vpMbtDistanceKltCylinder::hasEnoughPoints(), vpMbtDistanceKltPoints::hasEnoughPoints(), vpMbtDistanceKltCylinder::isTracked(), vpMbtDistanceKltPoints::isTracked(), vpMbtPolygon::isVisible(), vpMbKltMultiTracker::m_mapOfKltTrackers, and vpMbtDistanceKltPoints::polygon.

void vpMbEdgeKltMultiTracker::display ( const vpImage< vpRGBa > &  I1,
const vpImage< vpRGBa > &  I2,
const vpHomogeneousMatrix c1Mo,
const vpHomogeneousMatrix c2Mo,
const vpCameraParameters cam1,
const vpCameraParameters cam2,
const vpColor color,
const unsigned int  thickness = 1,
const bool  displayFullModel = false 
)
virtual

Display the 3D model from a given position of the camera.

Parameters
I1: The first color image.
I2: The second color image.
c1Mo: Pose used to project the 3D model into the first image.
c2Mo: Pose used to project the 3D model into the second image.
cam1: The first camera parameters.
cam2: The second camera parameters.
color: The desired color.
thickness: The thickness of the lines.
displayFullModel: If true, the full model is displayed (even the non visible faces).

Reimplemented from vpMbEdgeMultiTracker.

Definition at line 500 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbEdgeMultiTracker::display(), vpMbTracker::displayFeatures, vpMbtDistanceKltCylinder::displayPrimitive(), vpMbtDistanceKltPoints::displayPrimitive(), vpMbtDistanceKltCylinder::hasEnoughPoints(), vpMbtDistanceKltPoints::hasEnoughPoints(), vpMbtDistanceKltCylinder::isTracked(), vpMbtDistanceKltPoints::isTracked(), vpMbtPolygon::isVisible(), vpMbKltMultiTracker::m_mapOfKltTrackers, and vpMbtDistanceKltPoints::polygon.

void vpMbEdgeKltMultiTracker::display ( const std::map< std::string, const vpImage< unsigned char > * > &  mapOfImages,
const std::map< std::string, vpHomogeneousMatrix > &  mapOfCameraPoses,
const std::map< std::string, vpCameraParameters > &  mapOfCameraParameters,
const vpColor col,
const unsigned int  thickness = 1,
const bool  displayFullModel = false 
)
virtual

Display the 3D model from a given position of the camera.

Parameters
mapOfImages: Map of grayscale images.
mapOfCameraPoses: Map of camera poses.
mapOfCameraParameters: Map of camera parameters.
col: The desired color.
thickness: The thickness of the lines.
displayFullModel: If true, the full model is displayed (even the non visible faces).

Reimplemented from vpMbEdgeMultiTracker.

Definition at line 552 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbEdgeMultiTracker::display(), vpMbTracker::displayFeatures, vpMbtDistanceKltCylinder::displayPrimitive(), vpMbtDistanceKltPoints::displayPrimitive(), vpMbtDistanceKltCylinder::hasEnoughPoints(), vpMbtDistanceKltPoints::hasEnoughPoints(), vpMbtDistanceKltCylinder::isTracked(), vpMbtDistanceKltPoints::isTracked(), vpMbtPolygon::isVisible(), vpMbKltMultiTracker::m_mapOfKltTrackers, and vpMbtDistanceKltPoints::polygon.

void vpMbEdgeKltMultiTracker::display ( const std::map< std::string, const vpImage< vpRGBa > * > &  mapOfImages,
const std::map< std::string, vpHomogeneousMatrix > &  mapOfCameraPoses,
const std::map< std::string, vpCameraParameters > &  mapOfCameraParameters,
const vpColor col,
const unsigned int  thickness = 1,
const bool  displayFullModel = false 
)
virtual

Display the 3D model from a given position of the camera.

Parameters
mapOfImages: Map of color images.
mapOfCameraPoses: Map of camera poses.
mapOfCameraParameters: Map of camera parameters.
col: The desired color.
thickness: The thickness of the lines.
displayFullModel: If true, the full model is displayed (even the non visible faces).

Reimplemented from vpMbEdgeMultiTracker.

Definition at line 596 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbEdgeMultiTracker::display(), vpMbTracker::displayFeatures, vpMbtDistanceKltCylinder::displayPrimitive(), vpMbtDistanceKltPoints::displayPrimitive(), vpMbtDistanceKltCylinder::hasEnoughPoints(), vpMbtDistanceKltPoints::hasEnoughPoints(), vpMbtDistanceKltCylinder::isTracked(), vpMbtDistanceKltPoints::isTracked(), vpMbtPolygon::isVisible(), vpMbKltMultiTracker::m_mapOfKltTrackers, and vpMbtDistanceKltPoints::polygon.

void vpMbEdgeTracker::downScale ( const unsigned int  _scale)
protectedinherited
void vpMbTracker::extractCylinders ( SoVRMLIndexedFaceSet *  face_set,
vpHomogeneousMatrix transform,
int &  idFace,
const std::string &  polygonName = "" 
)
protectedvirtualinherited

Extract a cylinder to track from the VMRL model. This method calls the initCylinder() method implemented in the child class.

Warning
This method extract cylinder described using an indexed face set not a cylinder set since software such as AC3D or blender export a cylinder using this data type. the object name is used, if it begins with "cyl" then this method is called otherwise the extractFaces() is used.
Parameters
face_set: Pointer to the cylinder in the vrml format.
transform: Transformation matrix applied to the cylinder.
idFace: Id of the face.
polygonNameName of the polygon.

Definition at line 2064 of file vpMbTracker.cpp.

References vpMbTracker::addPolygon(), vpMbTracker::addProjectionErrorPolygon(), vpException::badValue, vpMbTracker::createCylinderBBox(), vpException::dimensionError, vpPoint::get_oX(), vpPoint::get_oY(), vpPoint::get_oZ(), vpMbTracker::getGravityCenter(), vpMbTracker::initCylinder(), vpMbTracker::initProjectionErrorCylinder(), vpMath::maximum(), vpPoint::setWorldCoordinates(), and vpColVector::sumSquare().

Referenced by vpMbTracker::extractGroup().

void vpMbTracker::extractFaces ( SoVRMLIndexedFaceSet *  face_set,
vpHomogeneousMatrix transform,
int &  idFace,
const std::string &  polygonName = "" 
)
protectedvirtualinherited

Extract a face of the object to track from the VMRL model. This method calls the initFaceFromCorners() method implemented in the child class.

Parameters
face_set: Pointer to the face in the vrml format.
transform: Transformation matrix applied to the face.
idFace: Face id.
polygonNameName of the polygon.

Definition at line 2011 of file vpMbTracker.cpp.

References vpMbTracker::addPolygon(), vpMbTracker::addProjectionErrorPolygon(), vpMbTracker::faces, vpMbHiddenFaces< PolygonType >::getPolygon(), vpMbTracker::initFaceFromCorners(), vpMbTracker::initProjectionErrorFaceFromCorners(), vpMbTracker::m_projectionErrorFaces, and vpPoint::setWorldCoordinates().

Referenced by vpMbTracker::extractGroup().

void vpMbTracker::extractGroup ( SoVRMLGroup *  sceneGraphVRML2,
vpHomogeneousMatrix transform,
int &  idFace 
)
protectedvirtualinherited

Extract a VRML object Group.

Parameters
sceneGraphVRML2: Current node (either Transform, or Group node).
transform: Transformation matrix for this group.
idFace: Index of the face.

Definition at line 1922 of file vpMbTracker.cpp.

References vpMbTracker::extractCylinders(), vpMbTracker::extractFaces(), and vpMbTracker::extractLines().

Referenced by vpMbTracker::loadVRMLModel().

void vpMbTracker::extractLines ( SoVRMLIndexedLineSet *  line_set,
int &  idFace,
const std::string &  polygonName = "" 
)
protectedvirtualinherited

Extract a line of the object to track from the VMRL model. This method calls the initFaceFromCorners() method implemented in the child class.

Parameters
line_set: Pointer to the line in the vrml format.
idFace: Id of the face.
polygonNameName of the polygon.

Definition at line 2149 of file vpMbTracker.cpp.

References vpMbTracker::addPolygon(), vpMbTracker::addProjectionErrorPolygon(), vpMbTracker::faces, vpMbHiddenFaces< PolygonType >::getPolygon(), vpMbTracker::initFaceFromCorners(), vpMbTracker::initProjectionErrorFaceFromCorners(), vpMbTracker::m_projectionErrorFaces, and vpPoint::setWorldCoordinates().

Referenced by vpMbTracker::extractGroup().

virtual double vpMbTracker::getAngleAppear ( ) const
inlinevirtualinherited

Return the angle used to test polygons appearance.

Definition at line 238 of file vpMbTracker.h.

virtual double vpMbTracker::getAngleDisappear ( ) const
inlinevirtualinherited

Return the angle used to test polygons disappearance.

Definition at line 241 of file vpMbTracker.h.

std::vector< std::string > vpMbEdgeKltMultiTracker::getCameraNames ( ) const
virtual

Get the camera names

Returns
The vector of camera names.

Reimplemented from vpMbEdgeMultiTracker.

Definition at line 634 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbEdgeMultiTracker::getCameraNames().

void vpMbEdgeKltMultiTracker::getCameraParameters ( vpCameraParameters camera) const
virtual

Get the camera parameters for the reference camera.

Parameters
camera: Copy of the camera parameters used by the tracker.

Reimplemented from vpMbEdgeMultiTracker.

Examples:
mbtEdgeKltMultiTracking.cpp.

Definition at line 644 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbTracker::cam.

void vpMbEdgeKltMultiTracker::getCameraParameters ( vpCameraParameters cam1,
vpCameraParameters cam2 
) const
virtual

Get the camera parameters for the stereo cameras case.

Parameters
cam1: Copy of the camera parameters for the first camera.
cam2: Copy of the camera parameters for the second camera.

Reimplemented from vpMbEdgeMultiTracker.

Definition at line 652 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbEdgeMultiTracker::getCameraParameters().

void vpMbEdgeKltMultiTracker::getCameraParameters ( const std::string &  cameraName,
vpCameraParameters camera 
) const
virtual

Get the camera parameters specified by its name.

Parameters
cameraName: Name of the camera.
camera: Copy of the camera parameters.

Reimplemented from vpMbEdgeMultiTracker.

Definition at line 664 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbEdgeMultiTracker::getCameraParameters().

void vpMbEdgeKltMultiTracker::getCameraParameters ( std::map< std::string, vpCameraParameters > &  mapOfCameraParameters) const
virtual

Get all the camera parameters.

Parameters
mapOfCameraParameters: Map of camera parameters.

Reimplemented from vpMbEdgeMultiTracker.

Definition at line 675 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbEdgeMultiTracker::getCameraParameters().

unsigned int vpMbEdgeKltMultiTracker::getClipping ( const std::string &  cameraName) const
virtual

Get the clipping used and defined in vpPolygon3D::vpMbtPolygonClippingType for the given camera name.

Parameters
cameraName: Name of the desired camera.
Returns
Clipping flags.

Reimplemented from vpMbEdgeMultiTracker.

Examples:
mbtEdgeKltMultiTracking.cpp.

Definition at line 692 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbTracker::getClipping(), and vpMbKltMultiTracker::m_mapOfKltTrackers.

virtual vpMatrix vpMbTracker::getCovarianceMatrix ( ) const
inlinevirtualinherited
vpMbHiddenFaces< vpMbtPolygon > & vpMbEdgeKltMultiTracker::getEdgeFaces ( const std::string &  cameraName)

Return a reference to the faces structure for the given camera name for edge trackers.

Returns
Reference to the face structure.

Definition at line 722 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbEdgeMultiTracker::getFaces().

std::map< std::string, vpMbHiddenFaces< vpMbtPolygon > > vpMbEdgeKltMultiTracker::getEdgeFaces ( ) const

Return a map of faces structure for each camera for the edge trackers.

Returns
Reference a map of the face structure for each camera.

Definition at line 732 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbEdgeMultiTracker::getFaces().

std::map< std::string, unsigned int > vpMbEdgeKltMultiTracker::getEdgeMultiNbPolygon ( ) const
virtual

Get the number of polygons (faces) representing the object to track for the edge trackers.

Returns
Number of polygons.

Definition at line 772 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbEdgeMultiTracker::getMultiNbPolygon().

virtual vpColVector vpMbEdgeKltMultiTracker::getError ( ) const
inlinevirtual

Return the error vector $(s-s^*)$ reached after the virtual visual servoing process used to estimate the pose.

The following example shows how to use this function to compute the norm of the residual and the norm of the residual normalized by the number of features that are tracked:

tracker.track(I); std::cout << "Residual: " << sqrt( (tracker.getError()).sumSquare()) << std::endl;
std::cout << "Residual normalized: "
<< sqrt( (tracker.getError()).sumSquare())/tracker.getError().size() << std::endl;
See also
getRobustWeights()

Reimplemented from vpMbEdgeMultiTracker.

Definition at line 186 of file vpMbEdgeKltMultiTracker.h.

vpColVector vpMbTracker::getEstimatedDoF ( ) const
virtualinherited

Get a 1x6 vpColVector representing the estimated degrees of freedom. vpColVector[0] = 1 if translation on X is estimated, 0 otherwise; vpColVector[1] = 1 if translation on Y is estimated, 0 otherwise; vpColVector[2] = 1 if translation on Z is estimated, 0 otherwise; vpColVector[3] = 1 if rotation on X is estimated, 0 otherwise; vpColVector[4] = 1 if rotation on Y is estimated, 0 otherwise; vpColVector[5] = 1 if rotation on Z is estimated, 0 otherwise;

Returns
1x6 vpColVector representing the estimated degrees of freedom.

Definition at line 2631 of file vpMbTracker.cpp.

References vpMbTracker::oJo.

vpMbHiddenFaces< vpMbtPolygon > & vpMbKltMultiTracker::getFaces ( const std::string &  cameraName)
virtualinherited

Return a reference to the faces structure for the given camera name.

Returns
Reference to the face structure.

Definition at line 604 of file vpMbKltMultiTracker.cpp.

References vpMbTracker::faces, and vpMbKltMultiTracker::m_mapOfKltTrackers.

std::map< std::string, vpMbHiddenFaces< vpMbtPolygon > > vpMbKltMultiTracker::getFaces ( ) const
virtualinherited

Return a map of faces structure for each camera.

Returns
Reference a map of the face structure for each camera.

Definition at line 620 of file vpMbKltMultiTracker.cpp.

References vpMbKltMultiTracker::m_mapOfKltTrackers.

vpMbHiddenFaces< vpMbtPolygon > & vpMbEdgeMultiTracker::getFaces ( const std::string &  cameraName)
virtualinherited

Return a reference to the faces structure for the given camera name.

Returns
Reference to the face structure.

Definition at line 806 of file vpMbEdgeMultiTracker.cpp.

References vpMbTracker::faces, and vpMbEdgeMultiTracker::m_mapOfEdgeTrackers.

std::map< std::string, vpMbHiddenFaces< vpMbtPolygon > > vpMbEdgeMultiTracker::getFaces ( ) const
virtualinherited

Return a map of faces structure for each camera.

Returns
Reference a map of the face structure for each camera.

Definition at line 822 of file vpMbEdgeMultiTracker.cpp.

References vpMbEdgeMultiTracker::m_mapOfEdgeTrackers.

vpMbHiddenFaces< vpMbtPolygon > & vpMbEdgeKltMultiTracker::getFaces ( )
virtual

Return a reference to the faces structure.

Returns
Reference to the face structure.

Reimplemented from vpMbEdgeMultiTracker.

Definition at line 706 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbTracker::faces.

double vpMbEdgeKltMultiTracker::getFactorKLT ( ) const
inline

Return the factor for the KLT trackers in the VVS process.

Returns
The factor for the KLT trackers.

Definition at line 161 of file vpMbEdgeKltMultiTracker.h.

double vpMbEdgeKltMultiTracker::getFactorMBT ( ) const
inline

Return the factor for the MBT trackers in the VVS process.

Returns
The factor for the MBT trackers.

Definition at line 168 of file vpMbEdgeKltMultiTracker.h.

References vpMbEdgeMultiTracker::getNbPolygon().

virtual double vpMbTracker::getFarClippingDistance ( ) const
inlinevirtualinherited

Get the far distance for clipping.

Returns
Far clipping value.

Definition at line 339 of file vpMbTracker.h.

std::list< vpMbtDistanceCircle * > & vpMbKltMultiTracker::getFeaturesCircle ( )
virtualinherited

Return the address of the circle feature list.

Returns
The address of the circle feature list.

Reimplemented from vpMbKltTracker.

Definition at line 636 of file vpMbKltMultiTracker.cpp.

References vpMbKltTracker::circles_disp, vpMbKltMultiTracker::m_mapOfKltTrackers, and vpMbKltMultiTracker::m_referenceCameraName.

std::list< vpMbtDistanceCircle * > & vpMbKltMultiTracker::getFeaturesCircle ( const std::string &  cameraName)
virtualinherited

Return the address of the circle feature list for the given camera.

Parameters
cameraName: Camera name.
Returns
The address of the circle feature list.

Definition at line 655 of file vpMbKltMultiTracker.cpp.

References vpMbKltTracker::circles_disp, and vpMbKltMultiTracker::m_mapOfKltTrackers.

std::list< vpMbtDistanceKltPoints * > & vpMbKltMultiTracker::getFeaturesKlt ( )
virtualinherited

Return the address of the Klt feature list.

Returns
The address of the Klt feature list.

Reimplemented from vpMbKltTracker.

Definition at line 674 of file vpMbKltMultiTracker.cpp.

References vpMbKltTracker::kltPolygons, vpMbKltMultiTracker::m_mapOfKltTrackers, and vpMbKltMultiTracker::m_referenceCameraName.

std::list< vpMbtDistanceKltPoints * > & vpMbKltMultiTracker::getFeaturesKlt ( const std::string &  cameraName)
virtualinherited

Return the address of the Klt feature list for the given camera.

Parameters
cameraName: Camera name.
Returns
The address of the Klt feature list.

Definition at line 694 of file vpMbKltMultiTracker.cpp.

References vpMbKltTracker::kltPolygons, and vpMbKltMultiTracker::m_mapOfKltTrackers.

std::list< vpMbtDistanceKltCylinder * > & vpMbKltMultiTracker::getFeaturesKltCylinder ( )
virtualinherited

Return the address of the cylinder feature list.

Returns
The address of the cylinder feature list.

Reimplemented from vpMbKltTracker.

Definition at line 712 of file vpMbKltMultiTracker.cpp.

References vpMbKltTracker::kltCylinders, vpMbKltMultiTracker::m_mapOfKltTrackers, and vpMbKltMultiTracker::m_referenceCameraName.

std::list< vpMbtDistanceKltCylinder * > & vpMbKltMultiTracker::getFeaturesKltCylinder ( const std::string &  cameraName)
virtualinherited

Return the address of the cylinder feature list for the given camera.

Parameters
cameraName: Camera name.
Returns
The address of the cylinder feature list.

Definition at line 731 of file vpMbKltMultiTracker.cpp.

References vpMbKltTracker::kltCylinders, and vpMbKltMultiTracker::m_mapOfKltTrackers.

double vpMbEdgeTracker::getGoodMovingEdgesRatioThreshold ( ) const
inlineinherited
Returns
The threshold value between 0 and 1 over good moving edges ratio. It allows to decide if the tracker has enough valid moving edges to compute a pose. 1 means that all moving edges should be considered as good to have a valid pose, while 0.1 means that 10% of the moving edge are enough to declare a pose valid.
See also
setGoodMovingEdgesRatioThreshold()

Definition at line 393 of file vpMbEdgeTracker.h.

References vpMbEdgeTracker::percentageGdPt.

vpPoint vpMbTracker::getGravityCenter ( const std::vector< vpPoint > &  pts) const
protectedinherited

Compute the center of gravity of a set of point. This is used in the cylinder extraction to find the center of the circles.

Exceptions
vpException::dimensionErrorif the set is empty.
Parameters
pts: Set of point to extract the center of gravity.
Returns
Center of gravity of the set.

Definition at line 2194 of file vpMbTracker.cpp.

References vpException::dimensionError, vpPoint::get_oX(), and vpPoint::setWorldCoordinates().

Referenced by vpMbTracker::extractCylinders().

virtual double vpMbTracker::getInitialMu ( ) const
inlinevirtualinherited

Get the initial value of mu used in the Levenberg Marquardt optimization loop.

Returns
the initial mu value.

Definition at line 284 of file vpMbTracker.h.

vpMbHiddenFaces< vpMbtPolygon > & vpMbEdgeKltMultiTracker::getKltFaces ( const std::string &  cameraName)

Return a reference to the faces structure for the given camera name for KLT trackers.

Returns
Reference to the face structure.

Definition at line 743 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbKltMultiTracker::getFaces().

std::map< std::string, vpMbHiddenFaces< vpMbtPolygon > > vpMbEdgeKltMultiTracker::getKltFaces ( ) const

Return a map of faces structure for each camera for the KLT trackers.

Returns
Reference a map of the face structure for each camera.

Definition at line 753 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbKltMultiTracker::getFaces().

std::map< std::string, std::vector< vpImagePoint > > vpMbKltMultiTracker::getKltImagePoints ( ) const
virtualinherited

Get the current list of KLT points for each camera.

Warning
Contrary to getKltPoints which returns a pointer on CvPoint2D32f. This function convert and copy the openCV KLT points into vpImagePoints.
Returns
the list of KLT points through vpKltOpencv for each camera.

Definition at line 752 of file vpMbKltMultiTracker.cpp.

References vpMbKltMultiTracker::m_mapOfKltTrackers.

Referenced by vpMbKltTracker::getKltPoints().

std::map< std::string, std::map< int, vpImagePoint > > vpMbKltMultiTracker::getKltImagePointsWithId ( ) const
virtualinherited

Get the current list of KLT points and their id for each camera.

Warning
Contrary to getKltPoints which returns a pointer on CvPoint2D32f. This function convert and copy the openCV KLT points into vpImagePoints.
Returns
the list of KLT points and their id through vpKltOpencv for each camera.

Definition at line 773 of file vpMbKltMultiTracker.cpp.

References vpMbKltMultiTracker::m_mapOfKltTrackers.

Referenced by vpMbKltTracker::getKltPoints().

unsigned int vpMbKltTracker::getKltMaskBorder ( ) const
inlineinherited

Get the erosion of the mask used on the Model faces.

Returns
The erosion.

Definition at line 330 of file vpMbKltTracker.h.

References vpMbKltTracker::maskBorder.

std::map< std::string, unsigned int > vpMbEdgeKltMultiTracker::getKltMultiNbPolygon ( ) const
virtual

Get the number of polygons (faces) representing the object to track for the KLT trackers.

Returns
Number of polygons.

Definition at line 783 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbKltMultiTracker::getMultiNbPolygon().

std::map< std::string, int > vpMbKltMultiTracker::getKltNbPoints ( ) const
virtualinherited

Get the current number of klt points for each camera.

Returns
The number of features

Definition at line 838 of file vpMbKltMultiTracker.cpp.

References vpMbKltMultiTracker::m_mapOfKltTrackers.

Referenced by vpMbKltMultiTracker::getNbKltPoints().

std::map< std::string, vpKltOpencv > vpMbKltMultiTracker::getKltOpencv ( ) const
virtualinherited

Get the klt tracker at the current state for each camera.

Returns
klt tracker.

Definition at line 790 of file vpMbKltMultiTracker.cpp.

References vpMbKltMultiTracker::m_mapOfKltTrackers.

std::map< std::string, std::vector< cv::Point2f > > vpMbKltMultiTracker::getKltPoints ( ) const
virtualinherited

Get the current list of KLT points.

Returns
The list of KLT points through vpKltOpencv.

Definition at line 808 of file vpMbKltMultiTracker.cpp.

References vpMbKltMultiTracker::m_mapOfKltTrackers.

Referenced by vpMbKltTracker::getKltPoints().

double vpMbKltTracker::getKltThresholdAcceptation ( ) const
inlineinherited

Get the threshold for the acceptation of a point.

Returns
threshold_outlier : Threshold for the weight below which a point is rejected.

Definition at line 345 of file vpMbKltTracker.h.

References vpMbKltTracker::threshold_outlier.

virtual double vpMbTracker::getLambda ( ) const
inlinevirtualinherited

Get the value of the gain used to compute the control law.

Returns
the value for the gain.

Definition at line 291 of file vpMbTracker.h.

void vpMbEdgeMultiTracker::getLcircle ( std::list< vpMbtDistanceCircle * > &  circlesList,
const unsigned int  level = 0 
) const
inherited

Get the list of the circles tracked for the specified level. Each circle contains the list of the vpMeSite.

Exceptions
vpException::dimensionErrorif the second parameter does not correspond to an used level.
Parameters
level: Level corresponding to the list to return.
circlesList: The list of the circles of the model.

Definition at line 843 of file vpMbEdgeMultiTracker.cpp.

References vpMbEdgeMultiTracker::m_mapOfEdgeTrackers, and vpMbEdgeMultiTracker::m_referenceCameraName.

void vpMbEdgeMultiTracker::getLcircle ( const std::string &  cameraName,
std::list< vpMbtDistanceCircle * > &  circlesList,
const unsigned int  level = 0 
) const
virtualinherited

Get the list of the circles tracked for the specified level. Each circle contains the list of the vpMeSite.

Exceptions
vpException::dimensionErrorif the second parameter does not correspond to an used level.
Parameters
cameraName: Camera name for which we want to get the list of vpMbtDistanceCircle.
level: Level corresponding to the list to return.
circlesList: The list of the circles of the model.

Definition at line 865 of file vpMbEdgeMultiTracker.cpp.

References vpMbEdgeMultiTracker::m_mapOfEdgeTrackers.

void vpMbEdgeMultiTracker::getLcylinder ( std::list< vpMbtDistanceCylinder * > &  cylindersList,
const unsigned int  level = 0 
) const
inherited

Get the list of the cylinders tracked for the specified level. Each cylinder contains the list of the vpMeSite.

Exceptions
vpException::dimensionErrorif the second parameter does not correspond to an used level.
Parameters
level: Level corresponding to the list to return.
cylindersList: The list of the cylinders of the model.

Definition at line 886 of file vpMbEdgeMultiTracker.cpp.

References vpMbEdgeMultiTracker::m_mapOfEdgeTrackers, and vpMbEdgeMultiTracker::m_referenceCameraName.

void vpMbEdgeMultiTracker::getLcylinder ( const std::string &  cameraName,
std::list< vpMbtDistanceCylinder * > &  cylindersList,
const unsigned int  level = 0 
) const
virtualinherited

Get the list of the cylinders tracked for the specified level. Each cylinder contains the list of the vpMeSite.

Exceptions
vpException::dimensionErrorif the second parameter does not correspond to an used level.
Parameters
cameraName: Camera name for which we want to get the list of vpMbtDistanceCylinder.
level: Level corresponding to the list to return.
cylindersList: The list of the cylinders of the model.

Definition at line 909 of file vpMbEdgeMultiTracker.cpp.

References vpMbEdgeMultiTracker::m_mapOfEdgeTrackers.

void vpMbEdgeMultiTracker::getLline ( std::list< vpMbtDistanceLine * > &  linesList,
const unsigned int  level = 0 
) const
inherited

Get the list of the lines tracked for the specified level. Each line contains the list of the vpMeSite.

Exceptions
vpException::dimensionErrorif the second parameter does not correspond to an used level.
Parameters
level: Level corresponding to the list to return.
linesList: The list of the lines of the model.

Definition at line 931 of file vpMbEdgeMultiTracker.cpp.

References vpMbEdgeMultiTracker::m_mapOfEdgeTrackers, and vpMbEdgeMultiTracker::m_referenceCameraName.

void vpMbEdgeMultiTracker::getLline ( const std::string &  cameraName,
std::list< vpMbtDistanceLine * > &  linesList,
const unsigned int  level = 0 
) const
virtualinherited

Get the list of the lines tracked for the specified level. Each line contains the list of the vpMeSite.

Exceptions
vpException::dimensionErrorif the second parameter does not correspond to an used level.
Parameters
cameraName: Camera name for which we want to get the list of vpMbtDistanceLine.
level: Level corresponding to the list to return.
linesList: The list of the lines of the model.

Definition at line 953 of file vpMbEdgeMultiTracker.cpp.

References vpMbEdgeMultiTracker::m_mapOfEdgeTrackers.

unsigned int vpMbKltTracker::getMaskBorder ( ) const
inlineinherited

Get the erosion of the mask used on the Model faces.

Deprecated:
Use rather getkltMaskBorder()
Returns
The erosion.

Definition at line 442 of file vpMbKltTracker.h.

References vpMbKltTracker::maskBorder.

virtual unsigned int vpMbTracker::getMaxIter ( ) const
inlinevirtualinherited

Get the maximum number of iterations of the virtual visual servoing stage.

Returns
the number of iteration

Definition at line 298 of file vpMbTracker.h.

void vpMbEdgeMultiTracker::getMovingEdge ( vpMe p_me) const
virtualinherited

Get the moving edge parameters for the reference camera.

Parameters
p_me: Moving edge parameters for the reference camera.

Reimplemented from vpMbEdgeTracker.

Definition at line 970 of file vpMbEdgeMultiTracker.cpp.

References vpMbEdgeMultiTracker::m_mapOfEdgeTrackers, and vpMbEdgeMultiTracker::m_referenceCameraName.

vpMe vpMbEdgeMultiTracker::getMovingEdge ( ) const
virtualinherited

Get the moving edge parameters for the reference camera.

Returns
an instance of the moving edge parameters used by the tracker.

Reimplemented from vpMbEdgeTracker.

Definition at line 985 of file vpMbEdgeMultiTracker.cpp.

References vpMbEdgeMultiTracker::m_mapOfEdgeTrackers, and vpMbEdgeMultiTracker::m_referenceCameraName.

Referenced by vpMbEdgeMultiTracker::getMovingEdge().

void vpMbEdgeMultiTracker::getMovingEdge ( const std::string &  cameraName,
vpMe p_me 
) const
virtualinherited

Get the moving edge parameters for the specified camera name.

Parameters
cameraName: Name of the camera.
p_me: Moving edge parameters for the specified camera name.

Definition at line 1005 of file vpMbEdgeMultiTracker.cpp.

References vpMbEdgeMultiTracker::m_mapOfEdgeTrackers.

vpMe vpMbEdgeMultiTracker::getMovingEdge ( const std::string &  cameraName) const
virtualinherited

Get the moving edge parameters for the specified camera name.

Parameters
cameraName: Name of the camera.
Returns
an instance of the moving edge parameters used by the tracker.

Definition at line 1022 of file vpMbEdgeMultiTracker.cpp.

References vpMbEdgeMultiTracker::getMovingEdge().

std::map< std::string, unsigned int > vpMbEdgeMultiTracker::getMultiNbPolygon ( ) const
virtualinherited

Get the number of polygons (faces) representing the object to track for all the cameras.

Returns
Number of polygons for the specified camera.

Definition at line 1120 of file vpMbEdgeMultiTracker.cpp.

References vpMbEdgeMultiTracker::m_mapOfEdgeTrackers.

Referenced by getEdgeMultiNbPolygon().

std::map< std::string, unsigned int > vpMbKltMultiTracker::getMultiNbPolygon ( ) const
virtualinherited

Get the number of polygons (faces) representing the object to track for all the cameras.

Returns
Number of polygons for the specified camera.

Definition at line 872 of file vpMbKltMultiTracker.cpp.

References vpMbKltMultiTracker::m_mapOfKltTrackers.

Referenced by getKltMultiNbPolygon().

std::map< std::string, int > vpMbKltMultiTracker::getNbKltPoints ( ) const
virtualinherited

Get the current number of klt points for each camera.

Deprecated:
Use rather getKltNbPoints()
Returns
The number of features

Definition at line 2818 of file vpMbKltMultiTracker.cpp.

References vpMbKltMultiTracker::getKltNbPoints().

unsigned int vpMbEdgeMultiTracker::getNbPoints ( const unsigned int  level = 0) const
virtualinherited

Return the number of good points (vpMeSite) tracked. A good point is a vpMeSite with its flag "state" equal to 0. Only these points are used during the virtual visual servoing stage.

Parameters
level: Pyramid level to consider.
Exceptions
vpException::dimensionErrorif level does not represent a used level.
Returns
the number of good points for the reference camera.

Reimplemented from vpMbEdgeTracker.

Definition at line 1041 of file vpMbEdgeMultiTracker.cpp.

References vpMbEdgeMultiTracker::m_mapOfEdgeTrackers, and vpMbEdgeMultiTracker::m_referenceCameraName.

Referenced by vpMbEdgeTracker::getMovingEdge().

unsigned int vpMbEdgeMultiTracker::getNbPoints ( const std::string &  cameraName,
const unsigned int  level = 0 
) const
virtualinherited

Return the number of good points (vpMeSite) tracked. A good point is a vpMeSite with its flag "state" equal to 0. Only these points are used during the virtual visual servoing stage.

Parameters
cameraName: Camera name.
level: Pyramid level to consider.
Exceptions
vpException::dimensionErrorif level does not represent a used level.
Returns
the number of good points for the specified camera name.

Definition at line 1069 of file vpMbEdgeMultiTracker.cpp.

References vpMbEdgeMultiTracker::m_mapOfEdgeTrackers.

unsigned int vpMbEdgeKltMultiTracker::getNbPolygon ( ) const
virtual

Get the number of polygons (faces) representing the object to track.

Returns
Number of polygons.

Reimplemented from vpMbEdgeMultiTracker.

Definition at line 758 of file vpMbEdgeKltMultiTracker.cpp.

unsigned int vpMbEdgeMultiTracker::getNbPolygon ( const std::string &  cameraName) const
virtualinherited

Get the number of polygons (faces) representing the object to track for the specified camera.

Returns
Number of polygons for the specified camera.

Definition at line 1103 of file vpMbEdgeMultiTracker.cpp.

References vpMbEdgeMultiTracker::m_mapOfEdgeTrackers.

virtual double vpMbTracker::getNearClippingDistance ( ) const
inlinevirtualinherited

Get the near distance for clipping.

Returns
Near clipping value.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 375 of file vpMbTracker.h.

Referenced by vpMbEdgeKltTracker::getNearClippingDistance().

unsigned int vpMbEdgeKltMultiTracker::getNumberOfCameras ( ) const
inline

Get the number of cameras.

Returns
The number of cameras.

Definition at line 179 of file vpMbEdgeKltMultiTracker.h.

References vpMbTracker::getPose().

virtual vpMbtOptimizationMethod vpMbTracker::getOptimizationMethod ( ) const
inlinevirtualinherited

Get the optimization method used during the tracking. 0 = Gauss-Newton approach. 1 = Levenberg-Marquardt approach.

Returns
Optimization method.

Definition at line 384 of file vpMbTracker.h.

virtual vpMbtPolygon* vpMbTracker::getPolygon ( const unsigned int  index)
inlinevirtualinherited

Return the polygon (face) "index".

Exceptions
vpException::dimensionErrorif index does not represent a good polygon.
Parameters
index: Index of the polygon to return.
Returns
Pointer to the polygon index.

Reimplemented in vpMbGenericTracker.

Definition at line 395 of file vpMbTracker.h.

References vpException::dimensionError, and vpMbHiddenFaces< PolygonType >::size().

Referenced by vpMbGenericTracker::getError().

std::pair< std::vector< vpPolygon >, std::vector< std::vector< vpPoint > > > vpMbTracker::getPolygonFaces ( const bool  orderPolygons = true,
const bool  useVisibility = true,
const bool  clipPolygon = false 
)
virtualinherited

Get the list of polygons faces (a vpPolygon representing the projection of the face in the image and a list of face corners in 3D), with the possibility to order by distance to the camera or to use the visibility check to consider if the polygon face must be retrieved or not.

Parameters
orderPolygons: If true, the resulting list is ordered from the nearest polygon faces to the farther.
useVisibility: If true, only visible faces will be retrieved.
clipPolygon: If true, the polygons will be clipped according to the clipping flags set in vpMbTracker.
Returns
A pair object containing the list of vpPolygon and the list of face corners.

Reimplemented in vpMbGenericTracker.

Examples:
testKeyPoint-2.cpp, testKeyPoint-4.cpp, tutorial-detection-object-mbt-deprecated.cpp, and tutorial-detection-object-mbt2-deprecated.cpp.

Definition at line 2228 of file vpMbTracker.cpp.

References vpMbTracker::cam, vpMbTracker::cMo, vpMbTracker::faces, and vpMbHiddenFaces< PolygonType >::getPolygon().

Referenced by vpMbGenericTracker::getError().

void vpMbEdgeKltMultiTracker::getPose ( vpHomogeneousMatrix c1Mo,
vpHomogeneousMatrix c2Mo 
) const
virtual

Get the current pose between the object and the cameras.

Parameters
c1Mo: The camera pose for the first camera.
c2Mo: The camera pose for the second camera.

Reimplemented from vpMbEdgeMultiTracker.

Examples:
mbtEdgeKltMultiTracking.cpp.

Definition at line 794 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbTracker::getPose().

void vpMbEdgeKltMultiTracker::getPose ( const std::string &  cameraName,
vpHomogeneousMatrix cMo_ 
) const
virtual

Get the current pose between the object and the camera. cMo is the matrix which can be used to express coordinates from the object frame to camera frame.

Parameters
cameraName: The name of the camera.
cMo_: The camera pose for the specified camera.

Reimplemented from vpMbEdgeMultiTracker.

Definition at line 808 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbTracker::getPose().

void vpMbEdgeKltMultiTracker::getPose ( std::map< std::string, vpHomogeneousMatrix > &  mapOfCameraPoses) const
virtual

Get the current pose between the object and the cameras.

Parameters
mapOfCameraPoses: The map of camera poses for all the cameras.

Reimplemented from vpMbEdgeMultiTracker.

Definition at line 819 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbTracker::getPose().

virtual void vpMbTracker::getPose ( vpHomogeneousMatrix cMo_) const
inlinevirtualinherited

Get the current pose between the object and the camera. cMo is the matrix which can be used to express coordinates from the object frame to camera frame.

Parameters
cMo_: the pose
Examples:
mbtEdgeKltTracking.cpp, mbtEdgeTracking.cpp, mbtKltTracking.cpp, testKeyPoint-2.cpp, testKeyPoint-4.cpp, tutorial-detection-object-mbt-deprecated.cpp, tutorial-detection-object-mbt2-deprecated.cpp, tutorial-mb-edge-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, tutorial-mb-klt-tracker.cpp, tutorial-mb-tracker-full.cpp, tutorial-mb-tracker-stereo-mono.cpp, and tutorial-mb-tracker.cpp.

Definition at line 414 of file vpMbTracker.h.

virtual vpHomogeneousMatrix vpMbTracker::getPose ( ) const
inlinevirtualinherited

Get the current pose between the object and the camera. cMo is the matrix which can be used to express coordinates from the object frame to camera frame.

Returns
the current pose

Definition at line 423 of file vpMbTracker.h.

Referenced by vpMbGenericTracker::getError(), getNumberOfCameras(), vpMbEdgeMultiTracker::getNumberOfCameras(), vpMbKltMultiTracker::getNumberOfCameras(), getPose(), and initClick().

virtual double vpMbTracker::getProjectionError ( ) const
inlinevirtualinherited

Get the error angle between the gradient direction of the model features projected at the resulting pose and their normal. The error is expressed in degree between 0 and 90. This value is computed if setProjectionErrorComputation() is turned on.

Returns
the value for the error.
See also
setProjectionErrorComputation()
Examples:
mbtEdgeKltMultiTracking.cpp, mbtEdgeKltTracking.cpp, mbtEdgeMultiTracking.cpp, mbtEdgeTracking.cpp, mbtGenericTracking.cpp, mbtGenericTracking2.cpp, mbtGenericTrackingDepth.cpp, and mbtGenericTrackingDepthOnly.cpp.

Definition at line 310 of file vpMbTracker.h.

virtual vpColVector vpMbEdgeKltMultiTracker::getRobustWeights ( ) const
inlinevirtual

Return the weights vector $w_i$ computed by the robust scheme.

The following example shows how to use this function to compute the norm of the weighted residual and the norm of the weighted residual normalized by the sum of the weights associated to the features that are tracked:

tracker.track(I);
vpColVector w = tracker.getRobustWeights();
vpColVector e = tracker.getError();
vpColVector we(w.size());
for(unsigned int i=0; i<w.size(); i++)
we[i] = w[i]*e[i];
std::cout << "Weighted residual: " << sqrt( (we).sumSquare() ) << std::endl;
std::cout << "Weighted residual normalized: " << sqrt( (we).sumSquare() ) / w.sum() << std::endl;
See also
getError()

Reimplemented from vpMbEdgeMultiTracker.

Definition at line 188 of file vpMbEdgeKltMultiTracker.h.

References vpMbEdgeMultiTracker::init(), vpMbEdgeTracker::initCircle(), vpMbEdgeMultiTracker::initClick(), vpMbEdgeTracker::initCylinder(), vpMbEdgeTracker::initFaceFromCorners(), vpMbEdgeTracker::initFaceFromLines(), vpMbEdgeMultiTracker::initFromPose(), vpMbEdgeMultiTracker::loadConfigFile(), vpMbEdgeMultiTracker::loadModel(), vpMbEdgeMultiTracker::reInitModel(), vpMbEdgeMultiTracker::resetTracker(), vpMbEdgeMultiTracker::setAngleAppear(), vpMbEdgeMultiTracker::setAngleDisappear(), vpMbEdgeMultiTracker::setCameraParameters(), vpMbEdgeMultiTracker::setCameraTransformationMatrix(), vpMbEdgeMultiTracker::setClipping(), vpMbEdgeMultiTracker::setCovarianceComputation(), vpMbEdgeMultiTracker::setDisplayFeatures(), and vpMbEdgeMultiTracker::setFarClippingDistance().

std::vector<bool> vpMbEdgeTracker::getScales ( ) const
inlineinherited

Return the scales levels used for the tracking.

Returns
The scales levels used for the tracking.

Definition at line 383 of file vpMbEdgeTracker.h.

References vpMbEdgeTracker::scales.

virtual double vpMbTracker::getStopCriteriaEpsilon ( ) const
inlinevirtualinherited

Definition at line 425 of file vpMbTracker.h.

double vpMbKltTracker::getThresholdAcceptation ( ) const
inlineinherited

Get the threshold for the acceptation of a point.

Deprecated:
Use rather getKltThresholdAcceptation()
Returns
threshold_outlier : Threshold for the weight below which a point is rejected.

Definition at line 458 of file vpMbKltTracker.h.

References vpMbKltTracker::threshold_outlier.

void vpMbEdgeKltMultiTracker::init ( const vpImage< unsigned char > &  I)
virtual

Initialise the tracking.

Parameters
I: Input image.

Reimplemented from vpMbKltMultiTracker.

Definition at line 828 of file vpMbEdgeKltMultiTracker.cpp.

References vpTrackingException::initializationError, and vpMbTracker::modelInitialised.

void vpMbEdgeKltMultiTracker::initCircle ( const vpPoint p1,
const vpPoint p2,
const vpPoint p3,
const double  radius,
const int  idFace,
const std::string &  name = "" 
)
virtual

Add a circle to track from its center, 3 points (including the center) defining the plane that contain the circle and its radius.

Parameters
p1: Center of the circle.
p2,p3: Two points on the plane containing the circle. With the center of the circle we have 3 points defining the plane that contains the circle.
radius: Radius of the circle.
idFace: Index of the face associated to the circle to handle visibility test.
name: The optional name of the circle.

Reimplemented from vpMbEdgeTracker.

Definition at line 1043 of file vpMbEdgeKltMultiTracker.cpp.

void vpMbEdgeKltMultiTracker::initClick ( const vpImage< unsigned char > &  I,
const std::vector< vpPoint > &  points3D_list,
const std::string &  displayFile = "" 
)
virtual

Initialise the tracker by clicking in the image on the pixels that correspond to the 3D points whose coordinates are given in points3D_list.

Parameters
I: Input image where the user has to click.
points3D_list: List of at least 4 3D points with coordinates expressed in meters in the object frame.
displayFile: Path to the image used to display the help. This image may be used to show where to click. This functionality is only available if visp_io module is used.

Reimplemented from vpMbEdgeMultiTracker.

Examples:
mbtEdgeKltMultiTracking.cpp.

Definition at line 846 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbTracker::cMo, vpMbKltMultiTracker::initClick(), and vpMbEdgeMultiTracker::setPose().

void vpMbEdgeKltMultiTracker::initClick ( const vpImage< unsigned char > &  I,
const std::string &  initFile,
const bool  displayHelp = false,
const vpHomogeneousMatrix T = vpHomogeneousMatrix() 
)
virtual

Initialise the tracker by clicking in the image on the pixels that correspond to the 3D points whose coordinates are extracted from a file. In this file, comments starting with # character are allowed. Notice that 3D point coordinates are expressed in meter in the object frame with their X, Y and Z values.

The structure of this file is the following:

# 3D point coordinates
4 # Number of points in the file (minimum is four)
0.01 0.01 0.01 # \
... # | 3D coordinates in the object frame (X, Y, Z)
0.01 -0.01 -0.01 # /
Parameters
I: Input image where the user has to click.
initFile: File containing the coordinates of at least 4 3D points the user has to click in the image. This file should have .init extension (ie teabox.init).
displayHelp: Optionnal display of an image that should have the same generic name as the init file (ie teabox.ppm). This image may be used to show where to click. This functionality is only available if visp_io module is used.
T: optional transformation matrix to transform 3D points expressed in the original object frame to the desired object frame.
Exceptions
vpException::ioError: The file specified in initFile doesn't exist.

Reimplemented from vpMbEdgeMultiTracker.

Definition at line 889 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbTracker::cMo, vpMbKltMultiTracker::initClick(), and vpMbEdgeMultiTracker::setPose().

void vpMbEdgeKltMultiTracker::initClick ( const vpImage< unsigned char > &  I1,
const vpImage< unsigned char > &  I2,
const std::string &  initFile1,
const std::string &  initFile2,
const bool  displayHelp = false,
const bool  firstCameraIsReference = true 
)
virtual

Initialise the tracker by clicking in the reference image on the pixels that correspond to the 3D points whose coordinates are extracted from a file. In this file, comments starting with # character are allowed. Notice that 3D point coordinates are expressed in meter in the object frame with their X, Y and Z values.

The structure of this file is the following:

# 3D point coordinates
4 # Number of points in the file (minimum is four)
0.01 0.01 0.01 # \
... # | 3D coordinates in the object frame (X, Y, Z)
0.01 -0.01 -0.01 # /
Parameters
I1: Input image for the first camera.
I2: Input image for the second camera.
initFile1: File containing the coordinates of at least 4 3D points the user has to click in the image acquired by the first camera. This file should have .init extension (ie teabox.init).
initFile2: File containing the coordinates of at least 4 3D points the user has to click in the image acquired by the second camera. This file should have .init extension.
displayHelp: Optionnal display of an image that should have the same generic name as the init file (ie teabox.ppm). This image may be used to show where to click. This functionality is only available if visp_io module is used.
firstCameraIsReference: If true, the first camera is the reference, otherwise it is the second one.
Exceptions
vpException::ioError: The file specified in initFile doesn't exist.

Reimplemented from vpMbEdgeMultiTracker.

Definition at line 936 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbTracker::cMo, vpMbKltMultiTracker::initClick(), vpMbKltMultiTracker::m_mapOfKltTrackers, and vpMbEdgeMultiTracker::setPose().

void vpMbEdgeKltMultiTracker::initClick ( const std::map< std::string, const vpImage< unsigned char > * > &  mapOfImages,
const std::string &  initFile,
const bool  displayHelp = false 
)
virtual

Initialise the tracker by clicking in the reference image on the pixels that correspond to the 3D points whose coordinates are extracted from a file. In this file, comments starting with # character are allowed. Notice that 3D point coordinates are expressed in meter in the object frame with their X, Y and Z values.

The structure of this file is the following:

# 3D point coordinates
4 # Number of points in the file (minimum is four)
0.01 0.01 0.01 # \
... # | 3D coordinates in the object frame (X, Y, Z)
0.01 -0.01 -0.01 # /
Parameters
mapOfImages: Map of images.
initFile: File containing the points where to click for the reference camera.
displayHelp: Optionnal display of an image that should have the same generic name as the init file (ie teabox.ppm). This image may be used to show where to click. This functionality is only available if visp_io module is used.
Exceptions
vpException::ioError: The file specified in initFile doesn't exist.

Reimplemented from vpMbEdgeMultiTracker.

Definition at line 985 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbTracker::getPose(), vpMbKltMultiTracker::initClick(), and vpMbEdgeMultiTracker::setPose().

void vpMbEdgeKltMultiTracker::initClick ( const std::map< std::string, const vpImage< unsigned char > * > &  mapOfImages,
const std::map< std::string, std::string > &  mapOfInitFiles,
const bool  displayHelp = false 
)
virtual

Initialise the tracker by clicking in the reference image on the pixels that correspond to the 3D points whose coordinates are extracted from a file. In this file, comments starting with # character are allowed. Notice that 3D point coordinates are expressed in meter in the object frame with their X, Y and Z values.

The structure of this file is the following:

# 3D point coordinates
4 # Number of points in the file (minimum is four)
0.01 0.01 0.01 # \
... # | 3D coordinates in the object frame (X, Y, Z)
0.01 -0.01 -0.01 # /

The cameras that have not an init file will be automatically initialized but the camera transformation matrices have to be set before.

Parameters
mapOfImages: Map of images.
mapOfInitFiles: map of files containing the points where to click for each camera.
displayHelp: Optional display of an image (ie teabox.ppm). This image may be used to show where to click.
Exceptions
vpException::ioError: The file specified in initFile doesn't exist.

Reimplemented from vpMbEdgeMultiTracker.

Definition at line 1027 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbTracker::getPose(), vpMbKltMultiTracker::initClick(), and vpMbEdgeMultiTracker::setPose().

void vpMbEdgeKltMultiTracker::initCylinder ( const vpPoint p1,
const vpPoint p2,
const double  radius,
const int  idFace,
const std::string &  name = "" 
)
virtual

Add a cylinder to track from two points on the axis (defining the length of the cylinder) and its radius.

Parameters
p1: First point on the axis.
p2: Second point on the axis.
radius: Radius of the cylinder.
idFace: Id of the face that is associated to the cylinder to handle visibility test.
name: The optional name of the cylinder.

Reimplemented from vpMbEdgeTracker.

Definition at line 1049 of file vpMbEdgeKltMultiTracker.cpp.

void vpMbEdgeKltMultiTracker::initFaceFromCorners ( vpMbtPolygon polygon)
virtual

Add the lines to track from the polygon description. If the polygon has only two points, it defines a single line that is always visible. If it has three or more corners, it defines a face. In that case the visibility of the face is computed in order to track the corresponding lines only if the face is visible.

The id of the polygon is supposed to be set prior calling this function.

This method is called from the loadModel() one to add a face of the object to track.

Parameters
polygon: The polygon describing the set of lines that has to be tracked.

Reimplemented from vpMbEdgeTracker.

Definition at line 1055 of file vpMbEdgeKltMultiTracker.cpp.

void vpMbEdgeKltMultiTracker::initFaceFromLines ( vpMbtPolygon polygon)
virtual

Add the lines to track from the polygon description. If the polygon has only two points, it defines a single line that is always visible. If it has three or more corners, it defines a face. In that case the visibility of the face is computed in order to track the corresponding lines only if the face is visible.

The id of the polygon is supposed to be set prior calling this function.

This method is called from the loadModel() one to add a face of the object to track.

Parameters
polygon: The polygon describing the set of lines that has to be tracked.

Reimplemented from vpMbEdgeTracker.

Definition at line 1062 of file vpMbEdgeKltMultiTracker.cpp.

void vpMbTracker::initFromPoints ( const vpImage< unsigned char > &  I,
const std::string &  initFile 
)
virtualinherited

Initialise the tracker by reading 3D point coordinates and the corresponding 2D image point coordinates from a file. Comments starting with # character are allowed. 3D point coordinates are expressed in meter in the object frame with X, Y and Z values. 2D point coordinates are expressied in pixel coordinates, with first the line and then the column of the pixel in the image. The structure of this file is the following.

# 3D point coordinates
4 # Number of 3D points in the file (minimum is four)
0.01 0.01 0.01 # \
... # | 3D coordinates in meters in the object frame
0.01 -0.01 -0.01 # /
# corresponding 2D point coordinates
4 # Number of image points in the file (has to be the same
as the number of 3D points)
100 200 # \
... # | 2D coordinates in pixel in the image
50 10 # /
Parameters
I: Input image
initFile: Path to the file containing all the points.

Definition at line 632 of file vpMbTracker.cpp.

References vpPose::addPoint(), vpException::badValue, vpMbTracker::cam, vpMbTracker::cMo, vpPose::computePose(), vpPose::computeResidual(), vpPixelMeterConversion::convertPoint(), vpPose::DEMENTHON, vpMbTracker::init(), vpException::ioError, vpPose::LAGRANGE, vpPoint::set_x(), vpPoint::set_y(), vpPoint::setWorldCoordinates(), and vpPose::VIRTUAL_VS.

Referenced by vpMbGenericTracker::getRobustWeights().

void vpMbTracker::initFromPoints ( const vpImage< unsigned char > &  I,
const std::vector< vpImagePoint > &  points2D_list,
const std::vector< vpPoint > &  points3D_list 
)
virtualinherited

Initialise the tracking with the list of image points (points2D_list) and the list of corresponding 3D points (object frame) (points3D_list).

Parameters
I: Input image
points2D_list: List of image points.
points3D_list: List of 3D points (object frame).

Definition at line 781 of file vpMbTracker.cpp.

References vpPose::addPoint(), vpMbTracker::cam, vpMbTracker::cMo, vpPose::computePose(), vpPose::computeResidual(), vpPixelMeterConversion::convertPoint(), vpPose::DEMENTHON, vpMbTracker::init(), vpPose::LAGRANGE, vpPose::VIRTUAL_VS, and vpERROR_TRACE.

void vpMbEdgeKltMultiTracker::initFromPose ( const vpImage< unsigned char > &  I,
const std::string &  initFile 
)
virtual

Initialise the tracking thanks to the pose in vpPoseVector format, and read in the file initFile. The structure of this file is (without the comments):

// The six value of the pose vector
0.0000 // \
0.0000 // |
1.0000 // | Exemple of value for the pose vector where Z = 1 meter
0.0000 // |
0.0000 // |
0.0000 // /

Where the three firsts lines refer to the translation and the three last to the rotation in thetaU parametrisation (see vpThetaUVector).

Parameters
I: Input image
initFile: Path to the file containing the pose.

Reimplemented from vpMbEdgeMultiTracker.

Examples:
mbtEdgeKltMultiTracking.cpp.

Definition at line 1087 of file vpMbEdgeKltMultiTracker.cpp.

References vpHomogeneousMatrix::buildFrom(), vpMbTracker::cMo, vpTrackingException::fatalError, vpMbKltMultiTracker::initFromPose(), vpMbEdgeMultiTracker::initFromPose(), vpException::ioError, and vpMbKltMultiTracker::m_mapOfKltTrackers.

Referenced by initFromPose().

void vpMbEdgeKltMultiTracker::initFromPose ( const vpImage< unsigned char > &  I,
const vpHomogeneousMatrix cMo_ 
)
virtual

Initialise the tracking thanks to the pose.

Parameters
I: Input image
cMo_: Pose matrix.

Reimplemented from vpMbEdgeMultiTracker.

Definition at line 1127 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbTracker::cMo, vpTrackingException::fatalError, vpMbEdgeMultiTracker::initFromPose(), vpMbKltMultiTracker::initFromPose(), and vpMbKltMultiTracker::m_mapOfKltTrackers.

void vpMbEdgeKltMultiTracker::initFromPose ( const vpImage< unsigned char > &  I,
const vpPoseVector cPo 
)
virtual

Initialise the tracking thanks to the pose vector.

Parameters
I: Input image
cPo: Pose vector.

Reimplemented from vpMbEdgeMultiTracker.

Definition at line 1145 of file vpMbEdgeKltMultiTracker.cpp.

References initFromPose().

void vpMbEdgeKltMultiTracker::initFromPose ( const vpImage< unsigned char > &  I1,
const vpImage< unsigned char > &  I2,
const vpHomogeneousMatrix c1Mo,
const vpHomogeneousMatrix c2Mo,
const bool  firstCameraIsReference = true 
)
virtual

Initialize the tracking thanks to the pose for stereo cameras configuration.

Parameters
I1: Input image for the first camera.
I2: Input image for the second camera.
c1Mo: Pose matrix for the first camera.
c2Mo: Pose matrix for the second camera.
firstCameraIsReference: If true, the first camera is the reference camera, otherwise it is the second one.

Reimplemented from vpMbEdgeMultiTracker.

Definition at line 1161 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbEdgeMultiTracker::initFromPose(), and vpMbKltMultiTracker::initFromPose().

void vpMbEdgeKltMultiTracker::initFromPose ( const std::map< std::string, const vpImage< unsigned char > * > &  mapOfImages,
const vpHomogeneousMatrix cMo_ 
)
virtual

Initialize the tracking thanks to the pose. The camera transformation matrices have to be set before.

Parameters
mapOfImages: Map of images.
cMo_: Pose matrix for the reference camera.

Reimplemented from vpMbEdgeMultiTracker.

Definition at line 1176 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbEdgeMultiTracker::initFromPose(), and vpMbKltMultiTracker::initFromPose().

void vpMbEdgeKltMultiTracker::initFromPose ( const std::map< std::string, const vpImage< unsigned char > * > &  mapOfImages,
const std::map< std::string, vpHomogeneousMatrix > &  mapOfCameraPoses 
)
virtual

Initialize the tracking thanks to the pose.

Parameters
mapOfImages: Map of images.
mapOfCameraPoses: Map of pose matrix.

Reimplemented from vpMbEdgeMultiTracker.

Definition at line 1189 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbEdgeMultiTracker::initFromPose(), and vpMbKltMultiTracker::initFromPose().

void vpMbEdgeTracker::initMovingEdge ( const vpImage< unsigned char > &  I,
const vpHomogeneousMatrix _cMo 
)
protectedinherited

Initialize the moving edge thanks to a given pose of the camera. The 3D model is projected into the image to create moving edges along the lines.

Parameters
I: The image.
_cMo: The pose of the camera used to initialize the moving edges.

Definition at line 1384 of file vpMbEdgeTracker.cpp.

References vpMbEdgeTracker::circles, vpMbEdgeTracker::cylinders, vpMbtDistanceCircle::hiddenface, vpMbtDistanceLine::hiddenface, vpMbtDistanceCylinder::hiddenface, vpMbtDistanceCircle::index_polygon, vpMbtDistanceCylinder::index_polygon, vpMbtDistanceCircle::initMovingEdge(), vpMbtDistanceLine::initMovingEdge(), vpMbtDistanceCylinder::initMovingEdge(), vpMbtDistanceCircle::isTracked(), vpMbtDistanceLine::isTracked(), vpMbtDistanceCylinder::isTracked(), vpMbHiddenFaces< PolygonType >::isVisible(), vpMbtDistanceLine::Lindex_polygon, vpMbEdgeTracker::lines, vpMbTracker::m_mask, vpMbtDistanceCircle::meEllipse, vpMbtDistanceLine::meline, vpMbtDistanceCylinder::meline1, vpMbtDistanceCylinder::meline2, vpMbtDistanceCircle::nbFeature, vpMbtDistanceLine::nbFeature, vpMbtDistanceCylinder::nbFeature, vpMbtDistanceCylinder::nbFeaturel1, vpMbtDistanceCylinder::nbFeaturel2, vpMbtDistanceLine::nbFeatureTotal, vpMbEdgeTracker::scaleLevel, vpMbtDistanceCircle::setVisible(), vpMbtDistanceLine::setVisible(), vpMbtDistanceCylinder::setVisible(), and vpMbtDistanceLine::updateTracked().

Referenced by vpMbEdgeKltTracker::init(), vpMbEdgeTracker::init(), vpMbEdgeKltTracker::postTracking(), postTracking(), vpMbEdgeTracker::setGoodMovingEdgesRatioThreshold(), vpMbEdgeKltTracker::setPose(), vpMbGenericTracker::track(), and vpMbEdgeTracker::track().

void vpMbTracker::initProjectionErrorCircle ( const vpPoint p1,
const vpPoint p2,
const vpPoint p3,
const double  radius,
const int  idFace = 0,
const std::string &  name = "" 
)
protectedinherited

Definition at line 3065 of file vpMbTracker.cpp.

References vpMbTracker::addProjectionErrorCircle().

Referenced by vpMbTracker::loadCAOModel().

void vpMbTracker::initProjectionErrorCylinder ( const vpPoint p1,
const vpPoint p2,
const double  radius,
const int  idFace = 0,
const std::string &  name = "" 
)
protectedinherited
void vpMbTracker::initProjectionErrorFaceFromCorners ( vpMbtPolygon polygon)
protectedinherited
void vpMbTracker::initProjectionErrorFaceFromLines ( vpMbtPolygon polygon)
protectedinherited
void vpMbEdgeMultiTracker::initPyramid ( const std::map< std::string, const vpImage< unsigned char > * > &  mapOfImages,
std::map< std::string, std::vector< const vpImage< unsigned char > * > > &  pyramid 
)
protectedvirtualinherited
void vpMbEdgeTracker::initPyramid ( const vpImage< unsigned char > &  _I,
std::vector< const vpImage< unsigned char > * > &  _pyramid 
)
protectedinherited

Compute the pyramid of image associated to the image in parameter. The scales computed are the ones corresponding to the scales attribute of the class. If OpenCV is detected, the functions used to computed a smoothed pyramid come from OpenCV, otherwise a simple subsampling (no smoothing, no interpolation) is realized.

Warning
The pyramid contains pointers to vpImage. To properly deallocate the pyramid. All the element but the first (which is a pointer to the input image) must be freed. A proper cleaning is implemented in the cleanPyramid() method.
Parameters
_I: The input image.
_pyramid: The pyramid of image to build from the input image.

Definition at line 2586 of file vpMbEdgeTracker.cpp.

References vpImage< Type >::bitmap, vpImageConvert::convert(), vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), and vpMbEdgeTracker::scales.

Referenced by vpMbEdgeKltTracker::init(), vpMbEdgeTracker::init(), vpMbEdgeMultiTracker::initPyramid(), vpMbEdgeKltTracker::setPose(), and vpMbEdgeTracker::track().

void vpMbTracker::loadCAOModel ( const std::string &  modelFile,
std::vector< std::string > &  vectorOfModelFilename,
int &  startIdFace,
const bool  verbose = false,
const bool  parent = true,
const vpHomogeneousMatrix T = vpHomogeneousMatrix() 
)
protectedvirtualinherited

Load a 3D model contained in a *.cao file.

Since ViSP 2.9.1, lines starting with # character are considered as comments. It is also possible to add comment at the end of the lines. No specific character is requested before the comment. In the following example we use "//" but it could be an other character.

Since ViSP 2.9.1, circles are supported.

The structure of the file is :

V1
# Number of points describing the object
8
0.01 0.01 0.01 // point with index 0 \
... // ... | coordinates of the points in the object frame (in m.)
0.01 0.01 0.01 // point with index 7 /
# Number of lines to track.
3
0 2 // line with index 0 \
1 4 // | Index of the points representing the extremitiesof the lines
1 5 // line with index 2 /
# Number of polygon (face) to track using the line previously described
1
3 0 1 2 // Face described as follow : nbLine indexLine1 indexLine2 ... indexLineN
# Number of polygon (face) to track using the points previously described
3
4 0 2 3 4 // Face described as follow : nbPoint IndexPoint1 IndexPoint2 ... IndexPointN
4 1 3 5 7 3 1 5 6
# Number of cylinder
1
6 7 0.05 // Index of the limits points on the axis (used to know the 'height' of the cylinder) and radius of the cyclinder (in m.)
# Number of circle
1
0.5 0 1 2 // radius, index center point, index 2 other points on the plane containing the circle
Parameters
modelFile: Full name of the main *.cao file containing the model.
vectorOfModelFilename: A vector of *.cao files.
startIdFace: Current Id of the face.
verbose: If true, will print additional information with CAO model files which include other CAO model files.
parent: This parameter is set to true when parsing a parent CAO model file, and false when parsing an included CAO model file.
T: optional transformation matrix (currently only for .cao) to transform 3D points expressed in the original object frame to the desired object frame.

Definition at line 1376 of file vpMbTracker.cpp.

References vpMbTracker::addPolygon(), vpMbTracker::addProjectionErrorPolygon(), vpMbTracker::applyLodSettingInConfig, vpException::badValue, vpIoTools::checkFilename(), vpMbTracker::createCylinderBBox(), vpIoTools::createFilePath(), vpMbTracker::faces, vpIoTools::getAbsolutePathname(), vpIoTools::getName(), vpIoTools::getParent(), vpMbHiddenFaces< PolygonType >::getPolygon(), vpMbTracker::initCircle(), vpMbTracker::initCylinder(), vpMbTracker::initFaceFromCorners(), vpMbTracker::initFaceFromLines(), vpMbTracker::initProjectionErrorCircle(), vpMbTracker::initProjectionErrorCylinder(), vpMbTracker::initProjectionErrorFaceFromCorners(), vpMbTracker::initProjectionErrorFaceFromLines(), vpException::ioError, vpIoTools::isAbsolutePathname(), vpMbTracker::m_projectionErrorFaces, vpMbTracker::minLineLengthThresholdGeneral, vpMbTracker::minPolygonAreaThresholdGeneral, vpMbTracker::nbCircles, vpMbTracker::nbCylinders, vpMbTracker::nbLines, vpMbTracker::nbPoints, vpMbTracker::nbPolygonLines, vpMbTracker::nbPolygonPoints, vpMbTracker::parseBoolean(), vpMbTracker::parseParameters(), vpIoTools::path(), vpMbTracker::removeComment(), vpPoint::setWorldCoordinates(), vpMbTracker::useLodGeneral, and vpTRACE.

Referenced by vpMbTracker::loadModel().

void vpMbEdgeKltMultiTracker::loadConfigFile ( const std::string &  configFile)
virtual

Load the xml configuration file. From the configuration file initialize the parameters corresponding to the objects: KLT, camera.

Warning
To clean up memory allocated by the xml library, the user has to call vpXmlParser::cleanup() before the exit().
Exceptions
vpException::ioErrorif the file has not been properly parsed (file not found or wrong format for the data).
Parameters
configFile: full name of the xml file.

The XML configuration file has the following form:

<?xml version="1.0"?>
<conf>
<camera>
<width>640</width>
<height>480</height>
<u0>320</u0>
<v0>240</v0>
<px>686.24</px>
<py>686.24</py>
</camera>
<face>
<angle_appear>65</angle_appear>
<angle_disappear>85</angle_disappear>
<near_clipping>0.01</near_clipping>
<far_clipping>0.90</far_clipping>
<fov_clipping>1</fov_clipping>
</face>
<klt>
<mask_border>10</mask_border>
<max_features>10000</max_features>
<window_size>5</window_size>
<quality>0.02</quality>
<min_distance>10</min_distance>
<harris>0.02</harris>
<size_block>3</size_block>
<pyramid_lvl>3</pyramid_lvl>
</klt>
</conf>
See also
vpXmlParser::cleanup()

Reimplemented from vpMbEdgeMultiTracker.

Examples:
mbtEdgeKltMultiTracking.cpp.

Definition at line 1292 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbEdgeMultiTracker::loadConfigFile(), and vpMbKltMultiTracker::loadConfigFile().

void vpMbEdgeKltMultiTracker::loadConfigFile ( const std::string &  configFile1,
const std::string &  configFile2,
const bool  firstCameraIsReference = true 
)
virtual

Load the xml configuration files for the stereo cameras case. An example of such a file is provided in loadConfigFile(const std::string &) documentation. From the configuration file initialize the parameters corresponding to the objects: KLT, camera.

Warning
To clean up memory allocated by the xml library, the user has to call vpXmlParser::cleanup() before the exit().
Parameters
configFile1: Full name of the xml file for the first camera.
configFile2: Full name of the xml file for the second camera.
firstCameraIsReference: If true, the first camera is the reference, otherwise it is the second one.
See also
loadConfigFile(const std::string &), vpXmlParser::cleanup()

Reimplemented from vpMbEdgeMultiTracker.

Definition at line 1314 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbEdgeMultiTracker::loadConfigFile(), and vpMbKltMultiTracker::loadConfigFile().

void vpMbEdgeKltMultiTracker::loadConfigFile ( const std::map< std::string, std::string > &  mapOfConfigFiles)
virtual

Load the xml configuration files for all the cameras. An example of such a file is provided in loadConfigFile(const std::string &) documentation. From the configuration file initialize the parameters corresponding to the objects: KLT, camera.

Warning
To clean up memory allocated by the xml library, the user has to call vpXmlParser::cleanup() before the exit().
Parameters
mapOfConfigFiles: Map of xml files.
See also
loadConfigFile(const std::string &), vpXmlParser::cleanup()

Reimplemented from vpMbEdgeMultiTracker.

Definition at line 1334 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbEdgeMultiTracker::loadConfigFile(), and vpMbKltMultiTracker::loadConfigFile().

void vpMbEdgeKltMultiTracker::loadModel ( const std::string &  modelFile,
const bool  verbose = false,
const vpHomogeneousMatrix T = vpHomogeneousMatrix() 
)
virtual

Load a 3D model from the file in parameter. This file must either be a vrml file (.wrl) or a CAO file (.cao). CAO format is described in the loadCAOModel() method.

Warning
When this class is called to load a vrml model, remember that you have to call Call SoDD::finish() before ending the program.
int main()
{
...
#if defined(VISP_HAVE_COIN3D) && (COIN_MAJOR_VERSION == 3)
SoDB::finish();
#endif
}
Exceptions
vpException::ioErrorif the file cannot be open, or if its extension is not wrl or cao.
Parameters
modelFile: the file containing the the 3D model description. The extension of this file is either .wrl or .cao.
verbose: verbose option to print additional information when loading CAO model files which include other CAO model files.
T: optional transformation matrix (currently only for .cao) to transform 3D points expressed in the original object frame to the desired object frame.

Reimplemented from vpMbEdgeMultiTracker.

Examples:
mbtEdgeKltMultiTracking.cpp.

Definition at line 1367 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbEdgeMultiTracker::loadModel(), vpMbKltMultiTracker::loadModel(), and vpMbTracker::modelInitialised.

void vpMbTracker::loadVRMLModel ( const std::string &  modelFile)
protectedvirtualinherited

Load the 3D model of the object from a vrml file. Only LineSet and FaceSet are extracted from the vrml file.

Warning
When this class is called, remember that you have to call Call SoDD::finish() before ending the program.
int main()
{
...
#if defined(VISP_HAVE_COIN3D) && (COIN_MAJOR_VERSION == 3)
SoDB::finish();
#endif
}
The cylinders extracted using this method do not use the Cylinder keyword of vrml since vrml exporter such as Blender or AC3D consider a cylinder as an IndexedFaceSet. To test whether an indexedFaceSet is a cylinder or not, the name of the geometry is read. If the name begins with "cyl" then the faceset is supposed to be a cylinder. For example, the line
geometry DEF cyl_cylinder1 IndexedFaceSet
defines a cylinder named cyl_cylinder1.
Exceptions
vpException::fatalErrorif the file cannot be open.
Parameters
modelFile: The full name of the file containing the 3D model.

Definition at line 1213 of file vpMbTracker.cpp.

References vpMbTracker::extractGroup(), vpMbTracker::faces, vpException::fatalError, vpMbHiddenFaces< PolygonType >::size(), and vpERROR_TRACE.

Referenced by vpMbTracker::loadModel().

std::string& vpMbTracker::ltrim ( std::string &  s) const
inlineprotectedinherited

Definition at line 860 of file vpMbTracker.h.

bool vpMbTracker::parseBoolean ( std::string &  input)
inlineprotectedinherited

Definition at line 847 of file vpMbTracker.h.

Referenced by vpMbTracker::loadCAOModel().

std::map< std::string, std::string > vpMbTracker::parseParameters ( std::string &  endLine)
protectedinherited

Definition at line 1274 of file vpMbTracker.cpp.

References vpMbTracker::mapOfParameterNames, and vpMbTracker::trim().

Referenced by vpMbTracker::loadCAOModel().

void vpMbKltMultiTracker::preTracking ( std::map< std::string, const vpImage< unsigned char > * > &  mapOfImages)
protectedvirtualinherited
void vpMbTracker::projectionErrorResetMovingEdges ( )
protectedinherited
void vpMbEdgeKltMultiTracker::reinit ( )
protectedvirtual

The parameter is not used.

Reimplemented from vpMbKltMultiTracker.

Definition at line 1434 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbKltMultiTracker::reinit().

Referenced by vpMbKltTracker::setThresholdAcceptation().

void vpMbEdgeTracker::reInitLevel ( const unsigned int  _lvl)
protectedinherited

Re initialize the moving edges associated to a given level. This method is used to re-initialize the level if the tracking failed on this level but succeeded on the other one.

Parameters
_lvl: The level to re-initialize.

Definition at line 2760 of file vpMbEdgeTracker.cpp.

References vpMbEdgeTracker::circles, vpMbTracker::cMo, vpMbEdgeTracker::cylinders, vpMbEdgeTracker::Ipyramid, vpMbEdgeTracker::lines, vpMbTracker::m_mask, vpMbtDistanceCircle::reinitMovingEdge(), vpMbtDistanceLine::reinitMovingEdge(), vpMbtDistanceCylinder::reinitMovingEdge(), vpMbEdgeTracker::scaleLevel, vpMbEdgeTracker::trackMovingEdge(), and vpMbEdgeTracker::updateMovingEdge().

Referenced by vpMbEdgeTracker::setGoodMovingEdgesRatioThreshold(), vpMbEdgeMultiTracker::track(), and vpMbEdgeTracker::track().

void vpMbEdgeKltMultiTracker::reInitModel ( const vpImage< unsigned char > &  I,
const std::string &  cad_name,
const vpHomogeneousMatrix cMo_,
const bool  verbose = false,
const vpHomogeneousMatrix T = vpHomogeneousMatrix() 
)
virtual

Re-initialize the model used by the tracker.

Parameters
I: The image containing the object to initialize.
cad_name: Path to the file containing the 3D model description.
cMo_: The new vpHomogeneousMatrix between the camera and the new model
verbose: verbose option to print additional information when loading CAO model files which include other CAO model files.
T: optional transformation matrix (currently only for .cao) to transform 3D points expressed in the original object frame to the desired object frame.

Reimplemented from vpMbEdgeMultiTracker.

Definition at line 1452 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbEdgeMultiTracker::reInitModel(), and vpMbKltMultiTracker::reInitModel().

Referenced by vpMbKltTracker::getRobustWeights(), and vpMbEdgeTracker::getRobustWeights().

void vpMbEdgeKltMultiTracker::reInitModel ( const vpImage< unsigned char > &  I1,
const vpImage< unsigned char > &  I2,
const std::string &  cad_name,
const vpHomogeneousMatrix c1Mo,
const vpHomogeneousMatrix c2Mo,
const bool  verbose = false,
const bool  firstCameraIsReference = true 
)
virtual

Re-initialize the model used by the tracker.

Parameters
I1: The image containing the object to initialize for the first camera.
I2: The image containing the object to initialize for the second camera.
cad_name: Path to the file containing the 3D model description.
c1Mo: The new vpHomogeneousMatrix between the first camera and the new model.
c2Mo: The new vpHomogeneousMatrix between the second camera and the new model.
verbose: verbose option to print additional information when loading CAO model files which include other CAO model files.
firstCameraIsReference: If true, the first camera is the reference camera, otherwise it is the second one.

Reimplemented from vpMbEdgeMultiTracker.

Definition at line 1473 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbEdgeMultiTracker::reInitModel(), and vpMbKltMultiTracker::reInitModel().

void vpMbEdgeKltMultiTracker::reInitModel ( const std::map< std::string, const vpImage< unsigned char > * > &  mapOfImages,
const std::string &  cad_name,
const std::map< std::string, vpHomogeneousMatrix > &  mapOfCameraPoses,
const bool  verbose = false 
)
virtual

Re-initialize the model used by the tracker.

Parameters
mapOfImages: Map of images.
cad_name: Path to the file containing the 3D model description.
mapOfCameraPoses: The new vpHomogeneousMatrix between the cameras and the current object position.
verbose: Verbose option to print additional information when loading CAO model files which include other CAO model files.

Reimplemented from vpMbEdgeMultiTracker.

Definition at line 1492 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbEdgeMultiTracker::reInitModel(), and vpMbKltMultiTracker::reInitModel().

void vpMbEdgeTracker::reinitMovingEdge ( const vpImage< unsigned char > &  I,
const vpHomogeneousMatrix _cMo 
)
protectedinherited
void vpMbEdgeTracker::removeCircle ( const std::string &  name)
protectedinherited

Remove a circle by its name.

Parameters
name: The name of the circle to remove.

Definition at line 2037 of file vpMbEdgeTracker.cpp.

References vpMbEdgeTracker::circles, vpMbtDistanceCircle::getName(), and vpMbEdgeTracker::scales.

Referenced by vpMbEdgeTracker::setGoodMovingEdgesRatioThreshold().

void vpMbTracker::removeComment ( std::ifstream &  fileId)
protectedinherited

Definition at line 1259 of file vpMbTracker.cpp.

References vpException::ioError.

Referenced by vpMbTracker::initClick(), and vpMbTracker::loadCAOModel().

void vpMbEdgeTracker::removeCylinder ( const std::string &  name)
protectedinherited

Remove a cylinder by its name.

Parameters
name: The name of the cylinder to remove.

Definition at line 2015 of file vpMbEdgeTracker.cpp.

References vpMbEdgeTracker::cylinders, vpMbtDistanceCylinder::getName(), and vpMbEdgeTracker::scales.

Referenced by vpMbEdgeTracker::setGoodMovingEdgesRatioThreshold().

void vpMbEdgeTracker::removeLine ( const std::string &  name)
protectedinherited

Remove a line using its name.

Parameters
name: The name of the line to remove.

Definition at line 1885 of file vpMbEdgeTracker.cpp.

References vpMbtDistanceLine::getName(), vpMbEdgeTracker::lines, and vpMbEdgeTracker::scales.

Referenced by vpMbEdgeTracker::setGoodMovingEdgesRatioThreshold().

void vpMbEdgeKltMultiTracker::resetTracker ( )
virtual

Reset the tracker. The model is removed and the pose is set to identity. The tracker needs to be initialized with a new model and a new pose.

Reimplemented from vpMbEdgeMultiTracker.

Examples:
mbtEdgeKltMultiTracking.cpp.

Definition at line 1505 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbEdgeMultiTracker::resetTracker(), and vpMbKltMultiTracker::resetTracker().

std::string& vpMbTracker::rtrim ( std::string &  s) const
inlineprotectedinherited

Definition at line 866 of file vpMbTracker.h.

bool vpMbTracker::samePoint ( const vpPoint P1,
const vpPoint P2 
) const
protectedinherited

Check if two vpPoints are similar.

To be similar : $ (X_1 - X_2)^2 + (Y_1 - Y_2)^2 + (Z_1 - Z_2)^2 < epsilon $.

Parameters
P1: The first point to compare
P2: The second point to compare

Definition at line 2769 of file vpMbTracker.cpp.

References vpPoint::get_oX(), vpPoint::get_oY(), and vpPoint::get_oZ().

Referenced by vpMbEdgeTracker::addCircle(), vpMbEdgeTracker::addCylinder(), vpMbEdgeTracker::addLine(), vpMbTracker::addProjectionErrorCircle(), vpMbTracker::addProjectionErrorCylinder(), and vpMbTracker::addProjectionErrorLine().

void vpMbTracker::savePose ( const std::string &  filename) const
inherited

Save the pose in the given filename

Parameters
filename: Path to the file used to save the pose.

Definition at line 904 of file vpMbTracker.cpp.

References vpPoseVector::buildFrom(), and vpMbTracker::cMo.

Referenced by vpMbTracker::initClick().

void vpMbEdgeKltMultiTracker::setAngleAppear ( const double &  a)
virtual

Set the angle used to test polygons appearance. If the angle between the normal of the polygon and the line going from the camera to the polygon center has a value lower than this parameter, the polygon is considered as appearing. The polygon will then be tracked.

Parameters
a: new angle in radian.

Reimplemented from vpMbEdgeMultiTracker.

Examples:
mbtEdgeKltMultiTracking.cpp.

Definition at line 1520 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbEdgeMultiTracker::setAngleAppear(), and vpMbKltMultiTracker::setAngleAppear().

void vpMbEdgeKltMultiTracker::setAngleDisappear ( const double &  a)
virtual

Set the angle used to test polygons disappearance. If the angle between the normal of the polygon and the line going from the camera to the polygon center has a value greater than this parameter, the polygon is considered as disappearing. The tracking of the polygon will then be stopped.

Parameters
a: new angle in radian.

Reimplemented from vpMbEdgeMultiTracker.

Examples:
mbtEdgeKltMultiTracking.cpp.

Definition at line 1535 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbEdgeMultiTracker::setAngleDisappear(), and vpMbKltMultiTracker::setAngleDisappear().

void vpMbEdgeKltMultiTracker::setCameraParameters ( const vpCameraParameters camera)
virtual

Set the camera parameters for the monocular case.

Parameters
camera: The new camera parameters.

Reimplemented from vpMbEdgeMultiTracker.

Examples:
mbtEdgeKltMultiTracking.cpp.

Definition at line 1546 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbTracker::cam, vpMbEdgeMultiTracker::setCameraParameters(), and vpMbKltMultiTracker::setCameraParameters().

void vpMbEdgeKltMultiTracker::setCameraParameters ( const vpCameraParameters camera1,
const vpCameraParameters camera2,
const bool  firstCameraIsReference = true 
)
virtual

Set the camera parameters for the stereo cameras case.

Parameters
camera1: The new camera parameters for the first camera.
camera2: The new camera parameters for the second camera.
firstCameraIsReference: If true, the first camera is the reference, otherwise it is the second one.

Reimplemented from vpMbEdgeMultiTracker.

Definition at line 1562 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbTracker::cam, vpMbEdgeMultiTracker::setCameraParameters(), and vpMbKltMultiTracker::setCameraParameters().

void vpMbEdgeKltMultiTracker::setCameraParameters ( const std::string &  cameraName,
const vpCameraParameters camera 
)
virtual

Set the camera parameters for the specified camera.

Parameters
cameraName: Camera name.
camera: The new camera parameters.

Reimplemented from vpMbEdgeMultiTracker.

Definition at line 1581 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbTracker::cam, m_referenceCameraName, vpMbEdgeMultiTracker::setCameraParameters(), and vpMbKltMultiTracker::setCameraParameters().

void vpMbEdgeKltMultiTracker::setCameraParameters ( const std::map< std::string, vpCameraParameters > &  mapOfCameraParameters)
virtual

Set the camera parameters for all the cameras.

Parameters
mapOfCameraParameters: Map of camera parameters.

Reimplemented from vpMbEdgeMultiTracker.

Definition at line 1596 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbTracker::cam, m_referenceCameraName, vpMbEdgeMultiTracker::setCameraParameters(), and vpMbKltMultiTracker::setCameraParameters().

void vpMbEdgeKltMultiTracker::setCameraTransformationMatrix ( const std::string &  cameraName,
const vpHomogeneousMatrix cameraTransformationMatrix 
)
virtual

Set the camera transformation matrix for the specified camera ( $ _{}^{c_{current}}\textrm{M}_{c_{reference}} $).

Parameters
cameraName: Camera name.
cameraTransformationMatrix: Camera transformation matrix between the current and the reference camera.

Reimplemented from vpMbEdgeMultiTracker.

Definition at line 1618 of file vpMbEdgeKltMultiTracker.cpp.

References m_mapOfCameraTransformationMatrix, vpMbEdgeMultiTracker::setCameraTransformationMatrix(), and vpMbKltMultiTracker::setCameraTransformationMatrix().

void vpMbEdgeKltMultiTracker::setCameraTransformationMatrix ( const std::map< std::string, vpHomogeneousMatrix > &  mapOfTransformationMatrix)
virtual

Set the map of camera transformation matrices ( $ _{}^{c_1}\textrm{M}_{c_1}, _{}^{c_2}\textrm{M}_{c_1}, _{}^{c_3}\textrm{M}_{c_1}, \cdots, _{}^{c_n}\textrm{M}_{c_1} $).

Parameters
mapOfTransformationMatrix: map of camera transformation matrices.

Reimplemented from vpMbEdgeMultiTracker.

Definition at line 1639 of file vpMbEdgeKltMultiTracker.cpp.

References m_mapOfCameraTransformationMatrix, vpMbEdgeMultiTracker::setCameraTransformationMatrix(), and vpMbKltMultiTracker::setCameraTransformationMatrix().

void vpMbEdgeKltMultiTracker::setClipping ( const unsigned int &  flags)
virtual

Specify which clipping to use.

See also
vpMbtPolygonClipping
Parameters
flags: New clipping flags.

Reimplemented from vpMbEdgeMultiTracker.

Examples:
mbtEdgeKltMultiTracking.cpp.

Definition at line 1655 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbEdgeMultiTracker::setClipping(), and vpMbKltMultiTracker::setClipping().

void vpMbEdgeKltMultiTracker::setClipping ( const std::string &  cameraName,
const unsigned int &  flags 
)
virtual

Specify which clipping to use.

See also
vpMbtPolygonClipping
Parameters
cameraName: Camera to set the clipping.
flags: New clipping flags.

Reimplemented from vpMbEdgeMultiTracker.

Definition at line 1669 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbEdgeMultiTracker::setClipping(), and vpMbKltMultiTracker::setClipping().

void vpMbEdgeKltMultiTracker::setCovarianceComputation ( const bool &  flag)
virtual

Set if the covariance matrix has to be computed.

Parameters
flag: True if the covariance has to be computed, false otherwise

Reimplemented from vpMbEdgeMultiTracker.

Examples:
mbtEdgeKltMultiTracking.cpp.

Definition at line 1681 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbEdgeMultiTracker::setCovarianceComputation(), and vpMbKltMultiTracker::setCovarianceComputation().

void vpMbEdgeKltMultiTracker::setDisplayFeatures ( const bool  displayF)
virtual

Enable to display the moving edges (ME) and the klt features.

Note that if present, the moving edges can be displayed with different colors:

  • If green : The ME is a good point.
  • If blue : The ME is removed because of a contrast problem during the tracking phase.
  • If purple : The ME is removed because of a threshold problem during the tracking phase.
  • If red : The ME is removed because it is rejected by the robust approach in the virtual visual servoing scheme.
Parameters
displayF: set it to true to display the features.

Reimplemented from vpMbEdgeMultiTracker.

Examples:
mbtEdgeKltMultiTracking.cpp.

Definition at line 1702 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbEdgeMultiTracker::setDisplayFeatures(), and vpMbKltMultiTracker::setDisplayFeatures().

void vpMbTracker::setEstimatedDoF ( const vpColVector v)
virtualinherited

Set a 6-dim column vector representing the degrees of freedom in the object frame that are estimated by the tracker. When set to 1, all the 6 dof are estimated.

Below we give the correspondance between the index of the vector and the considered dof:

  • v[0] = 1 if translation along X is estimated, 0 otherwise;
  • v[1] = 1 if translation along Y is estimated, 0 otherwise;
  • v[2] = 1 if translation along Z is estimated, 0 otherwise;
  • v[3] = 1 if rotation along X is estimated, 0 otherwise;
  • v[4] = 1 if rotation along Y is estimated, 0 otherwise;
  • v[5] = 1 if rotation along Z is estimated, 0 otherwise;

Definition at line 2654 of file vpMbTracker.cpp.

References vpArray2D< Type >::getRows(), vpMbTracker::isoJoIdentity, and vpMbTracker::oJo.

void vpMbEdgeKltMultiTracker::setFactorKLT ( const double  factor)
inline

Set the factor for KLT tracker in the VVS process.

Parameters
factor: The new factor.

Definition at line 286 of file vpMbEdgeKltMultiTracker.h.

void vpMbEdgeKltMultiTracker::setFarClippingDistance ( const double &  dist)
virtual

Set the far distance for clipping.

Parameters
dist: Far clipping value.

Reimplemented from vpMbEdgeMultiTracker.

Examples:
mbtEdgeKltMultiTracking.cpp.

Definition at line 1713 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbEdgeMultiTracker::setFarClippingDistance(), and vpMbKltMultiTracker::setFarClippingDistance().

void vpMbEdgeKltMultiTracker::setFarClippingDistance ( const std::string &  cameraName,
const double &  dist 
)
virtual

Set the far distance for clipping for the specified camera.

Parameters
cameraName: Camera to set the far clipping.
dist: Far clipping value.

Reimplemented from vpMbEdgeMultiTracker.

Definition at line 1725 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbEdgeMultiTracker::setFarClippingDistance(), and vpMbKltMultiTracker::setFarClippingDistance().

void vpMbEdgeMultiTracker::setGoodMovingEdgesRatioThreshold ( const double  threshold)
virtualinherited

Set the threshold value between 0 and 1 over good moving edges ratio. It allows to decide if the tracker has enough valid moving edges to compute a pose. 1 means that all moving edges should be considered as good to have a valid pose, while 0.1 means that 10% of the moving edge are enough to declare a pose valid.

Parameters
threshold: Value between 0 and 1 that corresponds to the ratio of good moving edges that is necessary to consider that the estimated pose is valid. Default value is 0.4.
See also
getGoodMovingEdgesRatioThreshold()

Definition at line 2348 of file vpMbEdgeMultiTracker.cpp.

References vpMbEdgeMultiTracker::m_mapOfEdgeTrackers, and vpMbEdgeTracker::percentageGdPt.

void vpMbEdgeKltMultiTracker::setGoodNbRayCastingAttemptsRatio ( const double &  ratio)
virtual

Set the ratio of visibility attempts that has to be successful to consider a polygon as visible.

See also
setNbRayCastingAttemptsForVisibility(const unsigned int &)
Parameters
ratio: Ratio of succesful attempts that has to be considered. Value has to be between 0.0 (0%) and 1.0 (100%).

Reimplemented from vpMbTracker.

Definition at line 1741 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbKltMultiTracker::setGoodNbRayCastingAttemptsRatio(), and vpMbEdgeMultiTracker::setGoodNbRayCastingAttemptsRatio().

virtual void vpMbTracker::setInitialMu ( const double  mu)
inlinevirtualinherited

Set the initial value of mu for the Levenberg Marquardt optimization loop.

Parameters
mu: initial mu.

Definition at line 514 of file vpMbTracker.h.

void vpMbKltMultiTracker::setKltMaskBorder ( const unsigned int &  e)
virtualinherited

Set the erosion of the mask used on the Model faces.

Parameters
e: The desired erosion.
Examples:
mbtEdgeKltMultiTracking.cpp, and mbtKltMultiTracking.cpp.

Definition at line 2338 of file vpMbKltMultiTracker.cpp.

References vpMbKltMultiTracker::m_mapOfKltTrackers, and vpMbKltTracker::maskBorder.

Referenced by vpMbKltMultiTracker::setMaskBorder().

void vpMbKltMultiTracker::setKltOpencv ( const vpKltOpencv t)
virtualinherited

Set the new value of the klt tracker.

Parameters
t: Klt tracker containing the new values.

Reimplemented from vpMbKltTracker.

Examples:
mbtEdgeKltMultiTracking.cpp, and mbtKltMultiTracking.cpp.

Definition at line 2265 of file vpMbKltMultiTracker.cpp.

References vpMbKltMultiTracker::m_mapOfKltTrackers.

Referenced by vpMbKltTracker::setKltMaskBorder().

void vpMbKltMultiTracker::setKltOpencv ( const std::map< std::string, vpKltOpencv > &  mapOfOpenCVTrackers)
virtualinherited

Set the new value of the klt tracker for the specified cameras.

Parameters
mapOfOpenCVTrackers: Map of Klt trackers containing the new values.

Definition at line 2278 of file vpMbKltMultiTracker.cpp.

References vpMbKltMultiTracker::m_mapOfKltTrackers.

void vpMbKltMultiTracker::setKltThresholdAcceptation ( const double  th)
virtualinherited

Set the threshold for the acceptation of a point.

Parameters
th: Threshold for the weight below which a point is rejected.

Definition at line 2708 of file vpMbKltMultiTracker.cpp.

References vpMbKltMultiTracker::m_mapOfKltTrackers, and vpMbKltTracker::threshold_outlier.

Referenced by vpMbKltMultiTracker::setThresholdAcceptation().

virtual void vpMbTracker::setLambda ( const double  gain)
inlinevirtualinherited

Set the value of the gain used to compute the control law.

Parameters
gain: the desired value for the gain.

Definition at line 521 of file vpMbTracker.h.

void vpMbEdgeKltMultiTracker::setLod ( const bool  useLod,
const std::string &  name = "" 
)
virtual

Set the flag to consider if the level of detail (LOD) is used for all the cameras.

Parameters
useLod: true if the level of detail must be used, false otherwise. When true, two parameters can be set, see setMinLineLengthThresh() and setMinPolygonAreaThresh().
name: name of the face we want to modify the LOD parameter.
See also
setMinLineLengthThresh(), setMinPolygonAreaThresh()

Reimplemented from vpMbEdgeMultiTracker.

Definition at line 1774 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbKltMultiTracker::setLod(), and vpMbEdgeMultiTracker::setLod().

void vpMbEdgeKltMultiTracker::setLod ( const bool  useLod,
const std::string &  cameraName,
const std::string &  name 
)
virtual

Set the flag to consider if the level of detail (LOD) is used for all the cameras.

Parameters
useLod: true if the level of detail must be used, false otherwise. When true, two parameters can be set, see setMinLineLengthThresh() and setMinPolygonAreaThresh().
cameraName: Name of the camera we want to set the LOD.
name: name of the face we want to modify the LOD parameter, if empty all the faces are considered.
See also
setMinLineLengthThresh(), setMinPolygonAreaThresh()

Reimplemented from vpMbEdgeMultiTracker.

Definition at line 1792 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbKltMultiTracker::setLod(), and vpMbEdgeMultiTracker::setLod().

virtual void vpMbTracker::setMask ( const vpImage< bool > &  mask)
inlinevirtualinherited

Reimplemented in vpMbGenericTracker.

Definition at line 549 of file vpMbTracker.h.

Referenced by vpMbGenericTracker::getRobustWeights(), and vpMbGenericTracker::setMask().

void vpMbKltMultiTracker::setMaskBorder ( const unsigned int &  e)
virtualinherited

Set the erosion of the mask used on the Model faces.

Deprecated:
Use rather setKltMaskBorder()
Parameters
e: The desired erosion.

Definition at line 2826 of file vpMbKltMultiTracker.cpp.

References vpMbKltMultiTracker::setKltMaskBorder().

virtual void vpMbTracker::setMaxIter ( const unsigned int  max)
inlinevirtualinherited

Set the maximum iteration of the virtual visual servoing stage.

Parameters
max: the desired number of iteration

Definition at line 530 of file vpMbTracker.h.

void vpMbEdgeKltMultiTracker::setMinLineLengthThresh ( const double  minLineLengthThresh,
const std::string &  name = "" 
)
virtual

Set the threshold for the minimum line length to be considered as visible in the LOD case.

Parameters
minLineLengthThresh: threshold for the minimum line length in pixel.
name: name of the face we want to modify the LOD threshold.
See also
setLod(), setMinPolygonAreaThresh()

Reimplemented from vpMbEdgeMultiTracker.

Definition at line 1807 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbEdgeMultiTracker::setMinLineLengthThresh().

void vpMbEdgeKltMultiTracker::setMinLineLengthThresh ( const double  minLineLengthThresh,
const std::string &  cameraName,
const std::string &  name 
)
virtual

Set the threshold for the minimum line length to be considered as visible in the LOD case.

Parameters
minLineLengthThresh: threshold for the minimum line length in pixel.
cameraName: name of the camera to consider.
name: name of the face we want to modify the LOD threshold, if empty all the faces are considered.
See also
setLod(), setMinPolygonAreaThresh()

Reimplemented from vpMbEdgeMultiTracker.

Definition at line 1823 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbEdgeMultiTracker::setMinLineLengthThresh().

void vpMbEdgeKltMultiTracker::setMinPolygonAreaThresh ( const double  minPolygonAreaThresh,
const std::string &  name = "" 
)
virtual

Set the minimum polygon area to be considered as visible in the LOD case.

Parameters
minPolygonAreaThresh: threshold for the minimum polygon area in pixel.
name: name of the face we want to modify the LOD threshold.
See also
setLod(), setMinLineLengthThresh()

Reimplemented from vpMbEdgeMultiTracker.

Definition at line 1837 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbKltMultiTracker::setMinPolygonAreaThresh(), and vpMbEdgeMultiTracker::setMinPolygonAreaThresh().

void vpMbEdgeKltMultiTracker::setMinPolygonAreaThresh ( const double  minPolygonAreaThresh,
const std::string &  cameraName,
const std::string &  name 
)
virtual

Set the minimum polygon area to be considered as visible in the LOD case.

Parameters
minPolygonAreaThresh: threshold for the minimum polygon area in pixel.
cameraName: name of the camera to consider.
name: name of the face we want to modify the LOD threshold, if empty all the faces are considered.
See also
setLod(), setMinLineLengthThresh()

Reimplemented from vpMbEdgeMultiTracker.

Definition at line 1853 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbKltMultiTracker::setMinPolygonAreaThresh(), and vpMbEdgeMultiTracker::setMinPolygonAreaThresh().

void vpMbEdgeMultiTracker::setMovingEdge ( const vpMe me)
virtualinherited

Set the moving edge parameters.

Parameters
me: an instance of vpMe containing all the desired parameters.
Examples:
mbtEdgeKltMultiTracking.cpp, and mbtEdgeMultiTracking.cpp.

Definition at line 2519 of file vpMbEdgeMultiTracker.cpp.

References vpMbEdgeMultiTracker::m_mapOfEdgeTrackers.

Referenced by vpMbEdgeTracker::setGoodMovingEdgesRatioThreshold().

void vpMbEdgeMultiTracker::setMovingEdge ( const std::string &  cameraName,
const vpMe me 
)
virtualinherited

Set the moving edge parameters for the specified camera.

Parameters
cameraName: Camera name to set the moving edge parameters.
me: An instance of vpMe containing all the desired parameters.

Definition at line 2533 of file vpMbEdgeMultiTracker.cpp.

References vpMbEdgeMultiTracker::m_mapOfEdgeTrackers.

void vpMbEdgeKltMultiTracker::setNbRayCastingAttemptsForVisibility ( const unsigned int &  attempts)
virtual

Set the number of rays that will be sent toward each polygon for visibility test. Each ray will go from the optic center of the camera to a random point inside the considered polygon.

See also
setGoodNbRayCastingAttemptsRatio(const unsigned int &)
Parameters
attemptsNumber of rays to be sent.

Reimplemented from vpMbTracker.

Definition at line 1756 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbKltMultiTracker::setNbRayCastingAttemptsForVisibility(), and vpMbEdgeMultiTracker::setNbRayCastingAttemptsForVisibility().

void vpMbEdgeKltMultiTracker::setNearClippingDistance ( const double &  dist)
virtual

Set the near distance for clipping.

Parameters
dist: Near clipping value.

Reimplemented from vpMbEdgeMultiTracker.

Examples:
mbtEdgeKltMultiTracking.cpp.

Definition at line 1865 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbKltMultiTracker::setNearClippingDistance(), and vpMbEdgeMultiTracker::setNearClippingDistance().

void vpMbEdgeKltMultiTracker::setNearClippingDistance ( const std::string &  cameraName,
const double &  dist 
)
virtual

Set the near distance for clipping for the specified camera.

Parameters
cameraName: Camera name to set the near clipping distance.
dist: Near clipping value.

Reimplemented from vpMbEdgeMultiTracker.

Definition at line 1877 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbKltMultiTracker::setNearClippingDistance(), and vpMbEdgeMultiTracker::setNearClippingDistance().

void vpMbEdgeKltMultiTracker::setOgreShowConfigDialog ( const bool  showConfigDialog)
virtual

Enable/Disable the appearance of Ogre config dialog on startup.

Warning
This method has only effect when Ogre is used and Ogre visibility test is enabled using setOgreVisibilityTest() with true parameter.
Parameters
showConfigDialog: if true, shows Ogre dialog window (used to set Ogre rendering options) when Ogre visibility is enabled. By default, this functionality is turned off.

Reimplemented from vpMbEdgeMultiTracker.

Examples:
mbtEdgeKltMultiTracking.cpp.

Definition at line 1893 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbKltMultiTracker::setOgreShowConfigDialog(), and vpMbEdgeMultiTracker::setOgreShowConfigDialog().

void vpMbEdgeKltMultiTracker::setOgreVisibilityTest ( const bool &  v)
virtual

Use Ogre3D for visibility tests

Warning
This function has to be called before the initialization of the tracker.
Parameters
v: True to use it, False otherwise

Reimplemented from vpMbEdgeMultiTracker.

Examples:
mbtEdgeKltMultiTracking.cpp.

Definition at line 1907 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbEdgeMultiTracker::m_mapOfEdgeTrackers, vpMbKltMultiTracker::m_mapOfKltTrackers, and vpMbTracker::useOgre.

void vpMbEdgeKltMultiTracker::setOptimizationMethod ( const vpMbtOptimizationMethod opt)
virtual

Set the optimization method used during the tracking.

Parameters
opt: Optimization method to use.

Reimplemented from vpMbEdgeMultiTracker.

Definition at line 1943 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbKltMultiTracker::setOptimizationMethod(), and vpMbEdgeMultiTracker::setOptimizationMethod().

void vpMbEdgeKltMultiTracker::setPose ( const vpImage< unsigned char > &  I,
const vpHomogeneousMatrix cMo_ 
)
virtual

Set the pose to be used in entry of the next call to the track() function. This pose will be just used once.

Parameters
I: image corresponding to the desired pose.
cMo_: Pose to affect.

Reimplemented from vpMbEdgeMultiTracker.

Examples:
mbtEdgeKltMultiTracking.cpp.

Definition at line 1956 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbKltTracker::c0Mo, vpMbTracker::cMo, vpMbKltTracker::ctTc0, vpHomogeneousMatrix::eye(), vpMbEdgeMultiTracker::m_mapOfEdgeTrackers, vpMbKltMultiTracker::m_mapOfKltTrackers, and m_referenceCameraName.

void vpMbEdgeKltMultiTracker::setPose ( const vpImage< unsigned char > &  I1,
const vpImage< unsigned char > &  I2,
const vpHomogeneousMatrix c1Mo,
const vpHomogeneousMatrix c2Mo,
const bool  firstCameraIsReference = true 
)
virtual

Set the pose to be used in entry of the next call to the track() function. This pose will be just used once.

Parameters
I1: First image corresponding to the desired pose.
I2: Second image corresponding to the desired pose.
c1Mo: First pose to affect.
c2Mo: Second pose to affect.
firstCameraIsReference: if true, the first camera is the reference, otherwise it is the second one.

Reimplemented from vpMbEdgeMultiTracker.

Definition at line 1987 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbKltMultiTracker::setPose(), and vpMbEdgeMultiTracker::setPose().

void vpMbEdgeKltMultiTracker::setPose ( const std::map< std::string, const vpImage< unsigned char > * > &  mapOfImages,
const vpHomogeneousMatrix cMo_ 
)
virtual

Set the pose to be used in entry of the next call to the track() function. This pose will be just used once. The camera transformation matrices have to be set before.

Parameters
mapOfImages: Map of images.
cMo_: Pose to affect to the reference camera.

Reimplemented from vpMbEdgeMultiTracker.

Definition at line 2003 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbKltMultiTracker::setPose(), and vpMbEdgeMultiTracker::setPose().

void vpMbEdgeKltMultiTracker::setPose ( const std::map< std::string, const vpImage< unsigned char > * > &  mapOfImages,
const std::map< std::string, vpHomogeneousMatrix > &  mapOfCameraPoses 
)
virtual

Set the pose to be used in entry of the next call to the track() function. This pose will be just used once. Cameras that do not have pose will be automatically handled but the pose for the reference has to be passed in parameter. The camera transformation matrices have to be set before.

Parameters
mapOfImages: Map of images corresponding to the desired pose.
mapOfCameraPoses: Map of poses to affect.

Reimplemented from vpMbEdgeMultiTracker.

Definition at line 2020 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbKltMultiTracker::setPose(), and vpMbEdgeMultiTracker::setPose().

void vpMbTracker::setPoseSavingFilename ( const std::string &  filename)
inlineinherited

Set the filename used to save the initial pose computed using the initClick() method. It is also used to read a previous pose in the same method. If the file is not set then, the initClick() method will create a .0.pos file in the root directory. This directory is the path to the file given to the method initClick() used to know the coordinates in the object frame.

Parameters
filename: The new filename.

Definition at line 641 of file vpMbTracker.h.

void vpMbEdgeKltMultiTracker::setProjectionErrorComputation ( const bool &  flag)
virtual

Set if the projection error criteria has to be computed.

Parameters
flag: True if the projection error criteria has to be computed, false otherwise

Reimplemented from vpMbEdgeMultiTracker.

Examples:
mbtEdgeKltMultiTracking.cpp.

Definition at line 2033 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbEdgeMultiTracker::m_mapOfEdgeTrackers, and vpMbTracker::setProjectionErrorComputation().

virtual void vpMbTracker::setProjectionErrorDisplay ( const bool  display)
inlinevirtualinherited

Display or not gradient and model orientation when computing the projection error.

Reimplemented in vpMbGenericTracker.

Examples:
mbtGenericTrackingDepthOnly.cpp.

Definition at line 575 of file vpMbTracker.h.

Referenced by vpMbGenericTracker::getRobustWeights(), and vpMbGenericTracker::setProjectionErrorDisplay().

virtual void vpMbTracker::setProjectionErrorDisplayArrowLength ( const unsigned int  length)
inlinevirtualinherited

Arrow length used to display gradient and model orientation for projection error computation.

Reimplemented in vpMbGenericTracker.

Examples:
mbtGenericTrackingDepthOnly.cpp.

Definition at line 580 of file vpMbTracker.h.

Referenced by vpMbGenericTracker::getRobustWeights(), and vpMbGenericTracker::setProjectionErrorDisplayArrowLength().

virtual void vpMbTracker::setProjectionErrorDisplayArrowThickness ( const unsigned int  thickness)
inlinevirtualinherited

Arrow thickness used to display gradient and model orientation for projection error computation.

Reimplemented in vpMbGenericTracker.

Examples:
mbtGenericTrackingDepthOnly.cpp.

Definition at line 585 of file vpMbTracker.h.

Referenced by vpMbGenericTracker::getRobustWeights(), and vpMbGenericTracker::setProjectionErrorDisplayArrowThickness().

void vpMbTracker::setProjectionErrorKernelSize ( const unsigned int &  size)
inherited

Set kernel size used for projection error computation.

Parameters
size: Kernel size computed as kernel_size = size*2 + 1.

Definition at line 3467 of file vpMbTracker.cpp.

References vpArray2D< Type >::data, vpImageFilter::getSobelKernelX(), vpImageFilter::getSobelKernelY(), vpMbTracker::m_projectionErrorKernelSize, vpMbTracker::m_SobelX, vpMbTracker::m_SobelY, and vpArray2D< Type >::resize().

Referenced by vpMbTracker::loadConfigFile().

void vpMbTracker::setProjectionErrorMovingEdge ( const vpMe me)
inherited
void vpMbEdgeKltMultiTracker::setReferenceCameraName ( const std::string &  referenceCameraName)
virtual

Set the reference camera name

Parameters
referenceCameraName: Name of the reference camera.

Reimplemented from vpMbEdgeMultiTracker.

Definition at line 2050 of file vpMbEdgeKltMultiTracker.cpp.

References m_referenceCameraName, vpMbKltMultiTracker::setReferenceCameraName(), and vpMbEdgeMultiTracker::setReferenceCameraName().

void vpMbEdgeMultiTracker::setScales ( const std::vector< bool > &  scale)
virtualinherited

Set the scales to use to realize the tracking. The vector of boolean activates or not the scales to set for the object tracking. The first element of the list correspond to the tracking on the full image, the second element corresponds to the tracking on an image subsampled by two.

Using multi scale tracking allows to track the object with greater moves. It requires the computation of a pyramid of images, but the total tracking can be faster than a tracking based only on the full scale. The pose is computed from the smallest image to the biggest. This may be dangerous if the object to track is small in the image, because the subsampled scale(s) will have only few points to compute the pose (it could result in a loss of precision).

Warning
This method must be used before the tracker has been initialized ( before the call of the loadConfigFile() or loadModel() methods).
Not working for the moment. At least one level must be activated.
Parameters
scale: The vector describing the levels to use.

Definition at line 2863 of file vpMbEdgeMultiTracker.cpp.

References vpMbEdgeMultiTracker::m_mapOfEdgeTrackers, and vpMbEdgeTracker::setScales().

Referenced by vpMbEdgeMultiTracker::resetTracker(), and vpMbEdgeTracker::setGoodMovingEdgesRatioThreshold().

void vpMbEdgeKltMultiTracker::setScanLineVisibilityTest ( const bool &  v)
virtual

Use Scanline algorithm for visibility tests

Parameters
v: True to use it, False otherwise

Reimplemented from vpMbEdgeMultiTracker.

Examples:
mbtEdgeKltMultiTracking.cpp.

Definition at line 2062 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbKltMultiTracker::setScanLineVisibilityTest(), and vpMbEdgeMultiTracker::setScanLineVisibilityTest().

virtual void vpMbTracker::setStopCriteriaEpsilon ( const double  eps)
inlinevirtualinherited

Set the minimal error (previous / current estimation) to determine if there is convergence or not.

Parameters
eps: Epsilon threshold.

Definition at line 557 of file vpMbTracker.h.

void vpMbEdgeKltMultiTracker::setThresholdAcceptation ( const double  th)
virtual

Set the threshold for the acceptation of a point.

Parameters
th: Threshold for the weight below which a point is rejected.

Reimplemented from vpMbKltMultiTracker.

Definition at line 2073 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbKltMultiTracker::setThresholdAcceptation().

void vpMbEdgeMultiTracker::setUseEdgeTracking ( const std::string &  name,
const bool &  useEdgeTracking 
)
virtualinherited

Set if the polygons that have the given name have to be considered during the tracking phase.

Parameters
name: name of the polygon(s).
useEdgeTracking: True if it has to be considered, false otherwise.

Definition at line 2895 of file vpMbEdgeMultiTracker.cpp.

References vpMbEdgeMultiTracker::m_mapOfEdgeTrackers.

Referenced by vpMbEdgeTracker::setGoodMovingEdgesRatioThreshold().

void vpMbKltMultiTracker::setUseKltTracking ( const std::string &  name,
const bool &  useKltTracking 
)
virtualinherited

Set if the polygons that have the given name have to be considered during the tracking phase.

Parameters
name: name of the polygon(s).
useKltTracking: True if it has to be considered, False otherwise.

Definition at line 2725 of file vpMbKltMultiTracker.cpp.

References vpMbKltMultiTracker::m_mapOfKltTrackers.

Referenced by vpMbKltTracker::setProjectionErrorComputation().

void vpMbEdgeKltMultiTracker::testTracking ( )
virtual

Test the quality of the tracking. The tracking is supposed to fail if less than 10 points are tracked.

Todo:
Find a efficient way to test the quality.
Exceptions
vpTrackingException::fatalErrorif the test fails.

Reimplemented from vpMbKltTracker.

Definition at line 2078 of file vpMbEdgeKltMultiTracker.cpp.

void vpMbEdgeKltMultiTracker::track ( const vpImage< unsigned char > &  I)
virtual

Realize the tracking of the object in the image

Exceptions
vpException: if the tracking is supposed to have failed
Parameters
I: the input image

Reimplemented from vpMbEdgeMultiTracker.

Examples:
mbtEdgeKltMultiTracking.cpp.

Definition at line 2090 of file vpMbEdgeKltMultiTracker.cpp.

References vpMbTracker::computeProjError, vpTrackingException::fatalError, vpMbEdgeMultiTracker::m_mapOfEdgeTrackers, vpMbKltMultiTracker::m_mapOfKltTrackers, m_referenceCameraName, and vpMbTracker::projectionError.

Referenced by track().

void vpMbEdgeKltMultiTracker::track ( const vpImage< unsigned char > &  I1,
const vpImage< unsigned char > &  I2 
)
virtual

Realize the tracking of the object in the image

Exceptions
vpException: if the tracking is supposed to have failed
Parameters
I1: The first image.
I2: The second image.

Reimplemented from vpMbEdgeMultiTracker.

Definition at line 2121 of file vpMbEdgeKltMultiTracker.cpp.

References vpTrackingException::fatalError, vpMbEdgeMultiTracker::m_mapOfEdgeTrackers, vpMbKltMultiTracker::m_mapOfKltTrackers, and track().

void vpMbEdgeKltMultiTracker::track ( std::map< std::string, const vpImage< unsigned char > * > &  mapOfImages)
virtual
void vpMbEdgeKltMultiTracker::trackMovingEdges ( std::map< std::string, const vpImage< unsigned char > * > &  mapOfImages)
protectedvirtual
std::string& vpMbTracker::trim ( std::string &  s) const
inlineprotectedinherited

Definition at line 872 of file vpMbTracker.h.

Referenced by vpMbTracker::parseParameters().

void vpMbEdgeTracker::upScale ( const unsigned int  _scale)
protectedinherited
void vpMbEdgeTracker::visibleFace ( const vpImage< unsigned char > &  _I,
const vpHomogeneousMatrix _cMo,
bool &  newvisibleline 
)
protectedinherited

Detect the visible faces in the image and says if a new one appeared.

Warning
If in one iteration one face appears and one disappears, then the function will not detect the new face.
Parameters
_I: Image to test if a face is entirely in the image.
_cMo: The pose of the camera used to project the 3D model into the image.
newvisibleline: This parameter is set to true if a new face appeared.

Definition at line 2080 of file vpMbEdgeTracker.cpp.

References vpMbTracker::angleAppears, vpMbTracker::angleDisappears, vpMbTracker::cam, vpMbTracker::faces, vpMbEdgeTracker::nbvisiblepolygone, vpMbHiddenFaces< PolygonType >::setVisible(), vpMbHiddenFaces< PolygonType >::setVisibleOgre(), and vpMbTracker::useOgre.

Referenced by vpMbEdgeTracker::init(), postTracking(), vpMbEdgeTracker::setGoodMovingEdgesRatioThreshold(), vpMbGenericTracker::track(), and vpMbEdgeTracker::track().

Member Data Documentation

bool vpMbTracker::applyLodSettingInConfig
protectedinherited

True if the CAO model is loaded before the call to loadConfigFile, (deduced by the number of polygons)

Definition at line 181 of file vpMbTracker.h.

Referenced by vpMbTracker::loadCAOModel(), vpMbEdgeKltTracker::loadConfigFile(), vpMbKltTracker::loadConfigFile(), vpMbEdgeTracker::loadConfigFile(), and vpMbGenericTracker::track().

vpCameraParameters vpMbTracker::cam
protectedinherited

The camera parameters.

Definition at line 117 of file vpMbTracker.h.

Referenced by vpMbKltTracker::addCircle(), vpMbEdgeTracker::addCircle(), vpMbEdgeTracker::addCylinder(), vpMbDepthDenseTracker::addFace(), vpMbDepthNormalTracker::addFace(), vpMbEdgeTracker::addLine(), vpMbTracker::addProjectionErrorCircle(), vpMbTracker::addProjectionErrorCylinder(), vpMbTracker::addProjectionErrorLine(), vpMbDepthDenseTracker::computeVisibility(), vpMbDepthNormalTracker::computeVisibility(), vpMbEdgeKltTracker::computeVVS(), vpMbEdgeTracker::computeVVSFirstPhase(), vpMbKltTracker::computeVVSInit(), vpMbEdgeTracker::computeVVSInit(), vpMbKltTracker::display(), vpMbEdgeTracker::downScale(), getCameraParameters(), vpMbTracker::getPolygonFaces(), vpMbGenericTracker::getRobustWeights(), vpMbKltTracker::getRobustWeights(), vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), vpMbKltTracker::init(), vpMbEdgeTracker::init(), vpMbKltMultiTracker::initClick(), vpMbEdgeMultiTracker::initClick(), vpMbTracker::initClick(), vpMbKltTracker::initCylinder(), vpMbKltTracker::initFaceFromCorners(), vpMbKltTracker::initFaceFromLines(), vpMbGenericTracker::initFromPoints(), vpMbTracker::initFromPoints(), vpMbGenericTracker::initFromPose(), vpMbDepthDenseTracker::loadConfigFile(), vpMbDepthNormalTracker::loadConfigFile(), vpMbKltMultiTracker::loadConfigFile(), vpMbEdgeMultiTracker::loadConfigFile(), vpMbGenericTracker::loadConfigFile(), vpMbEdgeKltTracker::loadConfigFile(), vpMbEdgeTracker::loadConfigFile(), vpMbEdgeKltTracker::postTracking(), vpMbKltTracker::postTracking(), vpMbKltTracker::reinit(), vpMbDepthDenseTracker::setCameraParameters(), vpMbDepthNormalTracker::setCameraParameters(), vpMbEdgeMultiTracker::setCameraParameters(), vpMbKltMultiTracker::setCameraParameters(), setCameraParameters(), vpMbGenericTracker::setCameraParameters(), vpMbEdgeKltTracker::setCameraParameters(), vpMbKltTracker::setCameraParameters(), vpMbEdgeTracker::setCameraParameters(), vpMbEdgeKltTracker::setPose(), vpMbKltTracker::setPose(), vpMbGenericTracker::track(), vpMbEdgeTracker::track(), vpMbEdgeTracker::upScale(), and vpMbEdgeTracker::visibleFace().

vpHomogeneousMatrix vpMbTracker::cMo
protectedinherited

The current pose.

Definition at line 119 of file vpMbTracker.h.

Referenced by vpMbDepthDenseTracker::computeVisibility(), vpMbDepthNormalTracker::computeVisibility(), vpMbDepthDenseTracker::computeVVS(), vpMbDepthNormalTracker::computeVVS(), vpMbKltMultiTracker::computeVVS(), vpMbEdgeKltTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVS(), computeVVS(), vpMbGenericTracker::computeVVS(), vpMbKltTracker::computeVVS(), vpMbEdgeTracker::computeVVS(), vpMbTracker::computeVVSCheckLevenbergMarquardt(), vpMbEdgeTracker::computeVVSFirstPhase(), vpMbEdgeTracker::computeVVSFirstPhaseFactor(), vpMbEdgeMultiTracker::computeVVSFirstPhasePoseEstimation(), vpMbEdgeTracker::computeVVSFirstPhasePoseEstimation(), vpMbDepthDenseTracker::computeVVSInteractionMatrixAndResidu(), vpMbDepthNormalTracker::computeVVSInteractionMatrixAndResidu(), vpMbKltMultiTracker::computeVVSInteractionMatrixAndResidu(), vpMbEdgeMultiTracker::computeVVSInteractionMatrixAndResidu(), computeVVSInteractionMatrixAndResidu(), vpMbGenericTracker::computeVVSInteractionMatrixAndResidu(), vpMbEdgeTracker::computeVVSInteractionMatrixAndResidu(), vpMbTracker::computeVVSPoseEstimation(), vpMbTracker::getPolygonFaces(), vpMbGenericTracker::getRobustWeights(), vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), vpMbGenericTracker::init(), vpMbEdgeKltTracker::init(), vpMbKltTracker::init(), vpMbEdgeTracker::init(), initClick(), vpMbEdgeMultiTracker::initClick(), vpMbKltMultiTracker::initClick(), vpMbGenericTracker::initClick(), vpMbTracker::initClick(), vpMbGenericTracker::initFromPoints(), vpMbTracker::initFromPoints(), vpMbEdgeMultiTracker::initFromPose(), vpMbKltMultiTracker::initFromPose(), initFromPose(), vpMbGenericTracker::initFromPose(), vpMbTracker::initFromPose(), initMbtTracking(), vpMbKltMultiTracker::postTracking(), vpMbEdgeKltTracker::postTracking(), vpMbKltTracker::postTracking(), vpMbKltMultiTracker::reinit(), vpMbKltTracker::reinit(), vpMbEdgeTracker::reInitLevel(), vpMbDepthDenseTracker::reInitModel(), vpMbDepthNormalTracker::reInitModel(), vpMbKltMultiTracker::reInitModel(), vpMbEdgeMultiTracker::reInitModel(), vpMbGenericTracker::reInitModel(), vpMbEdgeKltTracker::reInitModel(), vpMbKltTracker::reInitModel(), vpMbEdgeTracker::reInitModel(), vpMbDepthDenseTracker::resetTracker(), vpMbDepthNormalTracker::resetTracker(), vpMbKltMultiTracker::resetTracker(), vpMbEdgeMultiTracker::resetTracker(), vpMbGenericTracker::resetTracker(), vpMbKltTracker::resetTracker(), vpMbEdgeTracker::resetTracker(), vpMbTracker::savePose(), vpMbDepthDenseTracker::segmentPointCloud(), vpMbDepthNormalTracker::segmentPointCloud(), vpMbDepthDenseTracker::setPose(), vpMbDepthNormalTracker::setPose(), vpMbKltMultiTracker::setPose(), vpMbEdgeKltTracker::setPose(), vpMbEdgeMultiTracker::setPose(), vpMbGenericTracker::setPose(), setPose(), vpMbKltTracker::setPose(), vpMbEdgeTracker::setPose(), vpMbKltMultiTracker::track(), vpMbEdgeMultiTracker::track(), vpMbGenericTracker::track(), vpMbEdgeTracker::track(), vpMbEdgeKltTracker::trackFirstLoop(), vpMbEdgeTracker::trackMovingEdge(), and vpMbEdgeTracker::updateMovingEdge().

bool vpMbTracker::computeProjError
protectedinherited
vpMatrix vpMbTracker::covarianceMatrix
protectedinherited
cv::Mat vpMbKltTracker::cur
protectedinherited
vpMbHiddenFaces<vpMbtPolygon> vpMbTracker::faces
protectedinherited

Set of faces describing the object.

Definition at line 149 of file vpMbTracker.h.

Referenced by vpMbEdgeTracker::addCircle(), vpMbEdgeTracker::addCylinder(), vpMbDepthDenseTracker::addFace(), vpMbDepthNormalTracker::addFace(), vpMbEdgeTracker::addLine(), vpMbTracker::addPolygon(), vpMbDepthDenseTracker::computeVisibility(), vpMbDepthNormalTracker::computeVisibility(), vpMbEdgeKltTracker::display(), vpMbKltTracker::display(), vpMbEdgeTracker::display(), vpMbTracker::extractFaces(), vpMbTracker::extractLines(), vpMbGenericTracker::getFaces(), vpMbKltMultiTracker::getFaces(), vpMbEdgeMultiTracker::getFaces(), getFaces(), vpMbTracker::getPolygonFaces(), vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), vpMbKltTracker::init(), vpMbEdgeTracker::init(), vpMbKltTracker::initCylinder(), vpMbKltTracker::initFaceFromCorners(), vpMbKltTracker::initFaceFromLines(), vpMbTracker::loadCAOModel(), vpMbEdgeKltTracker::loadConfigFile(), vpMbKltTracker::loadConfigFile(), vpMbTracker::loadModel(), vpMbTracker::loadVRMLModel(), vpMbEdgeKltTracker::postTracking(), postTracking(), vpMbKltTracker::postTracking(), vpMbKltTracker::reinit(), vpMbEdgeKltTracker::reInitModel(), vpMbKltTracker::reInitModel(), vpMbEdgeTracker::reInitModel(), vpMbDepthDenseTracker::resetTracker(), vpMbDepthNormalTracker::resetTracker(), vpMbKltTracker::resetTracker(), vpMbEdgeTracker::resetTracker(), vpMbTracker::setClipping(), vpMbTracker::setFarClippingDistance(), vpMbKltTracker::setKltMaskBorder(), vpMbTracker::setLod(), vpMbKltTracker::setMaskBorder(), vpMbTracker::setMinLineLengthThresh(), vpMbTracker::setMinPolygonAreaThresh(), vpMbTracker::setNearClippingDistance(), vpMbDepthDenseTracker::setOgreVisibilityTest(), vpMbDepthNormalTracker::setOgreVisibilityTest(), vpMbKltTracker::setOgreVisibilityTest(), vpMbEdgeTracker::setOgreVisibilityTest(), vpMbEdgeKltTracker::setPose(), vpMbKltTracker::setPose(), vpMbEdgeTracker::setUseEdgeTracking(), vpMbGenericTracker::track(), vpMbEdgeTracker::track(), vpMbEdgeTracker::visibleFace(), vpMbDepthDenseTracker::vpMbDepthDenseTracker(), vpMbDepthNormalTracker::vpMbDepthNormalTracker(), vpMbEdgeKltTracker::vpMbEdgeKltTracker(), vpMbEdgeTracker::vpMbEdgeTracker(), and vpMbKltTracker::vpMbKltTracker().

bool vpMbKltTracker::firstInitialisation
protectedinherited

Flag to specify whether the init method is called the first or not (specific calls to realize in this case).

Definition at line 248 of file vpMbKltTracker.h.

Referenced by vpMbKltMultiTracker::reInitModel(), vpMbEdgeKltTracker::reInitModel(), vpMbKltTracker::reInitModel(), vpMbKltMultiTracker::resetTracker(), and vpMbKltTracker::resetTracker().

std::vector<const vpImage<unsigned char> *> vpMbEdgeTracker::Ipyramid
protectedinherited

Pyramid of image associated to the current image. This pyramid is computed in the init() and in the track() methods.

Definition at line 314 of file vpMbEdgeTracker.h.

Referenced by vpMbEdgeKltTracker::init(), vpMbEdgeTracker::init(), vpMbEdgeTracker::reInitLevel(), vpMbEdgeKltTracker::setPose(), vpMbEdgeTracker::track(), and vpMbEdgeTracker::~vpMbEdgeTracker().

bool vpMbTracker::isoJoIdentity
protectedinherited
std::vector<std::list<vpMbtDistanceLine *> > vpMbEdgeTracker::lines
protectedinherited

Vector of list of all the lines tracked (each line is linked to a list of moving edges). Each element of the vector is for a scale (element 0 = level 0 = no subsampling).

Definition at line 282 of file vpMbEdgeTracker.h.

Referenced by vpMbEdgeTracker::addLine(), vpMbEdgeTracker::computeProjectionError(), vpMbEdgeTracker::computeVVSFirstPhase(), vpMbEdgeTracker::computeVVSFirstPhaseFactor(), vpMbEdgeTracker::computeVVSInteractionMatrixAndResidu(), vpMbEdgeKltTracker::display(), vpMbEdgeTracker::display(), vpMbEdgeTracker::displayFeaturesOnImage(), vpMbEdgeTracker::getLline(), vpMbEdgeTracker::getNbPoints(), vpMbEdgeKltTracker::initMbtTracking(), vpMbEdgeTracker::initMbtTracking(), vpMbEdgeTracker::initMovingEdge(), vpMbEdgeKltTracker::postTracking(), vpMbEdgeKltTracker::postTrackingMbt(), vpMbEdgeTracker::reInitLevel(), vpMbEdgeKltTracker::reInitModel(), vpMbEdgeTracker::reInitModel(), vpMbEdgeTracker::reinitMovingEdge(), vpMbEdgeTracker::removeLine(), vpMbEdgeTracker::resetMovingEdge(), vpMbEdgeTracker::resetTracker(), vpMbEdgeTracker::setClipping(), vpMbEdgeTracker::setFarClippingDistance(), vpMbEdgeTracker::setMovingEdge(), vpMbEdgeTracker::setNearClippingDistance(), vpMbEdgeTracker::setScales(), vpMbEdgeTracker::setUseEdgeTracking(), vpMbEdgeTracker::testTracking(), vpMbEdgeKltTracker::trackFirstLoop(), vpMbEdgeTracker::trackMovingEdge(), vpMbEdgeKltTracker::trackSecondLoop(), vpMbEdgeTracker::updateMovingEdge(), vpMbEdgeTracker::updateMovingEdgeWeights(), and vpMbEdgeTracker::~vpMbEdgeTracker().

vpColVector vpMbEdgeKltMultiTracker::m_error_hybridMulti
protected

(s - s*)

Definition at line 102 of file vpMbEdgeKltMultiTracker.h.

Referenced by computeVVS(), computeVVSInit(), and computeVVSInteractionMatrixAndResidu().

vpColVector vpMbKltMultiTracker::m_error_kltMulti
protectedinherited
double vpMbEdgeKltMultiTracker::m_factorKLT
protected

Factor for KLT trackers.

Definition at line 83 of file vpMbEdgeKltMultiTracker.h.

Referenced by computeVVS().

double vpMbEdgeKltMultiTracker::m_factorMBT
protected

Factor for edge trackers.

Definition at line 85 of file vpMbEdgeKltMultiTracker.h.

Referenced by computeVVS().

vpMatrix vpMbEdgeKltMultiTracker::m_L_hybridMulti
protected

Interaction matrix.

Definition at line 100 of file vpMbEdgeKltMultiTracker.h.

Referenced by computeVVS(), computeVVSInit(), and computeVVSInteractionMatrixAndResidu().

vpMatrix vpMbKltMultiTracker::m_L_kltMulti
protectedinherited
std::map<std::string, vpHomogeneousMatrix> vpMbEdgeKltMultiTracker::m_mapOfCameraTransformationMatrix
protected

Map of camera transformation matrix between the current camera frame to the reference camera frame (cCurrent_M_cRef)

Definition at line 93 of file vpMbEdgeKltMultiTracker.h.

Referenced by computeVVS(), computeVVSInteractionMatrixAndResidu(), initMbtTracking(), setCameraTransformationMatrix(), and vpMbEdgeKltMultiTracker().

std::map<std::string, vpMbEdgeTracker *> vpMbEdgeMultiTracker::m_mapOfEdgeTrackers
protectedinherited

Map of Model-based edge trackers.

Definition at line 83 of file vpMbEdgeMultiTracker.h.

Referenced by vpMbEdgeMultiTracker::computeProjectionError(), vpMbEdgeMultiTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVSInit(), vpMbEdgeMultiTracker::computeVVSInteractionMatrixAndResidu(), computeVVSInteractionMatrixAndResidu(), vpMbEdgeMultiTracker::computeVVSWeights(), computeVVSWeights(), vpMbEdgeMultiTracker::display(), vpMbEdgeMultiTracker::getCameraNames(), vpMbEdgeMultiTracker::getCameraParameters(), vpMbEdgeMultiTracker::getClipping(), vpMbEdgeMultiTracker::getFaces(), vpMbEdgeMultiTracker::getLcircle(), vpMbEdgeMultiTracker::getLcylinder(), vpMbEdgeMultiTracker::getLline(), vpMbEdgeMultiTracker::getMovingEdge(), vpMbEdgeMultiTracker::getMultiNbPolygon(), vpMbEdgeMultiTracker::getNbPoints(), vpMbEdgeMultiTracker::getNbPolygon(), vpMbEdgeMultiTracker::getPose(), vpMbEdgeMultiTracker::initClick(), vpMbEdgeMultiTracker::initFromPose(), initMbtTracking(), vpMbEdgeMultiTracker::loadConfigFile(), vpMbEdgeMultiTracker::loadModel(), postTracking(), vpMbEdgeMultiTracker::reInitModel(), vpMbEdgeMultiTracker::resetTracker(), vpMbEdgeMultiTracker::setAngleAppear(), vpMbEdgeMultiTracker::setAngleDisappear(), vpMbEdgeMultiTracker::setCameraParameters(), vpMbEdgeMultiTracker::setCameraTransformationMatrix(), vpMbEdgeMultiTracker::setClipping(), vpMbEdgeMultiTracker::setCovarianceComputation(), vpMbEdgeMultiTracker::setDisplayFeatures(), vpMbEdgeMultiTracker::setFarClippingDistance(), vpMbEdgeMultiTracker::setGoodMovingEdgesRatioThreshold(), vpMbEdgeMultiTracker::setGoodNbRayCastingAttemptsRatio(), vpMbEdgeMultiTracker::setLod(), vpMbEdgeMultiTracker::setMinLineLengthThresh(), vpMbEdgeMultiTracker::setMinPolygonAreaThresh(), vpMbEdgeMultiTracker::setMovingEdge(), vpMbEdgeMultiTracker::setNbRayCastingAttemptsForVisibility(), vpMbEdgeMultiTracker::setNearClippingDistance(), vpMbEdgeMultiTracker::setOgreShowConfigDialog(), vpMbEdgeMultiTracker::setOgreVisibilityTest(), setOgreVisibilityTest(), vpMbEdgeMultiTracker::setOptimizationMethod(), vpMbEdgeMultiTracker::setPose(), setPose(), vpMbEdgeMultiTracker::setProjectionErrorComputation(), setProjectionErrorComputation(), vpMbEdgeMultiTracker::setReferenceCameraName(), vpMbEdgeMultiTracker::setScales(), vpMbEdgeMultiTracker::setScanLineVisibilityTest(), vpMbEdgeMultiTracker::setUseEdgeTracking(), vpMbEdgeMultiTracker::track(), track(), trackMovingEdges(), vpMbEdgeMultiTracker::vpMbEdgeMultiTracker(), and vpMbEdgeMultiTracker::~vpMbEdgeMultiTracker().

std::map<std::string, vpMbKltTracker *> vpMbKltMultiTracker::m_mapOfKltTrackers
protectedinherited

Map of Model-based klt trackers.

Definition at line 85 of file vpMbKltMultiTracker.h.

Referenced by vpMbKltMultiTracker::addCircle(), vpMbKltMultiTracker::computeVVS(), computeVVSInit(), vpMbKltMultiTracker::computeVVSInteractionMatrixAndResidu(), computeVVSInteractionMatrixAndResidu(), vpMbKltMultiTracker::computeVVSWeights(), computeVVSWeights(), vpMbKltMultiTracker::display(), display(), vpMbKltMultiTracker::getCameraNames(), vpMbKltMultiTracker::getCameraParameters(), vpMbKltMultiTracker::getClipping(), getClipping(), vpMbKltMultiTracker::getFaces(), vpMbKltMultiTracker::getFeaturesCircle(), vpMbKltMultiTracker::getFeaturesKlt(), vpMbKltMultiTracker::getFeaturesKltCylinder(), vpMbKltMultiTracker::getKltImagePoints(), vpMbKltMultiTracker::getKltImagePointsWithId(), vpMbKltMultiTracker::getKltNbPoints(), vpMbKltMultiTracker::getKltOpencv(), vpMbKltMultiTracker::getKltPoints(), vpMbKltMultiTracker::getMultiNbPolygon(), vpMbKltMultiTracker::getNbPolygon(), vpMbKltMultiTracker::getPose(), vpMbKltMultiTracker::initClick(), initClick(), vpMbKltMultiTracker::initFromPose(), initFromPose(), vpMbKltMultiTracker::loadConfigFile(), vpMbKltMultiTracker::loadModel(), vpMbKltMultiTracker::postTracking(), vpMbKltMultiTracker::preTracking(), vpMbKltMultiTracker::reInitModel(), vpMbKltMultiTracker::resetTracker(), vpMbKltMultiTracker::setAngleAppear(), vpMbKltMultiTracker::setAngleDisappear(), vpMbKltMultiTracker::setCameraParameters(), vpMbKltMultiTracker::setCameraTransformationMatrix(), vpMbKltMultiTracker::setClipping(), vpMbKltMultiTracker::setCovarianceComputation(), vpMbKltMultiTracker::setDisplayFeatures(), vpMbKltMultiTracker::setFarClippingDistance(), vpMbKltMultiTracker::setGoodNbRayCastingAttemptsRatio(), vpMbKltMultiTracker::setKltMaskBorder(), vpMbKltMultiTracker::setKltOpencv(), vpMbKltMultiTracker::setKltThresholdAcceptation(), vpMbKltMultiTracker::setLod(), vpMbKltMultiTracker::setMinPolygonAreaThresh(), vpMbKltMultiTracker::setNbRayCastingAttemptsForVisibility(), vpMbKltMultiTracker::setNearClippingDistance(), vpMbKltMultiTracker::setOgreShowConfigDialog(), vpMbKltMultiTracker::setOgreVisibilityTest(), setOgreVisibilityTest(), vpMbKltMultiTracker::setOptimizationMethod(), vpMbKltMultiTracker::setPose(), setPose(), vpMbKltMultiTracker::setReferenceCameraName(), vpMbKltMultiTracker::setScanLineVisibilityTest(), vpMbKltMultiTracker::setUseKltTracking(), vpMbKltMultiTracker::track(), track(), vpMbEdgeKltMultiTracker(), vpMbKltMultiTracker::vpMbKltMultiTracker(), and vpMbKltMultiTracker::~vpMbKltMultiTracker().

std::map<std::string, std::vector<const vpImage<unsigned char> *> > vpMbEdgeMultiTracker::m_mapOfPyramidalImages
protectedinherited

Map of pyramidal images for each camera.

Definition at line 86 of file vpMbEdgeMultiTracker.h.

Referenced by vpMbEdgeMultiTracker::track(), and vpMbEdgeMultiTracker::~vpMbEdgeMultiTracker().

unsigned int vpMbKltTracker::m_nbFaceUsed
protectedinherited
unsigned int vpMbEdgeKltMultiTracker::m_nbrow
protected

Number of features.

Definition at line 98 of file vpMbEdgeKltMultiTracker.h.

Referenced by computeVVS(), computeVVSInit(), and computeVVSInteractionMatrixAndResidu().

vpCameraParameters vpMbTracker::m_projectionErrorCam
protectedinherited

Camera parameters used for projection error computation.

Definition at line 225 of file vpMbTracker.h.

Referenced by vpMbTracker::computeProjectionErrorImpl(), and vpMbTracker::projectionErrorVisibleFace().

std::vector<vpMbtDistanceCylinder *> vpMbTracker::m_projectionErrorCylinders
protectedinherited
bool vpMbTracker::m_projectionErrorDisplay
protectedinherited

Display gradient and model orientation for projection error computation.

Definition at line 219 of file vpMbTracker.h.

Referenced by vpMbEdgeTracker::computeProjectionError(), and vpMbTracker::computeProjectionErrorImpl().

unsigned int vpMbTracker::m_projectionErrorDisplayLength
protectedinherited

Length of the arrows used to show the gradient and model orientation.

Definition at line 221 of file vpMbTracker.h.

Referenced by vpMbEdgeTracker::computeProjectionError(), and vpMbTracker::computeProjectionErrorImpl().

unsigned int vpMbTracker::m_projectionErrorDisplayThickness
protectedinherited

Thickness of the arrows used to show the gradient and model orientation.

Definition at line 223 of file vpMbTracker.h.

Referenced by vpMbEdgeTracker::computeProjectionError(), and vpMbTracker::computeProjectionErrorImpl().

unsigned int vpMbTracker::m_projectionErrorKernelSize
protectedinherited

Kernel size used to compute the gradient orientation.

Definition at line 213 of file vpMbTracker.h.

Referenced by vpMbTracker::loadConfigFile(), vpMbTracker::setProjectionErrorKernelSize(), and vpMbTracker::vpMbTracker().

vpMe vpMbTracker::m_projectionErrorMe
protectedinherited
bool vpMbTracker::m_projectionErrorOgreShowConfigDialog
protectedinherited

Definition at line 209 of file vpMbTracker.h.

Referenced by vpMbTracker::computeProjectionErrorImpl().

std::string vpMbEdgeKltMultiTracker::m_referenceCameraName
protected

Name of the reference camera.

Definition at line 96 of file vpMbEdgeKltMultiTracker.h.

Referenced by setCameraParameters(), setPose(), setReferenceCameraName(), track(), and vpMbEdgeKltMultiTracker().

vpRobust vpMbEdgeTracker::m_robust_edge
protectedinherited

Robust.

Definition at line 344 of file vpMbEdgeTracker.h.

vpRobust vpMbKltTracker::m_robust_klt
protectedinherited
vpRobust vpMbEdgeTracker::m_robustCircles
protectedinherited
vpRobust vpMbEdgeTracker::m_robustCylinders
protectedinherited
vpRobust vpMbEdgeTracker::m_robustLines
protectedinherited
vpMatrix vpMbTracker::m_SobelX
protectedinherited
vpMatrix vpMbTracker::m_SobelY
protectedinherited
double vpMbTracker::m_stopCriteriaEpsilon
protectedinherited
vpColVector vpMbEdgeKltMultiTracker::m_w_hybridMulti
protected

Robust weights.

Definition at line 104 of file vpMbEdgeKltMultiTracker.h.

Referenced by computeVVS(), computeVVSInit(), and computeVVSWeights().

vpColVector vpMbKltMultiTracker::m_w_kltMulti
protectedinherited
vpColVector vpMbEdgeTracker::m_wCircles
protectedinherited
vpColVector vpMbEdgeTracker::m_wCylinders
protectedinherited
vpColVector vpMbEdgeTracker::m_weightedError_edge
protectedinherited
vpColVector vpMbEdgeMultiTracker::m_weightedError_edgeMulti
protectedinherited
vpColVector vpMbEdgeKltMultiTracker::m_weightedError_hybridMulti
protected

Weighted error.

Definition at line 106 of file vpMbEdgeKltMultiTracker.h.

Referenced by computeVVS(), and computeVVSInit().

vpColVector vpMbKltTracker::m_weightedError_klt
protectedinherited

Weighted error.

Definition at line 279 of file vpMbKltTracker.h.

Referenced by vpMbKltTracker::computeVVS(), and vpMbKltTracker::computeVVSInit().

vpColVector vpMbKltMultiTracker::m_weightedError_kltMulti
protectedinherited

Weighted error.

Definition at line 96 of file vpMbKltMultiTracker.h.

Referenced by vpMbKltMultiTracker::computeVVS(), and vpMbKltMultiTracker::computeVVSInit().

vpColVector vpMbEdgeTracker::m_wLines
protectedinherited
std::map<std::string, std::string> vpMbTracker::mapOfParameterNames
protectedinherited

Map with [map.first]=parameter_names and [map.second]=type (string, number or boolean)

Definition at line 188 of file vpMbTracker.h.

Referenced by vpMbTracker::parseParameters(), and vpMbTracker::vpMbTracker().

double vpMbTracker::minLineLengthThresholdGeneral
protectedinherited
double vpMbTracker::minPolygonAreaThresholdGeneral
protectedinherited
std::string vpMbTracker::modelFileName
protectedinherited

The name of the file containing the model (it is used to create a file name.0.pos used to store the compute pose in the initClick method).

Definition at line 126 of file vpMbTracker.h.

Referenced by vpMbTracker::loadModel().

unsigned int vpMbTracker::nbCircles
protectedinherited

Number of circles in CAO model.

Definition at line 176 of file vpMbTracker.h.

Referenced by vpMbTracker::loadCAOModel(), and vpMbTracker::loadModel().

unsigned int vpMbTracker::nbCylinders
protectedinherited

Number of cylinders in CAO model.

Definition at line 174 of file vpMbTracker.h.

Referenced by vpMbTracker::loadCAOModel(), and vpMbTracker::loadModel().

unsigned int vpMbEdgeTracker::nbFeaturesForProjErrorComputation
protectedinherited

Number of features used in the computation of the projection error.

Definition at line 322 of file vpMbEdgeTracker.h.

Referenced by vpMbEdgeMultiTracker::computeProjectionError(), and vpMbEdgeTracker::computeProjectionError().

unsigned int vpMbTracker::nbLines
protectedinherited

Number of lines in CAO model.

Definition at line 168 of file vpMbTracker.h.

Referenced by vpMbTracker::loadCAOModel(), and vpMbTracker::loadModel().

unsigned int vpMbTracker::nbPoints
protectedinherited

Number of points in CAO model.

Definition at line 166 of file vpMbTracker.h.

Referenced by vpMbTracker::loadCAOModel(), and vpMbTracker::loadModel().

unsigned int vpMbTracker::nbPolygonLines
protectedinherited

Number of polygon lines in CAO model.

Definition at line 170 of file vpMbTracker.h.

Referenced by vpMbTracker::loadCAOModel(), and vpMbTracker::loadModel().

unsigned int vpMbTracker::nbPolygonPoints
protectedinherited

Number of polygon points in CAO model.

Definition at line 172 of file vpMbTracker.h.

Referenced by vpMbTracker::loadCAOModel(), and vpMbTracker::loadModel().

unsigned int vpMbEdgeTracker::nbvisiblepolygone
protectedinherited

Number of polygon (face) currently visible.

Definition at line 303 of file vpMbEdgeTracker.h.

Referenced by vpMbEdgeKltTracker::reInitModel(), vpMbEdgeTracker::reInitModel(), vpMbEdgeTracker::resetTracker(), and vpMbEdgeTracker::visibleFace().

unsigned int vpMbEdgeTracker::ncircle
protectedinherited

Index of the circle to add, and total number of circles extracted so far.

Definition at line 296 of file vpMbEdgeTracker.h.

Referenced by vpMbEdgeTracker::addCircle(), vpMbEdgeKltTracker::reInitModel(), and vpMbEdgeTracker::reInitModel().

unsigned int vpMbEdgeTracker::ncylinder
protectedinherited

Index of the cylinder to add, and total number of cylinders extracted so far.

Definition at line 300 of file vpMbEdgeTracker.h.

Referenced by vpMbEdgeTracker::addCylinder(), vpMbEdgeKltTracker::reInitModel(), vpMbEdgeTracker::reInitModel(), and vpMbEdgeTracker::resetTracker().

unsigned int vpMbEdgeTracker::nline
protectedinherited

Index of the polygon to add, and total number of polygon extracted so far.

Definition at line 292 of file vpMbEdgeTracker.h.

Referenced by vpMbEdgeTracker::addLine(), vpMbEdgeKltTracker::reInitModel(), vpMbEdgeTracker::reInitModel(), and vpMbEdgeTracker::resetTracker().

bool vpMbTracker::ogreShowConfigDialog
protectedinherited
double vpMbEdgeTracker::percentageGdPt
protectedinherited
double vpMbKltTracker::percentGood
protectedinherited

Percentage of good points, according to the initial number, that must have the tracker.

Definition at line 256 of file vpMbKltTracker.h.

Referenced by vpMbKltTracker::postTracking(), vpMbKltMultiTracker::resetTracker(), and vpMbKltTracker::resetTracker().

std::string vpMbTracker::poseSavingFilename
protectedinherited

Filename used to save the initial pose computed using the initClick() method. It is also used to read a previous pose in the same method.

Definition at line 132 of file vpMbTracker.h.

Referenced by vpMbTracker::initClick().

double vpMbTracker::projectionError
protectedinherited

Error angle between the gradient direction of the model features projected at the resulting pose and their normal.

Definition at line 142 of file vpMbTracker.h.

Referenced by vpMbEdgeMultiTracker::computeProjectionError(), vpMbGenericTracker::computeProjectionError(), vpMbEdgeTracker::computeProjectionError(), vpMbEdgeMultiTracker::track(), track(), and vpMbEdgeTracker::track().

double vpMbKltTracker::threshold_outlier
protectedinherited
double vpMbEdgeKltMultiTracker::thresholdKLT
protected

The threshold used in the robust estimation of KLT.

Definition at line 87 of file vpMbEdgeKltMultiTracker.h.

double vpMbEdgeKltMultiTracker::thresholdMBT
protected

The threshold used in the robust estimation of MBT.

Definition at line 89 of file vpMbEdgeKltMultiTracker.h.

bool vpMbTracker::useLodGeneral
protectedinherited

True if LOD mode is enabled.

Definition at line 178 of file