Visual Servoing Platform  version 3.2.0 under development (2018-08-20)
vpMbEdgeKltTracker Class Reference

#include <visp3/mbt/vpMbEdgeKltTracker.h>

+ Inheritance diagram for vpMbEdgeKltTracker:

Public Types

enum  vpMbtOptimizationMethod { GAUSS_NEWTON_OPT = 0, LEVENBERG_MARQUARDT_OPT = 1 }
 

Public Member Functions

 vpMbEdgeKltTracker ()
 
virtual ~vpMbEdgeKltTracker ()
 
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 vpColVector getError () const
 
virtual vpColVector getRobustWeights () const
 
virtual double getNearClippingDistance () const
 
virtual void loadConfigFile (const std::string &configFile)
 
void reInitModel (const vpImage< unsigned char > &I, const std::string &cad_name, const vpHomogeneousMatrix &cMo_, const bool verbose=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
 
void resetTracker ()
 
virtual void setCameraParameters (const vpCameraParameters &cam)
 
virtual void setClipping (const unsigned int &flags)
 
virtual void setFarClippingDistance (const double &dist)
 
virtual void setNearClippingDistance (const double &dist)
 
virtual void setOgreVisibilityTest (const bool &v)
 
virtual void setScanLineVisibilityTest (const bool &v)
 
virtual void setPose (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cdMo)
 
virtual void setProjectionErrorComputation (const bool &flag)
 
virtual void testTracking ()
 
virtual void track (const vpImage< unsigned char > &I)
 
Inherited functionalities from vpMbKltTracker
void addCircle (const vpPoint &P1, const vpPoint &P2, const vpPoint &P3, const double r, const std::string &name="")
 
virtual std::list< vpMbtDistanceCircle * > & getFeaturesCircle ()
 
virtual std::list< vpMbtDistanceKltCylinder * > & getFeaturesKltCylinder ()
 
virtual std::list< vpMbtDistanceKltPoints * > & getFeaturesKlt ()
 
std::vector< cv::Point2f > getKltPoints () const
 
std::vector< vpImagePointgetKltImagePoints () const
 
std::map< int, vpImagePointgetKltImagePointsWithId () const
 
vpKltOpencv getKltOpencv () const
 
unsigned int getKltMaskBorder () const
 
int getKltNbPoints () const
 
double getKltThresholdAcceptation () const
 
void setKltMaskBorder (const unsigned int &e)
 
virtual void setKltOpencv (const vpKltOpencv &t)
 
void setKltThresholdAcceptation (const double th)
 
void setUseKltTracking (const std::string &name, const bool &useKltTracking)
 
Deprecated functions
unsigned int getMaskBorder () const
 
int getNbKltPoints () const
 
double getThresholdAcceptation () const
 
void setMaskBorder (const unsigned int &e)
 
void setThresholdAcceptation (const double th)
 
Inherited functionalities from vpMbTracker
virtual double computeCurrentProjectionError (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &_cMo, const vpCameraParameters &_cam)
 
virtual double getAngleAppear () const
 
virtual double getAngleDisappear () const
 
virtual void getCameraParameters (vpCameraParameters &camera) const
 
virtual unsigned int getClipping () 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 vpMbHiddenFaces< vpMbtPolygon > & getFaces ()
 
virtual double getFarClippingDistance () const
 
virtual unsigned int getNbPolygon () 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 void getPose (vpHomogeneousMatrix &cMo_) const
 
virtual vpHomogeneousMatrix getPose () const
 
virtual double getStopCriteriaEpsilon () const
 
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 > &I, const std::vector< vpPoint > &points3D_list, const std::string &displayFile="")
 
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 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 loadModel (const std::string &modelFile, const bool verbose=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
 
virtual void setAngleAppear (const double &a)
 
virtual void setAngleDisappear (const double &a)
 
virtual void setCovarianceComputation (const bool &flag)
 
virtual void setDisplayFeatures (const bool displayF)
 
virtual void setEstimatedDoF (const vpColVector &v)
 
virtual void setInitialMu (const double mu)
 
virtual void setLambda (const double gain)
 
virtual void setLod (const bool useLod, const std::string &name="")
 
virtual void setMaxIter (const unsigned int max)
 
virtual void setMinLineLengthThresh (const double minLineLengthThresh, const std::string &name="")
 
virtual void setMinPolygonAreaThresh (const double minPolygonAreaThresh, const std::string &name="")
 
virtual void setOptimizationMethod (const vpMbtOptimizationMethod &opt)
 
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
 
virtual void setGoodNbRayCastingAttemptsRatio (const double &ratio)
 
virtual void setNbRayCastingAttemptsForVisibility (const unsigned int &attempts)
 
virtual void setOgreShowConfigDialog (const bool showConfigDialog)
 
void setPoseSavingFilename (const std::string &filename)
 
Inherited functionalities from vpMbEdgeTracker
void getLline (std::list< vpMbtDistanceLine * > &linesList, const unsigned int level=0) const
 
void getLcircle (std::list< vpMbtDistanceCircle * > &circlesList, const unsigned int level=0) const
 
void getLcylinder (std::list< vpMbtDistanceCylinder * > &cylindersList, const unsigned int level=0) const
 
virtual void getMovingEdge (vpMe &p_me) const
 
virtual vpMe getMovingEdge () const
 
virtual unsigned int getNbPoints (const unsigned int level=0) const
 
std::vector< bool > getScales () const
 
double getGoodMovingEdgesRatioThreshold () const
 
void setGoodMovingEdgesRatioThreshold (const double threshold)
 
void setMovingEdge (const vpMe &me)
 
void setScales (const std::vector< bool > &_scales)
 
void setUseEdgeTracking (const std::string &name, const bool &useEdgeTracking)
 

Protected Member Functions

virtual void computeVVS (const vpImage< unsigned char > &I, const unsigned int &nbInfos, unsigned int &nbrow, const unsigned int lvl=0)
 
virtual void computeVVSInit ()
 
virtual void computeVVSInteractionMatrixAndResidu ()
 
virtual void init (const vpImage< unsigned char > &I)
 
virtual void initCircle (const vpPoint &, const vpPoint &, const vpPoint &, const double r, const int idFace=0, const std::string &name="")
 
virtual void initCylinder (const vpPoint &, const vpPoint &, const double r, const int idFace, const std::string &name="")
 
virtual void initFaceFromCorners (vpMbtPolygon &polygon)
 
virtual void initFaceFromLines (vpMbtPolygon &polygon)
 
unsigned int initMbtTracking (const unsigned int level=0)
 
bool postTracking (const vpImage< unsigned char > &I, vpColVector &w_mbt, vpColVector &w_klt, const unsigned int lvl=0)
 
void postTrackingMbt (vpColVector &w, const unsigned int level=0)
 
unsigned int trackFirstLoop (const vpImage< unsigned char > &I, vpColVector &factor, const unsigned int lvl=0)
 
void trackSecondLoop (const vpImage< unsigned char > &I, vpMatrix &L, vpColVector &_error, vpHomogeneousMatrix &cMo, const unsigned int lvl=0)
 
Protected Member Functions Inherited from vpMbKltTracker
void computeVVS ()
 
void preTracking (const vpImage< unsigned char > &I)
 
bool postTracking (const vpImage< unsigned char > &I, vpColVector &w)
 
virtual void reinit (const vpImage< unsigned char > &I)
 
Protected Member Functions Inherited from vpMbTracker
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 computeVVSWeights (vpRobust &robust, const vpColVector &error, vpColVector &w)
 
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 vpMbEdgeTracker
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 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)
 
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 computeVVSFirstPhasePoseEstimation (const unsigned int iter, bool &isoJoIdentity_)
 
virtual void computeVVSInteractionMatrixAndResidu (const vpImage< unsigned char > &I)
 
virtual void computeVVSWeights ()
 
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 initPyramid (const vpImage< unsigned char > &_I, std::vector< const vpImage< unsigned char > * > &_pyramid)
 
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 Attributes

double thresholdKLT
 
double thresholdMBT
 
unsigned int m_maxIterKlt
 
vpColVector w_mbt
 
vpColVector w_klt
 
vpColVector m_error_hybrid
 
vpColVector m_w_hybrid
 
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
 
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
 
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
 

Detailed Description

Hybrid 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 (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.

The following code shows the simplest way to use the tracker. The Tutorial: Markerless model-based tracking (deprecated) is also a good starting point to use this class.

#include <visp/vpCameraParameters.h>
#include <visp/vpDisplayX.h>
#include <visp/vpException.h>
#include <visp/vpHomogeneousMatrix.h>
#include <visp/vpImage.h>
#include <visp/vpImageIo.h>
#include <visp/vpMbEdgeKltTracker.h>
int main()
{
#if defined VISP_HAVE_OPENCV
vpMbEdgeKltTracker tracker; // Create an hybrid model based tracker.
vpHomogeneousMatrix cMo; // Pose computed using the tracker.
// Acquire an image
vpImageIo::read(I, "cube.pgm");
#if defined VISP_HAVE_X11
display.init(I,100,100,"Mb Hybrid Tracker");
#endif
#if defined VISP_HAVE_XML2
tracker.loadConfigFile("cube.xml"); // Load the configuration of the tracker
#endif
// Load the 3d model in cao format. No 3rd party library is required
tracker.loadModel("cube.cao");
// Get the camera parameters used by the tracker (from the configuration file).
tracker.getCameraParameters(cam);
// Initialise manually the pose by clicking on the image points associated to the 3d points contained in the
// cube.init file.
tracker.initClick(I, "cube.init");
while(true){
// Acquire a new image
tracker.track(I); // Track the object on this image
tracker.getPose(cMo); // Get the pose
tracker.display(I, cMo, cam, vpColor::darkRed, 1); // Display the model at the computed pose.
}
#if defined VISP_HAVE_XML2
// Cleanup memory allocated by xml library used to parse the xml config file in vpMbEdgeKltTracker::loadConfigFile()
#endif
return 0;
#endif
}

The tracker can also be used without display, in that case the initial pose must be known (object always at the same initial pose for example) or computed using another method:

#include <visp/vpCameraParameters.h>
#include <visp/vpHomogeneousMatrix.h>
#include <visp/vpImage.h>
#include <visp/vpImageIo.h>
#include <visp/vpMbEdgeKltTracker.h>
int main()
{
#if defined VISP_HAVE_OPENCV
vpMbEdgeKltTracker tracker; // Create an hybrid model based tracker.
vpHomogeneousMatrix cMo; // Pose used in entry (has to be defined), then computed using the tracker.
//acquire an image
vpImageIo::read(I, "cube.pgm"); // Example of acquisition
#if defined VISP_HAVE_XML2
tracker.loadConfigFile("cube.xml"); // Load the configuration of the tracker
#endif
// load the 3d model, to read .wrl model coin is required, if coin is not installed .cao file can be used.
tracker.loadModel("cube.cao");
tracker.initFromPose(I, cMo); // initialise the tracker with the given pose.
while(true){
// acquire a new image
tracker.track(I); // track the object on this image
tracker.getPose(cMo); // get the pose
}
#if defined VISP_HAVE_XML2
// Cleanup memory allocated by xml library used to parse the xml config file in vpMbEdgeKltTracker::loadConfigFile()
#endif
return 0;
#endif
}

Finally it can be used not to track an object but just to display a model at a given pose:

#include <visp/vpCameraParameters.h>
#include <visp/vpDisplayX.h>
#include <visp/vpHomogeneousMatrix.h>
#include <visp/vpImage.h>
#include <visp/vpImageIo.h>
#include <visp/vpMbEdgeKltTracker.h>
int main()
{
#if defined VISP_HAVE_OPENCV
vpMbEdgeKltTracker tracker; // Create an hybrid model based tracker.
vpHomogeneousMatrix cMo; // Pose used to display the model.
// Acquire an image
vpImageIo::read(I, "cube.pgm");
#if defined VISP_HAVE_X11
display.init(I,100,100,"Mb Hybrid Tracker");
#endif
#if defined VISP_HAVE_XML2
tracker.loadConfigFile("cube.xml"); // Load the configuration of the tracker
#endif
tracker.getCameraParameters(cam); // Get the camera parameters used by the tracker (from the configuration file).
// load the 3d model, to read .wrl model coin is required, if coin is not installed .cao file can be used.
tracker.loadModel("cube.cao");
while(true){
// acquire a new image
// Get the pose using any method
tracker.display(I, cMo, cam, vpColor::darkRed, 1, true); // Display the model at the computed pose.
}
#endif
// Cleanup memory allocated by xml library used to parse the xml config file in vpMbEdgeKltTracker::loadConfigFile()
#endif
return 0;
#endif
}
Examples:
mbtEdgeKltTracking.cpp, tutorial-mb-hybrid-tracker.cpp, tutorial-mb-tracker-full.cpp, and tutorial-mb-tracker.cpp.

Definition at line 234 of file vpMbEdgeKltTracker.h.

Member Enumeration Documentation

Enumerator
GAUSS_NEWTON_OPT 
LEVENBERG_MARQUARDT_OPT 

Definition at line 113 of file vpMbTracker.h.

Constructor & Destructor Documentation

vpMbEdgeKltTracker::~vpMbEdgeKltTracker ( )
virtual

Basic constructor

Definition at line 69 of file vpMbEdgeKltTracker.cpp.

Member Function Documentation

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

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 1234 of file vpMbKltTracker.cpp.

References vpMbtDistanceCircle::buildFrom(), vpMbTracker::cam, vpMbKltTracker::circles_disp, vpMbtDistanceCircle::setCameraParameters(), and vpMbtDistanceCircle::setName().

Referenced by vpMbKltTracker::initCircle().

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 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 init(), vpMbEdgeTracker::init(), 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 3043 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 2410 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 3060 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 vpMbEdgeKltTracker::computeVVS ( const vpImage< unsigned char > &  I,
const unsigned int &  nbInfos,
unsigned int &  nbrow,
const unsigned int  lvl = 0 
)
protectedvirtual

Realize the VVS loop for the tracking

Parameters
I: current image.
nbInfos: Size of the features (KLT).
nbrow: Size of the features (Edge).
lvl: level of the pyramid.

Definition at line 554 of file vpMbEdgeKltTracker.cpp.

References vpVelocityTwistMatrix::buildFrom(), vpMbKltTracker::c0Mo, vpMbTracker::cam, vpMbTracker::cMo, vpMbTracker::computeCovariance, vpMbTracker::computeCovarianceMatrixVVS(), vpMbtDistanceKltPoints::computeHomography(), vpMbtDistanceKltCylinder::computeInteractionMatrixAndResidu(), vpMbtDistanceKltPoints::computeInteractionMatrixAndResidu(), vpMbTracker::computeVVSCheckLevenbergMarquardt(), vpMbTracker::computeVVSPoseEstimation(), vpMbKltTracker::ctTc0, vpExponentialMap::direct(), vpTrackingException::fatalError, vpCameraParameters::get_px(), vpMbtDistanceKltCylinder::getCurrentNumberPoints(), vpMbtDistanceKltPoints::getCurrentNumberPoints(), vpArray2D< Type >::getRows(), vpMbtDistanceKltCylinder::hasEnoughPoints(), vpMbtDistanceKltPoints::hasEnoughPoints(), vpColVector::insert(), vpMatrix::insert(), vpHomogeneousMatrix::inverse(), vpMbTracker::isoJoIdentity, vpMbtDistanceKltCylinder::isTracked(), vpMbtDistanceKltPoints::isTracked(), vpMbtPolygon::isVisible(), vpMbKltTracker::kltCylinders, vpMbKltTracker::kltPolygons, vpMbTracker::m_computeInteraction, m_error_hybrid, vpMbTracker::m_initialMu, vpMbTracker::m_maxIter, m_w_hybrid, vpRobust::MEstimator(), vpTrackingException::notEnoughPointError, vpMbTracker::oJo, vpMbtDistanceKltPoints::polygon, vpRobust::resize(), vpArray2D< Type >::resize(), vpColVector::resize(), vpRobust::setThreshold(), vpMath::sqr(), thresholdKLT, thresholdMBT, trackFirstLoop(), trackSecondLoop(), vpRobust::TUKEY, w_klt, and w_mbt.

void vpMbEdgeTracker::computeVVSFirstPhase ( const vpImage< unsigned char > &  I,
const unsigned int  iter,
double &  count,
const unsigned int  lvl = 0 
)
protectedinherited
void vpMbEdgeKltTracker::computeVVSInit ( )
protectedvirtual

Reimplemented from vpMbEdgeTracker.

Definition at line 776 of file vpMbEdgeKltTracker.cpp.

References vpException::fatalError.

void vpMbEdgeKltTracker::computeVVSInteractionMatrixAndResidu ( )
protectedvirtual

Reimplemented from vpMbEdgeTracker.

Definition at line 781 of file vpMbEdgeKltTracker.cpp.

References vpException::fatalError.

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

Display the 3D model at a given position using the given camera parameters

Parameters
I: The image.
cMo_: Pose used to project the 3D model into the image.
camera: The camera parameters.
col: The desired color.
thickness: The thickness of the lines.
displayFullModel: boolean to say if all the model has to be displayed, even the faces that are not visible.

Reimplemented from vpMbKltTracker.

Examples:
mbtEdgeKltTracking.cpp, and tutorial-mb-hybrid-tracker.cpp.

Definition at line 1091 of file vpMbEdgeKltTracker.cpp.

References vpMbEdgeTracker::circles, vpMbEdgeTracker::cylinders, vpMbTracker::displayFeatures, vpMbHiddenFaces< PolygonType >::displayOgre(), vpMbtDistanceKltCylinder::displayPrimitive(), vpMbtDistanceKltPoints::displayPrimitive(), vpMbTracker::faces, vpMbtDistanceKltCylinder::hasEnoughPoints(), vpMbtDistanceKltPoints::hasEnoughPoints(), vpMbtDistanceKltCylinder::isTracked(), vpMbtDistanceKltPoints::isTracked(), vpMbtPolygon::isVisible(), vpMbKltTracker::kltCylinders, vpMbKltTracker::kltPolygons, vpMbEdgeTracker::lines, vpMbtDistanceKltPoints::polygon, vpMbEdgeTracker::scaleLevel, vpMbEdgeTracker::scales, and vpMbTracker::useOgre.

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

Display the 3D model at a given position using the given camera parameters

Parameters
I: The color image.
cMo_: Pose used to project the 3D model into the image.
camera: The camera parameters.
col: The desired color.
thickness: The thickness of the lines.
displayFullModel: boolean to say if all the model has to be displayed, even the faces that are not visible.

Reimplemented from vpMbKltTracker.

Definition at line 1147 of file vpMbEdgeKltTracker.cpp.

References vpMbEdgeTracker::circles, vpMbEdgeTracker::cylinders, vpMbTracker::displayFeatures, vpMbHiddenFaces< PolygonType >::displayOgre(), vpMbtDistanceKltCylinder::displayPrimitive(), vpMbtDistanceKltPoints::displayPrimitive(), vpMbTracker::faces, vpMbtDistanceKltCylinder::hasEnoughPoints(), vpMbtDistanceKltPoints::hasEnoughPoints(), vpMbtDistanceKltCylinder::isTracked(), vpMbtDistanceKltPoints::isTracked(), vpMbtPolygon::isVisible(), vpMbKltTracker::kltCylinders, vpMbKltTracker::kltPolygons, vpMbEdgeTracker::lines, vpMbtDistanceKltPoints::polygon, vpMbEdgeTracker::scaleLevel, vpMbEdgeTracker::scales, and vpMbTracker::useOgre.

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 1994 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 1941 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 1852 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 2079 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.

virtual vpMatrix vpMbTracker::getCovarianceMatrix ( ) const
inlinevirtualinherited
virtual vpColVector vpMbEdgeKltTracker::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 vpMbEdgeTracker.

Definition at line 261 of file vpMbEdgeKltTracker.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 2561 of file vpMbTracker.cpp.

References vpMbTracker::oJo.

virtual vpMbHiddenFaces<vpMbtPolygon>& vpMbTracker::getFaces ( )
inlinevirtualinherited

Return a reference to the faces structure.

Reimplemented in vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, vpMbKltMultiTracker, and vpMbGenericTracker.

Definition at line 332 of file vpMbTracker.h.

Referenced by vpMbGenericTracker::getError().

virtual double vpMbTracker::getFarClippingDistance ( ) const
inlinevirtualinherited

Get the far distance for clipping.

Returns
Far clipping value.

Definition at line 339 of file vpMbTracker.h.

virtual std::list<vpMbtDistanceCircle *>& vpMbKltTracker::getFeaturesCircle ( )
inlinevirtualinherited

Return the address of the circle feature list.

Reimplemented in vpMbKltMultiTracker.

Definition at line 297 of file vpMbKltTracker.h.

References vpMbKltTracker::circles_disp.

virtual std::list<vpMbtDistanceKltPoints *>& vpMbKltTracker::getFeaturesKlt ( )
inlinevirtualinherited

Return the address of the Klt feature list.

Reimplemented in vpMbKltMultiTracker.

Definition at line 301 of file vpMbKltTracker.h.

References vpMbKltTracker::kltPolygons.

virtual std::list<vpMbtDistanceKltCylinder *>& vpMbKltTracker::getFeaturesKltCylinder ( )
inlinevirtualinherited

Return the address of the cylinder feature list.

Reimplemented in vpMbKltMultiTracker.

Definition at line 299 of file vpMbKltTracker.h.

References vpMbKltTracker::kltCylinders.

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 2124 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.

std::vector< vpImagePoint > vpMbKltTracker::getKltImagePoints ( ) const
inherited

Get the current list of KLT points.

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.

Definition at line 332 of file vpMbKltTracker.cpp.

References vpKltOpencv::getFeature(), vpKltOpencv::getNbFeatures(), and vpMbKltTracker::tracker.

std::map< int, vpImagePoint > vpMbKltTracker::getKltImagePointsWithId ( ) const
inherited

Get the current list of KLT points and their id.

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.

Definition at line 353 of file vpMbKltTracker.cpp.

References vpKltOpencv::getFeature(), vpKltOpencv::getNbFeatures(), and vpMbKltTracker::tracker.

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.

int vpMbKltTracker::getKltNbPoints ( ) const
inlineinherited

Get the current number of klt points.

Returns
the number of features

Definition at line 337 of file vpMbKltTracker.h.

References vpKltOpencv::getNbFeatures().

vpKltOpencv vpMbKltTracker::getKltOpencv ( ) const
inlineinherited

Get the klt tracker at the current state.

Returns
klt tracker.

Definition at line 323 of file vpMbKltTracker.h.

References vpMbKltTracker::tracker.

std::vector<cv::Point2f> vpMbKltTracker::getKltPoints ( ) const
inlineinherited

Get the current list of KLT points.

Returns
the list of KLT points through vpKltOpencv.

Definition at line 309 of file vpMbKltTracker.h.

References vpKltOpencv::getFeatures(), vpMbKltMultiTracker::getKltImagePoints(), vpMbKltMultiTracker::getKltImagePointsWithId(), and vpMbKltMultiTracker::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 vpMbEdgeTracker::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 2699 of file vpMbEdgeTracker.cpp.

References vpMbEdgeTracker::circles, vpException::dimensionError, and vpMbEdgeTracker::scales.

void vpMbEdgeTracker::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 2677 of file vpMbEdgeTracker.cpp.

References vpMbEdgeTracker::cylinders, vpException::dimensionError, and vpMbEdgeTracker::scales.

void vpMbEdgeTracker::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 2655 of file vpMbEdgeTracker.cpp.

References vpException::dimensionError, vpMbEdgeTracker::lines, and vpMbEdgeTracker::scales.

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.

virtual void vpMbEdgeTracker::getMovingEdge ( vpMe p_me) const
inlinevirtualinherited

Get the moving edge parameters.

Parameters
p_me[out] : an instance of the moving edge parameters used by the tracker.

Reimplemented in vpMbEdgeMultiTracker.

Definition at line 368 of file vpMbEdgeTracker.h.

References vpMbEdgeTracker::me.

virtual vpMe vpMbEdgeTracker::getMovingEdge ( ) const
inlinevirtualinherited

Get the moving edge parameters.

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

Reimplemented in vpMbEdgeMultiTracker.

Definition at line 374 of file vpMbEdgeTracker.h.

References vpMbEdgeMultiTracker::getNbPoints(), and vpMbEdgeTracker::me.

int vpMbKltTracker::getNbKltPoints ( ) const
inlineinherited

Get the current number of klt points.

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

Definition at line 449 of file vpMbKltTracker.h.

References vpKltOpencv::getNbFeatures().

Referenced by vpMbKltMultiTracker::getRobustWeights().

unsigned int vpMbEdgeTracker::getNbPoints ( const unsigned int  level = 0) const
virtualinherited
virtual unsigned int vpMbTracker::getNbPolygon ( ) const
inlinevirtualinherited

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

Returns
Number of polygons.

Reimplemented in vpMbGenericTracker, vpMbKltMultiTracker, vpMbEdgeMultiTracker, and vpMbEdgeKltMultiTracker.

Definition at line 368 of file vpMbTracker.h.

References vpMbHiddenFaces< PolygonType >::size().

Referenced by vpMbGenericTracker::getError(), loadConfigFile(), vpMbKltTracker::loadConfigFile(), and vpMbEdgeTracker::loadConfigFile().

virtual double vpMbEdgeKltTracker::getNearClippingDistance ( ) const
inlinevirtual

Get the near distance for clipping.

Returns
Near clipping value.

Reimplemented from vpMbTracker.

Definition at line 270 of file vpMbEdgeKltTracker.h.

References vpMbTracker::getNearClippingDistance(), vpMbEdgeTracker::loadConfigFile(), vpMbEdgeTracker::reInitModel(), vpMbEdgeTracker::resetTracker(), and vpMbEdgeTracker::setCameraParameters().

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 2158 of file vpMbTracker.cpp.

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

Referenced by vpMbGenericTracker::getError().

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(), vpMbEdgeKltMultiTracker::getNumberOfCameras(), vpMbKltMultiTracker::getNumberOfCameras(), vpMbEdgeMultiTracker::getNumberOfCameras(), vpMbEdgeKltMultiTracker::getPose(), and vpMbEdgeKltMultiTracker::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 vpMbEdgeKltTracker::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 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 vpMbEdgeTracker.

Definition at line 263 of file vpMbEdgeKltTracker.h.

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 vpMbEdgeKltTracker::init ( const vpImage< unsigned char > &  I)
protectedvirtual

Initialization of the tracker using a known initial pose. The 3D model must first have been loaded.

Parameters
I: Input image.

Reimplemented from vpMbKltTracker.

Definition at line 77 of file vpMbEdgeKltTracker.cpp.

References vpMbEdgeTracker::cleanPyramid(), vpMbTracker::cMo, vpMbEdgeTracker::downScale(), vpMbKltTracker::init(), vpMbEdgeTracker::initMovingEdge(), vpMbEdgeTracker::initPyramid(), vpMbEdgeTracker::Ipyramid, vpMbEdgeTracker::resetMovingEdge(), vpMbEdgeTracker::scales, and vpMbEdgeTracker::upScale().

Referenced by reInitModel().

void vpMbEdgeKltTracker::initCircle ( const vpPoint p1,
const vpPoint p2,
const vpPoint p3,
const double  radius,
const int  idFace = 0,
const std::string &  name = "" 
)
protectedvirtual

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: Id of the face associated to the circle.
name: The optional name of the circle.

Reimplemented from vpMbEdgeTracker.

Definition at line 1057 of file vpMbEdgeKltTracker.cpp.

References vpMbEdgeTracker::initCircle().

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

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 (.ppm, .pgm, .jpg, .jpeg, .png) 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 in vpMbEdgeMultiTracker, vpMbKltMultiTracker, and vpMbEdgeKltMultiTracker.

Examples:
mbtEdgeKltTracking.cpp, mbtEdgeTracking.cpp, mbtKltTracking.cpp, testKeyPoint-2.cpp, testKeyPoint-4.cpp, tutorial-detection-object-mbt-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 205 of file vpMbTracker.cpp.

References vpPose::addPoint(), vpException::badValue, vpHomogeneousMatrix::buildFrom(), vpMouseButton::button1, vpMbTracker::cam, vpIoTools::checkFilename(), vpPose::clearPoint(), vpMbTracker::cMo, vpPose::computePose(), vpPose::computeResidual(), vpPixelMeterConversion::convertPoint(), vpPose::DEMENTHON, vpImage< Type >::display, vpMbTracker::display(), vpDisplay::display(), vpDisplay::displayCross(), vpDisplay::displayFrame(), vpDisplay::displayText(), vpHomogeneousMatrix::eye(), vpDisplay::flush(), vpDisplay::getClick(), vpImage< Type >::getWidth(), vpDisplay::getWindowXPosition(), vpDisplay::getWindowYPosition(), vpColor::green, vpMbTracker::init(), vpException::ioError, vpPose::LAGRANGE, vpMbTracker::poseSavingFilename, vpImageIo::read(), vpColor::red, vpMbTracker::removeComment(), vpMbTracker::savePose(), and vpPose::VIRTUAL_VS.

Referenced by vpMbEdgeMultiTracker::getRobustWeights(), vpMbKltMultiTracker::getRobustWeights(), and vpMbGenericTracker::getRobustWeights().

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

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 in vpMbEdgeMultiTracker, vpMbKltMultiTracker, and vpMbEdgeKltMultiTracker.

Definition at line 456 of file vpMbTracker.cpp.

References vpPose::addPoint(), vpMouseButton::button1, vpMbTracker::cam, vpIoTools::checkFilename(), vpPose::clearPoint(), vpMbTracker::cMo, vpPose::computePose(), vpPose::computeResidual(), vpPixelMeterConversion::convertPoint(), vpPose::DEMENTHON, vpImage< Type >::display, vpMbTracker::display(), vpDisplay::display(), vpDisplay::displayCross(), vpDisplay::displayFrame(), vpDisplay::displayPoint(), vpDisplay::displayText(), vpDisplay::flush(), vpDisplay::getClick(), vpImage< Type >::getWidth(), vpDisplay::getWindowXPosition(), vpDisplay::getWindowYPosition(), vpColor::green, vpMbTracker::init(), vpPose::LAGRANGE, vpImageIo::read(), vpColor::red, and vpPose::VIRTUAL_VS.

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

Add a cylinder to track from tow 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 associated to the cylinder.
name: The optional name of the cylinder.

Reimplemented from vpMbEdgeTracker.

Definition at line 1073 of file vpMbEdgeKltTracker.cpp.

References vpMbKltTracker::initCylinder(), and vpMbEdgeTracker::initCylinder().

void vpMbEdgeKltTracker::initFaceFromCorners ( vpMbtPolygon polygon)
protectedvirtual

Initialise a new face from the coordinates given in parameter.

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

Reimplemented from vpMbEdgeTracker.

Definition at line 1030 of file vpMbEdgeKltTracker.cpp.

References vpMbKltTracker::initFaceFromCorners(), and vpMbEdgeTracker::initFaceFromCorners().

void vpMbEdgeKltTracker::initFaceFromLines ( vpMbtPolygon polygon)
protectedvirtual

Initialise a new face from the coordinates given in parameter.

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

Reimplemented from vpMbEdgeTracker.

Definition at line 1041 of file vpMbEdgeKltTracker.cpp.

References vpMbKltTracker::initFaceFromLines(), and vpMbEdgeTracker::initFaceFromLines().

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 586 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 723 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 vpMbTracker::initFromPose ( const vpImage< unsigned char > &  I,
const std::string &  initFile 
)
virtualinherited

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 in vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.

Examples:
mbtEdgeKltTracking.cpp, mbtEdgeTracking.cpp, mbtKltTracking.cpp, testKeyPoint-2.cpp, and testKeyPoint-4.cpp.

Definition at line 776 of file vpMbTracker.cpp.

References vpHomogeneousMatrix::buildFrom(), vpMbTracker::cMo, vpMbTracker::init(), and vpException::ioError.

Referenced by vpMbEdgeMultiTracker::getRobustWeights(), vpMbKltMultiTracker::getRobustWeights(), vpMbGenericTracker::getRobustWeights(), vpMbTracker::initFromPose(), vpMbDepthDenseTracker::reInitModel(), vpMbDepthNormalTracker::reInitModel(), vpMbKltTracker::reInitModel(), and vpMbEdgeTracker::reInitModel().

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

Initialise the tracking thanks to the pose.

Parameters
I: Input image
cMo_: Pose matrix.

Reimplemented in vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.

Definition at line 811 of file vpMbTracker.cpp.

References vpMbTracker::cMo, and vpMbTracker::init().

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

Initialise the tracking thanks to the pose vector.

Parameters
I: Input image
cPo: Pose vector.

Reimplemented in vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.

Definition at line 823 of file vpMbTracker.cpp.

References vpMbTracker::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 init(), vpMbEdgeTracker::init(), postTracking(), vpMbEdgeKltMultiTracker::postTracking(), vpMbEdgeTracker::setGoodMovingEdgesRatioThreshold(), 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 2995 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 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 init(), vpMbEdgeTracker::init(), vpMbEdgeMultiTracker::initPyramid(), 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 1306 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 vpMbEdgeKltTracker::loadConfigFile ( const std::string &  configFile)
virtual

Load the xml configuration file. From the configuration file initialize the parameters corresponding to the objects: moving-edges, 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>
<ecm>
<mask>
<size>5</size>
<nb_mask>180</nb_mask>
</mask>
<range>
<tracking>10</tracking>
</range>
<contrast>
<edge_threshold>7000</edge_threshold>
<mu1>0.5</mu1>
<mu2>0.5</mu2>
</contrast>
<sample>
<step>4</step>
</sample>
</ecm>
<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 vpMbKltTracker.

Examples:
mbtEdgeKltTracking.cpp, and tutorial-mb-hybrid-tracker.cpp.

Definition at line 246 of file vpMbEdgeKltTracker.cpp.

References vpMbTracker::angleAppears, vpMbTracker::angleDisappears, vpMbTracker::applyLodSettingInConfig, vpMbTracker::cam, vpMbTracker::clippingFlag, vpMath::deg(), vpMbTracker::faces, vpPolygon3D::FOV_CLIPPING, vpMbXmlParser::getAngleAppear(), vpMbXmlParser::getAngleDisappear(), vpMbtKltXmlParser::getBlockSize(), vpMbXmlParser::getCameraParameters(), vpMbXmlParser::getFarClippingDistance(), vpMbXmlParser::getFovClipping(), vpMbtKltXmlParser::getHarrisParam(), vpMbXmlParser::getLodState(), vpMbtKltXmlParser::getMaskBorder(), vpMbtKltXmlParser::getMaxFeatures(), vpMbHiddenFaces< PolygonType >::getMbScanLineRenderer(), vpMbtXmlParser::getMe(), vpMbtKltXmlParser::getMinDistance(), vpMbXmlParser::getMinLineLengthThreshold(), vpMbXmlParser::getMinPolygonAreaThreshold(), vpMbTracker::getNbPolygon(), vpMbXmlParser::getNearClippingDistance(), vpMbtKltXmlParser::getPyramidLevels(), vpMbtKltXmlParser::getQuality(), vpMbtKltXmlParser::getWindowSize(), vpMbXmlParser::hasFarClippingDistance(), vpMbXmlParser::hasNearClippingDistance(), vpException::ioError, vpMbTracker::loadConfigFile(), vpMbKltTracker::maskBorder, vpMbEdgeTracker::me, vpMbTracker::minLineLengthThresholdGeneral, vpMbTracker::minPolygonAreaThresholdGeneral, vpXmlParser::parse(), vpMath::rad(), vpMbXmlParser::setAngleAppear(), vpMbXmlParser::setAngleDisappear(), vpKltOpencv::setBlockSize(), vpMbtKltXmlParser::setBlockSize(), vpMbXmlParser::setCameraParameters(), setCameraParameters(), setClipping(), setFarClippingDistance(), vpKltOpencv::setHarrisFreeParameter(), vpMbtKltXmlParser::setHarrisParam(), vpMbTracker::setLod(), vpMbtKltXmlParser::setMaskBorder(), vpKltOpencv::setMaxFeatures(), vpMbtKltXmlParser::setMaxFeatures(), vpKltOpencv::setMinDistance(), vpMbtKltXmlParser::setMinDistance(), vpMbTracker::setMinLineLengthThresh(), vpMbTracker::setMinPolygonAreaThresh(), vpMbtXmlParser::setMovingEdge(), vpMbEdgeTracker::setMovingEdge(), setNearClippingDistance(), vpKltOpencv::setPyramidLevels(), vpMbtKltXmlParser::setPyramidLevels(), vpKltOpencv::setQuality(), vpMbtKltXmlParser::setQuality(), vpKltOpencv::setWindowSize(), vpMbtKltXmlParser::setWindowSize(), vpMbKltTracker::tracker, vpMbTracker::useLodGeneral, vpERROR_TRACE, and vpTRACE.

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

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 in vpMbEdgeKltMultiTracker, vpMbGenericTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.

Examples:
mbtEdgeKltTracking.cpp, mbtEdgeTracking.cpp, mbtGenericTracking.cpp, mbtGenericTracking2.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, tutorial-mb-tracker-stereo.cpp, and tutorial-mb-tracker.cpp.

Definition at line 1082 of file vpMbTracker.cpp.

References vpIoTools::checkFilename(), vpMbTracker::faces, vpException::ioError, vpMbTracker::loadCAOModel(), vpMbTracker::loadVRMLModel(), vpMbTracker::modelFileName, vpMbTracker::modelInitialised, vpMbTracker::nbCircles, vpMbTracker::nbCylinders, vpMbTracker::nbLines, vpMbTracker::nbPoints, vpMbTracker::nbPolygonLines, vpMbTracker::nbPolygonPoints, and vpMbHiddenFaces< PolygonType >::size().

Referenced by vpMbEdgeMultiTracker::getRobustWeights(), vpMbKltMultiTracker::getRobustWeights(), vpMbGenericTracker::getRobustWeights(), vpMbDepthDenseTracker::reInitModel(), vpMbDepthNormalTracker::reInitModel(), reInitModel(), vpMbKltTracker::reInitModel(), and vpMbEdgeTracker::reInitModel().

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 1143 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 1204 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::loadCAOModel().

void vpMbEdgeKltTracker::postTrackingMbt ( vpColVector w,
const unsigned int  lvl = 0 
)
protected
void vpMbTracker::projectionErrorResetMovingEdges ( )
protectedinherited
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 vpMbEdgeKltTracker::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 vpMbEdgeTracker.

Definition at line 1204 of file vpMbEdgeKltTracker.cpp.

References vpMbEdgeTracker::circles, vpMbKltTracker::circles_disp, vpMbTracker::cMo, vpMbKltTracker::cur, vpMbEdgeTracker::cylinders, vpMbTracker::faces, vpMbKltTracker::firstInitialisation, init(), vpMbKltTracker::kltCylinders, vpMbKltTracker::kltPolygons, vpMbEdgeTracker::lines, vpMbTracker::loadModel(), vpMbEdgeTracker::nbvisiblepolygone, vpMbEdgeTracker::ncircle, vpMbEdgeTracker::ncylinder, vpMbEdgeTracker::nline, vpMbHiddenFaces< PolygonType >::reset(), and vpMbEdgeTracker::scales.

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 1189 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 vpMbEdgeKltTracker::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.

Implements vpMbTracker.

Examples:
mbtEdgeKltTracking.cpp.

Definition at line 138 of file vpMbEdgeKltTracker.cpp.

References vpMbKltTracker::resetTracker(), and vpMbEdgeTracker::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 2699 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 834 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::initClick().

virtual void vpMbTracker::setAngleAppear ( const double &  a)
inlinevirtualinherited
virtual void vpMbTracker::setAngleDisappear ( const double &  a)
inlinevirtualinherited
void vpMbEdgeKltTracker::setCameraParameters ( const vpCameraParameters camera)
virtual

Set the camera parameters

Parameters
camera: the new camera parameters

Reimplemented from vpMbEdgeTracker.

Examples:
mbtEdgeKltTracking.cpp, and tutorial-mb-hybrid-tracker.cpp.

Definition at line 1016 of file vpMbEdgeKltTracker.cpp.

References vpMbTracker::cam, vpMbKltTracker::setCameraParameters(), and vpMbEdgeTracker::setCameraParameters().

Referenced by loadConfigFile().

virtual void vpMbEdgeKltTracker::setClipping ( const unsigned int &  flags)
inlinevirtual

Specify which clipping to use.

See also
vpMbtPolygonClipping
Parameters
flags: New clipping flags.

Reimplemented from vpMbEdgeTracker.

Examples:
mbtEdgeKltTracking.cpp, and tutorial-mb-hybrid-tracker.cpp.

Definition at line 287 of file vpMbEdgeKltTracker.h.

References vpMbEdgeTracker::setClipping().

Referenced by loadConfigFile().

virtual void vpMbTracker::setCovarianceComputation ( const bool &  flag)
inlinevirtualinherited
virtual void vpMbTracker::setDisplayFeatures ( const bool  displayF)
inlinevirtualinherited

Enable to display the features. By features, we meant the moving edges (ME) and the klt points if used.

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 in vpMbGenericTracker, vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.

Examples:
mbtEdgeKltTracking.cpp, mbtEdgeTracking.cpp, mbtGenericTracking.cpp, mbtGenericTracking2.cpp, mbtGenericTrackingDepth.cpp, mbtGenericTrackingDepthOnly.cpp, mbtKltTracking.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, tutorial-mb-tracker-stereo.cpp, and tutorial-mb-tracker.cpp.

Definition at line 503 of file vpMbTracker.h.

Referenced by vpMbEdgeMultiTracker::getRobustWeights(), vpMbKltMultiTracker::getRobustWeights(), vpMbGenericTracker::getRobustWeights(), and vpMbGenericTracker::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 2584 of file vpMbTracker.cpp.

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

virtual void vpMbEdgeKltTracker::setFarClippingDistance ( const double &  dist)
inlinevirtual

Set the far distance for clipping.

Parameters
dist: Far clipping value.

Reimplemented from vpMbEdgeTracker.

Examples:
mbtEdgeKltTracking.cpp, and tutorial-mb-hybrid-tracker.cpp.

Definition at line 294 of file vpMbEdgeKltTracker.h.

References vpMbEdgeTracker::setFarClippingDistance().

Referenced by loadConfigFile().

void vpMbEdgeTracker::setGoodMovingEdgesRatioThreshold ( const double  threshold)
inlineinherited

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 486 of file vpMbEdgeTracker.h.

References vpMbKltMultiTracker::addCircle(), vpMbEdgeTracker::addCylinder(), vpMbEdgeTracker::addLine(), vpMbTracker::addPolygon(), vpMbEdgeMultiTracker::cleanPyramid(), vpMbEdgeMultiTracker::computeProjectionError(), vpMbKltMultiTracker::computeVVS(), vpMbEdgeTracker::computeVVSFirstPhase(), vpMbEdgeTracker::computeVVSFirstPhaseFactor(), vpMbEdgeMultiTracker::computeVVSFirstPhasePoseEstimation(), vpMbTracker::computeVVSInit(), vpMbTracker::computeVVSInteractionMatrixAndResidu(), vpMbTracker::computeVVSWeights(), vpMbEdgeTracker::displayFeaturesOnImage(), vpMbEdgeTracker::downScale(), vpMbTracker::init(), vpMbTracker::initCircle(), vpMbTracker::initCylinder(), vpMbTracker::initFaceFromCorners(), vpMbTracker::initFaceFromLines(), vpMbEdgeKltMultiTracker::initMbtTracking(), vpMbEdgeTracker::initMovingEdge(), vpMbEdgeMultiTracker::initPyramid(), vpMbEdgeTracker::reInitLevel(), vpMbEdgeTracker::reinitMovingEdge(), vpMbEdgeTracker::removeCircle(), vpMbEdgeTracker::removeCylinder(), vpMbEdgeTracker::removeLine(), vpMbEdgeTracker::resetMovingEdge(), vpMbEdgeMultiTracker::setMovingEdge(), vpMbTracker::setPose(), vpMbEdgeMultiTracker::setScales(), vpMbEdgeMultiTracker::setUseEdgeTracking(), vpMbTracker::testTracking(), vpMbTracker::track(), vpMbEdgeTracker::trackMovingEdge(), vpMbEdgeTracker::updateMovingEdge(), vpMbEdgeTracker::updateMovingEdgeWeights(), vpMbEdgeTracker::upScale(), and vpMbEdgeTracker::visibleFace().

Referenced by vpMbEdgeMultiTracker::getRobustWeights().

virtual void vpMbTracker::setGoodNbRayCastingAttemptsRatio ( const double &  ratio)
inlinevirtualinherited

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 in vpMbEdgeKltMultiTracker, vpMbGenericTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.

Definition at line 603 of file vpMbTracker.h.

References vpMbHiddenFaces< PolygonType >::setGoodNbRayCastingAttemptsRatio().

Referenced by vpMbEdgeMultiTracker::getRobustWeights(), vpMbKltMultiTracker::getRobustWeights(), and vpMbGenericTracker::getRobustWeights().

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 vpMbKltTracker::setKltMaskBorder ( const unsigned int &  e)
inlineinherited

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

Parameters
e: The desired erosion.
Examples:
mbtEdgeKltTracking.cpp, mbtKltTracking.cpp, and tutorial-mb-klt-tracker.cpp.

Definition at line 365 of file vpMbKltTracker.h.

References vpMbTracker::faces, vpMbHiddenFaces< PolygonType >::getMbScanLineRenderer(), and vpMbKltMultiTracker::setKltOpencv().

Referenced by vpMbKltMultiTracker::getRobustWeights().

void vpMbKltTracker::setKltThresholdAcceptation ( const double  th)
inlineinherited

Set the threshold for the acceptation of a point.

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

Definition at line 379 of file vpMbKltTracker.h.

Referenced by vpMbKltMultiTracker::getRobustWeights().

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 vpMbTracker::setLod ( const bool  useLod,
const std::string &  name = "" 
)
virtualinherited

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

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 in vpMbEdgeKltMultiTracker, vpMbGenericTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.

Definition at line 2296 of file vpMbTracker.cpp.

References vpMbTracker::faces, and vpMbHiddenFaces< PolygonType >::size().

Referenced by vpMbEdgeMultiTracker::getRobustWeights(), vpMbKltMultiTracker::getRobustWeights(), vpMbGenericTracker::getRobustWeights(), loadConfigFile(), vpMbKltTracker::loadConfigFile(), and vpMbEdgeTracker::loadConfigFile().

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 vpMbKltTracker::setMaskBorder ( const unsigned int &  e)
inlineinherited

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

Parameters
e: The desired erosion.
Examples:
tutorial-mb-hybrid-tracker.cpp.

Definition at line 464 of file vpMbKltTracker.h.

References vpMbTracker::faces, and vpMbHiddenFaces< PolygonType >::getMbScanLineRenderer().

Referenced by vpMbKltMultiTracker::getRobustWeights().

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 vpMbTracker::setMinLineLengthThresh ( const double  minLineLengthThresh,
const std::string &  name = "" 
)
virtualinherited

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 in vpMbEdgeKltMultiTracker, vpMbGenericTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.

Definition at line 2314 of file vpMbTracker.cpp.

References vpMbTracker::faces, and vpMbHiddenFaces< PolygonType >::size().

Referenced by vpMbEdgeMultiTracker::getRobustWeights(), vpMbKltMultiTracker::getRobustWeights(), vpMbGenericTracker::getRobustWeights(), loadConfigFile(), vpMbKltTracker::loadConfigFile(), and vpMbEdgeTracker::loadConfigFile().

void vpMbTracker::setMinPolygonAreaThresh ( const double  minPolygonAreaThresh,
const std::string &  name = "" 
)
virtualinherited

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 in vpMbEdgeKltMultiTracker, vpMbGenericTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.

Definition at line 2331 of file vpMbTracker.cpp.

References vpMbTracker::faces, and vpMbHiddenFaces< PolygonType >::size().

Referenced by vpMbEdgeMultiTracker::getRobustWeights(), vpMbKltMultiTracker::getRobustWeights(), vpMbGenericTracker::getRobustWeights(), loadConfigFile(), vpMbKltTracker::loadConfigFile(), and vpMbEdgeTracker::loadConfigFile().

virtual void vpMbTracker::setNbRayCastingAttemptsForVisibility ( const unsigned int &  attempts)
inlinevirtualinherited

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 in vpMbEdgeKltMultiTracker, vpMbGenericTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.

Definition at line 613 of file vpMbTracker.h.

References vpMbHiddenFaces< PolygonType >::setNbRayCastingAttemptsForVisibility().

Referenced by vpMbEdgeMultiTracker::getRobustWeights(), vpMbKltMultiTracker::getRobustWeights(), and vpMbGenericTracker::getRobustWeights().

virtual void vpMbEdgeKltTracker::setNearClippingDistance ( const double &  dist)
inlinevirtual

Set the near distance for clipping.

Parameters
dist: Near clipping value.

Reimplemented from vpMbEdgeTracker.

Examples:
mbtEdgeKltTracking.cpp, and tutorial-mb-hybrid-tracker.cpp.

Definition at line 301 of file vpMbEdgeKltTracker.h.

References vpMbEdgeTracker::setNearClippingDistance().

Referenced by loadConfigFile().

virtual void vpMbTracker::setOgreShowConfigDialog ( const bool  showConfigDialog)
inlinevirtualinherited

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 in vpMbEdgeKltMultiTracker, vpMbGenericTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.

Examples:
mbtEdgeKltTracking.cpp, mbtEdgeTracking.cpp, mbtGenericTracking.cpp, mbtGenericTracking2.cpp, mbtGenericTrackingDepth.cpp, mbtGenericTrackingDepthOnly.cpp, mbtKltTracking.cpp, tutorial-mb-edge-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, tutorial-mb-klt-tracker.cpp, and tutorial-mb-tracker-full.cpp.

Definition at line 629 of file vpMbTracker.h.

Referenced by vpMbEdgeMultiTracker::getRobustWeights(), vpMbKltMultiTracker::getRobustWeights(), vpMbGenericTracker::getRobustWeights(), and vpMbGenericTracker::setOgreShowConfigDialog().

virtual void vpMbEdgeKltTracker::setOgreVisibilityTest ( const bool &  v)
inlinevirtual

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 vpMbEdgeTracker.

Examples:
mbtEdgeKltTracking.cpp, and tutorial-mb-hybrid-tracker.cpp.

Definition at line 311 of file vpMbEdgeKltTracker.h.

References vpMbTracker::setOgreVisibilityTest().

virtual void vpMbTracker::setOptimizationMethod ( const vpMbtOptimizationMethod opt)
inlinevirtualinherited

Set the optimization method used during the tracking.

Parameters
opt: Optimization method to use.

Reimplemented in vpMbEdgeKltMultiTracker, vpMbGenericTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.

Definition at line 543 of file vpMbTracker.h.

Referenced by vpMbEdgeMultiTracker::getRobustWeights(), vpMbKltMultiTracker::getRobustWeights(), vpMbGenericTracker::getRobustWeights(), and vpMbGenericTracker::setOptimizationMethod().

void vpMbEdgeKltTracker::setPose ( const vpImage< unsigned char > &  I,
const vpHomogeneousMatrix cdMo 
)
virtual
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.

virtual void vpMbEdgeKltTracker::setProjectionErrorComputation ( const bool &  flag)
inlinevirtual

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 vpMbKltTracker.

Examples:
mbtEdgeKltTracking.cpp.

Definition at line 337 of file vpMbEdgeKltTracker.h.

References 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 3397 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 vpMbEdgeTracker::setScales ( const std::vector< bool > &  scale)
inherited

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).
At least one level must be activated.
Parameters
scale: The vector describing the levels to use.

Definition at line 2450 of file vpMbEdgeTracker.cpp.

References vpMbEdgeTracker::circles, vpMbEdgeTracker::cylinders, vpMbEdgeTracker::lines, vpMbEdgeTracker::scales, and vpERROR_TRACE.

Referenced by vpMbEdgeMultiTracker::getRobustWeights(), vpMbEdgeTracker::resetTracker(), and vpMbEdgeMultiTracker::setScales().

virtual void vpMbEdgeKltTracker::setScanLineVisibilityTest ( const bool &  v)
inlinevirtual

Use Scanline algorithm for visibility tests

Parameters
v: True to use it, False otherwise

Reimplemented from vpMbEdgeTracker.

Examples:
mbtEdgeKltTracking.cpp.

Definition at line 324 of file vpMbEdgeKltTracker.h.

References vpMbEdgeTracker::setPose(), vpMbKltTracker::setScanLineVisibilityTest(), and vpMbEdgeTracker::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 vpMbEdgeTracker::setUseEdgeTracking ( const std::string &  name,
const bool &  useEdgeTracking 
)
inherited

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 2804 of file vpMbEdgeTracker.cpp.

References vpMbEdgeTracker::circles, vpMbEdgeTracker::cylinders, vpMbTracker::faces, vpMbEdgeTracker::lines, and vpMbEdgeTracker::scales.

Referenced by vpMbEdgeMultiTracker::getRobustWeights().

void vpMbKltTracker::setUseKltTracking ( const std::string &  name,
const bool &  useKltTracking 
)
inherited

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 1331 of file vpMbKltTracker.cpp.

References vpMbtPolygon::getName(), vpMbKltTracker::kltPolygons, vpMbtDistanceKltPoints::polygon, and vpMbtDistanceKltPoints::setTracked().

Referenced by vpMbKltMultiTracker::getRobustWeights().

void vpMbEdgeKltTracker::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 vpMbKltTracker.

Examples:
mbtEdgeKltTracking.cpp, and tutorial-mb-hybrid-tracker.cpp.

Definition at line 795 of file vpMbEdgeKltTracker.cpp.

References vpMbKltTracker::computeVVS(), vpMbTracker::m_maxIter, m_maxIterKlt, vpMbKltTracker::m_nbInfos, postTracking(), vpMbKltTracker::preTracking(), vpMbKltTracker::reinit(), vpMbEdgeTracker::trackMovingEdge(), w_klt, and w_mbt.

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(), vpMbEdgeKltMultiTracker::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(), 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(), computeVVS(), vpMbEdgeTracker::computeVVSFirstPhase(), vpMbKltTracker::computeVVSInit(), vpMbEdgeTracker::computeVVSInit(), vpMbKltTracker::display(), vpMbEdgeTracker::downScale(), vpMbEdgeKltMultiTracker::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(), loadConfigFile(), vpMbEdgeTracker::loadConfigFile(), postTracking(), vpMbKltTracker::postTracking(), vpMbKltTracker::reinit(), vpMbDepthDenseTracker::setCameraParameters(), vpMbDepthNormalTracker::setCameraParameters(), vpMbKltMultiTracker::setCameraParameters(), vpMbEdgeMultiTracker::setCameraParameters(), vpMbEdgeKltMultiTracker::setCameraParameters(), vpMbGenericTracker::setCameraParameters(), setCameraParameters(), vpMbKltTracker::setCameraParameters(), vpMbEdgeTracker::setCameraParameters(), setPose(), vpMbKltTracker::setPose(), vpMbGenericTracker::track(), vpMbEdgeTracker::track(), vpMbEdgeTracker::upScale(), and vpMbEdgeTracker::visibleFace().

std::list<vpMbtDistanceCircle *> vpMbKltTracker::circles_disp
protectedinherited
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(), computeVVS(), vpMbEdgeMultiTracker::computeVVS(), vpMbEdgeKltMultiTracker::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(), vpMbEdgeKltMultiTracker::computeVVSInteractionMatrixAndResidu(), vpMbGenericTracker::computeVVSInteractionMatrixAndResidu(), vpMbEdgeTracker::computeVVSInteractionMatrixAndResidu(), vpMbTracker::computeVVSPoseEstimation(), vpMbTracker::getPolygonFaces(), vpMbGenericTracker::getRobustWeights(), vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), vpMbGenericTracker::init(), init(), vpMbKltTracker::init(), vpMbEdgeTracker::init(), vpMbEdgeKltMultiTracker::initClick(), vpMbEdgeMultiTracker::initClick(), vpMbKltMultiTracker::initClick(), vpMbGenericTracker::initClick(), vpMbTracker::initClick(), vpMbGenericTracker::initFromPoints(), vpMbTracker::initFromPoints(), vpMbEdgeMultiTracker::initFromPose(), vpMbKltMultiTracker::initFromPose(), vpMbEdgeKltMultiTracker::initFromPose(), vpMbGenericTracker::initFromPose(), vpMbTracker::initFromPose(), vpMbEdgeKltMultiTracker::initMbtTracking(), vpMbKltMultiTracker::postTracking(), postTracking(), vpMbKltTracker::postTracking(), vpMbKltMultiTracker::reinit(), vpMbKltTracker::reinit(), vpMbEdgeTracker::reInitLevel(), vpMbDepthDenseTracker::reInitModel(), vpMbDepthNormalTracker::reInitModel(), vpMbEdgeMultiTracker::reInitModel(), vpMbKltMultiTracker::reInitModel(), vpMbGenericTracker::reInitModel(), reInitModel(), vpMbKltTracker::reInitModel(), vpMbEdgeTracker::reInitModel(), vpMbDepthDenseTracker::resetTracker(), vpMbDepthNormalTracker::resetTracker(), vpMbEdgeMultiTracker::resetTracker(), vpMbKltMultiTracker::resetTracker(), vpMbGenericTracker::resetTracker(), vpMbKltTracker::resetTracker(), vpMbEdgeTracker::resetTracker(), vpMbTracker::savePose(), vpMbDepthDenseTracker::segmentPointCloud(), vpMbDepthNormalTracker::segmentPointCloud(), vpMbDepthDenseTracker::setPose(), vpMbDepthNormalTracker::setPose(), vpMbKltMultiTracker::setPose(), setPose(), vpMbEdgeMultiTracker::setPose(), vpMbGenericTracker::setPose(), vpMbEdgeKltMultiTracker::setPose(), vpMbKltTracker::setPose(), vpMbEdgeTracker::setPose(), vpMbKltMultiTracker::track(), vpMbEdgeMultiTracker::track(), vpMbGenericTracker::track(), vpMbEdgeTracker::track(), 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(), display(), vpMbKltTracker::display(), vpMbEdgeTracker::display(), vpMbTracker::extractFaces(), vpMbTracker::extractLines(), vpMbGenericTracker::getFaces(), vpMbKltMultiTracker::getFaces(), vpMbEdgeMultiTracker::getFaces(), vpMbEdgeKltMultiTracker::getFaces(), vpMbTracker::getPolygonFaces(), vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), vpMbKltTracker::init(), vpMbEdgeTracker::init(), vpMbKltTracker::initCylinder(), vpMbKltTracker::initFaceFromCorners(), vpMbKltTracker::initFaceFromLines(), vpMbTracker::loadCAOModel(), loadConfigFile(), vpMbKltTracker::loadConfigFile(), vpMbTracker::loadModel(), vpMbTracker::loadVRMLModel(), postTracking(), vpMbEdgeKltMultiTracker::postTracking(), vpMbKltTracker::postTracking(), vpMbKltTracker::reinit(), 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(), setPose(), vpMbKltTracker::setPose(), vpMbEdgeTracker::setUseEdgeTracking(), vpMbGenericTracker::track(), vpMbEdgeTracker::track(), vpMbEdgeTracker::visibleFace(), vpMbDepthDenseTracker::vpMbDepthDenseTracker(), vpMbDepthNormalTracker::vpMbDepthNormalTracker(), 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(), 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 init(), vpMbEdgeTracker::init(), vpMbEdgeTracker::reInitLevel(), setPose(), vpMbEdgeTracker::track(), and vpMbEdgeTracker::~vpMbEdgeTracker().

bool vpMbTracker::isoJoIdentity
protectedinherited
vpColVector vpMbEdgeKltTracker::m_error_hybrid
protected

(s - s*)

Definition at line 248 of file vpMbEdgeKltTracker.h.

Referenced by computeVVS().

unsigned int vpMbEdgeKltTracker::m_maxIterKlt
protected

The maximum iteration of the virtual visual servoing stage.

Definition at line 242 of file vpMbEdgeKltTracker.h.

Referenced by track().

unsigned int vpMbKltTracker::m_nbFaceUsed
protectedinherited
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().

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 vpMbEdgeKltTracker::m_w_hybrid
protected

Robust weights.

Definition at line 250 of file vpMbEdgeKltTracker.h.

Referenced by computeVVS().

vpColVector vpMbEdgeTracker::m_wCircles
protectedinherited
vpColVector vpMbEdgeTracker::m_wCylinders
protectedinherited
vpColVector vpMbEdgeTracker::m_weightedError_edge
protectedinherited
vpColVector vpMbKltTracker::m_weightedError_klt
protectedinherited

Weighted error.

Definition at line 279 of file vpMbKltTracker.h.

Referenced by vpMbKltTracker::computeVVS(), and vpMbKltTracker::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 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(), 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(), 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(), 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(), vpMbEdgeKltMultiTracker::track(), and vpMbEdgeTracker::track().

double vpMbKltTracker::threshold_outlier
protectedinherited
double vpMbEdgeKltTracker::thresholdKLT
protected

The threshold used in the robust estimation of KLT.

Definition at line 238 of file vpMbEdgeKltTracker.h.

Referenced by computeVVS().

double vpMbEdgeKltTracker::thresholdMBT
protected

The threshold used in the robust estimation of MBT.

Definition at line 240 of file vpMbEdgeKltTracker.h.

Referenced by computeVVS().

bool vpMbTracker::useLodGeneral
protectedinherited
vpColVector vpMbEdgeKltTracker::w_klt
protected

Robust weights for KLT.

Definition at line 246 of file vpMbEdgeKltTracker.h.

Referenced by computeVVS(), and track().

vpColVector vpMbEdgeKltTracker::w_mbt
protected

Robust weights for Edge.

Definition at line 244 of file vpMbEdgeKltTracker.h.

Referenced by computeVVS(), and track().