Visual Servoing Platform  version 3.2.0 under development (2018-12-13)
vpMbEdgeMultiTracker Class Reference

#include <visp3/mbt/vpMbEdgeMultiTracker.h>

+ Inheritance diagram for vpMbEdgeMultiTracker:

Public Types

enum  vpMbtOptimizationMethod { GAUSS_NEWTON_OPT = 0, LEVENBERG_MARQUARDT_OPT = 1 }
 

Public Member Functions

 vpMbEdgeMultiTracker ()
 
 vpMbEdgeMultiTracker (const unsigned int nbCameras)
 
 vpMbEdgeMultiTracker (const std::vector< std::string > &cameraNames)
 
virtual ~vpMbEdgeMultiTracker ()
 
Inherited functionalities from vpMbEdgeMultiTracker
virtual void display (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo_, const vpCameraParameters &cam_, const vpColor &col, const unsigned int thickness=1, const bool displayFullModel=false)
 
virtual void display (const vpImage< vpRGBa > &I, const vpHomogeneousMatrix &cMo_, const vpCameraParameters &cam_, const vpColor &col, const unsigned int thickness=1, const bool displayFullModel=false)
 
virtual void display (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, const vpHomogeneousMatrix &c1Mo, const vpHomogeneousMatrix &c2Mo, const vpCameraParameters &cam1, const vpCameraParameters &cam2, const vpColor &col, const unsigned int thickness=1, const bool displayFullModel=false)
 
virtual void display (const vpImage< vpRGBa > &I1, const vpImage< vpRGBa > &I2, const vpHomogeneousMatrix &c1Mo, const vpHomogeneousMatrix &c2Mo, const vpCameraParameters &cam1, const vpCameraParameters &cam2, const vpColor &col, const unsigned int thickness=1, const bool displayFullModel=false)
 
virtual void display (const std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, const std::map< std::string, vpHomogeneousMatrix > &mapOfCameraPoses, const std::map< std::string, vpCameraParameters > &mapOfCameraParameters, const vpColor &col, const unsigned int thickness=1, const bool displayFullModel=false)
 
virtual void display (const std::map< std::string, const vpImage< vpRGBa > * > &mapOfImages, const std::map< std::string, vpHomogeneousMatrix > &mapOfCameraPoses, const std::map< std::string, vpCameraParameters > &mapOfCameraParameters, const vpColor &col, const unsigned int thickness=1, const bool displayFullModel=false)
 
virtual std::vector< std::string > getCameraNames () const
 
virtual void getCameraParameters (vpCameraParameters &camera) const
 
virtual void getCameraParameters (vpCameraParameters &cam1, vpCameraParameters &cam2) const
 
virtual void getCameraParameters (const std::string &cameraName, vpCameraParameters &camera) const
 
virtual void getCameraParameters (std::map< std::string, vpCameraParameters > &mapOfCameraParameters) const
 
virtual unsigned int getClipping (const std::string &cameraName) const
 
virtual vpMbHiddenFaces< vpMbtPolygon > & getFaces ()
 
virtual vpMbHiddenFaces< vpMbtPolygon > & getFaces (const std::string &cameraName)
 
virtual std::map< std::string, vpMbHiddenFaces< vpMbtPolygon > > getFaces () const
 
void getLcircle (std::list< vpMbtDistanceCircle * > &circlesList, const unsigned int level=0) const
 
virtual void getLcircle (const std::string &cameraName, std::list< vpMbtDistanceCircle * > &circlesList, const unsigned int level=0) const
 
void getLcylinder (std::list< vpMbtDistanceCylinder * > &cylindersList, const unsigned int level=0) const
 
virtual void getLcylinder (const std::string &cameraName, std::list< vpMbtDistanceCylinder * > &cylindersList, const unsigned int level=0) const
 
void getLline (std::list< vpMbtDistanceLine * > &linesList, const unsigned int level=0) const
 
virtual void getLline (const std::string &cameraName, std::list< vpMbtDistanceLine * > &linesList, const unsigned int level=0) const
 
virtual void getMovingEdge (vpMe &p_me) const
 
virtual vpMe getMovingEdge () const
 
virtual void getMovingEdge (const std::string &cameraName, vpMe &p_me) const
 
virtual vpMe getMovingEdge (const std::string &cameraName) const
 
virtual unsigned int getNbPoints (const unsigned int level=0) const
 
virtual unsigned int getNbPoints (const std::string &cameraName, const unsigned int level=0) const
 
virtual unsigned int getNbPolygon () const
 
virtual unsigned int getNbPolygon (const std::string &cameraName) const
 
virtual std::map< std::string, unsigned int > getMultiNbPolygon () const
 
unsigned int getNumberOfCameras () const
 
virtual void getPose (vpHomogeneousMatrix &c1Mo, vpHomogeneousMatrix &c2Mo) const
 
virtual void getPose (const std::string &cameraName, vpHomogeneousMatrix &cMo_) const
 
virtual void getPose (std::map< std::string, vpHomogeneousMatrix > &mapOfCameraPoses) const
 
virtual vpColVector getError () const
 
virtual vpColVector getRobustWeights () const
 
void init (const vpImage< unsigned char > &I)
 
virtual void initClick (const vpImage< unsigned char > &I, const std::vector< vpPoint > &points3D_list, const std::string &displayFile="")
 
virtual void initClick (const vpImage< unsigned char > &I, const std::string &initFile, const bool displayHelp=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
 
virtual void initClick (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, const std::string &initFile1, const std::string &initFile2, const bool displayHelp=false, const bool firstCameraIsReference=true)
 
virtual void initClick (const std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, const std::string &initFile, const bool displayHelp=false)
 
virtual void initClick (const std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, const std::map< std::string, std::string > &mapOfInitFiles, const bool displayHelp=false)
 
virtual void initFromPose (const vpImage< unsigned char > &I, const std::string &initFile)
 
virtual void initFromPose (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo)
 
virtual void initFromPose (const vpImage< unsigned char > &I, const vpPoseVector &cPo)
 
virtual void initFromPose (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, const vpHomogeneousMatrix &c1Mo, const vpHomogeneousMatrix &c2Mo, const bool firstCameraIsReference=true)
 
virtual void initFromPose (const std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, const vpHomogeneousMatrix &cMo_)
 
virtual void initFromPose (const std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, const std::map< std::string, vpHomogeneousMatrix > &mapOfCameraPoses)
 
virtual void loadConfigFile (const std::string &configFile)
 
virtual void loadConfigFile (const std::string &configFile1, const std::string &configFile2, const bool firstCameraIsReference=true)
 
virtual void loadConfigFile (const std::map< std::string, std::string > &mapOfConfigFiles)
 
virtual void loadModel (const std::string &modelFile, const bool verbose=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
 
virtual void reInitModel (const vpImage< unsigned char > &I, const std::string &cad_name, const vpHomogeneousMatrix &cMo_, const bool verbose=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
 
virtual void reInitModel (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, const std::string &cad_name, const vpHomogeneousMatrix &c1Mo, const vpHomogeneousMatrix &c2Mo, const bool verbose=false, const bool firstCameraIsReference=true)
 
virtual void reInitModel (const std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, const std::string &cad_name, const std::map< std::string, vpHomogeneousMatrix > &mapOfCameraPoses, const bool verbose=false)
 
virtual void resetTracker ()
 
virtual void setAngleAppear (const double &a)
 
virtual void setAngleDisappear (const double &a)
 
virtual void setCameraParameters (const vpCameraParameters &camera)
 
virtual void setCameraParameters (const vpCameraParameters &camera1, const vpCameraParameters &camera2, const bool firstCameraIsReference=true)
 
virtual void setCameraParameters (const std::string &cameraName, const vpCameraParameters &camera)
 
virtual void setCameraParameters (const std::map< std::string, vpCameraParameters > &mapOfCameraParameters)
 
virtual void setCameraTransformationMatrix (const std::string &cameraName, const vpHomogeneousMatrix &cameraTransformationMatrix)
 
virtual void setCameraTransformationMatrix (const std::map< std::string, vpHomogeneousMatrix > &mapOfTransformationMatrix)
 
virtual void setClipping (const unsigned int &flags)
 
virtual void setClipping (const std::string &cameraName, const unsigned int &flags)
 
virtual void setCovarianceComputation (const bool &flag)
 
virtual void setDisplayFeatures (const bool displayF)
 
virtual void setFarClippingDistance (const double &dist)
 
virtual void setFarClippingDistance (const std::string &cameraName, const double &dist)
 
virtual void setGoodMovingEdgesRatioThreshold (const double threshold)
 
void setGoodNbRayCastingAttemptsRatio (const double &ratio)
 
void setNbRayCastingAttemptsForVisibility (const unsigned int &attempts)
 
virtual void setLod (const bool useLod, const std::string &name="")
 
virtual void setLod (const bool useLod, const std::string &cameraName, const std::string &name)
 
virtual void setMinLineLengthThresh (const double minLineLengthThresh, const std::string &name="")
 
virtual void setMinLineLengthThresh (const double minLineLengthThresh, const std::string &cameraName, const std::string &name)
 
virtual void setMinPolygonAreaThresh (const double minPolygonAreaThresh, const std::string &name="")
 
virtual void setMinPolygonAreaThresh (const double minPolygonAreaThresh, const std::string &cameraName, const std::string &name)
 
virtual void setMovingEdge (const vpMe &me)
 
virtual void setMovingEdge (const std::string &cameraName, const vpMe &me)
 
virtual void setNearClippingDistance (const double &dist)
 
virtual void setNearClippingDistance (const std::string &cameraName, const double &dist)
 
virtual void setOgreShowConfigDialog (const bool showConfigDialog)
 
virtual void setOgreVisibilityTest (const bool &v)
 
virtual void setOptimizationMethod (const vpMbtOptimizationMethod &opt)
 
virtual void setPose (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo)
 
virtual void setPose (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, const vpHomogeneousMatrix &c1Mo, const vpHomogeneousMatrix &c2Mo, const bool firstCameraIsReference=true)
 
virtual void setPose (const std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, const vpHomogeneousMatrix &cMo_)
 
virtual void setPose (const std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, const std::map< std::string, vpHomogeneousMatrix > &mapOfCameraPoses)
 
virtual void setProjectionErrorComputation (const bool &flag)
 
virtual void setReferenceCameraName (const std::string &referenceCameraName)
 
virtual void setScales (const std::vector< bool > &scales)
 
virtual void setScanLineVisibilityTest (const bool &v)
 
virtual void setUseEdgeTracking (const std::string &name, const bool &useEdgeTracking)
 
virtual void track (const vpImage< unsigned char > &I)
 
virtual void track (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2)
 
virtual void track (std::map< std::string, const vpImage< unsigned char > * > &mapOfImages)
 
Inherited functionalities from vpMbEdgeTracker
std::vector< bool > getScales () const
 
double getGoodMovingEdgesRatioThreshold () const
 
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 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 double getFarClippingDistance () const
 
virtual double getNearClippingDistance () const
 
virtual vpMbtOptimizationMethod getOptimizationMethod () const
 
virtual vpMbtPolygongetPolygon (const unsigned int index)
 
virtual std::pair< std::vector< vpPolygon >, std::vector< std::vector< vpPoint > > > getPolygonFaces (const bool orderPolygons=true, const bool useVisibility=true, const bool clipPolygon=false)
 
virtual void getPose (vpHomogeneousMatrix &cMo_) const
 
virtual vpHomogeneousMatrix getPose () const
 
virtual double getStopCriteriaEpsilon () const
 
virtual void initFromPoints (const vpImage< unsigned char > &I, const std::string &initFile)
 
virtual void initFromPoints (const vpImage< unsigned char > &I, const std::vector< vpImagePoint > &points2D_list, const std::vector< vpPoint > &points3D_list)
 
virtual void setEstimatedDoF (const vpColVector &v)
 
virtual void setInitialMu (const double mu)
 
virtual void setLambda (const double gain)
 
virtual void setMaxIter (const unsigned int max)
 
void setProjectionErrorMovingEdge (const vpMe &me)
 
void setProjectionErrorKernelSize (const unsigned int &size)
 
virtual void setMask (const vpImage< bool > &mask)
 
virtual void setStopCriteriaEpsilon (const double eps)
 
virtual void setProjectionErrorDisplay (const bool display)
 
virtual void setProjectionErrorDisplayArrowLength (const unsigned int length)
 
virtual void setProjectionErrorDisplayArrowThickness (const unsigned int thickness)
 
void savePose (const std::string &filename) const
 
void setPoseSavingFilename (const std::string &filename)
 

Protected Types

enum  FeatureType { LINE, CYLINDER, CIRCLE }
 

Protected Member Functions

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

Protected Attributes

std::map< std::string, vpHomogeneousMatrixm_mapOfCameraTransformationMatrix
 
std::map< std::string, vpMbEdgeTracker * > m_mapOfEdgeTrackers
 
std::map< std::string, std::vector< const vpImage< unsigned char > * > > m_mapOfPyramidalImages
 
std::string m_referenceCameraName
 
vpMatrix m_L_edgeMulti
 
vpColVector m_error_edgeMulti
 
vpColVector m_w_edgeMulti
 
vpColVector m_weightedError_edgeMulti
 
vpMe me
 
std::vector< std::list< vpMbtDistanceLine * > > lines
 
std::vector< std::list< vpMbtDistanceCircle * > > circles
 
std::vector< std::list< vpMbtDistanceCylinder * > > cylinders
 
unsigned int nline
 
unsigned int ncircle
 
unsigned int ncylinder
 
unsigned int nbvisiblepolygone
 
double percentageGdPt
 
std::vector< bool > scales
 
std::vector< const vpImage< unsigned char > * > Ipyramid
 
unsigned int scaleLevel
 
unsigned int nbFeaturesForProjErrorComputation
 
vpColVector m_factor
 
vpRobust m_robustLines
 
vpRobust m_robustCylinders
 
vpRobust m_robustCircles
 
vpColVector m_wLines
 
vpColVector m_wCylinders
 
vpColVector m_wCircles
 
vpColVector m_errorLines
 
vpColVector m_errorCylinders
 
vpColVector m_errorCircles
 
vpMatrix m_L_edge
 
vpColVector m_error_edge
 
vpColVector m_w_edge
 
vpColVector m_weightedError_edge
 
vpRobust m_robust_edge
 
vpCameraParameters cam
 
vpHomogeneousMatrix cMo
 
vpMatrix oJo
 
bool isoJoIdentity
 
std::string modelFileName
 
bool modelInitialised
 
std::string poseSavingFilename
 
bool computeCovariance
 
vpMatrix covarianceMatrix
 
bool computeProjError
 
double projectionError
 
bool displayFeatures
 
vpMbtOptimizationMethod m_optimizationMethod
 
vpMbHiddenFaces< vpMbtPolygonfaces
 
double angleAppears
 
double angleDisappears
 
double distNearClip
 
double distFarClip
 
unsigned int clippingFlag
 
bool useOgre
 
bool ogreShowConfigDialog
 
bool useScanLine
 
unsigned int nbPoints
 
unsigned int nbLines
 
unsigned int nbPolygonLines
 
unsigned int nbPolygonPoints
 
unsigned int nbCylinders
 
unsigned int nbCircles
 
bool useLodGeneral
 
bool applyLodSettingInConfig
 
double minLineLengthThresholdGeneral
 
double minPolygonAreaThresholdGeneral
 
std::map< std::string, std::string > mapOfParameterNames
 
bool m_computeInteraction
 
double m_lambda
 
unsigned int m_maxIter
 
double m_stopCriteriaEpsilon
 
double m_initialMu
 
std::vector< vpMbtDistanceLine * > m_projectionErrorLines
 
std::vector< vpMbtDistanceCylinder * > m_projectionErrorCylinders
 
std::vector< vpMbtDistanceCircle * > m_projectionErrorCircles
 
vpMbHiddenFaces< vpMbtPolygonm_projectionErrorFaces
 
bool m_projectionErrorOgreShowConfigDialog
 
vpMe m_projectionErrorMe
 
unsigned int m_projectionErrorKernelSize
 
vpMatrix m_SobelX
 
vpMatrix m_SobelY
 
bool m_projectionErrorDisplay
 
unsigned int m_projectionErrorDisplayLength
 
unsigned int m_projectionErrorDisplayThickness
 
vpCameraParameters m_projectionErrorCam
 
const vpImage< bool > * m_mask
 

Detailed Description

Make the complete stereo (or more) tracking of an object by using its CAD model.

Warning
This class is deprecated for user usage. You should rather use the high level vpMbGenericTracker class.

This class allows to track an object or a scene given its 3D model. The Tutorial: Markerless model-based tracking with stereo cameras (deprecated) is also a good starting point to use this class.

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

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

Definition at line 75 of file vpMbEdgeMultiTracker.h.

Member Enumeration Documentation

Enumerator
LINE 
CYLINDER 
CIRCLE 

Definition at line 362 of file vpMbEdgeMultiTracker.h.

Enumerator
GAUSS_NEWTON_OPT 
LEVENBERG_MARQUARDT_OPT 

Definition at line 113 of file vpMbTracker.h.

Constructor & Destructor Documentation

vpMbEdgeMultiTracker::vpMbEdgeMultiTracker ( )
vpMbEdgeMultiTracker::vpMbEdgeMultiTracker ( const unsigned int  nbCameras)
explicit

Construct a vpMbEdgeMultiTracker with the specified number of cameras.

Parameters
nbCameras: Number of cameras to use.

Definition at line 72 of file vpMbEdgeMultiTracker.cpp.

References vpTrackingException::fatalError, m_mapOfCameraTransformationMatrix, m_mapOfEdgeTrackers, m_referenceCameraName, and vpMbEdgeTracker::vpMbEdgeTracker().

vpMbEdgeMultiTracker::vpMbEdgeMultiTracker ( const std::vector< std::string > &  cameraNames)
explicit

Construct a vpMbEdgeMultiTracker with the specified list of camera names. By default, the first camera name by alphabetic order is the reference camera.

Parameters
cameraNames: List of camera names.

Definition at line 116 of file vpMbEdgeMultiTracker.cpp.

References vpTrackingException::fatalError, m_mapOfEdgeTrackers, m_referenceCameraName, and vpMbEdgeTracker::vpMbEdgeTracker().

vpMbEdgeMultiTracker::~vpMbEdgeMultiTracker ( )
virtual

Basic destructor useful to deallocate the memory.

Definition at line 136 of file vpMbEdgeMultiTracker.cpp.

References cleanPyramid(), m_mapOfEdgeTrackers, and m_mapOfPyramidalImages.

Member Function Documentation

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

Add a circle to the list of circles.

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

Definition at line 1912 of file vpMbEdgeTracker.cpp.

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

Referenced by vpMbEdgeTracker::initCircle().

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

Add a polygon to the list of polygons.

Parameters
p: The polygon to add.

Definition at line 2059 of file vpMbEdgeTracker.cpp.

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

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

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

Parameters
_pyramid: The pyramid of image to clean.

Definition at line 2631 of file vpMbEdgeTracker.cpp.

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

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

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

See also
setProjectionErrorComputation
getProjectionError

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

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

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

Reimplemented in vpMbGenericTracker.

Examples:
mbtGenericTrackingDepthOnly.cpp.

Definition at line 3109 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 2476 of file vpMbTracker.cpp.

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

Referenced by 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 3126 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 vpMbEdgeMultiTracker::computeVVSInteractionMatrixAndResidu ( )
protectedvirtual

Reimplemented from vpMbEdgeTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 454 of file vpMbEdgeMultiTracker.cpp.

References vpException::fatalError.

Referenced by computeVVS(), and vpMbEdgeKltMultiTracker::setFactorMBT().

void vpMbEdgeMultiTracker::computeVVSInteractionMatrixAndResidu ( std::map< std::string, const vpImage< unsigned char > * > &  mapOfImages,
std::map< std::string, vpVelocityTwistMatrix > &  mapOfVelocityTwist 
)
protectedvirtual
void vpMbEdgeMultiTracker::computeVVSWeights ( )
protectedvirtual
void vpMbTracker::createCylinderBBox ( const vpPoint p1,
const vpPoint p2,
const double &  radius,
std::vector< std::vector< vpPoint > > &  listFaces 
)
protectedinherited
void vpMbEdgeMultiTracker::display ( const vpImage< unsigned char > &  I,
const vpHomogeneousMatrix cMo_,
const vpCameraParameters cam_,
const vpColor col,
const unsigned int  thickness = 1,
const bool  displayFullModel = false 
)
virtual

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

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

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Examples:
mbtEdgeMultiTracking.cpp.

Definition at line 508 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers, and m_referenceCameraName.

Referenced by vpMbEdgeKltMultiTracker::display().

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

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

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

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 532 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers, and m_referenceCameraName.

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

Display the 3D model from a given position of the camera (stereo cameras configuration).

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 560 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

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

Display the 3D model from a given position of the camera (stereo cameras configuration).

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 593 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

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

Display the 3D model from a given position of the camera (multiple cameras configuration).

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 623 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

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

Display the 3D model from a given position of the camera (multiple cameras configuration).

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 657 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

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 2060 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 2007 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 1918 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 2145 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::extractGroup().

virtual double vpMbTracker::getAngleAppear ( ) const
inlinevirtualinherited

Return the angle used to test polygons appearance.

Definition at line 238 of file vpMbTracker.h.

virtual double vpMbTracker::getAngleDisappear ( ) const
inlinevirtualinherited

Return the angle used to test polygons disappearance.

Definition at line 241 of file vpMbTracker.h.

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

Get the camera names.

Returns
The vector of camera names.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 684 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

Referenced by vpMbEdgeKltMultiTracker::getCameraNames().

void vpMbEdgeMultiTracker::getCameraParameters ( vpCameraParameters camera) const
virtual

Get the camera parameters for the mono/reference camera.

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

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Examples:
mbtEdgeMultiTracking.cpp.

Definition at line 701 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers, and m_referenceCameraName.

Referenced by vpMbEdgeKltMultiTracker::getCameraParameters().

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

Get the camera parameters for the stereo cameras case.

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 718 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

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

Get the camera parameters specified by its name.

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 738 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

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

Get all the camera parameters.

Parameters
mapOfCameraParameters: Map of camera parameters.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 753 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

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

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

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

Reimplemented in vpMbEdgeKltMultiTracker.

Examples:
mbtEdgeMultiTracking.cpp.

Definition at line 773 of file vpMbEdgeMultiTracker.cpp.

References vpMbTracker::getClipping(), and m_mapOfEdgeTrackers.

virtual vpMatrix vpMbTracker::getCovarianceMatrix ( ) const
inlinevirtualinherited
virtual vpColVector vpMbEdgeMultiTracker::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.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 187 of file vpMbEdgeMultiTracker.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 2627 of file vpMbTracker.cpp.

References vpMbTracker::oJo.

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

Return a reference to the faces structure.

Returns
Reference to the face structure.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 790 of file vpMbEdgeMultiTracker.cpp.

References vpMbTracker::faces, m_mapOfEdgeTrackers, and m_referenceCameraName.

Referenced by vpMbEdgeKltMultiTracker::getEdgeFaces().

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

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

Returns
Reference to the face structure.

Definition at line 806 of file vpMbEdgeMultiTracker.cpp.

References vpMbTracker::faces, and m_mapOfEdgeTrackers.

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

Return a map of faces structure for each camera.

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

Definition at line 822 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

virtual double vpMbTracker::getFarClippingDistance ( ) const
inlinevirtualinherited

Get the far distance for clipping.

Returns
Far clipping value.

Definition at line 339 of file vpMbTracker.h.

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 2190 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.

virtual double vpMbTracker::getLambda ( ) const
inlinevirtualinherited

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

Returns
the value for the gain.

Definition at line 291 of file vpMbTracker.h.

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

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

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

Definition at line 843 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers, and m_referenceCameraName.

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

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

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

Definition at line 865 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

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

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

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

Definition at line 886 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers, and m_referenceCameraName.

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

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

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

Definition at line 909 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

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

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

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

Definition at line 931 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers, and m_referenceCameraName.

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

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

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

Definition at line 953 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

virtual unsigned int vpMbTracker::getMaxIter ( ) const
inlinevirtualinherited

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

Returns
the number of iteration

Definition at line 298 of file vpMbTracker.h.

void vpMbEdgeMultiTracker::getMovingEdge ( vpMe p_me) const
virtual

Get the moving edge parameters for the reference camera.

Parameters
p_me: Moving edge parameters for the reference camera.

Reimplemented from vpMbEdgeTracker.

Definition at line 970 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers, and m_referenceCameraName.

vpMe vpMbEdgeMultiTracker::getMovingEdge ( ) const
virtual

Get the moving edge parameters for the reference camera.

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

Reimplemented from vpMbEdgeTracker.

Definition at line 985 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers, and m_referenceCameraName.

Referenced by getMovingEdge().

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

Get the moving edge parameters for the specified camera name.

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

Definition at line 1005 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

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

Get the moving edge parameters for the specified camera name.

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

Definition at line 1022 of file vpMbEdgeMultiTracker.cpp.

References getMovingEdge().

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

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

Returns
Number of polygons for the specified camera.

Definition at line 1120 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

Referenced by vpMbEdgeKltMultiTracker::getEdgeMultiNbPolygon().

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

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

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

Reimplemented from vpMbEdgeTracker.

Definition at line 1041 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers, and m_referenceCameraName.

Referenced by vpMbEdgeTracker::getMovingEdge().

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

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

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

Definition at line 1069 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

unsigned int vpMbEdgeMultiTracker::getNbPolygon ( ) const
virtual

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

Returns
Number of polygons.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1086 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers, and m_referenceCameraName.

Referenced by vpMbEdgeKltMultiTracker::getFactorMBT().

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

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

Returns
Number of polygons for the specified camera.

Definition at line 1103 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

virtual double vpMbTracker::getNearClippingDistance ( ) const
inlinevirtualinherited

Get the near distance for clipping.

Returns
Near clipping value.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 375 of file vpMbTracker.h.

Referenced by vpMbEdgeKltTracker::getNearClippingDistance().

unsigned int vpMbEdgeMultiTracker::getNumberOfCameras ( ) const
inline

Get the number of cameras.

Returns
The number of cameras.

Definition at line 180 of file vpMbEdgeMultiTracker.h.

References vpMbTracker::getPose().

virtual vpMbtOptimizationMethod vpMbTracker::getOptimizationMethod ( ) const
inlinevirtualinherited

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

Returns
Optimization method.

Definition at line 384 of file vpMbTracker.h.

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

Return the polygon (face) "index".

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

Reimplemented in vpMbGenericTracker.

Definition at line 395 of file vpMbTracker.h.

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

Referenced by vpMbGenericTracker::getError().

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

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

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

Reimplemented in vpMbGenericTracker.

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

Definition at line 2224 of file vpMbTracker.cpp.

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

Referenced by vpMbGenericTracker::getError().

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

Get the current pose between the object and the cameras.

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

Reimplemented in vpMbEdgeKltMultiTracker.

Examples:
mbtEdgeMultiTracking.cpp.

Definition at line 1137 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

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

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

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1158 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

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

Get the current pose between the object and the cameras.

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1173 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

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(), getNumberOfCameras(), vpMbKltMultiTracker::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, mbtGenericTrackingDepthOnly.cpp, and tutorial-mb-generic-tracker-live.cpp.

Definition at line 310 of file vpMbTracker.h.

virtual vpColVector vpMbEdgeMultiTracker::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.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 189 of file vpMbEdgeMultiTracker.h.

References vpMbEdgeTracker::init(), vpMbTracker::initClick(), vpMbTracker::initFromPose(), vpMbEdgeTracker::loadConfigFile(), vpMbTracker::loadModel(), vpMbEdgeTracker::reInitModel(), vpMbEdgeTracker::resetTracker(), vpMbTracker::setAngleAppear(), vpMbTracker::setAngleDisappear(), vpMbEdgeTracker::setCameraParameters(), vpMbEdgeTracker::setClipping(), vpMbTracker::setCovarianceComputation(), vpMbTracker::setDisplayFeatures(), vpMbEdgeTracker::setFarClippingDistance(), vpMbEdgeTracker::setGoodMovingEdgesRatioThreshold(), vpMbTracker::setGoodNbRayCastingAttemptsRatio(), vpMbTracker::setLod(), vpMbTracker::setMinLineLengthThresh(), vpMbTracker::setMinPolygonAreaThresh(), vpMbEdgeTracker::setMovingEdge(), vpMbTracker::setNbRayCastingAttemptsForVisibility(), vpMbEdgeTracker::setNearClippingDistance(), vpMbTracker::setOgreShowConfigDialog(), vpMbEdgeTracker::setOgreVisibilityTest(), vpMbTracker::setOptimizationMethod(), vpMbEdgeTracker::setPose(), vpMbTracker::setProjectionErrorComputation(), vpMbEdgeTracker::setScales(), vpMbEdgeTracker::setScanLineVisibilityTest(), vpMbEdgeTracker::setUseEdgeTracking(), and vpMbEdgeTracker::track().

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.

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

Initialise the tracking.

Parameters
I: Input image.

Implements vpMbTracker.

Definition at line 1186 of file vpMbEdgeMultiTracker.cpp.

Referenced by vpMbEdgeKltMultiTracker::getRobustWeights().

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

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

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

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker, and vpMbEdgeKltMultiTracker.

Definition at line 2211 of file vpMbEdgeTracker.cpp.

References vpMbEdgeTracker::addCircle().

Referenced by vpMbEdgeKltMultiTracker::getRobustWeights(), vpMbEdgeKltTracker::initCircle(), vpMbEdgeKltTracker::testTracking(), and vpMbGenericTracker::track().

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

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

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

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Examples:
mbtEdgeMultiTracking.cpp.

Definition at line 1199 of file vpMbEdgeMultiTracker.cpp.

References vpMbTracker::cMo, vpTrackingException::initializationError, m_mapOfEdgeTrackers, and m_referenceCameraName.

Referenced by vpMbEdgeKltMultiTracker::getRobustWeights().

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

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

The structure of this file is the following:

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

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1251 of file vpMbEdgeMultiTracker.cpp.

References vpMbTracker::cMo, vpTrackingException::initializationError, m_mapOfEdgeTrackers, and m_referenceCameraName.

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

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

The structure of this file is the following:

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1307 of file vpMbEdgeMultiTracker.cpp.

References vpMbTracker::cam, vpMbTracker::cMo, vpTrackingException::initializationError, and m_mapOfEdgeTrackers.

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

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

The structure of this file is the following:

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1370 of file vpMbEdgeMultiTracker.cpp.

References vpMbTracker::cMo, vpTrackingException::initializationError, m_mapOfCameraTransformationMatrix, m_mapOfEdgeTrackers, and m_referenceCameraName.

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

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

The structure of this file is the following:

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

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

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1443 of file vpMbEdgeMultiTracker.cpp.

References vpMbTracker::cMo, vpTrackingException::initializationError, m_mapOfCameraTransformationMatrix, m_mapOfEdgeTrackers, and m_referenceCameraName.

void vpMbEdgeTracker::initCylinder ( const vpPoint p1,
const vpPoint p2,
const double  radius,
const int  idFace = 0,
const std::string &  name = "" 
)
protectedvirtualinherited

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

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

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker, and vpMbEdgeKltMultiTracker.

Definition at line 2227 of file vpMbEdgeTracker.cpp.

References vpMbEdgeTracker::addCylinder().

Referenced by vpMbEdgeKltMultiTracker::getRobustWeights(), vpMbEdgeKltTracker::initCylinder(), vpMbEdgeKltTracker::testTracking(), and vpMbGenericTracker::track().

void vpMbEdgeTracker::initFaceFromCorners ( vpMbtPolygon polygon)
protectedvirtualinherited

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

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

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

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

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker, and vpMbEdgeKltMultiTracker.

Definition at line 2122 of file vpMbEdgeTracker.cpp.

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

Referenced by vpMbEdgeKltMultiTracker::getRobustWeights(), vpMbEdgeKltTracker::initFaceFromCorners(), vpMbEdgeKltTracker::testTracking(), and vpMbGenericTracker::track().

void vpMbEdgeTracker::initFaceFromLines ( vpMbtPolygon polygon)
protectedvirtualinherited

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

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

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

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

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker, and vpMbEdgeKltMultiTracker.

Definition at line 2146 of file vpMbEdgeTracker.cpp.

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

Referenced by vpMbEdgeKltMultiTracker::getRobustWeights(), vpMbEdgeKltTracker::initFaceFromLines(), vpMbEdgeKltTracker::testTracking(), and vpMbGenericTracker::track().

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 628 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 777 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 vpMbEdgeMultiTracker::initFromPose ( const vpImage< unsigned char > &  I,
const std::string &  initFile 
)
virtual

Initialize 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 // | Example 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 parameterization (see vpThetaUVector).

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

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Examples:
mbtEdgeMultiTracking.cpp.

Definition at line 1518 of file vpMbEdgeMultiTracker.cpp.

References vpHomogeneousMatrix::buildFrom(), vpMbTracker::cMo, vpHomogeneousMatrix::init(), vpTrackingException::initializationError, vpException::ioError, m_mapOfEdgeTrackers, and m_referenceCameraName.

Referenced by vpMbEdgeKltMultiTracker::getRobustWeights(), initFromPose(), and vpMbEdgeKltMultiTracker::initFromPose().

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

Initialize the tracking thanks to the pose.

Parameters
I: Input image
cMo_: Pose matrix.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1567 of file vpMbEdgeMultiTracker.cpp.

References vpMbTracker::cMo, vpHomogeneousMatrix::init(), vpTrackingException::initializationError, m_mapOfEdgeTrackers, and m_referenceCameraName.

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

Initialize the tracking thanks to the pose vector.

Parameters
I: Input image
cPo: Pose vector.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1593 of file vpMbEdgeMultiTracker.cpp.

References initFromPose().

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

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

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1609 of file vpMbEdgeMultiTracker.cpp.

References setPose().

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

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

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1625 of file vpMbEdgeMultiTracker.cpp.

References setPose().

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

Initialize the tracking thanks to the pose.

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1639 of file vpMbEdgeMultiTracker.cpp.

References setPose().

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

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

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

Definition at line 1384 of file vpMbEdgeTracker.cpp.

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

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

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

Definition at line 3061 of file vpMbTracker.cpp.

References vpMbTracker::addProjectionErrorCircle().

Referenced by vpMbTracker::loadCAOModel().

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

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

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

Definition at line 2586 of file vpMbEdgeTracker.cpp.

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

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

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

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

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

Since ViSP 2.9.1, circles are supported.

The structure of the file is :

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

Definition at line 1372 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 vpMbEdgeMultiTracker::loadConfigFile ( const std::string &  configFile)
virtual

Load the xml configuration file. From the configuration file, initialize the parameters corresponding to the objects: moving-edges, camera and visibility angles.

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>7</tracking>
</range>
<contrast>
<edge_threshold>5000</edge_threshold>
<mu1>0.5</mu1>
<mu2>0.5</mu2>
</contrast>
<sample>
<step>4</step>
</sample>
</ecm>
<face>
<near_clipping>0.01</near_clipping>
<far_clipping>0.90</far_clipping>
<fov_clipping>1</fov_clipping>
</face>
<camera>
<u0>320</u0>
<v0>240</v0>
<px>686.24</px>
<py>686.24</py>
</camera>
</conf>
See also
vpXmlParser::cleanup()

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Examples:
mbtEdgeMultiTracking.cpp.

Definition at line 1708 of file vpMbEdgeMultiTracker.cpp.

References vpMbTracker::angleAppears, vpMbTracker::angleDisappears, vpMbTracker::cam, vpMbTracker::clippingFlag, vpTrackingException::initializationError, m_mapOfEdgeTrackers, m_referenceCameraName, and vpMbEdgeTracker::me.

Referenced by vpMbEdgeKltMultiTracker::getRobustWeights(), and vpMbEdgeKltMultiTracker::loadConfigFile().

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

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

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1746 of file vpMbEdgeMultiTracker.cpp.

References vpMbTracker::angleAppears, vpMbTracker::angleDisappears, vpMbTracker::cam, vpMbTracker::clippingFlag, vpTrackingException::initializationError, m_mapOfEdgeTrackers, and vpMbEdgeTracker::me.

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

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

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1799 of file vpMbEdgeMultiTracker.cpp.

References vpMbTracker::angleAppears, vpMbTracker::angleDisappears, vpMbTracker::cam, vpMbTracker::clippingFlag, vpTrackingException::initializationError, m_mapOfEdgeTrackers, m_referenceCameraName, and vpMbEdgeTracker::me.

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

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

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

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Examples:
mbtEdgeMultiTracking.cpp.

Definition at line 1859 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers, and vpMbTracker::modelInitialised.

Referenced by vpMbEdgeKltMultiTracker::getRobustWeights(), and vpMbEdgeKltMultiTracker::loadModel().

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 1209 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 1270 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::loadCAOModel().

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(), track(), and vpMbEdgeTracker::track().

void vpMbEdgeMultiTracker::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.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1882 of file vpMbEdgeMultiTracker.cpp.

References vpMbTracker::cMo, vpTrackingException::fatalError, m_mapOfEdgeTrackers, m_referenceCameraName, and vpMbTracker::modelInitialised.

Referenced by vpMbEdgeKltMultiTracker::getRobustWeights(), and vpMbEdgeKltMultiTracker::reInitModel().

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

Re-initialize the model used by the tracker.

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1916 of file vpMbEdgeMultiTracker.cpp.

References vpMbTracker::cMo, vpTrackingException::fatalError, and m_mapOfEdgeTrackers.

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

Re-initialize the model used by the tracker.

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1954 of file vpMbEdgeMultiTracker.cpp.

References vpMbTracker::cMo, vpTrackingException::fatalError, m_mapOfCameraTransformationMatrix, m_mapOfEdgeTrackers, m_referenceCameraName, and vpMbTracker::modelInitialised.

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 1255 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().

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 2765 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 900 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::initClick().

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

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

Parameters
a: new angle in radian.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2047 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers, and vpMbTracker::setAngleAppear().

Referenced by vpMbEdgeKltMultiTracker::getRobustWeights(), and vpMbEdgeKltMultiTracker::setAngleAppear().

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

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

Parameters
a: new angle in radian.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2066 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers, and vpMbTracker::setAngleDisappear().

Referenced by vpMbEdgeKltMultiTracker::getRobustWeights(), and vpMbEdgeKltMultiTracker::setAngleDisappear().

void vpMbEdgeMultiTracker::setCameraParameters ( const vpCameraParameters camera)
virtual

Set the camera parameters for the monocular case.

Parameters
camera: The new camera parameters.

Reimplemented from vpMbEdgeTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Examples:
mbtEdgeMultiTracking.cpp.

Definition at line 2081 of file vpMbEdgeMultiTracker.cpp.

References vpMbTracker::cam, vpTrackingException::fatalError, vpTrackingException::initializationError, m_mapOfEdgeTrackers, and m_referenceCameraName.

Referenced by vpMbEdgeKltMultiTracker::getRobustWeights(), and vpMbEdgeKltMultiTracker::setCameraParameters().

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

Set the camera parameters for the stereo cameras case.

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2110 of file vpMbEdgeMultiTracker.cpp.

References vpMbTracker::cam, vpTrackingException::fatalError, vpTrackingException::initializationError, and m_mapOfEdgeTrackers.

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

Set the camera parameters for the specified camera.

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2140 of file vpMbEdgeMultiTracker.cpp.

References vpMbTracker::cam, vpTrackingException::initializationError, m_mapOfEdgeTrackers, and m_referenceCameraName.

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

Set the camera parameters for all the cameras.

Parameters
mapOfCameraParameters: Map of camera parameters.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2161 of file vpMbEdgeMultiTracker.cpp.

References vpMbTracker::cam, vpTrackingException::initializationError, m_mapOfEdgeTrackers, and m_referenceCameraName.

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

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

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

Reimplemented in vpMbEdgeKltMultiTracker.

Examples:
mbtEdgeMultiTracking.cpp.

Definition at line 2188 of file vpMbEdgeMultiTracker.cpp.

References vpTrackingException::initializationError, and m_mapOfCameraTransformationMatrix.

Referenced by vpMbEdgeKltMultiTracker::getRobustWeights(), and vpMbEdgeKltMultiTracker::setCameraTransformationMatrix().

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

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

Parameters
mapOfTransformationMatrix: map of camera transformation matrices.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2208 of file vpMbEdgeMultiTracker.cpp.

References vpTrackingException::initializationError, m_mapOfCameraTransformationMatrix, and m_mapOfEdgeTrackers.

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

Specify which clipping to use.

See also
vpMbtPolygonClipping
Parameters
flags: New clipping flags.

Reimplemented from vpMbEdgeTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Examples:
mbtEdgeMultiTracking.cpp.

Definition at line 2232 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers, and vpMbTracker::setClipping().

Referenced by vpMbEdgeKltMultiTracker::getRobustWeights(), and vpMbEdgeKltMultiTracker::setClipping().

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

Specify which clipping to use.

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2251 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

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

Set if the covariance matrix has to be computed.

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

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Examples:
mbtEdgeMultiTracking.cpp.

Definition at line 2268 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers, and vpMbTracker::setCovarianceComputation().

Referenced by vpMbEdgeKltMultiTracker::getRobustWeights(), and vpMbEdgeKltMultiTracker::setCovarianceComputation().

void vpMbEdgeMultiTracker::setDisplayFeatures ( const bool  displayF)
virtual

Enable to display the features. By features, we mean 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 from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Examples:
mbtEdgeMultiTracking.cpp.

Definition at line 2294 of file vpMbEdgeMultiTracker.cpp.

References vpMbTracker::displayFeatures, and m_mapOfEdgeTrackers.

Referenced by vpMbEdgeKltMultiTracker::getRobustWeights(), and vpMbEdgeKltMultiTracker::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 2650 of file vpMbTracker.cpp.

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

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

Set the far distance for clipping.

Parameters
dist: Far clipping value.

Reimplemented from vpMbEdgeTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Examples:
mbtEdgeMultiTracking.cpp.

Definition at line 2309 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers, and vpMbTracker::setFarClippingDistance().

Referenced by vpMbEdgeKltMultiTracker::getRobustWeights(), and vpMbEdgeKltMultiTracker::setFarClippingDistance().

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

Set the far distance for clipping for the specified camera.

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2325 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

void vpMbEdgeMultiTracker::setGoodMovingEdgesRatioThreshold ( const double  threshold)
virtual

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

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

Definition at line 2348 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers, and vpMbEdgeTracker::percentageGdPt.

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

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

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

Reimplemented from vpMbTracker.

Definition at line 2368 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

Referenced by vpMbEdgeKltMultiTracker::setFactorMBT(), and vpMbEdgeKltMultiTracker::setGoodNbRayCastingAttemptsRatio().

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

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

Parameters
mu: initial mu.

Definition at line 514 of file vpMbTracker.h.

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

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

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

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2405 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

Referenced by vpMbEdgeKltMultiTracker::setFactorMBT(), and vpMbEdgeKltMultiTracker::setLod().

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

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

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2425 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

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().

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

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

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

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2445 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

Referenced by vpMbEdgeKltMultiTracker::setFactorMBT(), and vpMbEdgeKltMultiTracker::setMinLineLengthThresh().

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

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

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2464 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

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

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

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

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2484 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

Referenced by vpMbEdgeKltMultiTracker::setFactorMBT(), and vpMbEdgeKltMultiTracker::setMinPolygonAreaThresh().

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

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

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2502 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

void vpMbEdgeMultiTracker::setMovingEdge ( const vpMe me)
virtual

Set the moving edge parameters.

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

Definition at line 2519 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

Referenced by vpMbEdgeTracker::setGoodMovingEdgesRatioThreshold().

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

Set the moving edge parameters for the specified camera.

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

Definition at line 2533 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

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

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

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

Reimplemented from vpMbTracker.

Definition at line 2385 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

Referenced by vpMbEdgeKltMultiTracker::setFactorMBT(), and vpMbEdgeKltMultiTracker::setNbRayCastingAttemptsForVisibility().

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

Set the near distance for clipping.

Parameters
dist: Near clipping value.

Reimplemented from vpMbEdgeTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Examples:
mbtEdgeMultiTracking.cpp.

Definition at line 2548 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers, and vpMbTracker::setNearClippingDistance().

Referenced by vpMbEdgeKltMultiTracker::setFactorMBT(), and vpMbEdgeKltMultiTracker::setNearClippingDistance().

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

Set the near distance for clipping for the specified camera.

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2564 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

void vpMbEdgeMultiTracker::setOgreShowConfigDialog ( const bool  showConfigDialog)
virtual

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

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

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Examples:
mbtEdgeMultiTracking.cpp.

Definition at line 2584 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

Referenced by vpMbEdgeKltMultiTracker::setFactorMBT(), and vpMbEdgeKltMultiTracker::setOgreShowConfigDialog().

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

Use Ogre3D for visibility tests

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

Reimplemented from vpMbEdgeTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Examples:
mbtEdgeMultiTracking.cpp.

Definition at line 2600 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers, and vpMbTracker::useOgre.

Referenced by vpMbEdgeKltMultiTracker::setFactorMBT().

void vpMbEdgeMultiTracker::setOptimizationMethod ( const vpMbtOptimizationMethod opt)
virtual

Set the optimization method used during the tracking.

Parameters
opt: Optimization method to use.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2622 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers, and vpMbTracker::m_optimizationMethod.

Referenced by vpMbEdgeKltMultiTracker::setFactorMBT(), and vpMbEdgeKltMultiTracker::setOptimizationMethod().

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

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

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

Reimplemented from vpMbEdgeTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Examples:
mbtEdgeMultiTracking.cpp.

Definition at line 2639 of file vpMbEdgeMultiTracker.cpp.

References vpMbTracker::cMo, vpTrackingException::fatalError, m_mapOfEdgeTrackers, and m_referenceCameraName.

Referenced by vpMbEdgeKltMultiTracker::initClick(), initFromPose(), vpMbEdgeKltMultiTracker::setFactorMBT(), and vpMbEdgeKltMultiTracker::setPose().

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

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

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2670 of file vpMbEdgeMultiTracker.cpp.

References vpMbTracker::cMo, vpTrackingException::fatalError, and m_mapOfEdgeTrackers.

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

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

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2702 of file vpMbEdgeMultiTracker.cpp.

References vpMbTracker::cMo, vpTrackingException::fatalError, m_mapOfCameraTransformationMatrix, m_mapOfEdgeTrackers, and m_referenceCameraName.

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

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

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2754 of file vpMbEdgeMultiTracker.cpp.

References vpMbTracker::cMo, vpTrackingException::fatalError, m_mapOfCameraTransformationMatrix, m_mapOfEdgeTrackers, and m_referenceCameraName.

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

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

Parameters
filename: The new filename.

Definition at line 641 of file vpMbTracker.h.

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

Set if the projection error criteria has to be computed.

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

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Examples:
mbtEdgeMultiTracking.cpp.

Definition at line 2813 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers, and vpMbTracker::setProjectionErrorComputation().

Referenced by vpMbEdgeKltMultiTracker::setFactorMBT().

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 3463 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 vpMbEdgeMultiTracker::setReferenceCameraName ( const std::string &  referenceCameraName)
virtual

Set the reference camera name.

Parameters
referenceCameraName: Name of the reference camera.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2830 of file vpMbEdgeMultiTracker.cpp.

References vpTrackingException::fatalError, m_mapOfEdgeTrackers, and m_referenceCameraName.

Referenced by vpMbEdgeKltMultiTracker::setFactorMBT(), and vpMbEdgeKltMultiTracker::setReferenceCameraName().

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

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

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

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

Definition at line 2863 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers, and vpMbEdgeTracker::setScales().

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

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

Use Scanline algorithm for visibility tests

Parameters
v: True to use it, False otherwise

Reimplemented from vpMbEdgeTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Examples:
mbtEdgeMultiTracking.cpp.

Definition at line 2877 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers, and vpMbTracker::setScanLineVisibilityTest().

Referenced by vpMbEdgeKltMultiTracker::setFactorMBT(), and vpMbEdgeKltMultiTracker::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 vpMbEdgeMultiTracker::setUseEdgeTracking ( const std::string &  name,
const bool &  useEdgeTracking 
)
virtual

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

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

Definition at line 2895 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

Referenced by vpMbEdgeTracker::setGoodMovingEdgesRatioThreshold().

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

Compute each state of the tracking procedure for all the feature sets.

If the tracking is considered as failed an exception is thrown.

Parameters
I: The image.

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Examples:
mbtEdgeMultiTracking.cpp.

Definition at line 2910 of file vpMbEdgeMultiTracker.cpp.

References vpMbTracker::cMo, vpMbTracker::computeProjError, vpTrackingException::fatalError, m_mapOfEdgeTrackers, m_referenceCameraName, and vpMbTracker::projectionError.

Referenced by vpMbEdgeKltMultiTracker::setFactorMBT(), and track().

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

Compute each state of the tracking procedure for all the feature sets.

If the tracking is considered as failed an exception is thrown.

Parameters
I1: The first image.
I2: The second image.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2940 of file vpMbEdgeMultiTracker.cpp.

References vpTrackingException::fatalError, m_mapOfEdgeTrackers, and track().

void vpMbEdgeMultiTracker::track ( std::map< std::string, const vpImage< unsigned char > * > &  mapOfImages)
virtual
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(), vpMbEdgeKltTracker::loadConfigFile(), vpMbKltTracker::loadConfigFile(), vpMbEdgeTracker::loadConfigFile(), and vpMbGenericTracker::track().

vpCameraParameters vpMbTracker::cam
protectedinherited

The camera parameters.

Definition at line 117 of file vpMbTracker.h.

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

vpHomogeneousMatrix vpMbTracker::cMo
protectedinherited

The current pose.

Definition at line 119 of file vpMbTracker.h.

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

bool vpMbTracker::computeProjError
protectedinherited
vpMatrix vpMbTracker::covarianceMatrix
protectedinherited
vpMbHiddenFaces<vpMbtPolygon> vpMbTracker::faces
protectedinherited

Set of faces describing the object.

Definition at line 149 of file vpMbTracker.h.

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

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

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

Definition at line 314 of file vpMbEdgeTracker.h.

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

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

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

Definition at line 282 of file vpMbEdgeTracker.h.

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

vpColVector vpMbEdgeMultiTracker::m_error_edgeMulti
protected
vpMatrix vpMbEdgeMultiTracker::m_L_edgeMulti
protected
std::map<std::string, vpHomogeneousMatrix> vpMbEdgeMultiTracker::m_mapOfCameraTransformationMatrix
protected

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

Definition at line 80 of file vpMbEdgeMultiTracker.h.

Referenced by computeVVS(), computeVVSInteractionMatrixAndResidu(), initClick(), reInitModel(), setCameraTransformationMatrix(), setPose(), track(), and vpMbEdgeMultiTracker().

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

Map of Model-based edge trackers.

Definition at line 83 of file vpMbEdgeMultiTracker.h.

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

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

Map of pyramidal images for each camera.

Definition at line 86 of file vpMbEdgeMultiTracker.h.

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

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 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 vpMbEdgeMultiTracker::m_w_edgeMulti
protected

Robust weights.

Definition at line 95 of file vpMbEdgeMultiTracker.h.

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

vpColVector vpMbEdgeTracker::m_wCircles
protectedinherited
vpColVector vpMbEdgeTracker::m_wCylinders
protectedinherited
vpColVector vpMbEdgeTracker::m_weightedError_edge
protectedinherited
vpColVector vpMbEdgeMultiTracker::m_weightedError_edgeMulti
protected

Weighted error.

Definition at line 97 of file vpMbEdgeMultiTracker.h.

Referenced by computeVVS(), computeVVSFirstPhasePoseEstimation(), and 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 computeProjectionError(), and vpMbEdgeTracker::computeProjectionError().

unsigned int vpMbTracker::nbLines
protectedinherited

Number of lines in CAO model.

Definition at line 168 of file vpMbTracker.h.

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

unsigned int vpMbTracker::nbPoints
protectedinherited

Number of points in CAO model.

Definition at line 166 of file vpMbTracker.h.

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

unsigned int vpMbTracker::nbPolygonLines
protectedinherited

Number of polygon lines in CAO model.

Definition at line 170 of file vpMbTracker.h.

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

unsigned int vpMbTracker::nbPolygonPoints
protectedinherited

Number of polygon points in CAO model.

Definition at line 172 of file vpMbTracker.h.

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

unsigned int vpMbEdgeTracker::nbvisiblepolygone
protectedinherited

Number of polygon (face) currently visible.

Definition at line 303 of file vpMbEdgeTracker.h.

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

unsigned int vpMbEdgeTracker::ncircle
protectedinherited

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

Definition at line 296 of file vpMbEdgeTracker.h.

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

unsigned int vpMbEdgeTracker::ncylinder
protectedinherited

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

Definition at line 300 of file vpMbEdgeTracker.h.

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

unsigned int vpMbEdgeTracker::nline
protectedinherited

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

Definition at line 292 of file vpMbEdgeTracker.h.

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

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

Percentage of good points over total number of points below which tracking is supposed to have failed.

Definition at line 307 of file vpMbEdgeTracker.h.

Referenced by vpMbEdgeTracker::getGoodMovingEdgesRatioThreshold(), resetTracker(), vpMbEdgeTracker::resetTracker(), setGoodMovingEdgesRatioThreshold(), vpMbEdgeTracker::testTracking(), and track().

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 computeProjectionError(), vpMbGenericTracker::computeProjectionError(), vpMbEdgeTracker::computeProjectionError(), track(), vpMbEdgeKltMultiTracker::track(), and vpMbEdgeTracker::track().

bool vpMbTracker::useLodGeneral
protectedinherited