#include <vpMbKltTracker.h>

Inheritance diagram for vpMbKltTracker:

Public Member Functions
	vpMbKltTracker ()

virtual	~vpMbKltTracker ()

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

void	addCylinder (const vpPoint &P1, const vpPoint &P2, const double r, const std::string &name="")

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)

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

std::list< vpMbtDistanceCylinder * > &	getFeaturesCylinder ()

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

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

void	loadConfigFile (const char *configFile)

std::vector< cv::Point2f >	getKltPoints ()

std::vector< vpImagePoint >	getKltImagePoints () const

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

vpKltOpencv	getKltOpencv () const

virtual double	getLambda () const

unsigned int	getMaskBorder () const

virtual unsigned int	getMaxIter () const

int	getNbKltPoints () const

double	getThresholdAcceptation () const

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

void	reInitModel (const vpImage< unsigned char > &I, const char *cad_name, const vpHomogeneousMatrix &cMo, const bool verbose=false)

void	resetTracker ()

void	setCameraParameters (const vpCameraParameters &cam)

void	setKltOpencv (const vpKltOpencv &t)

virtual void	setLambda (const double gain)

void	setMaskBorder (const unsigned int &e)

virtual void	setMaxIter (const unsigned int max)

virtual void	setOgreVisibilityTest (const bool &v)

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

void	setThresholdAcceptation (const double th)

virtual void	testTracking ()

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

virtual double	getAngleAppear () const

virtual double	getAngleDisappear () const

virtual void	getCameraParameters (vpCameraParameters &camera) const

virtual unsigned int	getClipping () const

virtual vpMatrix	getCovarianceMatrix () const

virtual vpColVector	getEstimatedDoF ()

virtual vpColVector	getError ()

vpMbHiddenFaces< vpMbtPolygon > &	getFaces ()

virtual double	getFarClippingDistance () const

virtual vpColVector	getRobustWeights ()

virtual unsigned int	getNbPolygon () const

virtual double	getNearClippingDistance () const

virtual vpMbtPolygon *	getPolygon (const unsigned int index)

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

void	getPose (vpHomogeneousMatrix &cMo_) const

vpHomogeneousMatrix	getPose () const

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

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

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

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

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

virtual void	initFromPose (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo)

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

virtual void	loadModel (const char *modelFile, const bool verbose=false)

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

void	savePose (const std::string &filename)

virtual void	setAngleAppear (const double &a)

virtual void	setAngleDisappear (const double &a)

virtual void	setClipping (const unsigned int &flags)

virtual void	setCovarianceComputation (const bool &flag)

virtual void	setEstimatedDoF (const vpColVector &v)

void	setDisplayFeatures (const bool displayF)

virtual void	setFarClippingDistance (const double &dist)

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

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

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

virtual void	setNearClippingDistance (const double &dist)

void	setPoseSavingFilename (const std::string &filename)

Protected Member Functions
virtual void	init (const vpImage< unsigned char > &I)

virtual void	reinit (const vpImage< unsigned char > &I)

void	computeVVS (const unsigned int &nbInfos, vpColVector &w)

virtual void	initFaceFromCorners (vpMbtPolygon &polygon)

virtual void	initFaceFromLines (vpMbtPolygon &polygon)

virtual void	initCircle (const vpPoint &, const vpPoint &, const vpPoint &, const double, const int, const std::string &name="")

virtual void	initCylinder (const vpPoint &, const vpPoint &, const double, const int, const std::string &name="")

void	preTracking (const vpImage< unsigned char > &I, unsigned int &nbInfos, unsigned int &nbFaceUsed)

bool	postTracking (const vpImage< unsigned char > &I, vpColVector &w)

void	addPolygon (const std::vector< vpPoint > &corners, const int idFace=-1, const std::string &polygonName="", const bool useLod=false, const double minPolygonAreaThreshold=2500.0, const double minLineLengthThreshold=50.0)

void	addPolygon (const vpPoint &p1, const vpPoint &p2, const vpPoint &p3, const double radius, const int idFace=-1, const std::string &polygonName="", const bool useLod=false, const double minPolygonAreaThreshold=2500.0)

void	addPolygon (const vpPoint &p1, const vpPoint &p2, const int idFace=-1, const std::string &polygonName="", const bool useLod=false, const double minLineLengthThreshold=50)

void	computeCovarianceMatrix (const vpHomogeneousMatrix &cMoPrev, const vpColVector &deltaS, const vpMatrix &Ls, const vpMatrix &W)

void	computeJTR (const vpMatrix &J, const vpColVector &R, vpMatrix &JTR)

virtual void	extractGroup (SoVRMLGroup *sceneGraphVRML2, vpHomogeneousMatrix &transform, int &idFace)

virtual void	extractFaces (SoVRMLIndexedFaceSet *face_set, vpHomogeneousMatrix &transform, int &idFace)

virtual void	extractLines (SoVRMLIndexedLineSet *line_set, int &idFace)

virtual void	extractCylinders (SoVRMLIndexedFaceSet *face_set, vpHomogeneousMatrix &transform, int &idFace)

vpPoint	getGravityCenter (const std::vector< vpPoint > &_pts)

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)

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)

std::string &	rtrim (std::string &s)

std::string &	trim (std::string &s)

Protected Attributes
cv::Mat	cur

vpHomogeneousMatrix	c0Mo

bool	compute_interaction

bool	firstInitialisation

unsigned int	maskBorder

double	lambda

unsigned int	maxIter

double	threshold_outlier

double	percentGood

vpHomogeneousMatrix	ctTc0

vpKltOpencv	tracker

bool	firstTrack

std::list< vpMbtDistanceKltPoints * >	kltPolygons

std::list< vpMbtDistanceCylinder * >	cylinders_disp

std::list< vpMbtDistanceCircle * >	circles_disp

vpCameraParameters	cam

vpHomogeneousMatrix	cMo

vpMatrix	oJo

bool	isoJoIdentity

std::string	modelFileName

bool	modelInitialised

std::string	poseSavingFilename

bool	computeCovariance

vpMatrix	covarianceMatrix

bool	displayFeatures

vpColVector	m_w

vpColVector	m_error

vpMbHiddenFaces< vpMbtPolygon >	faces

double	angleAppears

double	angleDisappears

double	distNearClip

double	distFarClip

unsigned int	clippingFlag

bool	useOgre

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

Detailed Description

Model based tracker using only KLT.

Warning: This class is only available if OpenCV is installed, and used.

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

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

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

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

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

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

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

Examples:: mbtKltTracking.cpp, and tutorial-mb-klt-tracker.cpp.

Definition at line 229 of file vpMbKltTracker.h.

Constructor & Destructor Documentation

vpMbKltTracker::vpMbKltTracker ( )

Definition at line 49 of file vpMbKltTracker.cpp.

References vpMbTracker::angleAppears, vpMbTracker::angleDisappears, vpMbTracker::faces, vpMbHiddenFaces< PolygonType >::getOgreContext(), vpMath::rad(), vpKltOpencv::setBlockSize(), vpKltOpencv::setHarrisFreeParameter(), vpKltOpencv::setMaxFeatures(), vpKltOpencv::setMinDistance(), vpKltOpencv::setPyramidLevels(), vpKltOpencv::setQuality(), vpKltOpencv::setTrackerId(), vpKltOpencv::setUseHarris(), vpAROgre::setWindowName(), vpKltOpencv::setWindowSize(), and tracker.

vpMbKltTracker::~vpMbKltTracker ( )

virtual

Basic destructor.

Definition at line 82 of file vpMbKltTracker.cpp.

References circles_disp, cur, cylinders_disp, and kltPolygons.

Member Function Documentation

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

Add a circle to the list of circles.

Parameters

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

Definition at line 1129 of file vpMbKltTracker.cpp.

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

Referenced by initCircle().

void vpMbKltTracker::addCylinder	(	const vpPoint &	P1,
		const vpPoint &	P2,
		const double	r,
		const std::string &	name = `""`
	)

Add a cylinder to the list of cylinders.

Parameters

P1	: The first extremity of the axis.
P2	: The second extremity of the axis.
r	: The radius of the cylinder.
name	: The optional name of the cylinder.

Definition at line 1079 of file vpMbKltTracker.cpp.

References vpMbtDistanceCylinder::buildFrom(), vpMbTracker::cam, cylinders_disp, vpMbtDistanceCylinder::setCameraParameters(), and vpMbtDistanceCylinder::setName().

Referenced by initCylinder().

void vpMbTracker::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`
	)

protectedinherited

void vpMbTracker::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`
	)

protectedinherited

void vpMbTracker::addPolygon	(	const vpPoint &	p1,
		const vpPoint &	p2,
		const int	idFace = `-1`,
		const std::string &	polygonName = `""`,
		const bool	useLod = `false`,
		const double	minLineLengthThreshold = `50`
	)

protectedinherited

Definition at line 913 of file vpMbTracker.cpp.

References vpMbtPolygon::addPoint(), vpMbHiddenFaces< PolygonType >::addPolygon(), vpMbTracker::clippingFlag, vpMbTracker::distFarClip, vpMbTracker::distNearClip, vpMbTracker::faces, vpMbtPolygon::FAR_CLIPPING, vpMbHiddenFaces< PolygonType >::getPolygon(), vpMbTracker::minPolygonAreaThresholdGeneral, vpMbtPolygon::NEAR_CLIPPING, vpMbtPolygon::NO_CLIPPING, vpMbtPolygon::setIndex(), vpMbtPolygon::setLod(), vpMbtPolygon::setMinLineLengthThresh(), vpMbtPolygon::setMinPolygonAreaThresh(), vpMbtPolygon::setName(), and vpMbtPolygon::setNbPoint().

void vpMbTracker::computeCovarianceMatrix	(	const vpHomogeneousMatrix &	cMoPrev,
		const vpColVector &	deltaS,
		const vpMatrix &	Ls,
		const vpMatrix &	W
	)

protectedinherited

Definition at line 2292 of file vpMbTracker.cpp.

References vpMatrix::computeCovarianceMatrix(), vpMbTracker::covarianceMatrix, vpHomogeneousMatrix::extract(), vpMatrix::getRows(), vpMatrix::setIdentity(), vpMath::sinc(), vpTranslationVector::skew(), vpColVector::skew(), vpMath::sqr(), and vpMatrix::sumSquare().

Referenced by vpMbEdgeKltTracker::computeVVS(), computeVVS(), and vpMbEdgeTracker::computeVVS().

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

protectedinherited

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

Exceptions

vpMatrixException::incorrectMatrixSizeError if the sizes of the matrices do not allow the computation.

Warning: The JTR matrix is resized.

Parameters

interaction	: The interaction matrix (size Nx6).
error	: The residu vector (size Nx1).
JTR	: The resulting JTR matrix (size 6x1).

Definition at line 2377 of file vpMbTracker.cpp.

References vpMatrix::getCols(), vpMatrix::getRows(), vpMatrixException::incorrectMatrixSizeError, and vpMatrix::resize().

Referenced by vpMbEdgeKltTracker::computeVVS(), computeVVS(), and vpMbEdgeTracker::computeVVS().

void vpMbKltTracker::computeVVS	(	const unsigned int &	nbInfos,
		vpColVector &	w
	)

protected

Realize the VVS loop for the tracking

Parameters

nbInfos	: Size of the features
w	: weight of the features after M-Estimation.

Definition at line 628 of file vpMbKltTracker.cpp.

References vpMatrix::AtA(), vpVelocityTwistMatrix::buildFrom(), c0Mo, vpMbTracker::cam, vpMbTracker::cMo, compute_interaction, vpMbTracker::computeCovariance, vpMbTracker::computeCovarianceMatrix(), vpMbtDistanceKltPoints::computeHomography(), vpMbtDistanceKltPoints::computeInteractionMatrixAndResidu(), vpMbTracker::computeJTR(), ctTc0, vpMatrix::diag(), vpExponentialMap::direct(), vpTrackingException::fatalError, vpCameraParameters::get_px(), vpMbtDistanceKltPoints::getCurrentNumberPoints(), vpMbtPolygon::getNbPoint(), vpMatrix::getRows(), vpMbtDistanceKltPoints::hasEnoughPoints(), vpHomogeneousMatrix::inverse(), vpMbTracker::isoJoIdentity, vpMbtPolygon::isVisible(), kltPolygons, lambda, vpMbTracker::m_error, maxIter, vpRobust::MEstimator(), vpMbTracker::oJo, vpMbtDistanceKltPoints::polygon, vpMatrix::pseudoInverse(), vpColVector::resize(), vpMatrix::resize(), vpRobust::setIteration(), vpRobust::setThreshold(), and vpRobust::TUKEY.

Referenced by vpMbEdgeKltTracker::track(), and track().

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

virtual

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

Parameters

I	: The image.
cMo_	: Pose used to project the 3D model into the image.
camera	: The camera parameters.
col	: The desired color.
thickness	: The thickness of the lines.
displayFullModel	: Boolean to say if all the model has to be displayed, even the faces that are visible.

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

Examples:: mbtKltTracking.cpp, and tutorial-mb-klt-tracker.cpp.

Definition at line 907 of file vpMbKltTracker.cpp.

References vpMbtPolygon::changeFrame(), circles_disp, vpMbTracker::clippingFlag, vpCameraParameters::computeFov(), vpMbtPolygon::computeRoiClipped(), cylinders_disp, vpMbTracker::displayFeatures, vpDisplay::displayLine(), vpMbHiddenFaces< PolygonType >::displayOgre(), vpMbtDistanceKltPoints::displayPrimitive(), vpMbtPolygon::DOWN_CLIPPING, vpMbTracker::faces, vpMbtPolygon::FAR_CLIPPING, vpImage< Type >::getHeight(), vpMbtPolygon::getRoiClipped(), vpImage< Type >::getWidth(), vpMbtDistanceKltPoints::hasEnoughPoints(), vpMbtPolygon::isVisible(), kltPolygons, vpMbtPolygon::LEFT_CLIPPING, vpMbtPolygon::NEAR_CLIPPING, vpMbtDistanceKltPoints::polygon, vpMbtPolygon::RIGHT_CLIPPING, vpMbtPolygon::UP_CLIPPING, and vpMbTracker::useOgre.

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

virtual

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

Parameters

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

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 972 of file vpMbKltTracker.cpp.

References vpMbtPolygon::changeFrame(), circles_disp, vpMbTracker::clippingFlag, vpCameraParameters::computeFov(), vpMbtPolygon::computeRoiClipped(), cylinders_disp, vpMbTracker::displayFeatures, vpDisplay::displayLine(), vpMbHiddenFaces< PolygonType >::displayOgre(), vpMbtDistanceKltPoints::displayPrimitive(), vpMbtPolygon::DOWN_CLIPPING, vpMbTracker::faces, vpMbtPolygon::FAR_CLIPPING, vpImage< Type >::getHeight(), vpMbtPolygon::getRoiClipped(), vpImage< Type >::getWidth(), vpMbtDistanceKltPoints::hasEnoughPoints(), vpMbtPolygon::isVisible(), kltPolygons, vpMbtPolygon::LEFT_CLIPPING, vpMbtPolygon::NEAR_CLIPPING, vpMbtDistanceKltPoints::polygon, vpMbtPolygon::RIGHT_CLIPPING, vpMbtPolygon::UP_CLIPPING, and vpMbTracker::useOgre.

void vpMbTracker::extractCylinders	(	SoVRMLIndexedFaceSet *	face_set,
		vpHomogeneousMatrix &	transform,
		int &	idFace
	)

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.

Definition at line 1929 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::extractGroup().

void vpMbTracker::extractFaces	(	SoVRMLIndexedFaceSet *	face_set,
		vpHomogeneousMatrix &	transform,
		int &	idFace
	)

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.

Definition at line 1874 of file vpMbTracker.cpp.

References vpMbTracker::addPolygon(), vpMbTracker::faces, vpMbHiddenFaces< PolygonType >::getPolygon(), vpMbTracker::initFaceFromCorners(), 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 1787 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::loadVRMLModel().

void vpMbTracker::extractLines	(	SoVRMLIndexedLineSet *	line_set,
		int &	idFace
	)

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.

Definition at line 1994 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::extractGroup().

virtual double vpMbTracker::getAngleAppear ( ) const

inlinevirtualinherited

Return the angle used to test polygons appearance.

Definition at line 203 of file vpMbTracker.h.

virtual double vpMbTracker::getAngleDisappear ( ) const

inlinevirtualinherited

Return the angle used to test polygons disappearance.

Definition at line 206 of file vpMbTracker.h.

virtual void vpMbTracker::getCameraParameters ( vpCameraParameters & camera ) const

inlinevirtualinherited

Get the camera parameters.

Parameters

camera : copy of the camera parameters used by the tracker.

Examples:: mbtEdgeKltTracking.cpp, mbtEdgeTracking.cpp, mbtKltTracking.cpp, tutorial-detection-object-mbt.cpp, tutorial-mb-edge-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, and tutorial-mb-klt-tracker.cpp.

Definition at line 213 of file vpMbTracker.h.

Referenced by vpMbTracker::getPolygonFaces().

virtual unsigned int vpMbTracker::getClipping ( ) const

inlinevirtualinherited

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

Returns: Clipping flags.

Examples:: mbtEdgeKltTracking.cpp, mbtEdgeTracking.cpp, mbtKltTracking.cpp, tutorial-detection-object-mbt.cpp, tutorial-mb-edge-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, and tutorial-mb-klt-tracker.cpp.

Definition at line 220 of file vpMbTracker.h.

virtual vpMatrix vpMbTracker::getCovarianceMatrix ( ) const

inlinevirtualinherited

Get the covariance matrix.

Definition at line 225 of file vpMbTracker.h.

References vpTRACE.

virtual vpColVector vpMbTracker::getError ( )

inlinevirtualinherited

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()

Definition at line 247 of file vpMbTracker.h.

vpColVector vpMbTracker::getEstimatedDoF ( )

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 2408 of file vpMbTracker.cpp.

References vpMbTracker::oJo.

vpMbHiddenFaces<vpMbtPolygon>& vpMbTracker::getFaces ( )

inlineinherited

Return a reference to the faces structure.

Definition at line 252 of file vpMbTracker.h.

virtual double vpMbTracker::getFarClippingDistance ( ) const

inlinevirtualinherited

Get the far distance for clipping.

Returns: Far clipping value.

Definition at line 259 of file vpMbTracker.h.

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

inline

Return the address of the circle feature list.

Definition at line 285 of file vpMbKltTracker.h.

std::list<vpMbtDistanceCylinder*>& vpMbKltTracker::getFeaturesCylinder ( )

inline

Return the address of the cylinder feature list.

Definition at line 287 of file vpMbKltTracker.h.

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

inline

Return the address of the Klt feature list.

Definition at line 289 of file vpMbKltTracker.h.

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

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::dimensionError if 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 2042 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::extractCylinders().

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

Get the current list of KLT points.

Warning: Contrary to getKltPoints which returns a pointer on CvPoint2D32f. This function convert and copy the openCV KLT points into vpImagePoints.

Returns: the list of KLT points through vpKltOpencv.

Definition at line 287 of file vpMbKltTracker.cpp.

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

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

Get the current list of KLT points and their id.

Warning: Contrary to getKltPoints which returns a pointer on CvPoint2D32f. This function convert and copy the openCV KLT points into vpImagePoints.

Returns: the list of KLT points and their id through vpKltOpencv.

Definition at line 308 of file vpMbKltTracker.cpp.

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

vpKltOpencv vpMbKltTracker::getKltOpencv ( ) const

inline

Get the klt tracker at the current state.

Returns: klt tracker.

Definition at line 313 of file vpMbKltTracker.h.

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

inline

Get the current list of KLT points.

Returns: the list of KLT points through vpKltOpencv.

Definition at line 299 of file vpMbKltTracker.h.

References vpKltOpencv::getFeatures().

virtual double vpMbKltTracker::getLambda ( ) const

inlinevirtual

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

Returns: the value for the gain.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 320 of file vpMbKltTracker.h.

unsigned int vpMbKltTracker::getMaskBorder ( ) const

inline

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

Returns: The erosion.

Definition at line 327 of file vpMbKltTracker.h.

virtual unsigned int vpMbKltTracker::getMaxIter ( ) const

inlinevirtual

Get the maximum iteration of the virtual visual servoing stage.

Returns: the number of iteration

Reimplemented in vpMbEdgeKltTracker.

Definition at line 334 of file vpMbKltTracker.h.

int vpMbKltTracker::getNbKltPoints ( ) const

inline

Get the current number of klt points.

Returns: the number of features

Definition at line 341 of file vpMbKltTracker.h.

References vpKltOpencv::getNbFeatures().

virtual unsigned int vpMbTracker::getNbPolygon ( ) const

inlinevirtualinherited

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

Returns: Number of polygons.

Definition at line 290 of file vpMbTracker.h.

References vpMbHiddenFaces< PolygonType >::size().

Referenced by vpMbTracker::getPolygonFaces(), and vpMbEdgeTracker::loadConfigFile().

virtual double vpMbTracker::getNearClippingDistance ( ) const

inlinevirtualinherited

Get the near distance for clipping.

Returns: Near clipping value.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 299 of file vpMbTracker.h.

Referenced by vpMbEdgeKltTracker::getNearClippingDistance().

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

inlinevirtualinherited

Return the polygon (face) "index".

Exceptions

vpException::dimensionError if index does not represent a good polygon.

Parameters

index : Index of the polygon to return.

Returns: Pointer to the polygon index.

Definition at line 310 of file vpMbTracker.h.

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

Referenced by vpMbTracker::getPolygonFaces().

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

virtualinherited

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

Parameters

orderPolygons	: If true, the resulting list is ordered from the nearest polygon faces to the farther.
useVisibility	: If true, only visible faces will be retrieved.

Returns: A pair object containing the list of vpPolygon and the list of face corners.

Examples:: tutorial-detection-object-mbt.cpp.

Definition at line 2073 of file vpMbTracker.cpp.

References vpMbTracker::cam, vpMbTracker::cMo, vpMeterPixelConversion::convertPoint(), vpPoint::get_x(), vpPoint::get_y(), vpMbTracker::getCameraParameters(), vpMbTracker::getNbPolygon(), vpMbTracker::getPolygon(), vpMbTracker::getPose(), vpMbtPolygon::nbpt, and vpForwardProjection::project().

void vpMbTracker::getPose ( vpHomogeneousMatrix & cMo_ ) const

inlineinherited

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, tutorial-detection-object-mbt.cpp, tutorial-mb-edge-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, and tutorial-mb-klt-tracker.cpp.

Definition at line 328 of file vpMbTracker.h.

vpHomogeneousMatrix vpMbTracker::getPose ( ) const

inlineinherited

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 337 of file vpMbTracker.h.

Referenced by vpMbTracker::getPolygonFaces().

virtual vpColVector vpMbTracker::getRobustWeights ( )

inlinevirtualinherited

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

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

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

See also: getError()

Definition at line 281 of file vpMbTracker.h.

double vpMbKltTracker::getThresholdAcceptation ( ) const

inline

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 348 of file vpMbKltTracker.h.

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

protectedvirtual

Initialise the tracking.

Parameters

I	: Input image.

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 126 of file vpMbKltTracker.cpp.

References vpMbTracker::angleAppears, vpMbTracker::angleDisappears, vpMbTracker::cam, vpMbTracker::cMo, vpMbTracker::faces, vpException::fatalError, vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpMbHiddenFaces< PolygonType >::initOgre(), vpMbHiddenFaces< PolygonType >::isOgreInitialised(), vpMbTracker::modelInitialised, reinit(), vpMbHiddenFaces< PolygonType >::setBackgroundSizeOgre(), vpMbHiddenFaces< PolygonType >::setVisible(), vpMbHiddenFaces< PolygonType >::setVisibleOgre(), and vpMbTracker::useOgre.

Referenced by vpMbEdgeKltTracker::init(), and setPose().

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

protectedvirtual

Add a circle to display (not for tracking) from its center, 3 points (including the center) defining the plane that contain the circle and its radius.

Parameters

p1	: Center of the circle.
p2,p3	: Two points on the plane containing the circle. With the center of the circle we have 3 points defining the plane that contains the circle.
radius	: Radius of the circle.
name	: The optional name of the circle.

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 1113 of file vpMbKltTracker.cpp.

References addCircle().

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

virtualinherited

Initialise the tracking by clicking on the image points corresponding to the 3D points (object frame) in the file initFile. The structure of this file is (without the comments):

// Number of points in the file (minimum is four)
01 0.01 0.01    //  \
...               //  | 3D coordinates in the object basis
01 -0.01 -0.01  // /

Parameters

I	: Input image
initFile	: File containing the points where to click
displayHelp	: Optionnal display of an image ( 'initFile.ppm' ). This image may be used to show where to click.

Exceptions

vpException::ioError : The file specified in initFile doesn't exist.

See also: setPathNamePoseSaving()

Examples:: mbtEdgeKltTracking.cpp, mbtEdgeTracking.cpp, mbtKltTracking.cpp, tutorial-detection-object-mbt.cpp, tutorial-mb-edge-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, and tutorial-mb-klt-tracker.cpp.

Definition at line 176 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(), vpDisplay::flush(), vpDisplay::getClick(), vpImage< Type >::getWidth(), vpDisplay::getWindowXPosition(), vpDisplay::getWindowYPosition(), vpColor::green, vpMbTracker::init(), vpDisplay::init(), vpException::ioError, vpPose::LAGRANGE, vpMbTracker::poseSavingFilename, vpImageIo::read(), vpColor::red, vpMbTracker::savePose(), vpPoint::set_x(), vpPoint::set_y(), vpHomogeneousMatrix::setIdentity(), vpPoint::setWorldCoordinates(), and vpPose::VIRTUAL_VS.

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

virtualinherited

Initialise the tracking by clicking on the image points corresponding to the 3D points (object frame) in the list points3D_list.

Parameters

I	: Input image
points3D_list	: List of the 3D points (object frame).
displayFile	: Path to the image used to display the help.

Definition at line 443 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(), vpDisplay::init(), vpPose::LAGRANGE, vpImageIo::read(), vpColor::red, vpPoint::set_x(), vpPoint::set_y(), and vpPose::VIRTUAL_VS.

void vpMbKltTracker::initCylinder	(	const vpPoint &	p1,
		const vpPoint &	p2,
		const double	radius,
		const int	,
		const std::string &	name = `""`
	)

protectedvirtual

Add a cylinder to display (not for tracking) 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.
name	: The optional name of the cylinder.

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 1064 of file vpMbKltTracker.cpp.

References addCylinder().

void vpMbKltTracker::initFaceFromCorners ( vpMbtPolygon & polygon )

protectedvirtual

Initialise a new face from the coordinates given in parameter.

Parameters

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

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 509 of file vpMbKltTracker.cpp.

References vpMbTracker::cam, kltPolygons, vpMbtDistanceKltPoints::polygon, and vpMbtDistanceKltPoints::setCameraParameters().

Referenced by vpMbEdgeKltTracker::initFaceFromCorners().

void vpMbKltTracker::initFaceFromLines ( vpMbtPolygon & polygon )

protectedvirtual

Initialise a new face from the coordinates given in parameter.

Parameters

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

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 522 of file vpMbKltTracker.cpp.

References vpMbTracker::cam, kltPolygons, vpMbtDistanceKltPoints::polygon, and vpMbtDistanceKltPoints::setCameraParameters().

Referenced by vpMbEdgeKltTracker::initFaceFromLines().

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

virtualinherited

Initialise the tracking by reading the 3D points (object frame) and the image points in initFile. The structure of this file is (without the comments):

// Number of 3D points in the file (minimum is four)
01 0.01 0.01    //  \
...               //  | 3D coordinates in meters in the object frame
01 -0.01 -0.01  // /
// Number of image points in the file (has to be the same as the number of 3D points)
200    //  \
...        //  | 2D coordinates in pixel in the image
10       //  /

Parameters

I	: Input image
initFile	: Path to the file containing all the points.

Definition at line 571 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(), vpPose::VIRTUAL_VS, and vpERROR_TRACE.

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 656 of file vpMbTracker.cpp.

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

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

virtualinherited

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

// The six value of the pose vector
0000    //  \
0000    //  | 
0000    //  | Exemple of value for the pose vector where Z = 1 meter
0000    //  |
0000    //  | 
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.

Examples:: mbtEdgeKltTracking.cpp, mbtEdgeTracking.cpp, and mbtKltTracking.cpp.

Definition at line 711 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::initFromPose(), 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.

Definition at line 746 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.

Definition at line 758 of file vpMbTracker.cpp.

References vpMbTracker::initFromPose().

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

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 extremities of 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.

Definition at line 1233 of file vpMbTracker.cpp.

References vpMbTracker::addPolygon(), vpMbTracker::applyLodSettingInConfig, vpException::badValue, vpIoTools::checkFilename(), vpIoTools::createFilePath(), SegmentInfo::extremities, vpMbTracker::faces, vpIoTools::getName(), vpIoTools::getParent(), vpMbHiddenFaces< PolygonType >::getPolygon(), vpMbTracker::initCircle(), vpMbTracker::initCylinder(), vpMbTracker::initFaceFromCorners(), vpMbTracker::initFaceFromLines(), vpException::ioError, vpIoTools::isAbsolutePathname(), SegmentInfo::minLineLengthThresh, vpMbTracker::minLineLengthThresholdGeneral, vpMbTracker::minPolygonAreaThresholdGeneral, SegmentInfo::name, vpMbTracker::nbCircles, vpMbTracker::nbCylinders, vpMbTracker::nbLines, vpMbTracker::nbPoints, vpMbTracker::nbPolygonLines, vpMbTracker::nbPolygonPoints, vpMbTracker::parseBoolean(), vpMbTracker::parseParameters(), vpMbTracker::removeComment(), vpPoint::setWorldCoordinates(), SegmentInfo::useLod, vpMbTracker::useLodGeneral, and vpTRACE.

Referenced by vpMbTracker::loadModel().

void vpMbKltTracker::loadConfigFile ( const std::string & configFile )

virtual

Load the xml configuration file. An example of such a file is provided in loadConfigFile(const char*) documentation. From the configuration file initialize the parameters corresponding to the objects: KLT, camera.

Warning: To clean up memory allocated by the xml library, the user has to call vpXmlParser::cleanup() before the exit().

Parameters

configFile : full name of the xml file.

See also: loadConfigFile(const char*), vpXmlParser::cleanup()

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

Examples:: mbtKltTracking.cpp, and tutorial-mb-klt-tracker.cpp.

Definition at line 790 of file vpMbKltTracker.cpp.

void vpMbKltTracker::loadConfigFile ( const char * configFile )

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

Warning: To clean up memory allocated by the xml library, the user has to call vpXmlParser::cleanup() before the exit().

Exceptions

vpException::ioError if the file has not been properly parsed (file not found or wrong format for the data).

Parameters

configFile : full name of the xml file.

The XML configuration file has the following form:

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

See also: loadConfigFile(const std::string&), vpXmlParser::cleanup()

Definition at line 842 of file vpMbKltTracker.cpp.

References vpMbTracker::angleAppears, vpMbTracker::angleDisappears, vpMbTracker::clippingFlag, vpMath::deg(), vpMbtPolygon::FOV_CLIPPING, vpMbXmlParser::getAngleAppear(), vpMbXmlParser::getAngleDisappear(), vpMbtKltXmlParser::getBlockSize(), vpMbXmlParser::getCameraParameters(), vpMbXmlParser::getFarClippingDistance(), vpMbXmlParser::getFovClipping(), vpMbtKltXmlParser::getHarrisParam(), vpMbtKltXmlParser::getMaskBorder(), vpMbtKltXmlParser::getMaxFeatures(), vpMbtKltXmlParser::getMinDistance(), vpMbXmlParser::getNearClippingDistance(), vpMbtKltXmlParser::getPyramidLevels(), vpMbtKltXmlParser::getQuality(), vpMbtKltXmlParser::getWindowSize(), vpMbXmlParser::hasFarClippingDistance(), vpMbXmlParser::hasNearClippingDistance(), vpException::ioError, maskBorder, vpMbtKltXmlParser::parse(), vpMath::rad(), vpMbXmlParser::setAngleAppear(), vpMbXmlParser::setAngleDisappear(), vpKltOpencv::setBlockSize(), vpMbtKltXmlParser::setBlockSize(), setCameraParameters(), vpMbTracker::setClipping(), vpMbTracker::setFarClippingDistance(), vpKltOpencv::setHarrisFreeParameter(), vpMbtKltXmlParser::setHarrisParam(), vpMbtKltXmlParser::setMaskBorder(), vpKltOpencv::setMaxFeatures(), vpMbtKltXmlParser::setMaxFeatures(), vpKltOpencv::setMinDistance(), vpMbtKltXmlParser::setMinDistance(), vpMbTracker::setNearClippingDistance(), vpKltOpencv::setPyramidLevels(), vpMbtKltXmlParser::setPyramidLevels(), vpKltOpencv::setQuality(), vpMbtKltXmlParser::setQuality(), vpKltOpencv::setWindowSize(), vpMbtKltXmlParser::setWindowSize(), tracker, vpERROR_TRACE, and vpTRACE.

void vpMbTracker::loadModel	(	const char *	modelFile,
		const bool	verbose = `false`
	)

virtualinherited

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

Warning: When this class is called to load a vrml model, remember that you have to call Call SoDD::finish() before ending the program.
int main()

{

...

#if defined(VISP_HAVE_COIN) && (COIN_MAJOR_VERSION == 3)

SoDB::finish();

#endif

}

Exceptions

vpException::ioError if the file cannot be open, or if its extension is not wrl or cao.

Parameters

modelFile	: the file containing the the 3D model description. The extension of this file is either .wrl or .cao.
verbose	: verbose option to print additional information when loading CAO model files which include other CAO model files.

Examples:: mbtEdgeKltTracking.cpp, mbtEdgeTracking.cpp, mbtKltTracking.cpp, tutorial-detection-object-mbt.cpp, tutorial-mb-edge-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, and tutorial-mb-klt-tracker.cpp.

Definition at line 974 of file vpMbTracker.cpp.

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

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

virtualinherited

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

Warning: When this class is called to load a vrml model, remember that you have to call Call SoDD::finish() before ending the program.
int main()

{

...

#if defined(VISP_HAVE_COIN) && (COIN_MAJOR_VERSION == 3)

SoDB::finish();

#endif

}

Exceptions

vpException::ioError if the file cannot be open, or if its extension is not wrl or cao.

Parameters

modelFile	: the file containing the the 3D model description. The extension of this file is either .wrl or .cao.
verbose	: verbose option to print additional information when loading CAO model files which include other CAO model files.

Definition at line 1005 of file vpMbTracker.cpp.

References vpIoTools::checkFilename(), vpException::ioError, vpMbTracker::loadCAOModel(), vpMbTracker::loadVRMLModel(), vpMbTracker::modelFileName, vpMbTracker::modelInitialised, vpMbTracker::nbCircles, vpMbTracker::nbCylinders, vpMbTracker::nbLines, vpMbTracker::nbPoints, vpMbTracker::nbPolygonLines, and vpMbTracker::nbPolygonPoints.

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_COIN) && (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::fatalError if the file cannot be open.

Parameters

modelFile : The full name of the file containing the 3D model.

Definition at line 1071 of file vpMbTracker.cpp.

References vpMbTracker::extractGroup(), vpException::fatalError, and vpERROR_TRACE.

Referenced by vpMbTracker::loadModel().

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

inlineprotectedinherited

Definition at line 560 of file vpMbTracker.h.

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

inlineprotectedinherited

Definition at line 548 of file vpMbTracker.h.

Referenced by vpMbTracker::loadCAOModel().

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

protectedinherited

Definition at line 1130 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::loadCAOModel().

bool vpMbKltTracker::postTracking	(	const vpImage< unsigned char > &	I,
		vpColVector &	w
	)

protected

Realize the post tracking operations. Mostly visibility tests

Definition at line 567 of file vpMbKltTracker.cpp.

References vpMbTracker::angleAppears, vpMbTracker::angleDisappears, vpMbTracker::cam, vpMbTracker::cMo, vpMbTracker::faces, vpMbtDistanceKltPoints::getCurrentNumberPoints(), vpMbtDistanceKltPoints::getInitialNumberPoint(), vpMbtPolygon::getNbPoint(), vpMbtDistanceKltPoints::hasEnoughPoints(), vpMbtPolygon::isVisible(), kltPolygons, percentGood, vpMbtDistanceKltPoints::polygon, vpMbtDistanceKltPoints::removeOutliers(), vpMbHiddenFaces< PolygonType >::setVisible(), vpMbHiddenFaces< PolygonType >::setVisibleOgre(), threshold_outlier, and vpMbTracker::useOgre.

Referenced by vpMbEdgeKltTracker::postTracking(), and track().

void vpMbKltTracker::preTracking	(	const vpImage< unsigned char > &	I,
		unsigned int &	nbInfos,
		unsigned int &	nbFaceUsed
	)

protected

Achieve the tracking of the KLT features and associate the features to the faces.

Parameters

I	: The input image.
nbInfos	: Size of the features.
nbFaceUsed	: Number of face used for the tracking.

Definition at line 538 of file vpMbKltTracker.cpp.

References vpMbtDistanceKltPoints::computeNbDetectedCurrent(), vpImageConvert::convert(), cur, firstTrack, vpMbtDistanceKltPoints::getCurrentNumberPoints(), vpMbtPolygon::getNbPoint(), vpMbtDistanceKltPoints::hasEnoughPoints(), vpMbtPolygon::isVisible(), kltPolygons, vpMbtDistanceKltPoints::polygon, vpKltOpencv::track(), and tracker.

Referenced by vpMbEdgeKltTracker::track(), and track().

void vpMbKltTracker::reinit ( const vpImage< unsigned char > & I )

protectedvirtual

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

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.

Definition at line 1162 of file vpMbKltTracker.cpp.

Referenced by vpMbEdgeKltTracker::reInitModel().

void vpMbKltTracker::reInitModel	(	const vpImage< unsigned char > &	I,
		const char *	cad_name,
		const vpHomogeneousMatrix &	cMo_,
		const bool	verbose = `false`
	)

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.

Definition at line 1178 of file vpMbKltTracker.cpp.

References vpMbTracker::cMo, cur, vpMbTracker::faces, firstInitialisation, firstTrack, vpMbTracker::initFromPose(), vpMbTracker::loadModel(), vpMbHiddenFaces< PolygonType >::reset(), and vpHomogeneousMatrix::setIdentity().

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

protectedinherited

Definition at line 1119 of file vpMbTracker.cpp.

Referenced by vpMbTracker::loadCAOModel().

void vpMbKltTracker::resetTracker ( )

virtual

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

Implements vpMbTracker.

Examples:: mbtKltTracking.cpp.

Definition at line 200 of file vpMbKltTracker.cpp.

References vpMbTracker::angleAppears, vpMbTracker::angleDisappears, circles_disp, vpMbTracker::clippingFlag, vpMbTracker::cMo, compute_interaction, vpMbTracker::computeCovariance, cur, cylinders_disp, vpMbTracker::faces, firstInitialisation, firstTrack, kltPolygons, lambda, maskBorder, maxIter, vpMbtPolygon::NO_CLIPPING, percentGood, vpMath::rad(), vpMbHiddenFaces< PolygonType >::reset(), vpKltOpencv::setBlockSize(), vpKltOpencv::setHarrisFreeParameter(), vpHomogeneousMatrix::setIdentity(), vpKltOpencv::setMaxFeatures(), vpKltOpencv::setMinDistance(), vpKltOpencv::setPyramidLevels(), vpKltOpencv::setQuality(), vpKltOpencv::setTrackerId(), vpKltOpencv::setUseHarris(), vpKltOpencv::setWindowSize(), threshold_outlier, tracker, and vpMbTracker::useOgre.

Referenced by vpMbEdgeKltTracker::resetTracker().

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

inlineprotectedinherited

Definition at line 565 of file vpMbTracker.h.

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

inherited

Save the pose in the given filename

Parameters

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

Definition at line 769 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::initClick().

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

inlinevirtualinherited

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.

Examples:: mbtEdgeKltTracking.cpp, mbtKltTracking.cpp, tutorial-detection-object-mbt.cpp, tutorial-mb-edge-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, and tutorial-mb-klt-tracker.cpp.

Definition at line 389 of file vpMbTracker.h.

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

inlinevirtualinherited

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.

Examples:: mbtEdgeKltTracking.cpp, mbtKltTracking.cpp, tutorial-detection-object-mbt.cpp, tutorial-mb-edge-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, and tutorial-mb-klt-tracker.cpp.

Definition at line 400 of file vpMbTracker.h.

void vpMbKltTracker::setCameraParameters ( const vpCameraParameters & camera )

virtual

Set the camera parameters.

Parameters

camera : the new camera parameters.

Reimplemented from vpMbTracker.

Examples:: mbtKltTracking.cpp, and tutorial-mb-klt-tracker.cpp.

Definition at line 343 of file vpMbKltTracker.cpp.

References vpMbTracker::cam, kltPolygons, and vpMbtDistanceKltPoints::setCameraParameters().

Referenced by loadConfigFile(), and vpMbEdgeKltTracker::setCameraParameters().

void vpMbTracker::setClipping ( const unsigned int & flags )

virtualinherited

Specify which clipping to use.

See also: vpMbtPolygonClipping

Parameters

flags : New clipping flags.

Reimplemented in vpMbEdgeTracker, and vpMbEdgeKltTracker.

Examples:: mbtKltTracking.cpp, and tutorial-mb-klt-tracker.cpp.

Definition at line 2283 of file vpMbTracker.cpp.

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

Referenced by loadConfigFile(), and vpMbEdgeTracker::setClipping().

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

inlinevirtualinherited

Set if the covaraince matrix has to be computed.

Parameters

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

Definition at line 416 of file vpMbTracker.h.

void vpMbTracker::setDisplayFeatures ( const bool displayF )

inlineinherited

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.

Examples:: mbtEdgeKltTracking.cpp, mbtEdgeTracking.cpp, mbtKltTracking.cpp, tutorial-detection-object-mbt.cpp, tutorial-mb-edge-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, and tutorial-mb-klt-tracker.cpp.

Definition at line 431 of file vpMbTracker.h.

void vpMbTracker::setEstimatedDoF ( const vpColVector & v )

virtualinherited

Set a 1x6 vpColVector representing the estimated degrees of freedom. The vector has to be this form: 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;

Definition at line 2427 of file vpMbTracker.cpp.

References vpMatrix::getRows(), vpMbTracker::isoJoIdentity, and vpMbTracker::oJo.

void vpMbTracker::setFarClippingDistance ( const double & dist )

virtualinherited

Set the far distance for clipping.

Parameters

dist	: Far clipping value.

Reimplemented in vpMbEdgeTracker, and vpMbEdgeKltTracker.

Examples:: mbtKltTracking.cpp, and tutorial-mb-klt-tracker.cpp.

Definition at line 2175 of file vpMbTracker.cpp.

References vpMbTracker::clippingFlag, vpMbTracker::distFarClip, vpMbTracker::distNearClip, vpMbTracker::faces, vpMbtPolygon::FAR_CLIPPING, vpMbHiddenFaces< PolygonType >::getOgreContext(), vpMbtPolygon::NEAR_CLIPPING, vpAROgre::setFarClippingDistance(), vpMbHiddenFaces< PolygonType >::size(), and vpTRACE.

Referenced by loadConfigFile(), and vpMbEdgeTracker::setFarClippingDistance().

void vpMbKltTracker::setKltOpencv ( const vpKltOpencv & t )

Set the new value of the klt tracker.

Parameters

t	: Klt tracker containing the new values.

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

Definition at line 327 of file vpMbKltTracker.cpp.

References vpKltOpencv::getBlockSize(), vpKltOpencv::getHarrisFreeParameter(), vpKltOpencv::getMaxFeatures(), vpKltOpencv::getMinDistance(), vpKltOpencv::getPyramidLevels(), vpKltOpencv::getQuality(), vpKltOpencv::getWindowSize(), vpKltOpencv::setBlockSize(), vpKltOpencv::setHarrisFreeParameter(), vpKltOpencv::setMaxFeatures(), vpKltOpencv::setMinDistance(), vpKltOpencv::setPyramidLevels(), vpKltOpencv::setQuality(), vpKltOpencv::setWindowSize(), and tracker.

virtual void vpMbKltTracker::setLambda ( const double gain )

inlinevirtual

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

Parameters

gain	: the desired value for the gain.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 365 of file vpMbKltTracker.h.

Referenced by vpMbEdgeKltTracker::setLambda().

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

virtualinherited

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

Parameters

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

See also: setMinLineLengthThresh(), setMinPolygonAreaThresh()

Definition at line 2203 of file vpMbTracker.cpp.

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

Referenced by vpMbEdgeTracker::loadConfigFile().

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

inline

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

Parameters

e	: The desired erosion.

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

Definition at line 372 of file vpMbKltTracker.h.

virtual void vpMbKltTracker::setMaxIter ( const unsigned int max )

inlinevirtual

Set the maximum iteration of the virtual visual servoing stage.

Parameters

max	: the desired number of iteration

Reimplemented in vpMbEdgeKltTracker.

Definition at line 379 of file vpMbKltTracker.h.

Referenced by vpMbEdgeKltTracker::vpMbEdgeKltTracker().

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

virtualinherited

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

Parameters

minLineLengthThresh	: threshold for the minimum line length in pixel.
name	: name of the face we want to modify the LOD threshold.

See also: setLod(), setMinPolygonAreaThresh()

Definition at line 2222 of file vpMbTracker.cpp.

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

Referenced by vpMbEdgeTracker::loadConfigFile().

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

virtualinherited

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

Parameters

minPolygonAreaThresh	: threshold for the minimum polygon area in pixel.
name	: name of the face we want to modify the LOD threshold.

See also: setLod(), setMinLineLengthThresh()

Definition at line 2241 of file vpMbTracker.cpp.

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

Referenced by vpMbEdgeTracker::loadConfigFile().

void vpMbTracker::setNearClippingDistance ( const double & dist )

virtualinherited

Set the near distance for clipping.

Parameters

dist	: Near clipping value.

Reimplemented in vpMbEdgeTracker, and vpMbEdgeKltTracker.

Examples:: mbtKltTracking.cpp, and tutorial-mb-klt-tracker.cpp.

Definition at line 2257 of file vpMbTracker.cpp.

References vpMbTracker::clippingFlag, vpMbTracker::distFarClip, vpMbTracker::distNearClip, vpMbTracker::faces, vpMbtPolygon::FAR_CLIPPING, vpMbHiddenFaces< PolygonType >::getOgreContext(), vpMbtPolygon::NEAR_CLIPPING, vpAROgre::setNearClippingDistance(), vpMbHiddenFaces< PolygonType >::size(), and vpTRACE.

Referenced by loadConfigFile(), and vpMbEdgeTracker::setNearClippingDistance().

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

inlinevirtual

Use Ogre3D for visibility tests

Warning: This function has to be called before the initialization of the tracker.

Parameters

v	: True to use it, False otherwise

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

Examples:: mbtKltTracking.cpp, and tutorial-mb-klt-tracker.cpp.

Definition at line 388 of file vpMbKltTracker.h.

References vpMbTracker::setOgreVisibilityTest().

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

virtual

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

Warning: This function has to be called after the initialization of the tracker.

Parameters

I	: image corresponding to the desired pose.
cdMo	: Pose to affect.

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

Examples:: mbtKltTracking.cpp.

Definition at line 368 of file vpMbKltTracker.cpp.

References vpMbTracker::angleAppears, vpMbTracker::angleDisappears, c0Mo, vpMbTracker::cam, vpPlane::changeFrame(), vpMbTracker::cMo, vpMbtPolygon::computeRoiClipped(), vpImageConvert::convert(), ctTc0, cur, vpException::divideByZeroError, vpHomogeneousMatrix::extract(), vpMbTracker::faces, firstTrack, vpCameraParameters::get_K(), vpCameraParameters::get_K_inverse(), vpMbtDistanceKltPoints::getCurrentNumberPoints(), vpMbtDistanceKltPoints::getCurrentPoints(), vpMbtDistanceKltPoints::getCurrentPointsInd(), vpPlane::getD(), vpMbtPolygon::getNbPoint(), vpPlane::getNormal(), vpMbtDistanceKltPoints::hasEnoughPoints(), vpMbtDistanceKltPoints::init(), init(), vpKltOpencv::initTracking(), vpHomogeneousMatrix::inverse(), vpMbtPolygon::isVisible(), kltPolygons, vpColVector::normalize(), vpMbtPolygon::p, vpMbtDistanceKltPoints::polygon, reinit(), vpHomogeneousMatrix::setIdentity(), vpMbHiddenFaces< PolygonType >::setVisible(), vpMbHiddenFaces< PolygonType >::setVisibleOgre(), tracker, and vpMbTracker::useOgre.

Referenced by vpMbEdgeKltTracker::setPose().

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

inlineinherited

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

Parameters

filename : The new filename.

Definition at line 463 of file vpMbTracker.h.

void vpMbKltTracker::setThresholdAcceptation ( const double th )

inline

Set the threshold for the acceptation of a point.

Parameters

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

Definition at line 402 of file vpMbKltTracker.h.

void vpMbKltTracker::testTracking ( )

virtual

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

Todo:: Find a efficient way to test the quality.

Exceptions

vpTrackingException::fatalError if the test fails.

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 1035 of file vpMbKltTracker.cpp.

References vpTrackingException::fatalError, vpMbtDistanceKltPoints::getCurrentNumberPoints(), vpMbtPolygon::getNbPoint(), vpMbtPolygon::isVisible(), kltPolygons, and vpMbtDistanceKltPoints::polygon.

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

virtual

Realize the tracking of the object in the image

Exceptions

vpException : if the tracking is supposed to have failed

Parameters

I	: the input image

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

Examples:: mbtKltTracking.cpp, and tutorial-mb-klt-tracker.cpp.

Definition at line 754 of file vpMbKltTracker.cpp.

References computeVVS(), vpMbTracker::m_w, vpTrackingException::notEnoughPointError, postTracking(), preTracking(), reinit(), and vpERROR_TRACE.

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

inlineprotectedinherited

Definition at line 570 of file vpMbTracker.h.

Referenced by vpMbTracker::parseParameters().

Member Data Documentation

double vpMbTracker::angleAppears

protectedinherited

Angle used to detect a face appearance.

Definition at line 137 of file vpMbTracker.h.

Referenced by init(), vpMbEdgeKltTracker::loadConfigFile(), loadConfigFile(), vpMbEdgeTracker::loadConfigFile(), postTracking(), resetTracker(), vpMbEdgeTracker::resetTracker(), setPose(), vpMbEdgeTracker::visibleFace(), vpMbEdgeKltTracker::vpMbEdgeKltTracker(), vpMbEdgeTracker::vpMbEdgeTracker(), and vpMbKltTracker().

double vpMbTracker::angleDisappears

protectedinherited

Angle used to detect a face disappearance.

Definition at line 139 of file vpMbTracker.h.

Referenced by init(), vpMbEdgeKltTracker::loadConfigFile(), loadConfigFile(), vpMbEdgeTracker::loadConfigFile(), postTracking(), resetTracker(), vpMbEdgeTracker::resetTracker(), setPose(), vpMbEdgeTracker::visibleFace(), vpMbEdgeKltTracker::vpMbEdgeKltTracker(), vpMbEdgeTracker::vpMbEdgeTracker(), and vpMbKltTracker().

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 163 of file vpMbTracker.h.

Referenced by vpMbTracker::loadCAOModel(), and vpMbEdgeTracker::loadConfigFile().

vpHomogeneousMatrix vpMbKltTracker::c0Mo

protected

Initial pose.

Definition at line 239 of file vpMbKltTracker.h.

Referenced by computeVVS(), reinit(), and setPose().

vpCameraParameters vpMbTracker::cam

protectedinherited

std::list<vpMbtDistanceCircle*> vpMbKltTracker::circles_disp

protected

Vector of the circles used here only to display the full model.

Definition at line 265 of file vpMbKltTracker.h.

Referenced by addCircle(), display(), resetTracker(), and ~vpMbKltTracker().

unsigned int vpMbTracker::clippingFlag

protectedinherited

Flags specifying which clipping to used.

Definition at line 145 of file vpMbTracker.h.

Referenced by vpMbEdgeTracker::addLine(), vpMbTracker::addPolygon(), display(), vpMbEdgeKltTracker::loadConfigFile(), loadConfigFile(), vpMbEdgeTracker::loadConfigFile(), resetTracker(), vpMbEdgeTracker::resetTracker(), vpMbEdgeTracker::setClipping(), vpMbTracker::setClipping(), vpMbEdgeTracker::setFarClippingDistance(), vpMbTracker::setFarClippingDistance(), vpMbEdgeTracker::setNearClippingDistance(), and vpMbTracker::setNearClippingDistance().

vpHomogeneousMatrix vpMbTracker::cMo

protectedinherited

bool vpMbKltTracker::compute_interaction

protected

If true, compute the interaction matrix at each iteration of the minimization. Otherwise, compute it only on the first iteration.

Definition at line 241 of file vpMbKltTracker.h.

Referenced by computeVVS(), and resetTracker().

bool vpMbTracker::computeCovariance

protectedinherited

Flag used to specify if the covariance matrix has to be computed or not.

Definition at line 124 of file vpMbTracker.h.

Referenced by vpMbEdgeKltTracker::computeVVS(), computeVVS(), vpMbEdgeTracker::computeVVS(), resetTracker(), and vpMbEdgeKltTracker::vpMbEdgeKltTracker().

vpMatrix vpMbTracker::covarianceMatrix

protectedinherited

Covariance matrix.

Definition at line 126 of file vpMbTracker.h.

Referenced by vpMbTracker::computeCovarianceMatrix(), and vpMbEdgeTracker::track().

vpHomogeneousMatrix vpMbKltTracker::ctTc0

protected

The estimated displacement of the pose between the current instant and the initial position.

Definition at line 255 of file vpMbKltTracker.h.

Referenced by vpMbEdgeKltTracker::computeVVS(), computeVVS(), reinit(), and setPose().

cv::Mat vpMbKltTracker::cur

protected

Temporary OpenCV image for fast conversion.

Definition at line 234 of file vpMbKltTracker.h.

Referenced by preTracking(), reinit(), reInitModel(), resetTracker(), setPose(), and ~vpMbKltTracker().

std::list<vpMbtDistanceCylinder*> vpMbKltTracker::cylinders_disp

protected

Vector of the cylinders used here only to display the full model.

Definition at line 263 of file vpMbKltTracker.h.

Referenced by addCylinder(), display(), resetTracker(), and ~vpMbKltTracker().

bool vpMbTracker::displayFeatures

protectedinherited

If true, the features are displayed.

Definition at line 128 of file vpMbTracker.h.

Referenced by vpMbEdgeKltTracker::display(), display(), vpMbEdgeKltTracker::postTracking(), and vpMbEdgeTracker::track().

double vpMbTracker::distFarClip

protectedinherited

Distance for near clipping.

Definition at line 143 of file vpMbTracker.h.

Referenced by vpMbEdgeTracker::addLine(), vpMbTracker::addPolygon(), vpMbEdgeTracker::setFarClippingDistance(), vpMbTracker::setFarClippingDistance(), vpMbEdgeTracker::setNearClippingDistance(), and vpMbTracker::setNearClippingDistance().

double vpMbTracker::distNearClip

protectedinherited

Distance for near clipping.

Definition at line 141 of file vpMbTracker.h.

Referenced by vpMbEdgeTracker::addLine(), vpMbTracker::addPolygon(), vpMbEdgeTracker::setFarClippingDistance(), vpMbTracker::setFarClippingDistance(), vpMbEdgeTracker::setNearClippingDistance(), and vpMbTracker::setNearClippingDistance().

vpMbHiddenFaces<vpMbtPolygon> vpMbTracker::faces

protectedinherited

Set of faces describing the object.

Definition at line 135 of file vpMbTracker.h.

bool vpMbKltTracker::firstInitialisation

protected

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

Definition at line 243 of file vpMbKltTracker.h.

Referenced by reInitModel(), and resetTracker().

bool vpMbKltTracker::firstTrack

protected

First track() called.

Definition at line 259 of file vpMbKltTracker.h.

Referenced by preTracking(), reinit(), reInitModel(), resetTracker(), and setPose().

bool vpMbTracker::isoJoIdentity

protectedinherited

Boolean to know if oJo is identity (for fast computation)

Definition at line 116 of file vpMbTracker.h.

Referenced by vpMbEdgeKltTracker::computeVVS(), computeVVS(), vpMbEdgeTracker::computeVVS(), and vpMbTracker::setEstimatedDoF().

std::list<vpMbtDistanceKltPoints*> vpMbKltTracker::kltPolygons

protected

Vector of the cylinders used here only to display the full model.

Definition at line 261 of file vpMbKltTracker.h.

Referenced by vpMbEdgeKltTracker::computeVVS(), computeVVS(), vpMbEdgeKltTracker::display(), display(), initFaceFromCorners(), initFaceFromLines(), postTracking(), preTracking(), reinit(), resetTracker(), setCameraParameters(), setPose(), testTracking(), and ~vpMbKltTracker().

double vpMbKltTracker::lambda

protected

The gain of the virtual visual servoing stage.

Definition at line 247 of file vpMbKltTracker.h.

Referenced by computeVVS(), and resetTracker().

vpColVector vpMbTracker::m_error

protectedinherited

Error s-s*.

Definition at line 132 of file vpMbTracker.h.

Referenced by vpMbEdgeKltTracker::computeVVS(), computeVVS(), and vpMbEdgeTracker::computeVVS().

vpColVector vpMbTracker::m_w

protectedinherited

Weights used in the robust scheme.

Definition at line 130 of file vpMbTracker.h.

Referenced by vpMbEdgeKltTracker::computeVVS(), vpMbEdgeTracker::computeVVS(), 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 169 of file vpMbTracker.h.

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

unsigned int vpMbKltTracker::maskBorder

protected

Erosion of the mask.

Definition at line 245 of file vpMbKltTracker.h.

Referenced by vpMbEdgeKltTracker::loadConfigFile(), loadConfigFile(), reinit(), and resetTracker().

unsigned int vpMbKltTracker::maxIter

protected

The maximum iteration of the virtual visual servoing stage.

Definition at line 249 of file vpMbKltTracker.h.

Referenced by computeVVS(), vpMbEdgeKltTracker::getMaxIter(), and resetTracker().

double vpMbTracker::minLineLengthThresholdGeneral

protectedinherited

Minimum line length threshold for LOD mode (general setting)

Definition at line 165 of file vpMbTracker.h.

Referenced by vpMbTracker::addPolygon(), vpMbTracker::loadCAOModel(), and vpMbEdgeTracker::loadConfigFile().

double vpMbTracker::minPolygonAreaThresholdGeneral

protectedinherited

Minimum polygon area threshold for LOD mode (general setting)

Definition at line 167 of file vpMbTracker.h.

Referenced by vpMbTracker::addPolygon(), vpMbTracker::loadCAOModel(), and vpMbEdgeTracker::loadConfigFile().

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 118 of file vpMbTracker.h.

Referenced by vpMbTracker::loadModel().

bool vpMbTracker::modelInitialised

protectedinherited

Flag used to ensure that the CAD model is loaded before the initialisation.

Definition at line 120 of file vpMbTracker.h.

Referenced by init(), vpMbEdgeTracker::init(), and vpMbTracker::loadModel().

unsigned int vpMbTracker::nbCircles

protectedinherited

Number of circles in CAO model.

Definition at line 159 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 157 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 151 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 149 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 153 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 155 of file vpMbTracker.h.

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

vpMatrix vpMbTracker::oJo

protectedinherited

The Degrees of Freedom to estimate.

Definition at line 114 of file vpMbTracker.h.

Referenced by vpMbEdgeKltTracker::computeVVS(), computeVVS(), vpMbEdgeTracker::computeVVS(), vpMbTracker::getEstimatedDoF(), vpMbTracker::setEstimatedDoF(), and vpMbTracker::vpMbTracker().

double vpMbKltTracker::percentGood

protected

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

Definition at line 253 of file vpMbKltTracker.h.

Referenced by postTracking(), and resetTracker().

std::string vpMbTracker::poseSavingFilename

protectedinherited

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

Definition at line 122 of file vpMbTracker.h.

Referenced by vpMbTracker::initClick().

double vpMbKltTracker::threshold_outlier

protected

Threshold below which the weight associated to a point to consider this one as an outlier.

Definition at line 251 of file vpMbKltTracker.h.

Referenced by postTracking(), and resetTracker().

vpKltOpencv vpMbKltTracker::tracker

protected

Points tracker.

Definition at line 257 of file vpMbKltTracker.h.

Referenced by getKltImagePoints(), getKltImagePointsWithId(), vpMbEdgeKltTracker::loadConfigFile(), loadConfigFile(), preTracking(), reinit(), resetTracker(), setKltOpencv(), setPose(), and vpMbKltTracker().

bool vpMbTracker::useLodGeneral

protectedinherited

True if LOD mode is enabled.

Definition at line 161 of file vpMbTracker.h.

Referenced by vpMbTracker::loadCAOModel(), and vpMbEdgeTracker::loadConfigFile().

bool vpMbTracker::useOgre

protectedinherited

Use Ogre3d for visibility tests.

Definition at line 147 of file vpMbTracker.h.

Referenced by vpMbEdgeKltTracker::display(), display(), vpMbEdgeTracker::display(), init(), vpMbEdgeTracker::init(), postTracking(), resetTracker(), vpMbEdgeTracker::resetTracker(), vpMbTracker::setOgreVisibilityTest(), setPose(), and vpMbEdgeTracker::visibleFace().

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation