#include <vpMbEdgeTracker.h>

Inheritance diagram for vpMbEdgeTracker:

Public Member Functions
	vpMbEdgeTracker ()

virtual	~vpMbEdgeTracker ()

void	setLambda (const double lambda)

void	setMovingEdge (const vpMe &_me)

void	loadConfigFile (const std::string &filename)

void	loadConfigFile (const char *filename)

void	loadModel (const std::string &cad_name)

void	loadModel (const char *cad_name)

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

void	display (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, const unsigned int l=1, const bool displayFullModel=false)

void	display (const vpImage< vpRGBa > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, const unsigned int l=1, const bool displayFullModel=false)

void	resetTracker ()

void	reInitModel (const vpImage< unsigned char > &I, const char *cad_name, const vpHomogeneousMatrix &_cMo)

void	setDisplayMovingEdges (const bool displayMe)

void	setFirstThreshold (const double threshold1)

double	getFirstThreshold ()

void	getMovingEdge (vpMe &_me)

unsigned int	getNbPoints (const unsigned int _level=0)

vpMbtPolygon *	getPolygon (const unsigned int _index)

unsigned int	getNbPolygon ()

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

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

void	setScales (const std::vector< bool > &_scales)

std::vector< bool >	getScales () const

virtual void	setCameraParameters (const vpCameraParameters &_cam)

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	setCovarianceComputation (const bool &flag)

virtual void	getCameraParameters (vpCameraParameters &_cam) const

virtual vpMatrix	getCovarianceMatrix () const

void	getPose (vpHomogeneousMatrix &_cMo) const

vpHomogeneousMatrix	getPose () const

void	setPoseSavingFilename (const std::string &filename)

void	savePose (const std::string &filename)

Deprecated functions
vp_deprecated vpList< vpMbtDistanceLine * > *	getLline (const unsigned int _level=0)

vp_deprecated vpList< vpMbtDistanceCylinder * > *	getLcylinder (const unsigned int _level=0)

vp_deprecated void	init (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo)

Protected Member Functions
void	computeVVS (const vpImage< unsigned char > &_I)

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

void	trackMovingEdge (const vpImage< unsigned char > &I)

void	updateMovingEdge (const vpImage< unsigned char > &I)

void	visibleFace (const vpHomogeneousMatrix &cMo, bool &newvisibleline)

void	reinitMovingEdge (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &_cMo)

void	addPolygon (vpMbtPolygon &p)

void	addLine (vpPoint &p1, vpPoint &p2, int polygone=-1, std::string name="")

void	removeLine (const std::string &name)

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

void	removeCylinder (const std::string &name)

virtual void	initFaceFromCorners (const std::vector< vpPoint > &_corners, const unsigned int _indexFace=-1)

virtual void	initCylinder (const vpPoint &_p1, const vpPoint _p2, const double _radius, const unsigned int _indexCylinder=0)

void	testTracking ()

void	initPyramid (const vpImage< unsigned char > &_I, std::vector< const vpImage< unsigned char > * > &_pyramid)

void	cleanPyramid (std::vector< const vpImage< unsigned char > * > &_pyramid)

void	reInitLevel (const unsigned int _lvl)

void	downScale (const unsigned int _scale)

void	upScale (const unsigned int _scale)

virtual void	loadVRMLModel (const std::string &_modelFile)

virtual void	loadCAOModel (const std::string &_modelFile)

void	computeJTR (const vpMatrix &_J, const vpColVector &_R, vpMatrix &_JTR)

virtual void	extractFaces (SoVRMLIndexedFaceSet *_face_set)

virtual void	extractLines (SoVRMLIndexedLineSet *_line_set)

virtual void	extractCylinders (SoVRMLIndexedFaceSet *_face_set)

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

Protected Attributes
int	compute_interaction

double	lambda

vpMe	me

std::vector< std::list< vpMbtDistanceLine * > >	lines

std::vector< std::list< vpMbtDistanceCylinder * > >	cylinders

unsigned int	nline

unsigned int	ncylinder

int	index_polygon

vpMbtHiddenFaces	faces

unsigned int	nbvisiblepolygone

bool	displayMe

double	percentageGdPt

std::vector< bool >	scales

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

unsigned int	scaleLevel

vpCameraParameters	cam

vpHomogeneousMatrix	cMo

std::string	modelFileName

bool	modelInitialised

bool	cameraInitialised

bool	coinUsed

std::string	poseSavingFilename

bool	computeCovariance

vpMatrix	covarianceMatrix

Detailed Description

Make the complete tracking of an object by using its CAD model.

This class realise the tracking of an object or a scene given its 3D model. A video example can be found in the http://www.irisa.fr/lagadic/visp/computer-vision.html webpage. 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.

#include <visp/vpMbEdgeTracker.h>
#include <visp/vpImage.h>
#include <visp/vpHomogeneousMatrix.h>
#include <visp/vpCameraParameters.h>
#include <visp/vpException.h>
int main()
{
  vpMbEdgeTracker tracker; // Create a model based tracker.
  vpImage<unsigned char> I;
  vpHomogeneousMatrix cMo; // Pose computed using the tracker.
  vpCameraParameters cam;
  // Acquire an image
  tracker.loadConfigFile("cube.xml"); // Load the configuration of the tracker
  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 containned in the cube.init file.
  while(true){
    // Acquire a new image
    tracker.track(I);     // Track the object on this image
    tracker.getPose(cMo); // Get the pose
    tracker.display(I, cMo, cam, vpColor::darkRed, 1); // Display the model at the computed pose.
  }
  // Cleanup memory allocated by xml library used to parse the xml config file in vpMbEdgeTracker::loadConfigFile()
  vpXmlParser::cleanup();
  return 0;
}

For application with large inter-images displacement, multi-scale tracking is also possible, by setting the number of scales used and by activating (or not) them using a vector of booleans, as presented in the following code:

...
vpHomogeneousMatrix cMo; // Pose computed using the tracker.
vpCameraParameters cam;
std::vector< bool > scales(3); //Three scales used
scales.push_back(true); //First scale : active
scales.push_back(false); //Second scale (/2) : not active
scales.push_back(true); //Third scale (/4) : active
tracker.setScales(scales); // Set active scales for multi-scale tracking
tracker.loadConfigFile("cube.xml"); // Load the configuration of the tracker
tracker.getCameraParameters(cam); // Get the camera parameters used by the tracker (from the configuration file).
...
// Cleanup memory allocated by xml library used to parse the xml config file in vpMbEdgeTracker::loadConfigFile()
vpXmlParser::cleanup();

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/vpMbEdgeTracker.h>
#include <visp/vpImage.h>
#include <visp/vpHomogeneousMatrix.h>
#include <visp/vpCameraParameters.h>
int main()
{
  vpMbEdgeTracker tracker; // Create a model based tracker.
  vpImage<unsigned char> I;
  vpHomogeneousMatrix cMo; // Pose computed using the tracker.
  vpCameraParameters cam;
  //acquire an image
  // Get the cMo from a known pose or a 'client' in a server/client configuration
  tracker.loadConfigFile("cube.xml"); // Load the configuration of the tracker
  tracker.getCameraParameters(cam); // Get the camera parameters used by the tracker (from the configuration file).
  tracker.loadModel("cube.wrl"); // load the 3d model, to read .wrl model coi is required, if coin is not installed .cao file can be used.
  tracker.initFromPose(I, cMo); // initialise manually the pose by clicking on the image points associated to the 3d points containned in the cube.init file.
  while(true){
    // acquire a new image
    tracker.track(I); // track the object on this image
    tracker.getPose(cMo); // get the pose
  }
  // Cleanup memory allocated by xml library used to parse the xml config file in vpMbEdgeTracker::loadConfigFile()
  vpXmlParser::cleanup();
  return 0;
}

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

#include <visp/vpMbEdgeTracker.h>
#include <visp/vpImage.h>
#include <visp/vpHomogeneousMatrix.h>
#include <visp/vpCameraParameters.h>
int main()
{
  vpMbEdgeTracker tracker; // Create a model based tracker.
  vpImage<unsigned char> I;
  vpHomogeneousMatrix cMo; // Pose computed using the tracker.
  vpCameraParameters cam;
  //acquire an image
  // Get the cMo from a known pose or a 'server' in a server/client configuration
  tracker.loadConfigFile("cube.xml"); // Load the configuration of the tracker
  tracker.getCameraParameters(cam); // Get the camera parameters used by the tracker (from the configuration file).
  tracker.loadModel("cube.wrl"); // load the 3d model, to read .wrl model coi is required, if coin is not installed .cao file can be used.
  while(true){
    // acquire a new image
    // Get the pose using any method
    tracker.display(I, cMo, cam, vpColor::darkRed, 1);// display the model at the given pose.
  }
  // Cleanup memory allocated by xml library used to parse the xml config file in vpMbEdgeTracker::loadConfigFile()
  vpXmlParser::cleanup();
  return 0;
}

Examples:: mbtTracking.cpp.

Definition at line 243 of file vpMbEdgeTracker.h.

Constructor & Destructor Documentation

vpMbEdgeTracker::vpMbEdgeTracker ( )

Basic constructor

Definition at line 76 of file vpMbEdgeTracker.cpp.

References compute_interaction, vpMbTracker::computeCovariance, cylinders, displayMe, index_polygon, Ipyramid, lambda, lines, nbvisiblepolygone, ncylinder, nline, percentageGdPt, and scales.

vpMbEdgeTracker::~vpMbEdgeTracker ( )

virtual

Basic destructor useful to deallocate the memory.

Definition at line 100 of file vpMbEdgeTracker.cpp.

References cleanPyramid(), cylinders, Ipyramid, lines, and scales.

Member Function Documentation

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

protected

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 optionnal name of the cylinder

Definition at line 1273 of file vpMbEdgeTracker.cpp.

References vpMbTracker::cam, cylinders, downScale(), vpMath::maximum(), me, ncylinder, scales, and upScale().

Referenced by initCylinder().

void vpMbEdgeTracker::addLine	(	vpPoint &	P1,
		vpPoint &	P2,
		int	polygone = `-1`,
		std::string	name = `""`
	)

protected

Add a line belonging to the $ index $ th polygone to the list of lines. It is defined by its two extremities.

If the line already exists, the ploygone's index is added to the list of polygon to which it belongs.

Parameters

P1	: The first extremity of the line.
P2	: The second extremity of the line.
polygone	: The index of the polygon to which the line belongs.
name	: the optionnal name of the line

Definition at line 1200 of file vpMbEdgeTracker.cpp.

References vpMbTracker::cam, downScale(), faces, lines, me, nline, scales, and upScale().

Referenced by addPolygon().

void vpMbEdgeTracker::addPolygon ( vpMbtPolygon & p )

protected

Add a polygon to the list of polygons.

Parameters

p	: The polygon to add.

Definition at line 1335 of file vpMbEdgeTracker.cpp.

References addLine(), faces, and index_polygon.

Referenced by initFaceFromCorners().

void vpMbEdgeTracker::cleanPyramid ( std::vector< const vpImage< unsigned char > * > & _pyramid )

protected

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

Parameters

_pyramid : The pyramid of image to clean.

Definition at line 1699 of file vpMbEdgeTracker.cpp.

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

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 1226 of file vpMbTracker.cpp.

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

Referenced by computeVVS().

void vpMbEdgeTracker::computeVVS ( const vpImage< unsigned char > & _I )

protected

Compute the visual servoing loop to get the pose of the feature set.

Exceptions

vpTrackingException::notEnoughPointError if the number of detected feature is equal to zero.

Parameters

_I	: The current image.

Definition at line 165 of file vpMbEdgeTracker.cpp.

References vpMbTracker::cam, vpMbTracker::cMo, compute_interaction, vpMbTracker::computeCovariance, vpMatrix::computeCovarianceMatrix(), vpMbTracker::computeJTR(), vpMbTracker::covarianceMatrix, cylinders, vpMatrix::diag(), vpExponentialMap::direct(), vpCameraParameters::get_px(), vpMatrix::getRows(), vpMeSite::getState(), vpHomogeneousMatrix::inverse(), lambda, lines, vpMeSite::M_ESTIMATOR, vpRobust::MEstimator(), vpMeSite::NO_SUPPRESSION, vpTrackingException::notEnoughPointError, vpMatrix::pseudoInverse(), vpColVector::resize(), scaleLevel, vpRobust::setIteration(), vpMeSite::setState(), vpRobust::setThreshold(), vpMath::sign(), vpMath::sqr(), vpRobust::TUKEY, and vpERROR_TRACE.

Referenced by track().

void vpMbEdgeTracker::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 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 surfaces).

Implements vpMbTracker.

Examples:: mbtTracking.cpp.

Definition at line 969 of file vpMbEdgeTracker.cpp.

References cylinders, lines, scaleLevel, and scales.

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

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

Parameters

I	: The 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 surfaces).

Definition at line 1002 of file vpMbEdgeTracker.cpp.

References cylinders, lines, scaleLevel, and scales.

void vpMbEdgeTracker::downScale ( const unsigned int _scale )

protected

Modify the camera parameters to have them corresponding to the current scale. The new parameters are divided by $2^{\_scale}$ .

Parameters

_scale : Scale to use.

Definition at line 1844 of file vpMbEdgeTracker.cpp.

References vpMbTracker::cam, vpCameraParameters::get_K(), vpCameraParameters::initFromCalibrationMatrix(), and scaleLevel.

Referenced by addCylinder(), addLine(), and track().

void vpMbTracker::extractCylinders ( SoVRMLIndexedFaceSet * _face_set )

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.

Definition at line 1078 of file vpMbTracker.cpp.

References 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::loadVRMLModel().

void vpMbTracker::extractFaces ( SoVRMLIndexedFaceSet * _face_set )

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.

Definition at line 1028 of file vpMbTracker.cpp.

References vpMbTracker::initFaceFromCorners(), and vpPoint::setWorldCoordinates().

Referenced by vpMbTracker::loadVRMLModel().

void vpMbTracker::extractLines ( SoVRMLIndexedLineSet * _line_set )

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.

Definition at line 1171 of file vpMbTracker.cpp.

References vpMbTracker::initFaceFromCorners(), and vpPoint::setWorldCoordinates().

Referenced by vpMbTracker::loadVRMLModel().

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

inlinevirtualinherited

Get the camera parameters.

Parameters

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

Examples:: mbtTracking.cpp.

Definition at line 203 of file vpMbTracker.h.

virtual vpMatrix vpMbTracker::getCovarianceMatrix ( ) const

inlinevirtualinherited

Get the covariance matrix.

Definition at line 208 of file vpMbTracker.h.

References vpTRACE.

double vpMbEdgeTracker::getFirstThreshold ( )

inline

Definition at line 340 of file vpMbEdgeTracker.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 1142 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::extractCylinders().

void vpMbEdgeTracker::getLcylinder	(	std::list< vpMbtDistanceCylinder * > &	cylindersList,
		const unsigned int	_level = `0`
	)

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

Exceptions

vpException::dimensionError if the second parameter does not correspond to an used level.

Parameters

_level	: Level corresponding to the list to return.
cylindersList	: The list of the cylinders of the model.

Definition at line 1824 of file vpMbEdgeTracker.cpp.

References cylinders, vpException::dimensionError, and scales.

vp_deprecated vpList< vpMbtDistanceCylinder * > * vpMbEdgeTracker::getLcylinder ( const unsigned int _level = 0 )

Deprecated:: This method is deprecated. You should use void getLcylinder(std::list<vpMbtDistanceCylinder *> &, const unsigned int) instead.

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

Exceptions

vpException::dimensionError if the parameter does not correspond to an used level.

Warning: The returned list is dynamically allocated and must be freed.

Parameters

_level : Level corresponding to the list to return.

Returns: Pointer to the list of the cylinders tracked.

Definition at line 1758 of file vpMbEdgeTracker.cpp.

References vpList< type >::addRight(), cylinders, vpException::dimensionError, and scales.

void vpMbEdgeTracker::getLline	(	std::list< vpMbtDistanceLine * > &	linesList,
		const unsigned int	_level = `0`
	)

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

Exceptions

vpException::dimensionError if the second parameter does not correspond to an used level.

Parameters

_level	: Level corresponding to the list to return.
linesList	: The list of the lines of the model.

Definition at line 1800 of file vpMbEdgeTracker.cpp.

References vpException::dimensionError, lines, and scales.

vp_deprecated vpList< vpMbtDistanceLine * > * vpMbEdgeTracker::getLline ( const unsigned int _level = 0 )

Deprecated:: This method is deprecated. You should use void getLline(std::list<vpMbtDistanceLine *> &, const unsigned int) instead.

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

Exceptions

vpException::dimensionError if the parameter does not correspond to an used level.

Warning: The returned list is dynamically allocated and must be freed.

Parameters

_level : Level corresponding to the list to return.

Returns: Pointer to the list of the lines tracked.

Definition at line 1727 of file vpMbEdgeTracker.cpp.

References vpList< type >::addRight(), vpException::dimensionError, lines, and scales.

void vpMbEdgeTracker::getMovingEdge ( vpMe & _me )

inline

Get the moving edge parameters.

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

Definition at line 348 of file vpMbEdgeTracker.h.

unsigned int vpMbEdgeTracker::getNbPoints ( const unsigned int _level = 0 )

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

Exceptions

vpException::dimensionError if _level does not represent a used level.

Returns: the number of good points.

Definition at line 1522 of file vpMbEdgeTracker.cpp.

References cylinders, vpException::dimensionError, lines, vpMeSite::NO_SUPPRESSION, and scales.

unsigned int vpMbEdgeTracker::getNbPolygon ( )

Get the number of polygon (face) representing the object to track.

Returns: Number of polygon.

Definition at line 1584 of file vpMbEdgeTracker.cpp.

References faces.

vpMbtPolygon * vpMbEdgeTracker::getPolygon ( const unsigned int _index )

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 1568 of file vpMbEdgeTracker.cpp.

References vpException::dimensionError, and faces.

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:: mbtTracking.cpp.

Definition at line 222 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 231 of file vpMbTracker.h.

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

inline

Return the scales levels used for the tracking.

Returns: The scales levels used for the tracking.

Definition at line 363 of file vpMbEdgeTracker.h.

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

virtual

Deprecated:: This method is deprecated. You should use void vpMbTracker::initFromPose(const vpImage<unsigned char>& I, const vpHomogeneousMatrix &cMo) instead.

Initialize the tracking thanks to the initial pose of the camera.

Parameters

I	: The image.
_cMo	: The initial pose used to initialize the tracking.

Implements vpMbTracker.

Definition at line 1782 of file vpMbEdgeTracker.cpp.

References vpMbTracker::cMo.

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:: mbtTracking.cpp.

Definition at line 139 of file vpMbTracker.cpp.

References vpPose::addPoint(), vpHomogeneousMatrix::buildFrom(), vpMouseButton::button1, vpMbTracker::cam, vpPose::clearPoint(), vpMbTracker::cMo, vpPose::computePose(), vpPose::computeResidual(), vpPixelMeterConversion::convertPoint(), vpPose::DEMENTHON, vpMbTracker::display(), vpDisplay::display(), vpDisplay::displayCharString(), vpDisplay::displayCross(), vpDisplay::displayFrame(), vpDisplay::displayPoint(), vpDisplay::flush(), vpDisplay::getClick(), vpColor::green, vpMbTracker::init(), vpDisplayOpenCV::init(), vpException::ioError, vpPose::LAGRANGE, vpMbTracker::poseSavingFilename, vpImageIo::readPPM(), 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 355 of file vpMbTracker.cpp.

References vpPose::addPoint(), vpMouseButton::button1, vpMbTracker::cam, vpPose::clearPoint(), vpMbTracker::cMo, vpPose::computePose(), vpPose::computeResidual(), vpPixelMeterConversion::convertPoint(), vpPose::DEMENTHON, vpMbTracker::display(), vpDisplay::display(), vpDisplay::displayCharString(), vpDisplay::displayCross(), vpDisplay::displayFrame(), vpDisplay::displayPoint(), vpDisplay::flush(), vpDisplay::getClick(), vpColor::green, vpMbTracker::init(), vpDisplayOpenCV::init(), vpPose::LAGRANGE, vpImageIo::readPPM(), vpColor::red, vpPoint::set_x(), vpPoint::set_y(), and vpPose::VIRTUAL_VS.

void vpMbEdgeTracker::initCylinder	(	const vpPoint &	_p1,
		const vpPoint	_p2,
		const double	_radius,
		const unsigned int	_indexCylinder = `0`
	)

protectedvirtual

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

Parameters

_p1	: First point on the axis.
_p2	: Second point on the axis.
_radius	: Radius of the cylinder.
_indexCylinder	: Index of the cylinder.

Implements vpMbTracker.

Definition at line 1442 of file vpMbEdgeTracker.cpp.

References addCylinder(), and ncylinder.

void vpMbEdgeTracker::initFaceFromCorners	(	const std::vector< vpPoint > &	_corners,
		const unsigned int	_indexFace = `-1`
	)

protectedvirtual

Add a face to track from its corners (in the object frame). This method is called from the loadModel() one to add a face of the object to track. The initialisation of the face depends on the primitive to track.

Parameters

_corners	: The vector of corners representing the face.
_indexFace	: The index of the face.

Implements vpMbTracker.

Definition at line 1417 of file vpMbEdgeTracker.cpp.

References addPolygon().

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 471 of file vpMbTracker.cpp.

References vpPose::addPoint(), 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 550 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:: mbtTracking.cpp.

Definition at line 604 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::initFromPose(), and 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 639 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 651 of file vpMbTracker.cpp.

References vpMbTracker::initFromPose().

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

protected

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

Parameters

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

Definition at line 1033 of file vpMbEdgeTracker.cpp.

References cylinders, lines, and scaleLevel.

Referenced by track().

void vpMbEdgeTracker::initPyramid	(	const vpImage< unsigned char > &	_I,
		std::vector< const vpImage< unsigned char > * > &	_pyramid
	)

protected

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

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

Parameters

_I	: The input image.
_pyramid	: The pyramid of image to build from the input image.

Definition at line 1653 of file vpMbEdgeTracker.cpp.

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

Referenced by track().

void vpMbTracker::loadCAOModel ( const std::string & _modelFile )

protectedvirtualinherited

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

the structure of the file is (without the comments) :

V1
// Number of points describing the object
01 0.01 0.01  //  \
...             //  | coordinates of the points in the object frame (in m.)
01 0.01 0.01  // /
// Number of lines to track. 
2 //  \
4 //  | Index of the points representing the extremities of the lines
5 // /
// Number of polygon (face) to track using the line previously described
// Face described as follow : nbLine IndexLine1 indexLine2 ... indexLineN
// Number of polygon (face) to track using the line previously described
0 2 3 4 // Face described as follow : nbPoint IndexPoint1 IndexPoint2 ... IndexPointN
1 3 5 7
1 5 6 
// Number of cylinder
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.)

Parameters

_modelFile : Full name of the .CAO file containing the model.

Definition at line 839 of file vpMbTracker.cpp.

References vpException::badValue, vpMbTracker::initCylinder(), vpMbTracker::initFaceFromCorners(), vpException::ioError, vpPoint::setWorldCoordinates(), and vpTRACE.

Referenced by vpMbTracker::loadModel().

void vpMbEdgeTracker::loadConfigFile ( const std::string & _filename )

virtual

Load the xml configuration file. From the configuration file parameters write initialize the corresponding objects (Ecm, camera).

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

Parameters

_filename : full name of the xml file.

Implements vpMbTracker.

Examples:: mbtTracking.cpp.

Definition at line 913 of file vpMbEdgeTracker.cpp.

void vpMbEdgeTracker::loadConfigFile ( const char * filename )

Load the xml configuration file. From the configuration file parameters initialize the corresponding objects (Ecm, 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

filename : full name of the xml file.

See also: vpXmlParser::cleanup()

Definition at line 933 of file vpMbEdgeTracker.cpp.

References vpException::ioError, setCameraParameters(), setMovingEdge(), vpERROR_TRACE, and vpTRACE.

void vpMbEdgeTracker::loadModel ( const std::string & file )

virtual

Load a 3D model contained in a file.

Parameters

file	: Full name the file containing the 3D model description. The extension of this file is either .wrl or .cao.

See also: vpMbTracker::loadModel()

Reimplemented from vpMbTracker.

Examples:: mbtTracking.cpp.

Definition at line 1403 of file vpMbEdgeTracker.cpp.

References vpMbTracker::loadModel().

Referenced by reInitModel().

void vpMbEdgeTracker::loadModel ( const char * file )

Load a 3D model contained in a file. This file is either a vrml or a cao file.

Parameters

file	: Full name the file containing the 3D model description. The extension of this file is either .wrl or .cao.

See also: vpMbTracker::loadModel()

Definition at line 1388 of file vpMbEdgeTracker.cpp.

References vpMbTracker::loadModel().

void vpMbTracker::loadVRMLModel ( const std::string & _modelFile )

protectedvirtualinherited

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

Warning: 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 734 of file vpMbTracker.cpp.

References vpMbTracker::coinUsed, vpMbTracker::extractCylinders(), vpMbTracker::extractFaces(), vpMbTracker::extractLines(), vpException::fatalError, and vpERROR_TRACE.

Referenced by vpMbTracker::loadModel().

void vpMbEdgeTracker::reInitLevel ( const unsigned int _lvl )

protected

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

Parameters

_lvl	: The level to re-initialise.

Definition at line 1889 of file vpMbEdgeTracker.cpp.

References vpMbTracker::cMo, cylinders, Ipyramid, lines, scaleLevel, trackMovingEdge(), and updateMovingEdge().

Referenced by track().

void vpMbEdgeTracker::reInitModel	(	const vpImage< unsigned char > &	_I,
		const char *	_cad_name,
		const vpHomogeneousMatrix &	_cMo
	)

Re-initialise 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

Definition at line 1504 of file vpMbEdgeTracker.cpp.

References vpMbTracker::initFromPose(), loadModel(), and resetTracker().

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

protected

Reinitialize the lines if it is required.

A line is reinitialized if the 2D line do not match enough with the projected 3D line.

Parameters

I	: the image.
_cMo	: the pose of the used to re-initialise the moving edges

Definition at line 1150 of file vpMbEdgeTracker.cpp.

References cylinders, lines, and scaleLevel.

Referenced by track().

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

protected

Remove a cylinder by its name.

Parameters

name	: The name of the cylinder to remove.

Definition at line 1312 of file vpMbEdgeTracker.cpp.

References cylinders, and scales.

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

protected

Remove a line using its name.

Parameters

name	: The name of the line to remove.

Definition at line 1244 of file vpMbEdgeTracker.cpp.

References lines, and scales.

void vpMbEdgeTracker::resetTracker ( )

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.

Definition at line 1456 of file vpMbEdgeTracker.cpp.

References vpMbTracker::cMo, compute_interaction, cylinders, faces, index_polygon, lambda, lines, nbvisiblepolygone, ncylinder, nline, percentageGdPt, scales, vpHomogeneousMatrix::setIdentity(), and setScales().

Referenced by reInitModel().

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 662 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::initClick().

virtual void vpMbEdgeTracker::setCameraParameters ( const vpCameraParameters & _cam )

inlinevirtual

Set the camera parameters.

Parameters

_cam	: the new camera parameters

Reimplemented from vpMbTracker.

Definition at line 372 of file vpMbEdgeTracker.h.

Referenced by loadConfigFile().

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 196 of file vpMbTracker.h.

void vpMbEdgeTracker::setDisplayMovingEdges ( const bool displayMe )

inline

Enable to display the points along the line with a color corresponding to their state.

If green : The vpMeSite is a good point.
If blue : The point is removed because of the vpMeSite tracking phase (constrast problem).
If purple : The point is removed because of the vpMeSite tracking phase (threshold problem).
If red : The point is removed because of the robust method in the virtual visual servoing.

Parameters

displayMe : set it to true to display the points.

Examples:: mbtTracking.cpp.

Definition at line 328 of file vpMbEdgeTracker.h.

void vpMbEdgeTracker::setFirstThreshold ( const double threshold1 )

inline

Set the first threshold used to check if the tracking failed. It corresponds to the percentage of good point which is necessary.

The condition which has to be be satisfied is the following : $nbGoodPoint > threshold1 \times (nbGoodPoint + nbBadPoint)$ .

The threshold is ideally between 0 and 1.

Parameters

threshold1 : The new value of the threshold.

Definition at line 339 of file vpMbEdgeTracker.h.

void vpMbEdgeTracker::setLambda ( const double lambda )

inline

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

Parameters

lambda : the desired value for the gain.

Definition at line 300 of file vpMbEdgeTracker.h.

void vpMbEdgeTracker::setMovingEdge ( const vpMe & _me )

Set the moving edge parameters.

Parameters

_me	: an instance of vpMe containing all the desired parameters

Definition at line 136 of file vpMbEdgeTracker.cpp.

References cylinders, lines, me, and scales.

Referenced by loadConfigFile().

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 242 of file vpMbTracker.h.

void vpMbEdgeTracker::setScales ( const std::vector< bool > & _scales )

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

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

Warning: This method must be used before the tracker has been initialised ( before the call of the loadConfigFile() or loadModel() methods).; At least one level must be activated.

Parameters

_scales : The vector describing the levels to use.

Definition at line 1610 of file vpMbEdgeTracker.cpp.

References cylinders, lines, scales, and vpERROR_TRACE.

Referenced by resetTracker().

void vpMbEdgeTracker::testTracking ( )

protectedvirtual

Check if the tracking failed.

Exceptions

vpTrackingException::fatalError if the test fails.

Implements vpMbTracker.

Definition at line 706 of file vpMbEdgeTracker.cpp.

References cylinders, vpTrackingException::fatalError, vpMeSite::getState(), lines, vpMeSite::NO_SUPPRESSION, percentageGdPt, and scaleLevel.

Referenced by track().

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

virtual

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

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

Parameters

I	: The image.

Implements vpMbTracker.

Examples:: mbtTracking.cpp.

Definition at line 766 of file vpMbEdgeTracker.cpp.

References cleanPyramid(), vpMbTracker::cMo, computeVVS(), cylinders, displayMe, downScale(), vpTrackingException::fatalError, vpException::fatalError, initMovingEdge(), initPyramid(), Ipyramid, lines, reInitLevel(), reinitMovingEdge(), scales, testTracking(), trackMovingEdge(), updateMovingEdge(), upScale(), visibleFace(), and vpTRACE.

void vpMbEdgeTracker::trackMovingEdge ( const vpImage< unsigned char > & I )

protected

Track the moving edges in the image.

Parameters

I	: the image.

Definition at line 1088 of file vpMbEdgeTracker.cpp.

References vpMbTracker::cMo, cylinders, lines, and scaleLevel.

Referenced by reInitLevel(), and track().

void vpMbEdgeTracker::updateMovingEdge ( const vpImage< unsigned char > & I )

protected

Update the moving edges at the end of the virtual visual servoing.

Parameters

I	: the image.

Definition at line 1118 of file vpMbEdgeTracker.cpp.

References vpMbTracker::cMo, cylinders, lines, and scaleLevel.

Referenced by reInitLevel(), and track().

void vpMbEdgeTracker::upScale ( const unsigned int _scale )

protected

Modify the camera parameters to have them corresponding to the current scale. The new parameters are multiplied by $2^{\_scale}$ .

Parameters

_scale : Scale to use.

Definition at line 1866 of file vpMbEdgeTracker.cpp.

References vpMbTracker::cam, vpCameraParameters::get_K(), vpCameraParameters::initFromCalibrationMatrix(), and scaleLevel.

Referenced by addCylinder(), addLine(), and track().

void vpMbEdgeTracker::visibleFace	(	const vpHomogeneousMatrix &	cMo,
		bool &	newvisibleline
	)

protected

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

Warning: If in one iteration one face appears and one disappears, then the function will not detect the new face.

Parameters

cMo	: The pose of the camera used to project the 3D model into the image.
newvisibleline	: This parameter is set to true if a new face appeared.

Definition at line 1361 of file vpMbEdgeTracker.cpp.

References faces, and nbvisiblepolygone.

Referenced by track().

Member Data Documentation

vpCameraParameters vpMbTracker::cam

protectedinherited

The camera parameters.

Definition at line 99 of file vpMbTracker.h.

Referenced by addCylinder(), addLine(), computeVVS(), downScale(), vpMbTracker::initClick(), vpMbTracker::initFromPoints(), and upScale().

bool vpMbTracker::cameraInitialised

protectedinherited

Flag used to ensure that the camera is set before the initialisation.

Definition at line 107 of file vpMbTracker.h.

Referenced by vpMbTracker::vpMbTracker().

vpHomogeneousMatrix vpMbTracker::cMo

protectedinherited

The current pose.

Definition at line 101 of file vpMbTracker.h.

Referenced by computeVVS(), init(), vpMbTracker::initClick(), vpMbTracker::initFromPoints(), vpMbTracker::initFromPose(), reInitLevel(), resetTracker(), vpMbTracker::savePose(), track(), trackMovingEdge(), and updateMovingEdge().

bool vpMbTracker::coinUsed

protectedinherited

Flag used to specify that the Coin library has been loaded in order to load a vrml model (used to free the memory).

Definition at line 109 of file vpMbTracker.h.

Referenced by vpMbTracker::loadVRMLModel(), vpMbTracker::vpMbTracker(), and vpMbTracker::~vpMbTracker().

int vpMbEdgeTracker::compute_interaction

protected

If this flag is true, the interaction matrix extracted from the FeatureSet is computed at each iteration in the visual servoing loop.

Definition at line 251 of file vpMbEdgeTracker.h.

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

bool vpMbTracker::computeCovariance

protectedinherited

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

Definition at line 113 of file vpMbTracker.h.

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

vpMatrix vpMbTracker::covarianceMatrix

protectedinherited

Covariance matrix.

Definition at line 115 of file vpMbTracker.h.

Referenced by computeVVS().

std::vector< std::list< vpMbtDistanceCylinder*> > vpMbEdgeTracker::cylinders

protected

Vector of the tracked cylinders.

Definition at line 260 of file vpMbEdgeTracker.h.

Referenced by addCylinder(), computeVVS(), display(), getLcylinder(), getNbPoints(), initMovingEdge(), reInitLevel(), reinitMovingEdge(), removeCylinder(), resetTracker(), setMovingEdge(), setScales(), testTracking(), track(), trackMovingEdge(), updateMovingEdge(), vpMbEdgeTracker(), and ~vpMbEdgeTracker().

bool vpMbEdgeTracker::displayMe

protected

If true, the moving edges are displayed during the track() method.

Definition at line 276 of file vpMbEdgeTracker.h.

Referenced by track(), and vpMbEdgeTracker().

vpMbtHiddenFaces vpMbEdgeTracker::faces

protected

Set of faces describing the object.

Definition at line 271 of file vpMbEdgeTracker.h.

Referenced by addLine(), addPolygon(), getNbPolygon(), getPolygon(), resetTracker(), and visibleFace().

int vpMbEdgeTracker::index_polygon

protected

Index of the polygon to add, and total number of polygon extracted so far. Cannot be unsigned because the default index of a polygon is -1.

Definition at line 269 of file vpMbEdgeTracker.h.

Referenced by addPolygon(), resetTracker(), and vpMbEdgeTracker().

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

protected

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

Definition at line 285 of file vpMbEdgeTracker.h.

Referenced by reInitLevel(), track(), vpMbEdgeTracker(), and ~vpMbEdgeTracker().

double vpMbEdgeTracker::lambda

protected

The gain of the virtual visual servoing stage.

Definition at line 253 of file vpMbEdgeTracker.h.

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

std::vector< std::list< vpMbtDistanceLine*> > vpMbEdgeTracker::lines

protected

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

Definition at line 258 of file vpMbEdgeTracker.h.

Referenced by addLine(), computeVVS(), display(), getLline(), getNbPoints(), initMovingEdge(), reInitLevel(), reinitMovingEdge(), removeLine(), resetTracker(), setMovingEdge(), setScales(), testTracking(), track(), trackMovingEdge(), updateMovingEdge(), vpMbEdgeTracker(), and ~vpMbEdgeTracker().

vpMe vpMbEdgeTracker::me

protected

The moving edges parameters.

Definition at line 256 of file vpMbEdgeTracker.h.

Referenced by addCylinder(), addLine(), and setMovingEdge().

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 103 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 105 of file vpMbTracker.h.

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

unsigned int vpMbEdgeTracker::nbvisiblepolygone

protected

Number of polygon (face) currently visible.

Definition at line 273 of file vpMbEdgeTracker.h.

Referenced by resetTracker(), visibleFace(), and vpMbEdgeTracker().

unsigned int vpMbEdgeTracker::ncylinder

protected

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

Definition at line 266 of file vpMbEdgeTracker.h.

Referenced by addCylinder(), initCylinder(), resetTracker(), and vpMbEdgeTracker().

unsigned int vpMbEdgeTracker::nline

protected

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

Definition at line 263 of file vpMbEdgeTracker.h.

Referenced by addLine(), resetTracker(), and vpMbEdgeTracker().

double vpMbEdgeTracker::percentageGdPt

protected

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

Definition at line 279 of file vpMbEdgeTracker.h.

Referenced by resetTracker(), testTracking(), and vpMbEdgeTracker().

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 111 of file vpMbTracker.h.

Referenced by vpMbTracker::initClick().

unsigned int vpMbEdgeTracker::scaleLevel

protected

Current scale level used. This attribute must not be modified outsied of the downScale() and upScale() methods, as it used to specify to some methods which set of distanceLine use.

Definition at line 288 of file vpMbEdgeTracker.h.

Referenced by computeVVS(), display(), downScale(), initMovingEdge(), reInitLevel(), reinitMovingEdge(), testTracking(), trackMovingEdge(), updateMovingEdge(), and upScale().

std::vector<bool> vpMbEdgeTracker::scales

protected

Vector of scale level to use for the multi-scale tracking.

Definition at line 282 of file vpMbEdgeTracker.h.

Referenced by addCylinder(), addLine(), display(), getLcylinder(), getLline(), getNbPoints(), initPyramid(), removeCylinder(), removeLine(), resetTracker(), setMovingEdge(), setScales(), track(), vpMbEdgeTracker(), and ~vpMbEdgeTracker().

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