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

#include <visp3/mbt/vpMbGenericTracker.h>

+ Inheritance diagram for vpMbGenericTracker:

Public Types

enum  vpTrackerType { EDGE_TRACKER = 1 << 0, KLT_TRACKER = 1 << 1, DEPTH_NORMAL_TRACKER = 1 << 2, DEPTH_DENSE_TRACKER = 1 << 3 }
 
enum  vpMbtOptimizationMethod { GAUSS_NEWTON_OPT = 0, LEVENBERG_MARQUARDT_OPT = 1 }
 

Public Member Functions

 vpMbGenericTracker ()
 
 vpMbGenericTracker (const unsigned int nbCameras, const int trackerType=EDGE_TRACKER)
 
 vpMbGenericTracker (const std::vector< int > &trackerTypes)
 
 vpMbGenericTracker (const std::vector< std::string > &cameraNames, const std::vector< int > &trackerTypes)
 
virtual ~vpMbGenericTracker ()
 
virtual double computeCurrentProjectionError (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &_cMo, const vpCameraParameters &_cam)
 
virtual void display (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, const unsigned int thickness=1, const bool displayFullModel=false)
 
virtual void display (const vpImage< vpRGBa > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, const unsigned int thickness=1, const bool displayFullModel=false)
 
virtual void display (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, const vpHomogeneousMatrix &c1Mo, const vpHomogeneousMatrix &c2Mo, const vpCameraParameters &cam1, const vpCameraParameters &cam2, const vpColor &color, const unsigned int thickness=1, const bool displayFullModel=false)
 
virtual void display (const vpImage< vpRGBa > &I1, const vpImage< vpRGBa > &I2, const vpHomogeneousMatrix &c1Mo, const vpHomogeneousMatrix &c2Mo, const vpCameraParameters &cam1, const vpCameraParameters &cam2, const vpColor &color, const unsigned int thickness=1, const bool displayFullModel=false)
 
virtual void display (const std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, const std::map< std::string, vpHomogeneousMatrix > &mapOfCameraPoses, const std::map< std::string, vpCameraParameters > &mapOfCameraParameters, const vpColor &col, const unsigned int thickness=1, const bool displayFullModel=false)
 
virtual void display (const std::map< std::string, const vpImage< vpRGBa > * > &mapOfImages, const std::map< std::string, vpHomogeneousMatrix > &mapOfCameraPoses, const std::map< std::string, vpCameraParameters > &mapOfCameraParameters, const vpColor &col, const unsigned int thickness=1, const bool displayFullModel=false)
 
virtual std::vector< std::string > getCameraNames () const
 
virtual void getCameraParameters (vpCameraParameters &cam1, vpCameraParameters &cam2) const
 
virtual void getCameraParameters (std::map< std::string, vpCameraParameters > &mapOfCameraParameters) const
 
virtual std::map< std::string, int > getCameraTrackerTypes () const
 
virtual void getClipping (unsigned int &clippingFlag1, unsigned int &clippingFlag2) const
 
virtual void getClipping (std::map< std::string, unsigned int > &mapOfClippingFlags) const
 
virtual vpColVector getError () const
 
virtual vpMbHiddenFaces< vpMbtPolygon > & getFaces ()
 
virtual vpMbHiddenFaces< vpMbtPolygon > & getFaces (const std::string &cameraName)
 
virtual std::list< vpMbtDistanceCircle * > & getFeaturesCircle ()
 
virtual std::list< vpMbtDistanceKltCylinder * > & getFeaturesKltCylinder ()
 
virtual std::list< vpMbtDistanceKltPoints * > & getFeaturesKlt ()
 
virtual double getGoodMovingEdgesRatioThreshold () const
 
virtual std::vector< vpImagePointgetKltImagePoints () const
 
virtual std::map< int, vpImagePointgetKltImagePointsWithId () const
 
virtual unsigned int getKltMaskBorder () const
 
virtual int getKltNbPoints () const
 
virtual vpKltOpencv getKltOpencv () const
 
virtual void getKltOpencv (vpKltOpencv &klt1, vpKltOpencv &klt2) const
 
virtual void getKltOpencv (std::map< std::string, vpKltOpencv > &mapOfKlts) const
 
virtual std::vector< cv::Point2f > getKltPoints () const
 
virtual double getKltThresholdAcceptation () const
 
virtual void getLcircle (const std::string &cameraName, std::list< vpMbtDistanceCircle * > &circlesList, const unsigned int level=0) const
 
virtual void getLcylinder (const std::string &cameraName, std::list< vpMbtDistanceCylinder * > &cylindersList, const unsigned int level=0) const
 
virtual void getLline (const std::string &cameraName, std::list< vpMbtDistanceLine * > &linesList, const unsigned int level=0) const
 
virtual vpMe getMovingEdge () const
 
virtual void getMovingEdge (vpMe &me1, vpMe &me2) const
 
virtual void getMovingEdge (std::map< std::string, vpMe > &mapOfMovingEdges) const
 
virtual unsigned int getNbPoints (const unsigned int level=0) const
 
virtual void getNbPoints (std::map< std::string, unsigned int > &mapOfNbPoints, const unsigned int level=0) const
 
virtual unsigned int getNbPolygon () const
 
virtual void getNbPolygon (std::map< std::string, unsigned int > &mapOfNbPolygons) const
 
virtual vpMbtPolygongetPolygon (const unsigned int index)
 
virtual vpMbtPolygongetPolygon (const std::string &cameraName, 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 getPolygonFaces (std::map< std::string, std::vector< vpPolygon > > &mapOfPolygons, std::map< std::string, std::vector< std::vector< vpPoint > > > &mapOfPoints, const bool orderPolygons=true, const bool useVisibility=true, const bool clipPolygon=false)
 
virtual void getPose (vpHomogeneousMatrix &c1Mo, vpHomogeneousMatrix &c2Mo) const
 
virtual void getPose (std::map< std::string, vpHomogeneousMatrix > &mapOfCameraPoses) const
 
virtual vpColVector getRobustWeights () const
 
virtual void init (const vpImage< unsigned char > &I)
 
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 vpHomogeneousMatrix &T1=vpHomogeneousMatrix(), const vpHomogeneousMatrix &T2=vpHomogeneousMatrix())
 
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, const std::map< std::string, vpHomogeneousMatrix > &mapOfT=std::map< std::string, vpHomogeneousMatrix >())
 
virtual void initFromPoints (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, const std::string &initFile1, const std::string &initFile2)
 
virtual void initFromPoints (const std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, const std::map< std::string, std::string > &mapOfInitPoints)
 
virtual void initFromPose (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, const std::string &initFile1, const std::string &initFile2)
 
virtual void initFromPose (const std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, const std::map< std::string, std::string > &mapOfInitPoses)
 
virtual void initFromPose (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, const vpHomogeneousMatrix &c1Mo, const vpHomogeneousMatrix &c2Mo)
 
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)
 
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 loadModel (const std::string &modelFile1, const std::string &modelFile2, const bool verbose=false, const vpHomogeneousMatrix &T1=vpHomogeneousMatrix(), const vpHomogeneousMatrix &T2=vpHomogeneousMatrix())
 
virtual void loadModel (const std::map< std::string, std::string > &mapOfModelFiles, const bool verbose=false, const std::map< std::string, vpHomogeneousMatrix > &mapOfT=std::map< std::string, 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_name1, const std::string &cad_name2, const vpHomogeneousMatrix &c1Mo, const vpHomogeneousMatrix &c2Mo, const bool verbose=false, const vpHomogeneousMatrix &T1=vpHomogeneousMatrix(), const vpHomogeneousMatrix &T2=vpHomogeneousMatrix())
 
virtual void reInitModel (const std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, const std::map< std::string, std::string > &mapOfModelFiles, const std::map< std::string, vpHomogeneousMatrix > &mapOfCameraPoses, const bool verbose=false, const std::map< std::string, vpHomogeneousMatrix > &mapOfT=std::map< std::string, vpHomogeneousMatrix >())
 
virtual void resetTracker ()
 
virtual void setAngleAppear (const double &a)
 
virtual void setAngleAppear (const double &a1, const double &a2)
 
virtual void setAngleAppear (const std::map< std::string, double > &mapOfAngles)
 
virtual void setAngleDisappear (const double &a)
 
virtual void setAngleDisappear (const double &a1, const double &a2)
 
virtual void setAngleDisappear (const std::map< std::string, double > &mapOfAngles)
 
virtual void setCameraParameters (const vpCameraParameters &camera)
 
virtual void setCameraParameters (const vpCameraParameters &camera1, const vpCameraParameters &camera2)
 
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 unsigned int &flags1, const unsigned int &flags2)
 
virtual void setClipping (const std::map< std::string, unsigned int > &mapOfClippingFlags)
 
virtual void setDepthDenseFilteringMaxDistance (const double maxDistance)
 
virtual void setDepthDenseFilteringMethod (const int method)
 
virtual void setDepthDenseFilteringMinDistance (const double minDistance)
 
virtual void setDepthDenseFilteringOccupancyRatio (const double occupancyRatio)
 
virtual void setDepthDenseSamplingStep (const unsigned int stepX, const unsigned int stepY)
 
virtual void setDepthNormalFaceCentroidMethod (const vpMbtFaceDepthNormal::vpFaceCentroidType &method)
 
virtual void setDepthNormalFeatureEstimationMethod (const vpMbtFaceDepthNormal::vpFeatureEstimationType &method)
 
virtual void setDepthNormalPclPlaneEstimationMethod (const int method)
 
virtual void setDepthNormalPclPlaneEstimationRansacMaxIter (const int maxIter)
 
virtual void setDepthNormalPclPlaneEstimationRansacThreshold (const double thresold)
 
virtual void setDepthNormalSamplingStep (const unsigned int stepX, const unsigned int stepY)
 
virtual void setDisplayFeatures (const bool displayF)
 
virtual void setFarClippingDistance (const double &dist)
 
virtual void setFarClippingDistance (const double &dist1, const double &dist2)
 
virtual void setFarClippingDistance (const std::map< std::string, double > &mapOfClippingDists)
 
virtual void setFeatureFactors (const std::map< vpTrackerType, double > &mapOfFeatureFactors)
 
virtual void setGoodMovingEdgesRatioThreshold (const double threshold)
 
virtual void setGoodNbRayCastingAttemptsRatio (const double &ratio)
 
virtual void setNbRayCastingAttemptsForVisibility (const unsigned int &attempts)
 
virtual void setKltMaskBorder (const unsigned int &e)
 
virtual void setKltMaskBorder (const unsigned int &e1, const unsigned int &e2)
 
virtual void setKltMaskBorder (const std::map< std::string, unsigned int > &mapOfErosions)
 
virtual void setKltOpencv (const vpKltOpencv &t)
 
virtual void setKltOpencv (const vpKltOpencv &t1, const vpKltOpencv &t2)
 
virtual void setKltOpencv (const std::map< std::string, vpKltOpencv > &mapOfKlts)
 
virtual void setKltThresholdAcceptation (const double th)
 
virtual void setLod (const bool useLod, const std::string &name="")
 
virtual void setMask (const vpImage< bool > &mask)
 
virtual void setMinLineLengthThresh (const double minLineLengthThresh, const std::string &name="")
 
virtual void setMinPolygonAreaThresh (const double minPolygonAreaThresh, const std::string &name="")
 
virtual void setMovingEdge (const vpMe &me)
 
virtual void setMovingEdge (const vpMe &me1, const vpMe &me2)
 
virtual void setMovingEdge (const std::map< std::string, vpMe > &mapOfMe)
 
virtual void setNearClippingDistance (const double &dist)
 
virtual void setNearClippingDistance (const double &dist1, const double &dist2)
 
virtual void setNearClippingDistance (const std::map< std::string, double > &mapOfDists)
 
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 &cdMo)
 
virtual void setPose (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, const vpHomogeneousMatrix &c1Mo, const vpHomogeneousMatrix &c2Mo)
 
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 setProjectionErrorDisplay (const bool display)
 
virtual void setProjectionErrorDisplayArrowLength (const unsigned int length)
 
virtual void setProjectionErrorDisplayArrowThickness (const unsigned int thickness)
 
virtual void setReferenceCameraName (const std::string &referenceCameraName)
 
virtual void setScanLineVisibilityTest (const bool &v)
 
virtual void setTrackerType (const int type)
 
virtual void setTrackerType (const std::map< std::string, int > &mapOfTrackerTypes)
 
virtual void setUseDepthDenseTracking (const std::string &name, const bool &useDepthDenseTracking)
 
virtual void setUseDepthNormalTracking (const std::string &name, const bool &useDepthNormalTracking)
 
virtual void setUseEdgeTracking (const std::string &name, const bool &useEdgeTracking)
 
virtual void setUseKltTracking (const std::string &name, const bool &useKltTracking)
 
virtual void testTracking ()
 
virtual void track (const vpImage< unsigned char > &I)
 
virtual void track (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2)
 
virtual void track (std::map< std::string, const vpImage< unsigned char > * > &mapOfImages)
 
virtual void track (std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, std::map< std::string, pcl::PointCloud< pcl::PointXYZ >::ConstPtr > &mapOfPointClouds)
 
virtual void track (std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, std::map< std::string, const std::vector< vpColVector > * > &mapOfPointClouds, std::map< std::string, unsigned int > &mapOfPointCloudWidths, std::map< std::string, unsigned int > &mapOfPointCloudHeights)
 
Inherited functionalities from vpMbTracker
virtual double getAngleAppear () const
 
virtual double getAngleDisappear () const
 
virtual void getCameraParameters (vpCameraParameters &camera) const
 
virtual unsigned int getClipping () const
 
virtual vpMatrix getCovarianceMatrix () const
 
virtual double getInitialMu () const
 
virtual double getLambda () const
 
virtual unsigned int getMaxIter () const
 
virtual double getProjectionError () const
 
virtual vpColVector getEstimatedDoF () const
 
virtual double getFarClippingDistance () const
 
virtual double getNearClippingDistance () const
 
virtual vpMbtOptimizationMethod getOptimizationMethod () const
 
virtual void getPose (vpHomogeneousMatrix &cMo_) const
 
virtual vpHomogeneousMatrix getPose () const
 
virtual double getStopCriteriaEpsilon () const
 
virtual void initClick (const vpImage< unsigned char > &I, const std::string &initFile, const bool displayHelp=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
 
virtual void initClick (const vpImage< unsigned char > &I, const std::vector< vpPoint > &points3D_list, const std::string &displayFile="")
 
virtual void initFromPoints (const vpImage< unsigned char > &I, const std::string &initFile)
 
virtual void initFromPoints (const vpImage< unsigned char > &I, const std::vector< vpImagePoint > &points2D_list, const std::vector< vpPoint > &points3D_list)
 
virtual void initFromPose (const vpImage< unsigned char > &I, const std::string &initFile)
 
virtual void initFromPose (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo)
 
virtual void initFromPose (const vpImage< unsigned char > &I, const vpPoseVector &cPo)
 
virtual void setCovarianceComputation (const bool &flag)
 
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 setStopCriteriaEpsilon (const double eps)
 
void savePose (const std::string &filename) const
 
void setPoseSavingFilename (const std::string &filename)
 

Protected Member Functions

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

Protected Attributes

vpColVector m_error
 
vpMatrix m_L
 
std::map< std::string, vpHomogeneousMatrixm_mapOfCameraTransformationMatrix
 
std::map< vpTrackerType, double > m_mapOfFeatureFactors
 
std::map< std::string, TrackerWrapper * > m_mapOfTrackers
 
double m_percentageGdPt
 
std::string m_referenceCameraName
 
double m_thresholdOutlier
 
vpColVector m_w
 
vpColVector m_weightedError
 
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

Real-time 6D object pose tracking using its CAD model.

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.

This class allows tracking an object or a scene given its 3D model. More information in [41]. A lot of videos can be found on YouTube VispTeam channel.

The Tutorial: Markerless generic model-based tracking using a color camera is a good starting point to use this class. If you want to track an object with a stereo camera refer to Tutorial: Markerless generic model-based tracking using a stereo camera. If you want rather use a RGB-D camera and exploit the depth information, you may see Tutorial: Markerless generic model-based tracking using a RGB-D camera. There is also Tutorial: Object detection and localization that shows how to initialize the tracker from an initial pose provided by a detection algorithm.

Examples:
mbtGenericTracking.cpp, mbtGenericTracking2.cpp, mbtGenericTrackingDepth.cpp, mbtGenericTrackingDepthOnly.cpp, testGenericTracker.cpp, testGenericTrackerDepth.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, tutorial-mb-generic-tracker-apriltag-live-realsense2.cpp, tutorial-mb-generic-tracker-apriltag-live-webcam.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-stereo-mono.cpp, tutorial-mb-generic-tracker-stereo.cpp, and tutorial-mb-generic-tracker.cpp.

Definition at line 80 of file vpMbGenericTracker.h.

Member Enumeration Documentation

Enumerator
GAUSS_NEWTON_OPT 
LEVENBERG_MARQUARDT_OPT 

Definition at line 113 of file vpMbTracker.h.

Enumerator
EDGE_TRACKER 

Model-based tracking using moving edges features.

KLT_TRACKER 

Model-based tracking using KLT features.

DEPTH_NORMAL_TRACKER 

Model-based tracking using depth normal features.

DEPTH_DENSE_TRACKER 

Model-based tracking using depth dense features.

Definition at line 83 of file vpMbGenericTracker.h.

Constructor & Destructor Documentation

vpMbGenericTracker::vpMbGenericTracker ( const unsigned int  nbCameras,
const int  trackerType = EDGE_TRACKER 
)
vpMbGenericTracker::vpMbGenericTracker ( const std::vector< int > &  trackerTypes)
explicit
vpMbGenericTracker::vpMbGenericTracker ( const std::vector< std::string > &  cameraNames,
const std::vector< int > &  trackerTypes 
)
vpMbGenericTracker::~vpMbGenericTracker ( )
virtual

Definition at line 168 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

Member Function Documentation

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

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 from vpMbTracker.

Examples:
tutorial-mb-generic-tracker-apriltag-live-realsense2.cpp, and tutorial-mb-generic-tracker-apriltag-live-webcam.cpp.

Definition at line 194 of file vpMbGenericTracker.cpp.

References vpMath::deg(), and m_mapOfTrackers.

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

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

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

Definition at line 2410 of file vpMbTracker.cpp.

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

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

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

Definition at line 3060 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::computeCurrentProjectionError().

void vpMbTracker::computeVVSCheckLevenbergMarquardt ( const unsigned int  iter,
vpColVector error,
const vpColVector m_error_prev,
const vpHomogeneousMatrix cMoPrev,
double &  mu,
bool &  reStartFromLastIncrement,
vpColVector *const  w = NULL,
const vpColVector *const  m_w_prev = NULL 
)
protectedvirtualinherited
void vpMbGenericTracker::computeVVSInit ( )
protectedvirtual

Implements vpMbTracker.

Definition at line 473 of file vpMbGenericTracker.cpp.

References vpException::fatalError.

Referenced by computeVVS(), getRobustWeights(), and track().

void vpMbGenericTracker::computeVVSInit ( std::map< std::string, const vpImage< unsigned char > * > &  mapOfImages)
protectedvirtual
void vpMbGenericTracker::computeVVSInteractionMatrixAndResidu ( )
protectedvirtual

Implements vpMbTracker.

Definition at line 498 of file vpMbGenericTracker.cpp.

References vpException::fatalError.

Referenced by computeVVS(), getRobustWeights(), and track().

void vpMbGenericTracker::computeVVSInteractionMatrixAndResidu ( std::map< std::string, const vpImage< unsigned char > * > &  mapOfImages,
std::map< std::string, vpVelocityTwistMatrix > &  mapOfVelocityTwist 
)
protectedvirtual
void vpMbGenericTracker::computeVVSWeights ( )
protectedvirtual

Definition at line 530 of file vpMbGenericTracker.cpp.

References vpColVector::insert(), m_mapOfTrackers, and m_w.

Referenced by computeVVS(), getRobustWeights(), and track().

void vpMbTracker::createCylinderBBox ( const vpPoint p1,
const vpPoint p2,
const double &  radius,
std::vector< std::vector< vpPoint > > &  listFaces 
)
protectedinherited
void vpMbGenericTracker::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).
Note
This function will display the model only for the reference camera.

Implements vpMbTracker.

Examples:
testGenericTracker.cpp, testGenericTrackerDepth.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, tutorial-mb-generic-tracker-apriltag-live-realsense2.cpp, tutorial-mb-generic-tracker-apriltag-live-webcam.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-stereo-mono.cpp, tutorial-mb-generic-tracker-stereo.cpp, and tutorial-mb-generic-tracker.cpp.

Definition at line 557 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_referenceCameraName.

Referenced by getRobustWeights().

void vpMbGenericTracker::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).
Note
This function will display the model only for the reference camera.

Implements vpMbTracker.

Definition at line 583 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_referenceCameraName.

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

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

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

Definition at line 612 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

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

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

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

Definition at line 645 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

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

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

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

Definition at line 673 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

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

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

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

Definition at line 706 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

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

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

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

Definition at line 1994 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::extractGroup().

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

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

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

Definition at line 1941 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::extractGroup().

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

Extract a VRML object Group.

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

Definition at line 1852 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::loadVRMLModel().

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

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

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

Definition at line 2079 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::extractGroup().

virtual double vpMbTracker::getAngleAppear ( ) const
inlinevirtualinherited

Return the angle used to test polygons appearance.

Definition at line 238 of file vpMbTracker.h.

virtual double vpMbTracker::getAngleDisappear ( ) const
inlinevirtualinherited

Return the angle used to test polygons disappearance.

Definition at line 241 of file vpMbTracker.h.

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

Get the camera names.

Returns
The vector of camera names.

Definition at line 733 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

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

Get all the camera parameters.

Parameters
cam1: Copy of the camera parameters for the first camera.
cam2: Copy of the camera parameters for the second camera.
Note
This function assumes a stereo configuration of the generic tracker.
Examples:
testGenericTracker.cpp, testGenericTrackerDepth.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, tutorial-mb-generic-tracker-apriltag-live-realsense2.cpp, tutorial-mb-generic-tracker-apriltag-live-webcam.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-stereo-mono.cpp, tutorial-mb-generic-tracker-stereo.cpp, and tutorial-mb-generic-tracker.cpp.

Definition at line 753 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

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

Get all the camera parameters.

Parameters
mapOfCameraParameters: Map of camera parameters.

Definition at line 772 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

std::map< std::string, int > vpMbGenericTracker::getCameraTrackerTypes ( ) const
virtual

Get the camera tracker types.

Returns
The map of camera tracker types.
See also
vpTrackerType

Definition at line 791 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

void vpMbGenericTracker::getClipping ( unsigned int &  clippingFlag1,
unsigned int &  clippingFlag2 
) const
virtual

Get the clipping used and defined in vpPolygon3D::vpMbtPolygonClippingType.

Parameters
clippingFlag1: Clipping flags for the first camera.
clippingFlag2: Clipping flags for the second camera.
Note
This function assumes a stereo configuration of the generic tracker.
Examples:
testGenericTracker.cpp, testGenericTrackerDepth.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, and tutorial-mb-generic-tracker-full.cpp.

Definition at line 813 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

void vpMbGenericTracker::getClipping ( std::map< std::string, unsigned int > &  mapOfClippingFlags) const
virtual

Get the clipping used and defined in vpPolygon3D::vpMbtPolygonClippingType.

Parameters
mapOfClippingFlags: Map of clipping flags.

Definition at line 832 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

virtual vpMatrix vpMbTracker::getCovarianceMatrix ( ) const
inlinevirtualinherited
virtual vpColVector vpMbGenericTracker::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()

Implements vpMbTracker.

Examples:
testGenericTracker.cpp, and testGenericTrackerDepth.cpp.

Definition at line 136 of file vpMbGenericTracker.h.

References vpMbTracker::getFaces(), vpMbTracker::getNbPolygon(), vpMbTracker::getPolygon(), vpMbTracker::getPolygonFaces(), and vpMbTracker::getPose().

Referenced by getRobustWeights().

vpColVector vpMbTracker::getEstimatedDoF ( ) const
virtualinherited

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

Returns
1x6 vpColVector representing the estimated degrees of freedom.

Definition at line 2561 of file vpMbTracker.cpp.

References vpMbTracker::oJo.

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

Return a reference to the faces structure.

Returns
Reference to the face structure.

Reimplemented from vpMbTracker.

Definition at line 848 of file vpMbGenericTracker.cpp.

References vpMbTracker::faces, m_mapOfTrackers, and m_referenceCameraName.

vpMbHiddenFaces< vpMbtPolygon > & vpMbGenericTracker::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 864 of file vpMbGenericTracker.cpp.

References vpMbTracker::faces, and m_mapOfTrackers.

virtual double vpMbTracker::getFarClippingDistance ( ) const
inlinevirtualinherited

Get the far distance for clipping.

Returns
Far clipping value.

Definition at line 339 of file vpMbTracker.h.

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

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

Definition at line 879 of file vpMbGenericTracker.cpp.

References vpException::badValue, m_mapOfTrackers, and m_referenceCameraName.

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

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

Definition at line 909 of file vpMbGenericTracker.cpp.

References vpException::badValue, m_mapOfTrackers, and m_referenceCameraName.

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

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

Definition at line 894 of file vpMbGenericTracker.cpp.

References vpException::badValue, m_mapOfTrackers, and m_referenceCameraName.

double vpMbGenericTracker::getGoodMovingEdgesRatioThreshold ( ) const
virtual
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 931 of file vpMbGenericTracker.cpp.

References m_percentageGdPt.

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

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

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

Definition at line 2124 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::extractCylinders().

virtual double vpMbTracker::getInitialMu ( ) const
inlinevirtualinherited

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

Returns
the initial mu value.

Definition at line 284 of file vpMbTracker.h.

std::vector< vpImagePoint > vpMbGenericTracker::getKltImagePoints ( ) const
virtual

Get the current list of KLT points for the reference camera.

Warning
This function convert and copy the OpenCV KLT points into vpImagePoints.
Returns
the list of KLT points through vpKltOpencv.

Definition at line 942 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_referenceCameraName.

std::map< int, vpImagePoint > vpMbGenericTracker::getKltImagePointsWithId ( ) const
virtual

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

Warning
This function convert and copy the openCV KLT points into vpImagePoints.
Returns
the list of KLT points and their id through vpKltOpencv.

Definition at line 963 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_referenceCameraName.

unsigned int vpMbGenericTracker::getKltMaskBorder ( ) const
virtual

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

Returns
The erosion for the reference camera.

Definition at line 981 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_referenceCameraName.

int vpMbGenericTracker::getKltNbPoints ( ) const
virtual

Get number of KLT points for the reference camera.

Returns
Number of KLT points for the reference camera.

Definition at line 999 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_referenceCameraName.

vpKltOpencv vpMbGenericTracker::getKltOpencv ( ) const
virtual

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

Returns
klt tracker.

Definition at line 1017 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_referenceCameraName.

void vpMbGenericTracker::getKltOpencv ( vpKltOpencv klt1,
vpKltOpencv klt2 
) const
virtual

Get the klt tracker at the current state.

Parameters
klt1: Klt tracker for the first camera.
klt2: Klt tracker for the second camera.
Note
This function assumes a stereo configuration of the generic tracker.

Definition at line 1040 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

void vpMbGenericTracker::getKltOpencv ( std::map< std::string, vpKltOpencv > &  mapOfKlts) const
virtual

Get the klt tracker at the current state.

Parameters
mapOfKlts: Map if klt trackers.

Definition at line 1059 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

std::vector< cv::Point2f > vpMbGenericTracker::getKltPoints ( ) const
virtual

Get the current list of KLT points for the reference camera.

Returns
the list of KLT points through vpKltOpencv.

Definition at line 1076 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_referenceCameraName.

double vpMbGenericTracker::getKltThresholdAcceptation ( ) const
virtual

Get the threshold for the acceptation of a point.

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

Definition at line 1096 of file vpMbGenericTracker.cpp.

References m_thresholdOutlier.

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 vpMbGenericTracker::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.
circlesList: The list of the circles of the model.
level: Level corresponding to the list to return.
Note
Multi-scale moving edge tracking is not possible, scale level=0 must be used.

Definition at line 1113 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

void vpMbGenericTracker::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.
cylindersList: The list of the cylinders of the model.
level: Level corresponding to the list to return.
Note
Multi-scale moving edge tracking is not possible, scale level=0 must be used.

Definition at line 1138 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

void vpMbGenericTracker::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.
linesList: The list of the lines of the model.
level: Level corresponding to the list to return.
Note
Multi-scale moving edge tracking is not possible, scale level=0 must be used.

Definition at line 1163 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

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.

vpMe vpMbGenericTracker::getMovingEdge ( ) const
virtual

Get the moving edge parameters for the reference camera.

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

Definition at line 1179 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_referenceCameraName.

void vpMbGenericTracker::getMovingEdge ( vpMe me1,
vpMe me2 
) const
virtual

Get the moving edge parameters.

Parameters
me1: Moving edge parameters for the first camera.
me2: Moving edge parameters for the second camera.
Note
This function assumes a stereo configuration of the generic tracker.

Definition at line 1200 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

void vpMbGenericTracker::getMovingEdge ( std::map< std::string, vpMe > &  mapOfMovingEdges) const
virtual

Get the moving edge parameters for all the cameras

Parameters
mapOfMovingEdges: Map of moving edge parameters for all the cameras.

Definition at line 1223 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

unsigned int vpMbGenericTracker::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.
Note
Multi-scale moving edge tracking is not possible, scale level=0 must be used.

Definition at line 1249 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_referenceCameraName.

void vpMbGenericTracker::getNbPoints ( std::map< std::string, unsigned int > &  mapOfNbPoints,
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
mapOfNbPoints: Map of number of good points (vpMeSite) tracked for all the cameras.
level: Pyramid level to consider.
Exceptions
vpException::dimensionErrorif level does not represent a used level.
Note
Multi-scale moving edge tracking is not possible, scale level=0 must be used.

Definition at line 1278 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

unsigned int vpMbGenericTracker::getNbPolygon ( ) const
inlinevirtual

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

Returns
Number of polygons for the reference camera.

Reimplemented from vpMbTracker.

Definition at line 1294 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_referenceCameraName.

Referenced by track().

void vpMbGenericTracker::getNbPolygon ( std::map< std::string, unsigned int > &  mapOfNbPolygons) const
virtual

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

Returns
Number of polygons for all the cameras.

Definition at line 1310 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

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().

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.

vpMbtPolygon * vpMbGenericTracker::getPolygon ( const unsigned int  index)
virtual

Return the polygon (face) "index" for the reference camera.

Exceptions
vpException::dimensionErrorif index does not represent a good polygon.
Parameters
index: Index of the polygon to return.
Returns
Pointer to the polygon index for the reference camera or NULL in case of problem.

Reimplemented from vpMbTracker.

Definition at line 1331 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_referenceCameraName.

vpMbtPolygon * vpMbGenericTracker::getPolygon ( const std::string &  cameraName,
const unsigned int  index 
)
virtual

Return the polygon (face) "index" for the specified camera.

Exceptions
vpException::dimensionErrorif index does not represent a good polygon.
Parameters
cameraName: Name of the camera to return the polygon.
index: Index of the polygon to return.
Returns
Pointer to the polygon index for the specified camera or NULL in case of problem.

Definition at line 1353 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

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

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.
Note
This function will return the 2D polygons faces and 3D face points only for the reference camera.

Reimplemented from vpMbTracker.

Examples:
tutorial-detection-object-mbt.cpp, and tutorial-detection-object-mbt2.cpp.

Definition at line 1380 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_referenceCameraName.

void vpMbGenericTracker::getPolygonFaces ( std::map< std::string, std::vector< vpPolygon > > &  mapOfPolygons,
std::map< std::string, std::vector< std::vector< vpPoint > > > &  mapOfPoints,
const bool  orderPolygons = true,
const bool  useVisibility = true,
const bool  clipPolygon = false 
)
virtual

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
mapOfPolygons: Map of 2D polygon faces.
mapOfPoints: Map of face 3D points.
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.
Note
This function will return the 2D polygons faces and 3D face points only for all the cameras.

Definition at line 1412 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

void vpMbGenericTracker::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.
Note
This function assumes a stereo configuration of the generic tracker.
Examples:
testGenericTracker.cpp, testGenericTrackerDepth.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, tutorial-mb-generic-tracker-apriltag-live-realsense2.cpp, tutorial-mb-generic-tracker-apriltag-live-webcam.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-stereo-mono.cpp, tutorial-mb-generic-tracker-stereo.cpp, and tutorial-mb-generic-tracker.cpp.

Definition at line 1438 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

void vpMbGenericTracker::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.

Definition at line 1457 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

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 getError(), vpMbEdgeKltMultiTracker::getNumberOfCameras(), vpMbEdgeMultiTracker::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, and mbtGenericTrackingDepthOnly.cpp.

Definition at line 310 of file vpMbTracker.h.

virtual vpColVector vpMbGenericTracker::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()

Implements vpMbTracker.

Definition at line 198 of file vpMbGenericTracker.h.

References vpMbTracker::cam, vpMbTracker::cMo, computeVVS(), computeVVSInit(), vpMbTracker::computeVVSInit(), computeVVSInteractionMatrixAndResidu(), vpMbEdgeTracker::computeVVSInteractionMatrixAndResidu(), vpMbTracker::computeVVSInteractionMatrixAndResidu(), computeVVSWeights(), vpMbTracker::computeVVSWeights(), display(), getError(), init(), vpMbTracker::init(), initCircle(), vpMbTracker::initCircle(), vpMbTracker::initClick(), initCylinder(), vpMbTracker::initCylinder(), initFaceFromCorners(), vpMbTracker::initFaceFromCorners(), initFaceFromLines(), vpMbTracker::initFaceFromLines(), vpMbTracker::initFromPoints(), vpMbTracker::initFromPose(), loadConfigFile(), vpMbTracker::loadConfigFile(), vpMbTracker::loadModel(), m_error, m_L, m_w, m_weightedError, preTracking(), reInitModel(), resetTracker(), vpMbTracker::resetTracker(), vpMbTracker::setAngleAppear(), vpMbTracker::setAngleDisappear(), setCameraParameters(), vpMbTracker::setCameraParameters(), setClipping(), vpMbTracker::setClipping(), vpMbTracker::setDisplayFeatures(), setFarClippingDistance(), vpMbTracker::setFarClippingDistance(), vpMbTracker::setGoodNbRayCastingAttemptsRatio(), vpMbTracker::setLod(), vpMbTracker::setMask(), vpMbTracker::setMinLineLengthThresh(), vpMbTracker::setMinPolygonAreaThresh(), vpMbTracker::setNbRayCastingAttemptsForVisibility(), setNearClippingDistance(), vpMbTracker::setNearClippingDistance(), vpMbTracker::setOgreShowConfigDialog(), setOgreVisibilityTest(), vpMbTracker::setOgreVisibilityTest(), vpMbTracker::setOptimizationMethod(), setPose(), vpMbTracker::setPose(), setProjectionErrorComputation(), vpMbTracker::setProjectionErrorComputation(), vpMbTracker::setProjectionErrorDisplay(), vpMbTracker::setProjectionErrorDisplayArrowLength(), vpMbTracker::setProjectionErrorDisplayArrowThickness(), setScanLineVisibilityTest(), vpMbTracker::setScanLineVisibilityTest(), setTrackerType(), testTracking(), vpMbTracker::testTracking(), vpMbDepthDenseTracker::track(), vpMbDepthNormalTracker::track(), track(), and vpMbTracker::track().

virtual double vpMbTracker::getStopCriteriaEpsilon ( ) const
inlinevirtualinherited

Definition at line 425 of file vpMbTracker.h.

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

Initialise the tracking.

Parameters
I: Input image.

Implements vpMbTracker.

Definition at line 1469 of file vpMbGenericTracker.cpp.

References vpMbTracker::cMo, vpHomogeneousMatrix::init(), m_mapOfCameraTransformationMatrix, and m_mapOfTrackers.

Referenced by getRobustWeights(), and track().

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

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

Parameters
p1: Center of the circle.
p2: A point on the plane containing the circle.
p3: An other point on the plane containing the circle. With the center of the circle p1, p2 and p3 we have 3 points defining the plane that contains the circle.
radius: Radius of the circle.
idFace: Id of the face associated to the circle.
name: Name of the circle.

Implements vpMbTracker.

Definition at line 1479 of file vpMbGenericTracker.cpp.

References vpException::fatalError.

Referenced by getRobustWeights().

void vpMbGenericTracker::initClick ( const vpImage< unsigned char > &  I1,
const vpImage< unsigned char > &  I2,
const std::string &  initFile1,
const std::string &  initFile2,
const bool  displayHelp = false,
const vpHomogeneousMatrix T1 = vpHomogeneousMatrix(),
const vpHomogeneousMatrix T2 = vpHomogeneousMatrix() 
)
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.
T1: optional transformation matrix to transform 3D points in initFile1 expressed in the original object frame to the desired object frame.
T2: optional transformation matrix to transform 3D points in initFile2 expressed in the original object frame to the desired object frame (T2==T1 if the init points are expressed in the same object frame which should be the case most of the time).
Exceptions
vpException::ioError: The file specified in initFile doesn't exist.
Note
This function assumes a stereo configuration of the generic tracker.
Examples:
tutorial-detection-object-mbt.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-stereo-mono.cpp, tutorial-mb-generic-tracker-stereo.cpp, and tutorial-mb-generic-tracker.cpp.

Definition at line 1529 of file vpMbGenericTracker.cpp.

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

void vpMbGenericTracker::initClick ( const std::map< std::string, const vpImage< unsigned char > * > &  mapOfImages,
const std::map< std::string, std::string > &  mapOfInitFiles,
const bool  displayHelp = false,
const std::map< std::string, vpHomogeneousMatrix > &  mapOfT = std::map<std::string, vpHomogeneousMatrix>() 
)
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: 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.
mapOfT: optional map of transformation matrices to transform 3D points in mapOfInitFiles expressed in the original object frame to the desired object frame (if the init points are expressed in the same object frame which should be the case most of the time, all the transformation matrices are identical).
Exceptions
vpException::ioError: The file specified in initFile doesn't exist.
Note
Image and init file must be supplied for the reference camera. The images for all the cameras must be supplied to correctly initialize the trackers but some init files can be omitted. In this case, they will be initialized using the pose computed from the reference camera pose and using the known geometric transformation between each camera (see setCameraTransformationMatrix()).

Definition at line 1597 of file vpMbGenericTracker.cpp.

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

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

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

The structure of this file is the following:

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

Reimplemented in vpMbEdgeMultiTracker, vpMbKltMultiTracker, and vpMbEdgeKltMultiTracker.

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

Definition at line 205 of file vpMbTracker.cpp.

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

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

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

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

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

Reimplemented in vpMbEdgeMultiTracker, vpMbKltMultiTracker, and vpMbEdgeKltMultiTracker.

Definition at line 456 of file vpMbTracker.cpp.

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

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

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 associated to the cylinder.
name: Name of the cylinder.

Implements vpMbTracker.

Definition at line 1658 of file vpMbGenericTracker.cpp.

References vpException::fatalError.

Referenced by getRobustWeights().

void vpMbGenericTracker::initFaceFromCorners ( vpMbtPolygon polygon)
protectedvirtual

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.

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

Implements vpMbTracker.

Definition at line 1664 of file vpMbGenericTracker.cpp.

References vpException::fatalError.

Referenced by getRobustWeights().

void vpMbGenericTracker::initFaceFromLines ( vpMbtPolygon polygon)
protectedvirtual

Implements vpMbTracker.

Definition at line 1669 of file vpMbGenericTracker.cpp.

References vpException::fatalError.

Referenced by getRobustWeights().

void vpMbGenericTracker::initFromPoints ( const vpImage< unsigned char > &  I1,
const vpImage< unsigned char > &  I2,
const std::string &  initFile1,
const std::string &  initFile2 
)
virtual

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
I1: Input image for the first camera.
I2: Input image for the second camera.
initFile1: Path to the file containing all the points for the first camera.
initFile2: Path to the file containing all the points for the second camera.
Note
This function assumes a stereo configuration of the generic tracker.

Definition at line 1703 of file vpMbGenericTracker.cpp.

References vpMbTracker::cam, vpMbTracker::cMo, vpTrackingException::initializationError, m_mapOfTrackers, and m_referenceCameraName.

void vpMbGenericTracker::initFromPoints ( const std::map< std::string, const vpImage< unsigned char > * > &  mapOfImages,
const std::map< std::string, std::string > &  mapOfInitPoints 
)
virtual
void vpMbTracker::initFromPoints ( const vpImage< unsigned char > &  I,
const std::string &  initFile 
)
virtualinherited

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

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

Definition at line 586 of file vpMbTracker.cpp.

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

Referenced by getRobustWeights().

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

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

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

Definition at line 723 of file vpMbTracker.cpp.

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

void vpMbGenericTracker::initFromPose ( const vpImage< unsigned char > &  I1,
const vpImage< unsigned char > &  I2,
const std::string &  initFile1,
const std::string &  initFile2 
)
virtual

Initialise the tracking thanks to the pose in vpPoseVector format, and read in the file initFile.

Parameters
I1: Input image for the first camera.
I2: Input image for the second camera.
initFile1: Init pose file for the first camera.
initFile2: Init pose file for the second camera.
Note
This function assumes a stereo configuration of the generic tracker.
Examples:
testGenericTracker.cpp, testGenericTrackerDepth.cpp, tutorial-mb-generic-tracker-apriltag-live-realsense2.cpp, and tutorial-mb-generic-tracker-apriltag-live-webcam.cpp.

Definition at line 1796 of file vpMbGenericTracker.cpp.

References vpMbTracker::cam, vpMbTracker::cMo, vpTrackingException::initializationError, m_mapOfTrackers, and m_referenceCameraName.

Referenced by track().

void vpMbGenericTracker::initFromPose ( const std::map< std::string, const vpImage< unsigned char > * > &  mapOfImages,
const std::map< std::string, std::string > &  mapOfInitPoses 
)
virtual

Initialise the tracking thanks to the pose in vpPoseVector format, and read in the file initFile.

Parameters
mapOfImages: Map of images.
mapOfInitPoses: Map of init pose files.
Note
Image and init pose file must be supplied for the reference camera. The images for all the cameras must be supplied to correctly initialize the trackers but some init pose files can be omitted. In this case, they will be initialized using the pose computed from the reference camera pose and using the known geometric transformation between each camera (see setCameraTransformationMatrix()).

Definition at line 1841 of file vpMbGenericTracker.cpp.

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

void vpMbGenericTracker::initFromPose ( const vpImage< unsigned char > &  I1,
const vpImage< unsigned char > &  I2,
const vpHomogeneousMatrix c1Mo,
const vpHomogeneousMatrix c2Mo 
)
virtual

Initialize the tracking thanks to the pose.

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.
Note
This function assumes a stereo configuration of the generic tracker.

Definition at line 1902 of file vpMbGenericTracker.cpp.

References vpMbTracker::cMo, vpTrackingException::initializationError, and m_mapOfTrackers.

void vpMbGenericTracker::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.
Note
Image and camera pose must be supplied for the reference camera. The images for all the cameras must be supplied to correctly initialize the trackers but some camera poses can be omitted. In this case, they will be initialized using the pose computed from the reference camera pose and using the known geometric transformation between each camera (see setCameraTransformationMatrix()).

Definition at line 1933 of file vpMbGenericTracker.cpp.

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

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

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

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

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

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

Reimplemented in vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.

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

Definition at line 776 of file vpMbTracker.cpp.

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

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

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

Initialise the tracking thanks to the pose.

Parameters
I: Input image
cMo_: Pose matrix.

Reimplemented in vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.

Definition at line 811 of file vpMbTracker.cpp.

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

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

Initialise the tracking thanks to the pose vector.

Parameters
I: Input image
cPo: Pose vector.

Reimplemented in vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.

Definition at line 823 of file vpMbTracker.cpp.

References vpMbTracker::initFromPose().

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

Definition at line 2995 of file vpMbTracker.cpp.

References vpMbTracker::addProjectionErrorCircle().

Referenced by vpMbTracker::loadCAOModel().

void vpMbTracker::initProjectionErrorCylinder ( const vpPoint p1,
const vpPoint p2,
const double  radius,
const int  idFace = 0,
const std::string &  name = "" 
)
protectedinherited
void vpMbTracker::initProjectionErrorFaceFromCorners ( vpMbtPolygon polygon)
protectedinherited
void vpMbTracker::initProjectionErrorFaceFromLines ( vpMbtPolygon polygon)
protectedinherited
void vpMbTracker::loadCAOModel ( const std::string &  modelFile,
std::vector< std::string > &  vectorOfModelFilename,
int &  startIdFace,
const bool  verbose = false,
const bool  parent = true,
const vpHomogeneousMatrix T = vpHomogeneousMatrix() 
)
protectedvirtualinherited

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

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

Since ViSP 2.9.1, circles are supported.

The structure of the file is :

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

Definition at line 1306 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::loadModel().

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

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

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.
See also
vpXmlParser::cleanup()

Reimplemented from vpMbTracker.

Examples:
testGenericTracker.cpp, testGenericTrackerDepth.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-stereo-mono.cpp, and tutorial-mb-generic-tracker-stereo.cpp.

Definition at line 1999 of file vpMbGenericTracker.cpp.

References vpMbTracker::angleAppears, vpMbTracker::angleDisappears, vpMbTracker::cam, vpMbTracker::clippingFlag, vpException::fatalError, m_mapOfTrackers, and m_referenceCameraName.

Referenced by getRobustWeights().

void vpMbGenericTracker::loadConfigFile ( const std::string &  configFile1,
const std::string &  configFile2 
)
virtual

Load the xml configuration files. From the configuration file initialize the parameters corresponding to the objects: tracking parameters, camera intrinsic parameters.

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.
See also
vpXmlParser::cleanup()
Note
This function assumes a stereo configuration of the generic tracker.

Definition at line 2032 of file vpMbGenericTracker.cpp.

References vpMbTracker::angleAppears, vpMbTracker::angleDisappears, vpMbTracker::cam, vpMbTracker::clippingFlag, vpException::fatalError, m_mapOfTrackers, and m_referenceCameraName.

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

Load the xml configuration files. From the configuration file initialize the parameters corresponding to the objects: tracking parameters, camera intrinsic parameters.

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()
Note
Configuration files must be supplied for all the cameras.

Definition at line 2070 of file vpMbGenericTracker.cpp.

References vpMbTracker::angleAppears, vpMbTracker::angleDisappears, vpMbTracker::cam, vpMbTracker::clippingFlag, vpTrackingException::initializationError, m_mapOfTrackers, and m_referenceCameraName.

void vpMbGenericTracker::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 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.
Note
All the trackers will use the same model in case of stereo / multiple cameras configuration.

Reimplemented from vpMbTracker.

Examples:
testGenericTracker.cpp, testGenericTrackerDepth.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, tutorial-mb-generic-tracker-apriltag-live-realsense2.cpp, tutorial-mb-generic-tracker-apriltag-live-webcam.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-stereo-mono.cpp, tutorial-mb-generic-tracker-stereo.cpp, and tutorial-mb-generic-tracker.cpp.

Definition at line 2131 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

Referenced by track().

void vpMbGenericTracker::loadModel ( const std::string &  modelFile1,
const std::string &  modelFile2,
const bool  verbose = false,
const vpHomogeneousMatrix T1 = vpHomogeneousMatrix(),
const vpHomogeneousMatrix T2 = 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
modelFile1: the file containing the 3D model description for the first camera. The extension of this file is either .wrl or .cao.
modelFile2: the file containing the the 3D model description for the second camera. 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.
T1: optional transformation matrix (currently only for .cao) to transform 3D points in modelFile1 expressed in the original object frame to the desired object frame.
T2: optional transformation matrix (currently only for .cao) to transform 3D points in modelFile2 expressed in the original object frame to the desired object frame ( T2==T1 if the two models have the same object frame which should be the case most of the time).
Note
This function assumes a stereo configuration of the generic tracker.

Definition at line 2174 of file vpMbGenericTracker.cpp.

References vpException::fatalError, and m_mapOfTrackers.

void vpMbGenericTracker::loadModel ( const std::map< std::string, std::string > &  mapOfModelFiles,
const bool  verbose = false,
const std::map< std::string, vpHomogeneousMatrix > &  mapOfT = std::map<std::string, 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
mapOfModelFiles: map of files containing 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.
mapOfT: optional map of transformation matrices (currently only for .cao) to transform 3D points in mapOfModelFiles expressed in the original object frame to the desired object frame (if the models have the same object frame which should be the case most of the time, all the transformation matrices are identical).
Note
Each camera must have a model file.

Definition at line 2221 of file vpMbGenericTracker.cpp.

References vpTrackingException::initializationError, and m_mapOfTrackers.

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

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

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

Definition at line 1143 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::loadModel().

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

Definition at line 860 of file vpMbTracker.h.

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

Definition at line 847 of file vpMbTracker.h.

Referenced by vpMbTracker::loadCAOModel().

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

Definition at line 1204 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::loadCAOModel().

void vpMbGenericTracker::preTracking ( std::map< std::string, const vpImage< unsigned char > * > &  mapOfImages,
std::map< std::string, pcl::PointCloud< pcl::PointXYZ >::ConstPtr > &  mapOfPointClouds 
)
protectedvirtual

Definition at line 2244 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

Referenced by getRobustWeights(), and track().

void vpMbGenericTracker::preTracking ( std::map< std::string, const vpImage< unsigned char > * > &  mapOfImages,
std::map< std::string, const std::vector< vpColVector > * > &  mapOfPointClouds,
std::map< std::string, unsigned int > &  mapOfPointCloudWidths,
std::map< std::string, unsigned int > &  mapOfPointCloudHeights 
)
protectedvirtual

Definition at line 2255 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

void vpMbTracker::projectionErrorResetMovingEdges ( )
protectedinherited
void vpMbGenericTracker::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).

Definition at line 2279 of file vpMbGenericTracker.cpp.

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

Referenced by getRobustWeights().

void vpMbGenericTracker::reInitModel ( const vpImage< unsigned char > &  I1,
const vpImage< unsigned char > &  I2,
const std::string &  cad_name1,
const std::string &  cad_name2,
const vpHomogeneousMatrix c1Mo,
const vpHomogeneousMatrix c2Mo,
const bool  verbose = false,
const vpHomogeneousMatrix T1 = vpHomogeneousMatrix(),
const vpHomogeneousMatrix T2 = vpHomogeneousMatrix() 
)
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_name1: Path to the file containing the 3D model description for the first camera.
cad_name2: Path to the file containing the 3D model description for the second camera.
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.
T1: optional transformation matrix (currently only for .cao) to transform 3D points in cad_name1 expressed in the original object frame to the desired object frame.
T2: optional transformation matrix (currently only for .cao) to transform 3D points in cad_name2 expressed in the original object frame to the desired object frame ( T2==T1 if the two models have the same object frame which should be the case most of the time).
Note
This function assumes a stereo configuration of the generic tracker.

Definition at line 2322 of file vpMbGenericTracker.cpp.

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

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

Re-initialize the model used by the tracker.

Parameters
mapOfImages: Map of images.
mapOfModelFiles: Map of model files.
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.
mapOfT: optional map of transformation matrices (currently only for .cao) to transform 3D points in mapOfModelFiles expressed in the original object frame to the desired object frame (if the models have the same object frame which should be the case most of the time, all the transformation matrices are identical).

Definition at line 2363 of file vpMbGenericTracker.cpp.

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

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

Definition at line 1189 of file vpMbTracker.cpp.

References vpException::ioError.

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

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

Definition at line 866 of file vpMbTracker.h.

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

Check if two vpPoints are similar.

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

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

Definition at line 2699 of file vpMbTracker.cpp.

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

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

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

Save the pose in the given filename

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

Definition at line 834 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::initClick().

void vpMbGenericTracker::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.

Examples:
testGenericTracker.cpp, testGenericTrackerDepth.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, tutorial-mb-generic-tracker-apriltag-live-realsense2.cpp, tutorial-mb-generic-tracker-apriltag-live-webcam.cpp, and tutorial-mb-generic-tracker-full.cpp.

Definition at line 2483 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and vpMbTracker::setAngleAppear().

void vpMbGenericTracker::setAngleAppear ( const double &  a1,
const double &  a2 
)
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
a1: new angle in radian for the first camera.
a2: new angle in radian for the second camera.
Note
This function assumes a stereo configuration of the generic tracker.

Definition at line 2506 of file vpMbGenericTracker.cpp.

References vpMbTracker::angleAppears, vpTrackingException::fatalError, m_mapOfTrackers, and m_referenceCameraName.

void vpMbGenericTracker::setAngleAppear ( const std::map< std::string, double > &  mapOfAngles)
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
mapOfAngles: Map of new angles in radian.

Definition at line 2536 of file vpMbGenericTracker.cpp.

References vpMbTracker::angleAppears, m_mapOfTrackers, and m_referenceCameraName.

void vpMbGenericTracker::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.

Examples:
testGenericTracker.cpp, testGenericTrackerDepth.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, tutorial-mb-generic-tracker-apriltag-live-realsense2.cpp, tutorial-mb-generic-tracker-apriltag-live-webcam.cpp, and tutorial-mb-generic-tracker-full.cpp.

Definition at line 2561 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and vpMbTracker::setAngleDisappear().

void vpMbGenericTracker::setAngleDisappear ( const double &  a1,
const double &  a2 
)
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
a1: new angle in radian for the first camera.
a2: new angle in radian for the second camera.
Note
This function assumes a stereo configuration of the generic tracker.

Definition at line 2584 of file vpMbGenericTracker.cpp.

References vpMbTracker::angleDisappears, vpTrackingException::fatalError, m_mapOfTrackers, and m_referenceCameraName.

void vpMbGenericTracker::setAngleDisappear ( const std::map< std::string, double > &  mapOfAngles)
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
mapOfAngles: Map of new angles in radian.

Definition at line 2614 of file vpMbGenericTracker.cpp.

References vpMbTracker::angleDisappears, m_mapOfTrackers, and m_referenceCameraName.

void vpMbGenericTracker::setCameraParameters ( const vpCameraParameters camera1,
const vpCameraParameters camera2 
)
virtual

Set the camera parameters.

Parameters
camera1: the new camera parameters for the first camera.
camera2: the new camera parameters for the second camera.
Note
This function assumes a stereo configuration of the generic tracker.

Definition at line 2654 of file vpMbGenericTracker.cpp.

References vpMbTracker::cam, vpTrackingException::fatalError, m_mapOfTrackers, and m_referenceCameraName.

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

Set the camera parameters.

Parameters
mapOfCameraParameters: map of new camera parameters.
Note
This function will set the camera parameters only for the supplied camera names.

Definition at line 2683 of file vpMbGenericTracker.cpp.

References vpMbTracker::cam, m_mapOfTrackers, and m_referenceCameraName.

void vpMbGenericTracker::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.
Examples:
testGenericTracker.cpp, tutorial-mb-generic-tracker-apriltag-live-realsense2.cpp, and tutorial-mb-generic-tracker-stereo.cpp.

Definition at line 2708 of file vpMbGenericTracker.cpp.

References vpTrackingException::fatalError, and m_mapOfCameraTransformationMatrix.

void vpMbGenericTracker::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.

Definition at line 2727 of file vpMbGenericTracker.cpp.

References m_mapOfCameraTransformationMatrix.

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

Specify which clipping to use.

See also
vpMbtPolygonClipping
Parameters
flags: New clipping flags.
Note
This function will set the new parameter for all the cameras.

Reimplemented from vpMbTracker.

Examples:
testGenericTracker.cpp, testGenericTrackerDepth.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, and tutorial-mb-generic-tracker-full.cpp.

Definition at line 2750 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and vpMbTracker::setClipping().

Referenced by getRobustWeights(), and track().

void vpMbGenericTracker::setClipping ( const unsigned int &  flags1,
const unsigned int &  flags2 
)
virtual

Specify which clipping to use.

See also
vpMbtPolygonClipping
Parameters
flags1: New clipping flags for the first camera.
flags2: New clipping flags for the second camera.
Note
This function assumes a stereo configuration of the generic tracker.

Definition at line 2771 of file vpMbGenericTracker.cpp.

References vpMbTracker::clippingFlag, vpTrackingException::fatalError, m_mapOfTrackers, and m_referenceCameraName.

void vpMbGenericTracker::setClipping ( const std::map< std::string, unsigned int > &  mapOfClippingFlags)
virtual

Specify which clipping to use.

See also
vpMbtPolygonClipping
Parameters
mapOfClippingFlags: Map of new clipping flags.

Definition at line 2800 of file vpMbGenericTracker.cpp.

References vpMbTracker::clippingFlag, m_mapOfTrackers, and m_referenceCameraName.

virtual void vpMbTracker::setCovarianceComputation ( const bool &  flag)
inlinevirtualinherited
void vpMbGenericTracker::setDepthDenseFilteringMaxDistance ( const double  maxDistance)
virtual

Set maximum distance to consider a face. You should use the maximum depth range of the sensor used.

Parameters
maxDistance: Maximum distance to the face.
See also
setDepthDenseFilteringMethod
Note
This function will set the new parameter for all the cameras.

Definition at line 2826 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

void vpMbGenericTracker::setDepthDenseFilteringMethod ( const int  method)
virtual

Set method to discard a face, e.g.if outside of the depth range.

Parameters
method: Depth dense filtering method.
See also
vpMbtFaceDepthDense::vpDepthDenseFilteringType
Note
This function will set the new parameter for all the cameras.

Definition at line 2843 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

void vpMbGenericTracker::setDepthDenseFilteringMinDistance ( const double  minDistance)
virtual

Set minimum distance to consider a face. You should use the minimum depth range of the sensor used.

Parameters
minDistance: Minimum distance to the face.
See also
setDepthDenseFilteringMethod
Note
This function will set the new parameter for all the cameras.

Definition at line 2861 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

void vpMbGenericTracker::setDepthDenseFilteringOccupancyRatio ( const double  occupancyRatio)
virtual

Set depth occupancy ratio to consider a face, used to discard faces where the depth map is not well reconstructed.

Parameters
occupancyRatio: Occupancy ratio, between [0 ; 1].
See also
setDepthDenseFilteringMethod
Note
This function will set the new parameter for all the cameras.

Definition at line 2879 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

void vpMbGenericTracker::setDepthDenseSamplingStep ( const unsigned int  stepX,
const unsigned int  stepY 
)
virtual

Set depth dense sampling step.

Parameters
stepX: Sampling step in x-direction.
stepY: Sampling step in y-direction.
Note
This function will set the new parameter for all the cameras.
Examples:
testGenericTracker.cpp, and testGenericTrackerDepth.cpp.

Definition at line 2896 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

Referenced by track().

void vpMbGenericTracker::setDepthNormalFaceCentroidMethod ( const vpMbtFaceDepthNormal::vpFaceCentroidType method)
virtual

Set method to compute the centroid for display for depth tracker.

Parameters
method: Centroid computation method.
Note
This function will set the new parameter for all the cameras.

Definition at line 2912 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

void vpMbGenericTracker::setDepthNormalFeatureEstimationMethod ( const vpMbtFaceDepthNormal::vpFeatureEstimationType method)
virtual

Set depth feature estimation method.

Parameters
method: Depth feature estimation method.
Note
This function will set the new parameter for all the cameras.
Examples:
testGenericTracker.cpp, and testGenericTrackerDepth.cpp.

Definition at line 2928 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

Referenced by track().

void vpMbGenericTracker::setDepthNormalPclPlaneEstimationMethod ( const int  method)
virtual

Set depth PCL plane estimation method.

Parameters
method: Depth PCL plane estimation method.
Note
This function will set the new parameter for all the cameras.
Examples:
testGenericTracker.cpp, and testGenericTrackerDepth.cpp.

Definition at line 2945 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

Referenced by track().

void vpMbGenericTracker::setDepthNormalPclPlaneEstimationRansacMaxIter ( const int  maxIter)
virtual

Set depth PCL RANSAC maximum number of iterations.

Parameters
maxIter: Depth PCL RANSAC maximum number of iterations.
Note
This function will set the new parameter for all the cameras.
Examples:
testGenericTracker.cpp, and testGenericTrackerDepth.cpp.

Definition at line 2961 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

Referenced by track().

void vpMbGenericTracker::setDepthNormalPclPlaneEstimationRansacThreshold ( const double  thresold)
virtual

Set depth PCL RANSAC threshold.

Parameters
thresold: Depth PCL RANSAC threshold.
Note
This function will set the new parameter for all the cameras.
Examples:
testGenericTracker.cpp, and testGenericTrackerDepth.cpp.

Definition at line 2977 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

Referenced by track().

void vpMbGenericTracker::setDepthNormalSamplingStep ( const unsigned int  stepX,
const unsigned int  stepY 
)
virtual

Set depth sampling step.

Parameters
stepX: Sampling step in x-direction.
stepY: Sampling step in y-direction.
Note
This function will set the new parameter for all the cameras.
Examples:
testGenericTracker.cpp, and testGenericTrackerDepth.cpp.

Definition at line 2994 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

Referenced by track().

void vpMbGenericTracker::setDisplayFeatures ( const bool  displayF)
virtual

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

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

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

Reimplemented from vpMbTracker.

Examples:
testGenericTracker.cpp, testGenericTrackerDepth.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, tutorial-mb-generic-tracker-apriltag-live-realsense2.cpp, tutorial-mb-generic-tracker-apriltag-live-webcam.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-stereo-mono.cpp, tutorial-mb-generic-tracker-stereo.cpp, and tutorial-mb-generic-tracker.cpp.

Definition at line 3021 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and vpMbTracker::setDisplayFeatures().

void vpMbTracker::setEstimatedDoF ( const vpColVector v)
virtualinherited

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

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

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

Definition at line 2584 of file vpMbTracker.cpp.

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

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

Set the far distance for clipping.

Parameters
dist: Far clipping value.
Note
This function will set the new parameter for all the cameras.

Reimplemented from vpMbTracker.

Examples:
testGenericTracker.cpp, testGenericTrackerDepth.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, and tutorial-mb-generic-tracker-full.cpp.

Definition at line 3039 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and vpMbTracker::setFarClippingDistance().

Referenced by getRobustWeights(), and track().

void vpMbGenericTracker::setFarClippingDistance ( const double &  dist1,
const double &  dist2 
)
virtual

Set the far distance for clipping.

Parameters
dist1: Far clipping value for the first camera.
dist2: Far clipping value for the second camera.
Note
This function assumes a stereo configuration of the generic tracker.

Definition at line 3058 of file vpMbGenericTracker.cpp.

References vpMbTracker::distFarClip, vpTrackingException::fatalError, m_mapOfTrackers, and m_referenceCameraName.

void vpMbGenericTracker::setFarClippingDistance ( const std::map< std::string, double > &  mapOfClippingDists)
virtual

Set the far distance for clipping.

Parameters
mapOfClippingDists: Map of far clipping values.

Definition at line 3084 of file vpMbGenericTracker.cpp.

References vpMbTracker::distFarClip, m_mapOfTrackers, and m_referenceCameraName.

void vpMbGenericTracker::setFeatureFactors ( const std::map< vpTrackerType, double > &  mapOfFeatureFactors)
virtual

Set the feature factors used in the VVS stage (ponderation between the feature types).

Parameters
mapOfFeatureFactors: Map of feature factors.

Definition at line 3107 of file vpMbGenericTracker.cpp.

References m_mapOfFeatureFactors.

void vpMbGenericTracker::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()
Note
This function will set the new parameter for all the cameras.

Definition at line 3133 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_percentageGdPt.

void vpMbGenericTracker::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%).
Note
This function will set the new parameter for all the cameras.

Reimplemented from vpMbTracker.

Definition at line 3156 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

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

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

Parameters
mu: initial mu.

Definition at line 514 of file vpMbTracker.h.

void vpMbGenericTracker::setKltMaskBorder ( const unsigned int &  e)
virtual

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

Parameters
e: The desired erosion.
Note
This function will set the new parameter for all the cameras.
Examples:
testGenericTracker.cpp, testGenericTrackerDepth.cpp, tutorial-mb-generic-tracker-apriltag-live-realsense2.cpp, tutorial-mb-generic-tracker-apriltag-live-webcam.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-stereo-mono.cpp, and tutorial-mb-generic-tracker.cpp.

Definition at line 3290 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

void vpMbGenericTracker::setKltMaskBorder ( const unsigned int &  e1,
const unsigned int &  e2 
)
virtual

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

Parameters
e1: The desired erosion for the first camera.
e2: The desired erosion for the second camera.
Note
This function assumes a stereo configuration of the generic tracker.

Definition at line 3307 of file vpMbGenericTracker.cpp.

References vpTrackingException::fatalError, and m_mapOfTrackers.

void vpMbGenericTracker::setKltMaskBorder ( const std::map< std::string, unsigned int > &  mapOfErosions)
virtual

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

Parameters
mapOfErosions: Map of desired erosions.

Definition at line 3327 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

void vpMbGenericTracker::setKltOpencv ( const vpKltOpencv t)
virtual

Set the new value of the klt tracker.

Parameters
t: Klt tracker containing the new values.
Note
This function will set the new parameter for all the cameras.
Examples:
testGenericTracker.cpp, tutorial-mb-generic-tracker-apriltag-live-realsense2.cpp, tutorial-mb-generic-tracker-apriltag-live-webcam.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-stereo-mono.cpp, and tutorial-mb-generic-tracker.cpp.

Definition at line 3194 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

void vpMbGenericTracker::setKltOpencv ( const vpKltOpencv t1,
const vpKltOpencv t2 
)
virtual

Set the new value of the klt tracker.

Parameters
t1: Klt tracker containing the new values for the first camera.
t2: Klt tracker containing the new values for the second camera.
Note
This function assumes a stereo configuration of the generic tracker.

Definition at line 3211 of file vpMbGenericTracker.cpp.

References vpTrackingException::fatalError, and m_mapOfTrackers.

void vpMbGenericTracker::setKltOpencv ( const std::map< std::string, vpKltOpencv > &  mapOfKlts)
virtual

Set the new value of the klt tracker.

Parameters
mapOfKlts: Map of klt tracker containing the new values.

Definition at line 3230 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

void vpMbGenericTracker::setKltThresholdAcceptation ( const double  th)
virtual

Set the threshold for the acceptation of a point.

Parameters
th: Threshold for the weight below which a point is rejected.
Note
This function will set the new parameter for all the cameras.

Definition at line 3249 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_thresholdOutlier.

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

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

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

Reimplemented from vpMbTracker.

Definition at line 3273 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

Referenced by track().

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

Set the visibility mask.

Parameters
mask: visibility mask.

Reimplemented from vpMbTracker.

Examples:
testGenericTracker.cpp, and testGenericTrackerDepth.cpp.

Definition at line 3346 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and vpMbTracker::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 vpMbGenericTracker::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()
Note
This function will set the new parameter for all the cameras.

Reimplemented from vpMbTracker.

Definition at line 3369 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

Referenced by track().

void vpMbGenericTracker::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()
Note
This function will set the new parameter for all the cameras.

Reimplemented from vpMbTracker.

Definition at line 3388 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

Referenced by track().

void vpMbGenericTracker::setMovingEdge ( const vpMe me)
virtual

Set the moving edge parameters.

Parameters
me: an instance of vpMe containing all the desired parameters.
Note
This function will set the new parameter for all the cameras.
Examples:
testGenericTracker.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, tutorial-mb-generic-tracker-apriltag-live-realsense2.cpp, tutorial-mb-generic-tracker-apriltag-live-webcam.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-stereo-mono.cpp, and tutorial-mb-generic-tracker.cpp.

Definition at line 3404 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

void vpMbGenericTracker::setMovingEdge ( const vpMe me1,
const vpMe me2 
)
virtual

Set the moving edge parameters.

Parameters
me1: an instance of vpMe containing all the desired parameters for the first camera.
me2: an instance of vpMe containing all the desired parameters for the second camera.
Note
This function assumes a stereo configuration of the generic tracker.

Definition at line 3422 of file vpMbGenericTracker.cpp.

References vpTrackingException::fatalError, and m_mapOfTrackers.

void vpMbGenericTracker::setMovingEdge ( const std::map< std::string, vpMe > &  mapOfMe)
virtual

Set the moving edge parameters.

Parameters
mapOfMe: Map of vpMe containing all the desired parameters.

Definition at line 3442 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

void vpMbGenericTracker::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.
Note
This function will set the new parameter for all the cameras.

Reimplemented from vpMbTracker.

Definition at line 3176 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

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

Set the near distance for clipping.

Parameters
dist: Near clipping value.
Note
This function will set the new parameter for all the cameras.

Reimplemented from vpMbTracker.

Examples:
testGenericTracker.cpp, testGenericTrackerDepth.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, and tutorial-mb-generic-tracker-full.cpp.

Definition at line 3461 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and vpMbTracker::setNearClippingDistance().

Referenced by getRobustWeights(), and track().

void vpMbGenericTracker::setNearClippingDistance ( const double &  dist1,
const double &  dist2 
)
virtual

Set the near distance for clipping.

Parameters
dist1: Near clipping value for the first camera.
dist2: Near clipping value for the second camera.
Note
This function assumes a stereo configuration of the generic tracker.

Definition at line 3480 of file vpMbGenericTracker.cpp.

References vpMbTracker::distNearClip, vpTrackingException::fatalError, m_mapOfTrackers, and m_referenceCameraName.

void vpMbGenericTracker::setNearClippingDistance ( const std::map< std::string, double > &  mapOfDists)
virtual

Set the near distance for clipping.

Parameters
mapOfDists: Map of near clipping values.

Definition at line 3507 of file vpMbGenericTracker.cpp.

References vpMbTracker::distNearClip, m_mapOfTrackers, and m_referenceCameraName.

void vpMbGenericTracker::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.
Note
This function will set the new parameter for all the cameras.

Reimplemented from vpMbTracker.

Examples:
tutorial-mb-generic-tracker-full.cpp.

Definition at line 3535 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and vpMbTracker::setOgreShowConfigDialog().

void vpMbGenericTracker::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
Note
This function will set the new parameter for all the cameras.

Reimplemented from vpMbTracker.

Examples:
tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, and tutorial-mb-generic-tracker-full.cpp.

Definition at line 3556 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and vpMbTracker::setOgreVisibilityTest().

Referenced by getRobustWeights().

void vpMbGenericTracker::setOptimizationMethod ( const vpMbtOptimizationMethod opt)
virtual

Set the optimization method used during the tracking.

Parameters
opt: Optimization method to use (see vpMbtOptimizationMethod).
Note
This function will set the new parameter for all the cameras.

Reimplemented from vpMbTracker.

Definition at line 3582 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and vpMbTracker::setOptimizationMethod().

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

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

Warning
This functionnality is not available when tracking cylinders with the KLT tracking.
Parameters
I: image corresponding to the desired pose.
cdMo: Pose to affect.
Note
This function will set the new parameter for all the cameras.

Implements vpMbTracker.

Examples:
tutorial-detection-object-mbt.cpp, and tutorial-detection-object-mbt2.cpp.

Definition at line 3605 of file vpMbGenericTracker.cpp.

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

Referenced by getRobustWeights().

void vpMbGenericTracker::setPose ( const vpImage< unsigned char > &  I1,
const vpImage< unsigned char > &  I2,
const vpHomogeneousMatrix c1Mo,
const vpHomogeneousMatrix c2Mo 
)
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.
Note
This function assumes a stereo configuration of the generic tracker.

Definition at line 3635 of file vpMbGenericTracker.cpp.

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

void vpMbGenericTracker::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. The camera transformation matrices have to be set before.

Parameters
mapOfImages: Map of images.
mapOfCameraPoses: Map of pose to affect to the cameras.
Note
Image and camera pose must be supplied for the reference camera. The images for all the cameras must be supplied to correctly initialize the trackers but some camera poses can be omitted. In this case, they will be initialized using the pose computed from the reference camera pose and using the known geometric transformation between each camera (see setCameraTransformationMatrix()).

Definition at line 3675 of file vpMbGenericTracker.cpp.

References vpMbTracker::cMo, vpTrackingException::fatalError, m_mapOfCameraTransformationMatrix, m_mapOfTrackers, 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 vpMbGenericTracker::setProjectionErrorComputation ( const bool &  flag)
virtual

Set if the projection error criteria has to be computed. This criteria could be used to detect the quality of the tracking. It computes an angle between 0 and 90 degrees that is available with getProjectionError(). Closer to 0 is the value, better is the tracking.

Parameters
flag: True if the projection error criteria has to be computed, false otherwise.
See also
getProjectionError()
Note
Available only if the edge features are used (e.g. Edge tracking or Edge + KLT tracking). Otherwise, the value of 90 degrees will be returned.

Reimplemented from vpMbTracker.

Definition at line 3743 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and vpMbTracker::setProjectionErrorComputation().

Referenced by getRobustWeights().

void vpMbGenericTracker::setProjectionErrorDisplay ( const bool  display)
virtual

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

Reimplemented from vpMbTracker.

Definition at line 3757 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and vpMbTracker::setProjectionErrorDisplay().

void vpMbGenericTracker::setProjectionErrorDisplayArrowLength ( const unsigned int  length)
virtual

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

Reimplemented from vpMbTracker.

Definition at line 3771 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and vpMbTracker::setProjectionErrorDisplayArrowLength().

void vpMbGenericTracker::setProjectionErrorDisplayArrowThickness ( const unsigned int  thickness)
virtual

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

Reimplemented from vpMbTracker.

Definition at line 3782 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and vpMbTracker::setProjectionErrorDisplayArrowThickness().

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

Set kernel size used for projection error computation.

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

Definition at line 3397 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::loadConfigFile().

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

Set the reference camera name.

Parameters
referenceCameraName: Name of the reference camera.

Definition at line 3798 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_referenceCameraName.

void vpMbGenericTracker::setScanLineVisibilityTest ( const bool &  v)
virtual
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 vpMbGenericTracker::setTrackerType ( const int  type)
virtual

Set the tracker type.

Parameters
type: Type of features to used, see vpTrackerType (e.g. vpMbGenericTracker::EDGE_TRACKER or vpMbGenericTracker::EDGE_TRACKER | vpMbGenericTracker::KLT_TRACKER).
Note
This function will set the new parameter for all the cameras.
Warning
This function has to be called before the loading of the CAD model.
Examples:
tutorial-mb-generic-tracker-apriltag-live-webcam.cpp, tutorial-mb-generic-tracker-full.cpp, and tutorial-mb-generic-tracker.cpp.

Definition at line 3830 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

Referenced by getRobustWeights().

void vpMbGenericTracker::setTrackerType ( const std::map< std::string, int > &  mapOfTrackerTypes)
virtual

Set the tracker types.

Parameters
mapOfTrackerTypes: Map of feature types to used, see vpTrackerType (e.g. vpMbGenericTracker::EDGE_TRACKER or vpMbGenericTracker::EDGE_TRACKER | vpMbGenericTracker::KLT_TRACKER).
Warning
This function has to be called before the loading of the CAD model.

Definition at line 3848 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

void vpMbGenericTracker::setUseDepthDenseTracking ( const std::string &  name,
const bool &  useDepthDenseTracking 
)
virtual

Set if the polygon that has the given name has to be considered during the tracking phase.

Parameters
name: name of the polygon.
useDepthDenseTracking: True if it has to be considered, False otherwise.
Note
This function will set the new parameter for all the cameras.

Definition at line 3868 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

void vpMbGenericTracker::setUseDepthNormalTracking ( const std::string &  name,
const bool &  useDepthNormalTracking 
)
virtual

Set if the polygon that has the given name has to be considered during the tracking phase.

Parameters
name: name of the polygon.
useDepthNormalTracking: True if it has to be considered, False otherwise.
Note
This function will set the new parameter for all the cameras.

Definition at line 3886 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

void vpMbGenericTracker::setUseEdgeTracking ( const std::string &  name,
const bool &  useEdgeTracking 
)
virtual

Set if the polygon that has the given name has to be considered during the tracking phase.

Parameters
name: name of the polygon.
useEdgeTracking: True if it has to be considered, False otherwise.
Note
This function will set the new parameter for all the cameras.

Definition at line 3904 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

void vpMbGenericTracker::setUseKltTracking ( const std::string &  name,
const bool &  useKltTracking 
)
virtual

Set if the polygon that has the given name has to be considered during the tracking phase.

Parameters
name: name of the polygon.
useKltTracking: True if it has to be considered, False otherwise.
Note
This function will set the new parameter for all the cameras.

Definition at line 3923 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

void vpMbGenericTracker::testTracking ( )
virtual

Test the quality of the tracking.

Exceptions
vpExceptionif the test fail.

Implements vpMbTracker.

Definition at line 3933 of file vpMbGenericTracker.cpp.

References vpTrackingException::fatalError, m_mapOfTrackers, and m_percentageGdPt.

Referenced by getRobustWeights(), and track().

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

Realize the tracking of the object in the image.

Exceptions
vpException: if the tracking is supposed to have failed
Parameters
I: The current image.
Note
This function will track only for the reference camera.

Implements vpMbTracker.

Examples:
testGenericTracker.cpp, testGenericTrackerDepth.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, tutorial-mb-generic-tracker-apriltag-live-realsense2.cpp, tutorial-mb-generic-tracker-apriltag-live-webcam.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-stereo-mono.cpp, tutorial-mb-generic-tracker-stereo.cpp, and tutorial-mb-generic-tracker.cpp.

Definition at line 3965 of file vpMbGenericTracker.cpp.

References m_referenceCameraName.

Referenced by getRobustWeights(), and track().

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

Realize the tracking of the object in the image.

Exceptions
vpException: if the tracking is supposed to have failed
Parameters
I1: The first image.
I2: The second image.
Note
This function assumes a stereo configuration of the generic tracker.

Definition at line 3986 of file vpMbGenericTracker.cpp.

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

void vpMbGenericTracker::track ( std::map< std::string, const vpImage< unsigned char > * > &  mapOfImages)
virtual

Realize the tracking of the object in the image.

Exceptions
vpException: if the tracking is supposed to have failed
Parameters
mapOfImages: Map of images.

Definition at line 4014 of file vpMbGenericTracker.cpp.

References track().

void vpMbGenericTracker::track ( std::map< std::string, const vpImage< unsigned char > * > &  mapOfImages,
std::map< std::string, pcl::PointCloud< pcl::PointXYZ >::ConstPtr > &  mapOfPointClouds 
)
virtual

Realize the tracking of the object in the image.

Exceptions
vpException: if the tracking is supposed to have failed
Parameters
mapOfImages: Map of images.
mapOfPointClouds: Map of PCL pointclouds.

Definition at line 4031 of file vpMbGenericTracker.cpp.

References computeProjectionError(), computeVVS(), vpMbTracker::covarianceMatrix, DEPTH_DENSE_TRACKER, DEPTH_NORMAL_TRACKER, EDGE_TRACKER, vpException::fatalError, KLT_TRACKER, m_mapOfTrackers, preTracking(), and testTracking().

void vpMbGenericTracker::track ( std::map< std::string, const vpImage< unsigned char > * > &  mapOfImages,
std::map< std::string, const std::vector< vpColVector > * > &  mapOfPointClouds,
std::map< std::string, unsigned int > &  mapOfPointCloudWidths,
std::map< std::string, unsigned int > &  mapOfPointCloudHeights 
)
virtual

Realize the tracking of the object in the image.

Exceptions
vpException: if the tracking is supposed to have failed
Parameters
mapOfImages: Map of images.
mapOfPointClouds: Map of pointclouds.
mapOfPointCloudWidths: Map of pointcloud widths.
mapOfPointCloudHeights: Map of pointcloud heights.

Definition at line 4093 of file vpMbGenericTracker.cpp.

References vpMbTracker::angleAppears, vpMbTracker::angleDisappears, vpMbTracker::applyLodSettingInConfig, vpMatrix::AtA(), vpException::badValue, vpVelocityTwistMatrix::buildFrom(), vpMbTracker::cam, vpMbTracker::clippingFlag, vpMbTracker::cMo, vpMbHiddenFaces< PolygonType >::computeClippedPolygons(), vpMbTracker::computeCovariance, vpMbTracker::computeCovarianceMatrixVVS(), vpCameraParameters::computeFov(), computeProjectionError(), vpMbEdgeTracker::computeProjectionError(), vpMbTracker::computeProjError, vpMbHiddenFaces< PolygonType >::computeScanLineRender(), vpMbDepthDenseTracker::computeVisibility(), vpMbDepthNormalTracker::computeVisibility(), computeVVS(), vpMbTracker::computeVVSCheckLevenbergMarquardt(), vpMbEdgeTracker::computeVVSFirstPhaseFactor(), vpMbDepthDenseTracker::computeVVSInit(), vpMbDepthNormalTracker::computeVVSInit(), computeVVSInit(), vpMbKltTracker::computeVVSInit(), vpMbEdgeTracker::computeVVSInit(), vpMbDepthDenseTracker::computeVVSInteractionMatrixAndResidu(), vpMbDepthNormalTracker::computeVVSInteractionMatrixAndResidu(), computeVVSInteractionMatrixAndResidu(), vpMbKltTracker::computeVVSInteractionMatrixAndResidu(), vpMbEdgeTracker::computeVVSInteractionMatrixAndResidu(), vpMbTracker::computeVVSPoseEstimation(), vpMbDepthDenseTracker::computeVVSWeights(), computeVVSWeights(), vpMbEdgeTracker::computeVVSWeights(), vpMbTracker::computeVVSWeights(), vpMbTracker::covarianceMatrix, vpMath::deg(), DEPTH_DENSE_TRACKER, DEPTH_NORMAL_TRACKER, vpExponentialMap::direct(), vpMbDepthDenseTracker::display(), vpMbDepthNormalTracker::display(), vpMbKltTracker::display(), vpMbEdgeTracker::display(), vpMbTracker::displayFeatures, vpMbEdgeTracker::displayFeaturesOnImage(), vpMbHiddenFaces< PolygonType >::displayOgre(), vpMbtDistanceKltCylinder::displayPrimitive(), vpMbtDistanceKltPoints::displayPrimitive(), EDGE_TRACKER, vpHomogeneousMatrix::eye(), vpMatrix::eye(), vpMbTracker::faces, vpException::fatalError, vpPolygon3D::FOV_CLIPPING, vpMbtXmlGenericParser::getAngleAppear(), vpMbtXmlGenericParser::getAngleDisappear(), vpMbtXmlGenericParser::getCameraParameters(), vpArray2D< Type >::getCols(), vpMbtXmlGenericParser::getDepthDenseSamplingStepX(), vpMbtXmlGenericParser::getDepthDenseSamplingStepY(), vpMbtXmlGenericParser::getDepthNormalFeatureEstimationMethod(), vpMbtXmlGenericParser::getDepthNormalPclPlaneEstimationMethod(), vpMbtXmlGenericParser::getDepthNormalPclPlaneEstimationRansacMaxIter(), vpMbtXmlGenericParser::getDepthNormalPclPlaneEstimationRansacThreshold(), vpMbtXmlGenericParser::getDepthNormalSamplingStepX(), vpMbtXmlGenericParser::getDepthNormalSamplingStepY(), vpMbtXmlGenericParser::getEdgeMe(), vpMbtXmlGenericParser::getFarClippingDistance(), vpMbtXmlGenericParser::getFovClipping(), vpImage< Type >::getHeight(), vpMbtXmlGenericParser::getKltBlockSize(), vpMbtXmlGenericParser::getKltHarrisParam(), vpMbtXmlGenericParser::getKltMaskBorder(), vpMbtXmlGenericParser::getKltMaxFeatures(), vpMbtXmlGenericParser::getKltMinDistance(), vpMbtXmlGenericParser::getKltPyramidLevels(), vpMbtXmlGenericParser::getKltQuality(), vpMbtXmlGenericParser::getKltWindowSize(), vpMbtXmlGenericParser::getLodMinLineLengthThreshold(), vpMbtXmlGenericParser::getLodMinPolygonAreaThreshold(), vpMbtXmlGenericParser::getLodState(), vpMbHiddenFaces< PolygonType >::getMbScanLineRenderer(), getNbPolygon(), vpMbtXmlGenericParser::getNearClippingDistance(), vpMbHiddenFaces< PolygonType >::getOgreContext(), vpArray2D< Type >::getRows(), vpImage< Type >::getWidth(), vpMbtDistanceKltCylinder::hasEnoughPoints(), vpMbtDistanceKltPoints::hasEnoughPoints(), vpMbtXmlGenericParser::hasFarClippingDistance(), vpMbtXmlGenericParser::hasNearClippingDistance(), init(), vpMbKltTracker::initCircle(), vpMbEdgeTracker::initCircle(), vpMbKltTracker::initCylinder(), vpMbEdgeTracker::initCylinder(), vpMbDepthDenseTracker::initFaceFromCorners(), vpMbDepthNormalTracker::initFaceFromCorners(), vpMbKltTracker::initFaceFromCorners(), vpMbEdgeTracker::initFaceFromCorners(), vpMbDepthDenseTracker::initFaceFromLines(), vpMbDepthNormalTracker::initFaceFromLines(), vpMbKltTracker::initFaceFromLines(), vpMbEdgeTracker::initFaceFromLines(), initFromPose(), vpMbEdgeTracker::initMovingEdge(), vpMbHiddenFaces< PolygonType >::initOgre(), vpColVector::insert(), vpMatrix::insert(), vpHomogeneousMatrix::inverse(), vpException::ioError, vpMbHiddenFaces< PolygonType >::isOgreInitialised(), vpMbtDistanceKltCylinder::isTracked(), vpMbtDistanceKltPoints::isTracked(), vpMbtPolygon::isVisible(), KLT_TRACKER, vpMbTracker::loadConfigFile(), loadModel(), m_error, vpMbTracker::m_initialMu, m_L, vpMbTracker::m_lambda, m_mapOfTrackers, vpMbTracker::m_maxIter, vpMbTracker::m_projectionErrorCircles, vpMbTracker::m_projectionErrorCylinders, vpMbTracker::m_projectionErrorFaces, vpMbTracker::m_projectionErrorLines, vpMbTracker::m_stopCriteriaEpsilon, m_w, m_weightedError, vpMbTracker::minLineLengthThresholdGeneral, vpMbTracker::minPolygonAreaThresholdGeneral, vpMbTracker::modelInitialised, vpTrackingException::notEnoughPointError, vpMbTracker::ogreShowConfigDialog, vpMbTracker::oJo, vpXmlParser::parse(), vpMbtDistanceKltPoints::polygon, vpMbKltTracker::postTracking(), preTracking(), vpMbKltTracker::preTracking(), vpMath::rad(), vpMbKltTracker::reinit(), vpMbEdgeTracker::reinitMovingEdge(), vpMbHiddenFaces< PolygonType >::reset(), vpMbEdgeTracker::resetMovingEdge(), vpMbDepthDenseTracker::resetTracker(), vpMbDepthNormalTracker::resetTracker(), vpMbKltTracker::resetTracker(), vpMbEdgeTracker::resetTracker(), vpArray2D< Type >::resize(), vpColVector::resize(), vpMbDepthDenseTracker::segmentPointCloud(), vpMbDepthNormalTracker::segmentPointCloud(), vpMbtXmlGenericParser::setAngleAppear(), vpMbtXmlGenericParser::setAngleDisappear(), vpMbHiddenFaces< PolygonType >::setBackgroundSizeOgre(), vpMbDepthDenseTracker::setCameraParameters(), vpMbDepthNormalTracker::setCameraParameters(), setCameraParameters(), vpMbKltTracker::setCameraParameters(), vpMbtXmlGenericParser::setCameraParameters(), vpMbEdgeTracker::setCameraParameters(), setClipping(), vpMbEdgeTracker::setClipping(), setDepthDenseSamplingStep(), vpMbtXmlGenericParser::setDepthDenseSamplingStepX(), vpMbtXmlGenericParser::setDepthDenseSamplingStepY(), setDepthNormalFeatureEstimationMethod(), vpMbtXmlGenericParser::setDepthNormalFeatureEstimationMethod(), setDepthNormalPclPlaneEstimationMethod(), vpMbtXmlGenericParser::setDepthNormalPclPlaneEstimationMethod(), setDepthNormalPclPlaneEstimationRansacMaxIter(), vpMbtXmlGenericParser::setDepthNormalPclPlaneEstimationRansacMaxIter(), setDepthNormalPclPlaneEstimationRansacThreshold(), vpMbtXmlGenericParser::setDepthNormalPclPlaneEstimationRansacThreshold(), setDepthNormalSamplingStep(), vpMbtXmlGenericParser::setDepthNormalSamplingStepX(), vpMbtXmlGenericParser::setDepthNormalSamplingStepY(), vpMbtXmlGenericParser::setEdgeMe(), setFarClippingDistance(), vpMbEdgeTracker::setFarClippingDistance(), vpMbtXmlGenericParser::setKltBlockSize(), vpMbtXmlGenericParser::setKltHarrisParam(), vpMbtXmlGenericParser::setKltMaskBorder(), vpMbtXmlGenericParser::setKltMaxFeatures(), vpMbtXmlGenericParser::setKltMinDistance(), vpMbtXmlGenericParser::setKltPyramidLevels(), vpMbtXmlGenericParser::setKltQuality(), vpMbtXmlGenericParser::setKltWindowSize(), setLod(), setMinLineLengthThresh(), setMinPolygonAreaThresh(), vpMbEdgeTracker::setMovingEdge(), setNearClippingDistance(), vpMbEdgeTracker::setNearClippingDistance(), vpMbHiddenFaces< PolygonType >::setOgreShowConfigDialog(), vpMbTracker::setOgreVisibilityTest(), vpMbKltTracker::setPose(), vpMbTracker::setProjectionErrorComputation(), vpMbDepthDenseTracker::setScanLineVisibilityTest(), vpMbDepthNormalTracker::setScanLineVisibilityTest(), vpMbKltTracker::setScanLineVisibilityTest(), vpMbEdgeTracker::setScanLineVisibilityTest(), vpMbHiddenFaces< PolygonType >::setVisible(), vpMbHiddenFaces< PolygonType >::setVisibleOgre(), vpAROgre::setWindowName(), vpMath::sqr(), testTracking(), vpMbEdgeTracker::testTracking(), track(), vpMbEdgeTracker::trackMovingEdge(), vpMbEdgeTracker::updateMovingEdge(), vpMbEdgeTracker::updateMovingEdgeWeights(), vpMbTracker::useLodGeneral, vpMbTracker::useOgre, vpMbTracker::useScanLine, vpMbEdgeTracker::visibleFace(), and vpException::what().

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

Definition at line 872 of file vpMbTracker.h.

Referenced by vpMbTracker::parseParameters().

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 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(), getRobustWeights(), vpMbKltTracker::getRobustWeights(), vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), vpMbKltTracker::init(), vpMbEdgeTracker::init(), vpMbKltMultiTracker::initClick(), vpMbEdgeMultiTracker::initClick(), vpMbTracker::initClick(), vpMbKltTracker::initCylinder(), vpMbKltTracker::initFaceFromCorners(), vpMbKltTracker::initFaceFromLines(), initFromPoints(), vpMbTracker::initFromPoints(), initFromPose(), vpMbDepthDenseTracker::loadConfigFile(), vpMbDepthNormalTracker::loadConfigFile(), vpMbKltMultiTracker::loadConfigFile(), vpMbEdgeMultiTracker::loadConfigFile(), loadConfigFile(), vpMbEdgeKltTracker::loadConfigFile(), vpMbEdgeTracker::loadConfigFile(), vpMbEdgeKltTracker::postTracking(), vpMbKltTracker::postTracking(), vpMbKltTracker::reinit(), vpMbDepthDenseTracker::setCameraParameters(), vpMbDepthNormalTracker::setCameraParameters(), vpMbEdgeMultiTracker::setCameraParameters(), vpMbKltMultiTracker::setCameraParameters(), vpMbEdgeKltMultiTracker::setCameraParameters(), setCameraParameters(), vpMbEdgeKltTracker::setCameraParameters(), vpMbKltTracker::setCameraParameters(), vpMbEdgeTracker::setCameraParameters(), vpMbEdgeKltTracker::setPose(), vpMbKltTracker::setPose(), track(), vpMbEdgeTracker::track(), vpMbEdgeTracker::upScale(), and vpMbEdgeTracker::visibleFace().

vpHomogeneousMatrix vpMbTracker::cMo
protectedinherited

The current pose.

Definition at line 119 of file vpMbTracker.h.

Referenced by vpMbDepthDenseTracker::computeVisibility(), vpMbDepthNormalTracker::computeVisibility(), vpMbDepthDenseTracker::computeVVS(), vpMbDepthNormalTracker::computeVVS(), vpMbKltMultiTracker::computeVVS(), vpMbEdgeKltTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), computeVVS(), vpMbKltTracker::computeVVS(), vpMbEdgeTracker::computeVVS(), vpMbTracker::computeVVSCheckLevenbergMarquardt(), vpMbEdgeTracker::computeVVSFirstPhase(), vpMbEdgeTracker::computeVVSFirstPhaseFactor(), vpMbEdgeMultiTracker::computeVVSFirstPhasePoseEstimation(), vpMbEdgeTracker::computeVVSFirstPhasePoseEstimation(), vpMbDepthDenseTracker::computeVVSInteractionMatrixAndResidu(), vpMbDepthNormalTracker::computeVVSInteractionMatrixAndResidu(), vpMbKltMultiTracker::computeVVSInteractionMatrixAndResidu(), vpMbEdgeMultiTracker::computeVVSInteractionMatrixAndResidu(), vpMbEdgeKltMultiTracker::computeVVSInteractionMatrixAndResidu(), computeVVSInteractionMatrixAndResidu(), vpMbEdgeTracker::computeVVSInteractionMatrixAndResidu(), vpMbTracker::computeVVSPoseEstimation(), vpMbTracker::getPolygonFaces(), getRobustWeights(), vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), init(), vpMbEdgeKltTracker::init(), vpMbKltTracker::init(), vpMbEdgeTracker::init(), vpMbEdgeKltMultiTracker::initClick(), vpMbEdgeMultiTracker::initClick(), vpMbKltMultiTracker::initClick(), initClick(), vpMbTracker::initClick(), initFromPoints(), vpMbTracker::initFromPoints(), vpMbEdgeMultiTracker::initFromPose(), vpMbKltMultiTracker::initFromPose(), vpMbEdgeKltMultiTracker::initFromPose(), initFromPose(), vpMbTracker::initFromPose(), vpMbEdgeKltMultiTracker::initMbtTracking(), vpMbKltMultiTracker::postTracking(), vpMbEdgeKltTracker::postTracking(), vpMbKltTracker::postTracking(), vpMbKltMultiTracker::reinit(), vpMbKltTracker::reinit(), vpMbEdgeTracker::reInitLevel(), vpMbDepthDenseTracker::reInitModel(), vpMbDepthNormalTracker::reInitModel(), vpMbKltMultiTracker::reInitModel(), vpMbEdgeMultiTracker::reInitModel(), reInitModel(), vpMbEdgeKltTracker::reInitModel(), vpMbKltTracker::reInitModel(), vpMbEdgeTracker::reInitModel(), vpMbDepthDenseTracker::resetTracker(), vpMbDepthNormalTracker::resetTracker(), vpMbKltMultiTracker::resetTracker(), vpMbEdgeMultiTracker::resetTracker(), resetTracker(), vpMbKltTracker::resetTracker(), vpMbEdgeTracker::resetTracker(), vpMbTracker::savePose(), vpMbDepthDenseTracker::segmentPointCloud(), vpMbDepthNormalTracker::segmentPointCloud(), vpMbDepthDenseTracker::setPose(), vpMbDepthNormalTracker::setPose(), vpMbKltMultiTracker::setPose(), vpMbEdgeKltTracker::setPose(), vpMbEdgeMultiTracker::setPose(), setPose(), vpMbEdgeKltMultiTracker::setPose(), vpMbKltTracker::setPose(), vpMbEdgeTracker::setPose(), vpMbKltMultiTracker::track(), vpMbEdgeMultiTracker::track(), 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(), getFaces(), vpMbKltMultiTracker::getFaces(), vpMbEdgeMultiTracker::getFaces(), vpMbEdgeKltMultiTracker::getFaces(), vpMbTracker::getPolygonFaces(), vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), vpMbKltTracker::init(), vpMbEdgeTracker::init(), vpMbKltTracker::initCylinder(), vpMbKltTracker::initFaceFromCorners(), vpMbKltTracker::initFaceFromLines(), vpMbTracker::loadCAOModel(), 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(), track(), vpMbEdgeTracker::track(), vpMbEdgeTracker::visibleFace(), vpMbDepthDenseTracker::vpMbDepthDenseTracker(), vpMbDepthNormalTracker::vpMbDepthNormalTracker(), vpMbEdgeKltTracker::vpMbEdgeKltTracker(), vpMbEdgeTracker::vpMbEdgeTracker(), and vpMbKltTracker::vpMbKltTracker().

bool vpMbTracker::isoJoIdentity
protectedinherited
vpColVector vpMbGenericTracker::m_error
protected
vpMatrix vpMbGenericTracker::m_L
protected

Interaction matrix.

Definition at line 522 of file vpMbGenericTracker.h.

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

std::map<std::string, vpHomogeneousMatrix> vpMbGenericTracker::m_mapOfCameraTransformationMatrix
protected

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

Definition at line 525 of file vpMbGenericTracker.h.

Referenced by computeVVS(), computeVVSInteractionMatrixAndResidu(), init(), initClick(), initFromPoints(), initFromPose(), reInitModel(), setCameraTransformationMatrix(), setPose(), and vpMbGenericTracker().

std::map<vpTrackerType, double> vpMbGenericTracker::m_mapOfFeatureFactors
protected

Ponderation between each feature type in the VVS stage.

Definition at line 527 of file vpMbGenericTracker.h.

Referenced by computeVVS(), resetTracker(), setFeatureFactors(), and vpMbGenericTracker().

std::map<std::string, TrackerWrapper *> vpMbGenericTracker::m_mapOfTrackers
protected

Map of Model-based trackers, key is the name of the camera, value is the tracker

Definition at line 530 of file vpMbGenericTracker.h.

Referenced by computeCurrentProjectionError(), computeProjectionError(), computeVVS(), computeVVSInit(), computeVVSInteractionMatrixAndResidu(), computeVVSWeights(), display(), getCameraNames(), getCameraParameters(), getCameraTrackerTypes(), getClipping(), getFaces(), getFeaturesCircle(), getFeaturesKlt(), getFeaturesKltCylinder(), getKltImagePoints(), getKltImagePointsWithId(), getKltMaskBorder(), getKltNbPoints(), getKltOpencv(), getKltPoints(), getLcircle(), getLcylinder(), getLline(), getMovingEdge(), getNbPoints(), getNbPolygon(), getPolygon(), getPolygonFaces(), getPose(), init(), initClick(), initFromPoints(), initFromPose(), loadConfigFile(), loadModel(), preTracking(), reInitModel(), resetTracker(), setAngleAppear(), setAngleDisappear(), setCameraParameters(), setClipping(), setDepthDenseFilteringMaxDistance(), setDepthDenseFilteringMethod(), setDepthDenseFilteringMinDistance(), setDepthDenseFilteringOccupancyRatio(), setDepthDenseSamplingStep(), setDepthNormalFaceCentroidMethod(), setDepthNormalFeatureEstimationMethod(), setDepthNormalPclPlaneEstimationMethod(), setDepthNormalPclPlaneEstimationRansacMaxIter(), setDepthNormalPclPlaneEstimationRansacThreshold(), setDepthNormalSamplingStep(), setDisplayFeatures(), setFarClippingDistance(), setGoodMovingEdgesRatioThreshold(), setGoodNbRayCastingAttemptsRatio(), setKltMaskBorder(), setKltOpencv(), setKltThresholdAcceptation(), setLod(), setMask(), setMinLineLengthThresh(), setMinPolygonAreaThresh(), setMovingEdge(), setNbRayCastingAttemptsForVisibility(), setNearClippingDistance(), setOgreShowConfigDialog(), setOgreVisibilityTest(), setOptimizationMethod(), setPose(), setProjectionErrorComputation(), setProjectionErrorDisplay(), setProjectionErrorDisplayArrowLength(), setProjectionErrorDisplayArrowThickness(), setReferenceCameraName(), setScanLineVisibilityTest(), setTrackerType(), setUseDepthDenseTracking(), setUseDepthNormalTracking(), setUseEdgeTracking(), setUseKltTracking(), testTracking(), track(), vpMbGenericTracker(), and ~vpMbGenericTracker().

double vpMbGenericTracker::m_percentageGdPt
protected

Percentage of good points over total number of points below which tracking is supposed to have failed (only for Edge tracking).

Definition at line 533 of file vpMbGenericTracker.h.

Referenced by getGoodMovingEdgesRatioThreshold(), resetTracker(), setGoodMovingEdgesRatioThreshold(), and testTracking().

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<vpMbtDistanceCircle *> vpMbTracker::m_projectionErrorCircles
protectedinherited
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().

std::vector<vpMbtDistanceLine *> vpMbTracker::m_projectionErrorLines
protectedinherited
vpMe vpMbTracker::m_projectionErrorMe
protectedinherited
bool vpMbTracker::m_projectionErrorOgreShowConfigDialog
protectedinherited

Definition at line 209 of file vpMbTracker.h.

Referenced by vpMbTracker::computeProjectionErrorImpl().

vpMatrix vpMbTracker::m_SobelX
protectedinherited
vpMatrix vpMbTracker::m_SobelY
protectedinherited
double vpMbTracker::m_stopCriteriaEpsilon
protectedinherited

Epsilon threshold to stop the VVS optimization loop.

Definition at line 197 of file vpMbTracker.h.

Referenced by vpMbDepthDenseTracker::computeVVS(), vpMbDepthNormalTracker::computeVVS(), computeVVS(), resetTracker(), and track().

double vpMbGenericTracker::m_thresholdOutlier
protected

Threshold below which the weight associated to a point to consider this one as an outlier (only for KLT tracking).

Definition at line 538 of file vpMbGenericTracker.h.

Referenced by getKltThresholdAcceptation(), resetTracker(), and setKltThresholdAcceptation().

vpColVector vpMbGenericTracker::m_w
protected

Robust weights.

Definition at line 540 of file vpMbGenericTracker.h.

Referenced by computeVVSInit(), computeVVSWeights(), getRobustWeights(), and track().

vpColVector vpMbGenericTracker::m_weightedError
protected

Weighted error.

Definition at line 542 of file vpMbGenericTracker.h.

Referenced by computeVVS(), computeVVSInit(), getRobustWeights(), and track().

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 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().

bool vpMbTracker::ogreShowConfigDialog
protectedinherited
std::string vpMbTracker::poseSavingFilename
protectedinherited

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

Definition at line 132 of file vpMbTracker.h.

Referenced by vpMbTracker::initClick().

double vpMbTracker::projectionError
protectedinherited

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

Definition at line 142 of file vpMbTracker.h.

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

bool vpMbTracker::useLodGeneral
protectedinherited