#include <vpMbTracker.h>

Inheritance diagram for vpMbTracker:

Public Member Functions
	vpMbTracker ()

virtual	~vpMbTracker ()

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	init (const vpImage< unsigned char > &_I)=0

virtual void	testTracking ()=0

virtual void	loadConfigFile (const std::string &_configFile)=0

virtual void	track (const vpImage< unsigned char > &_I)=0

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

virtual 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)=0

virtual void	setCameraParameters (const vpCameraParameters &_cam)

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)

Protected Member Functions
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)

virtual void	initFaceFromCorners (const std::vector< vpPoint > &_corners, const unsigned int _indexFace=-1)=0

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

Deprecated functions
virtual void	init (const vpImage< unsigned char > &_I, const vpHomogeneousMatrix &_c0Mo)=0

Protected Attributes
vpCameraParameters	cam

vpHomogeneousMatrix	cMo

std::string	modelFileName

bool	modelInitialised

bool	cameraInitialised

bool	coinUsed

std::string	poseSavingFilename

bool	computeCovariance

vpMatrix	covarianceMatrix

Detailed Description

Main methods for a model-based tracker.

This class provides the main methods for a model based tracker. This pure virtual class must be used in inheritance for a tracker that compute the interaction matrix and the residu vector using a defined information (edge, points of interest, patch, ...)

This class intends to define a common basis for object tracking. This is realised by implementing the main functions:

init() : Initialisation of the tracker (it includes re-initialisation). This method is called at the end of the initClick() method.
initFaceFromCorners() : Initialisation of a face using its corners.
track() : Tracking on the current image
testTracking() : Test the tracking. This method throws exception if the tracking failed.
display() : Display the model and eventually other informations.

In addition, two flags are declared in this class and may have to be initialised in the child class :

modelInitialised : flag to ensure that the model has been loaded.
cameraInitialised : flag to ensure that camera parameters have been initialised (either by loading them from a configuration file or by setting them with the setCameraParameters() method).

Definition at line 95 of file vpMbTracker.h.

Constructor & Destructor Documentation

vpMbTracker::vpMbTracker ( )

Basic constructor. Set default values.

Definition at line 94 of file vpMbTracker.cpp.

References cameraInitialised, coinUsed, computeCovariance, and modelInitialised.

vpMbTracker::~vpMbTracker ( )

virtual

Basic destructor.

Definition at line 106 of file vpMbTracker.cpp.

References coinUsed.

Member Function Documentation

void vpMbTracker::computeJTR	(	const vpMatrix &	_interaction,
		const vpColVector &	_error,
		vpMatrix &	_JTR
	)

protected

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 vpMbEdgeTracker::computeVVS().

virtual void vpMbTracker::display	(	const vpImage< unsigned char > &	_I,
		const vpHomogeneousMatrix &	_cMo,
		const vpCameraParameters &	_cam,
		const vpColor &	_col,
		const unsigned int	_l = `1`,
		const bool	displayFullModel = `false`
	)

pure virtual

Display the 3D model at a given position using the given camera parameters on a grey level image.

Parameters

_I	: The image.
_cMo	: Pose used to project the 3D model into the image.
_cam	: The camera parameters.
_col	: The desired color.
_l	: The thickness of the lines.
displayFullModel	: If true, the full model is displayed (even the non visible surfaces).

Implemented in vpMbEdgeTracker.

Referenced by initClick().

void vpMbTracker::extractCylinders ( SoVRMLIndexedFaceSet * _face_set )

protectedvirtual

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(), getGravityCenter(), initCylinder(), vpMath::maximum(), vpPoint::setWorldCoordinates(), and vpMatrix::sumSquare().

Referenced by loadVRMLModel().

void vpMbTracker::extractFaces ( SoVRMLIndexedFaceSet * _face_set )

protectedvirtual

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

Referenced by loadVRMLModel().

void vpMbTracker::extractLines ( SoVRMLIndexedLineSet * _line_set )

protectedvirtual

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

Referenced by loadVRMLModel().

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

inlinevirtual

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

inlinevirtual

Get the covariance matrix.

Definition at line 208 of file vpMbTracker.h.

References vpTRACE.

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

protected

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 extractCylinders().

void vpMbTracker::getPose ( vpHomogeneousMatrix & _cMo ) const

inline

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

inline

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.

virtual void vpMbTracker::init ( const vpImage< unsigned char > & _I )

pure virtual

Initialise the tracking.

Parameters

_I	: Input image.

Referenced by initClick(), initFromPoints(), and initFromPose().

virtual void vpMbTracker::init	(	const vpImage< unsigned char > &	_I,
		const vpHomogeneousMatrix &	_c0Mo
	)

protectedpure virtual

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

Initialise the tracking using the known pose cMo.

Parameters

_I	: Input image.
_c0Mo	: Initial pose between the camera and the object.

Implemented in vpMbEdgeTracker.

void vpMbTracker::initClick	(	const vpImage< unsigned char > &	_I,
		const std::string &	_initFile,
		const bool	_displayHelp = `false`
	)

virtual

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, cam, vpPose::clearPoint(), cMo, vpPose::computePose(), vpPose::computeResidual(), vpPixelMeterConversion::convertPoint(), vpPose::DEMENTHON, display(), vpDisplay::display(), vpDisplay::displayCharString(), vpDisplay::displayCross(), vpDisplay::displayFrame(), vpDisplay::displayPoint(), vpDisplay::flush(), vpDisplay::getClick(), vpColor::green, init(), vpDisplayOpenCV::init(), vpException::ioError, vpPose::LAGRANGE, poseSavingFilename, vpImageIo::readPPM(), vpColor::red, 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 = `""`
	)

virtual

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

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

protectedpure virtual

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

Parameters

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

Implemented in vpMbEdgeTracker.

Referenced by extractCylinders(), and loadCAOModel().

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

protectedpure virtual

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.

Implemented in vpMbEdgeTracker.

Referenced by extractFaces(), extractLines(), and loadCAOModel().

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

virtual

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(), cam, cMo, vpPose::computePose(), vpPose::computeResidual(), vpPixelMeterConversion::convertPoint(), vpPose::DEMENTHON, 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
	)

virtual

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(), cam, cMo, vpPose::computePose(), vpPose::computeResidual(), vpPixelMeterConversion::convertPoint(), vpPose::DEMENTHON, 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
	)

virtual

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(), cMo, init(), and vpException::ioError.

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

void vpMbTracker::initFromPose	(	const vpImage< unsigned char > &	_I,
		const vpHomogeneousMatrix &	_cMo
	)

virtual

Initialise the tracking thanks to the pose.

Parameters

_I	: Input image
_cMo	: Pose matrix.

Definition at line 639 of file vpMbTracker.cpp.

References cMo, and init().

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

virtual

Initialise the tracking thanks to the pose vector.

Parameters

_I	: Input image
cPo	: Pose vector.

Definition at line 651 of file vpMbTracker.cpp.

References initFromPose().

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

protectedvirtual

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

Referenced by loadModel().

virtual void vpMbTracker::loadConfigFile ( const std::string & _configFile )

pure virtual

Load a config file to parameterise the behavior of the tracker.

Pure virtual method to adapt to each tracker.

Parameters

_configFile : the (xml) config file to parse

Implemented in vpMbEdgeTracker.

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

virtual

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

Exceptions

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

Parameters

_modelFile : the file containing the model.

Reimplemented in vpMbEdgeTracker.

Definition at line 687 of file vpMbTracker.cpp.

References vpIoTools::checkFilename(), vpException::ioError, loadCAOModel(), loadVRMLModel(), modelFileName, and modelInitialised.

Referenced by vpMbEdgeTracker::loadModel().

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

protectedvirtual

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

Referenced by loadModel().

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

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 cMo.

Referenced by initClick().

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

inlinevirtual

Set the camera parameters.

Parameters

_cam	: the new camera parameters

Reimplemented in vpMbEdgeTracker.

Definition at line 189 of file vpMbTracker.h.

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

inlinevirtual

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

inline

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.

virtual void vpMbTracker::testTracking ( )

pure virtual

Test the quality of the tracking.

Exceptions

vpException if the test fail.

Implemented in vpMbEdgeTracker.

virtual void vpMbTracker::track ( const vpImage< unsigned char > & _I )

pure virtual

Track the object in the given image

Parameters

_I	: The current image.

Implemented in vpMbEdgeTracker.

Member Data Documentation

vpCameraParameters vpMbTracker::cam

protected

The camera parameters.

Definition at line 99 of file vpMbTracker.h.

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

bool vpMbTracker::cameraInitialised

protected

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

Definition at line 107 of file vpMbTracker.h.

Referenced by vpMbTracker().

vpHomogeneousMatrix vpMbTracker::cMo

protected

The current pose.

Definition at line 101 of file vpMbTracker.h.

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

bool vpMbTracker::coinUsed

protected

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 loadVRMLModel(), vpMbTracker(), and ~vpMbTracker().

bool vpMbTracker::computeCovariance

protected

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

Definition at line 113 of file vpMbTracker.h.

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

vpMatrix vpMbTracker::covarianceMatrix

protected

Covariance matrix.

Definition at line 115 of file vpMbTracker.h.

Referenced by vpMbEdgeTracker::computeVVS().

std::string vpMbTracker::modelFileName

protected

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 loadModel().

bool vpMbTracker::modelInitialised

protected

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

Definition at line 105 of file vpMbTracker.h.

Referenced by loadModel(), and vpMbTracker().

std::string vpMbTracker::poseSavingFilename

protected

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 initClick().

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation