ViSP
2.7.0
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#include <vpMbEdgeKltTracker.h>
Public Member Functions | |
vpMbEdgeKltTracker () | |
virtual | ~vpMbEdgeKltTracker () |
virtual void | display (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, const unsigned int thickness=1, const bool displayFullModel=false) |
virtual void | display (const vpImage< vpRGBa > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, const unsigned int thickness=1, const bool displayFullModel=false) |
virtual double | getAngleAppear () |
virtual double | getAngleDisappear () |
vpMbHiddenFaces< vpMbtKltPolygon > & | getFaces () |
double | getLambda () |
unsigned int | getMaxIter () |
void | loadConfigFile (const char *configFile) |
virtual void | loadConfigFile (const std::string &configFile) |
virtual void | loadModel (const std::string &modelFile) |
void | resetTracker () |
virtual void | setAngleAppear (const double &a) |
virtual void | setAngleDisappear (const double &a) |
virtual void | setCameraParameters (const vpCameraParameters &cam) |
void | setLambda (const double lambda) |
void | setMaxIter (const unsigned int max) |
virtual void | setOgreVisibilityTest (const bool &v) |
virtual void | setPose (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cdMo) |
virtual void | testTracking () |
virtual void | track (const vpImage< unsigned char > &I) |
CvPoint2D32f * | getKltPoints () |
std::vector< vpImagePoint > | getKltImagePoints () |
std::map< int, vpImagePoint > | getKltImagePointsWithId () |
vpKltOpencv | getKltOpencv () |
unsigned int | getMaskBorder () |
int | getNbKltPoints () |
double | getThresholdAcceptation () |
void | setKltOpencv (const vpKltOpencv &t) |
void | setMaskBorder (const unsigned int &e) |
void | setThresholdAcceptation (const double th) |
virtual void | getCameraParameters (vpCameraParameters &cam) const |
virtual vpMatrix | getCovarianceMatrix () const |
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) |
void | savePose (const std::string &filename) |
virtual void | setCovarianceComputation (const bool &flag) |
void | setDisplayFeatures (const bool displayF) |
void | setPoseSavingFilename (const std::string &filename) |
double | getFirstThreshold () |
void | getLline (std::list< vpMbtDistanceLine * > &linesList, const unsigned int level=0) |
void | getLcylinder (std::list< vpMbtDistanceCylinder * > &cylindersList, const unsigned int level=0) |
void | getMovingEdge (vpMe &me) |
unsigned int | getNbPoints (const unsigned int level=0) |
unsigned int | getNbPolygon () |
vpMbtPolygon * | getPolygon (const unsigned int index) |
std::vector< bool > | getScales () const |
void | loadModel (const char *cad_name) |
void | reInitModel (const vpImage< unsigned char > &I, const char *cad_name, const vpHomogeneousMatrix &cMo) |
void | setDisplayMovingEdges (const bool displayMe) |
void | setFirstThreshold (const double threshold1) |
void | setMovingEdge (const vpMe &me) |
void | setScales (const std::vector< bool > &_scales) |
Protected Member Functions | |
void | computeVVS (const vpImage< unsigned char > &I, const unsigned int &nbInfos, vpColVector &w_mbt, vpColVector &w_klt, const unsigned int lvl=0) |
virtual void | init (const vpImage< unsigned char > &I) |
virtual void | initCylinder (const vpPoint &, const vpPoint, const double, const unsigned int) |
virtual void | initFaceFromCorners (const std::vector< vpPoint > &corners, const unsigned int indexFace=-1) |
unsigned int | initMbtTracking (const unsigned int level=0) |
bool | postTracking (const vpImage< unsigned char > &I, vpColVector &w_mbt, vpColVector &w_klt, const unsigned int lvl=0) |
void | postTrackingMbt (vpColVector &w, const unsigned int level=0) |
unsigned int | trackFirstLoop (const vpImage< unsigned char > &I, vpColVector &factor, const unsigned int lvl=0) |
void | trackSecondLoop (const vpImage< unsigned char > &I, vpMatrix &L, vpColVector &_error, vpHomogeneousMatrix &cMo, const unsigned int lvl=0) |
virtual void | reinit (const vpImage< unsigned char > &I) |
void | computeVVS (const unsigned int &nbInfos, vpColVector &w) |
void | preTracking (const vpImage< unsigned char > &I, unsigned int &nbInfos, unsigned int &nbFaceUsed) |
bool | postTracking (const vpImage< unsigned char > &I, vpColVector &w) |
void | computeJTR (const vpMatrix &J, const vpColVector &R, vpMatrix &JTR) |
virtual void | extractGroup (SoVRMLGroup *sceneGraphVRML2, vpHomogeneousMatrix &transform, unsigned int &indexFace) |
virtual void | extractFaces (SoVRMLIndexedFaceSet *face_set, vpHomogeneousMatrix &transform, unsigned int &indexFace) |
virtual void | extractLines (SoVRMLIndexedLineSet *line_set) |
virtual void | extractCylinders (SoVRMLIndexedFaceSet *face_set, vpHomogeneousMatrix &transform) |
vpPoint | getGravityCenter (const std::vector< vpPoint > &_pts) |
virtual void | loadVRMLModel (const std::string &modelFile) |
virtual void | loadCAOModel (const std::string &modelFile) |
void | addCylinder (const vpPoint &P1, const vpPoint &P2, const double r, const std::string &name="") |
void | addLine (vpPoint &p1, vpPoint &p2, int polygone=-1, std::string name="") |
void | addPolygon (vpMbtPolygon &p) |
void | cleanPyramid (std::vector< const vpImage< unsigned char > * > &_pyramid) |
void | computeVVS (const vpImage< unsigned char > &_I) |
void | downScale (const unsigned int _scale) |
void | initMovingEdge (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &_cMo) |
void | initPyramid (const vpImage< unsigned char > &_I, std::vector< const vpImage< unsigned char > * > &_pyramid) |
void | reInitLevel (const unsigned int _lvl) |
void | reinitMovingEdge (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &_cMo) |
void | removeCylinder (const std::string &name) |
void | removeLine (const std::string &name) |
void | trackMovingEdge (const vpImage< unsigned char > &I) |
void | updateMovingEdge (const vpImage< unsigned char > &I) |
void | upScale (const unsigned int _scale) |
void | visibleFace (const vpHomogeneousMatrix &_cMo, bool &newvisibleline) |
void | visibleFace (const vpImage< unsigned char > &_I, const vpHomogeneousMatrix &_cMo, bool &newvisibleline) |
Hybrid tracker based on edges (vpMbt) and points of interests (KLT)
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 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:
Finally it can be used not to track an object but just to display a model at a given pose:
Definition at line 210 of file vpMbEdgeKltTracker.h.
vpMbEdgeKltTracker::vpMbEdgeKltTracker | ( | ) |
Definition at line 43 of file vpMbEdgeKltTracker.cpp.
References compute_interaction, vpMbTracker::computeCovariance, vpMbKltTracker::faces, vpMbHiddenFaces< PolygonType >::getOgreContext(), lambda, maxIter, vpMbKltTracker::setMaxIter(), vpAROgre::setWindowName(), thresholdKLT, and thresholdMBT.
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virtual |
Basic constructor
Definition at line 63 of file vpMbEdgeKltTracker.cpp.
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protectedinherited |
Add a cylinder to the list of cylinders.
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 1386 of file vpMbEdgeTracker.cpp.
References vpMbtDistanceCylinder::buildFrom(), vpMbTracker::cam, vpMbEdgeTracker::cylinders, vpMbEdgeTracker::downScale(), vpMath::maximum(), vpMbEdgeTracker::me, vpMbEdgeTracker::ncylinder, vpMbtDistanceCylinder::p1, vpMbtDistanceCylinder::p2, vpMbtDistanceCylinder::radius, vpMbEdgeTracker::scales, vpMbtDistanceCylinder::setCameraParameters(), vpMbtDistanceCylinder::setIndex(), vpMbtDistanceCylinder::setMovingEdge(), vpMbtDistanceCylinder::setName(), and vpMbEdgeTracker::upScale().
Referenced by vpMbEdgeTracker::initCylinder().
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protectedinherited |
Add a line belonging to the 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.
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 1313 of file vpMbEdgeTracker.cpp.
References vpMbtDistanceLine::buildFrom(), vpMbTracker::cam, vpMbEdgeTracker::downScale(), vpMbEdgeTracker::faces, vpMbtDistanceLine::hiddenface, vpMbtDistanceLine::Lindex_polygon, vpMbEdgeTracker::lines, vpMbEdgeTracker::me, vpMbEdgeTracker::nline, vpMbtDistanceLine::p1, vpMbtDistanceLine::p2, vpMbEdgeTracker::scales, vpMbtDistanceLine::setCameraParameters(), vpMbtDistanceLine::setIndex(), vpMbtDistanceLine::setMovingEdge(), vpMbtDistanceLine::setName(), and vpMbEdgeTracker::upScale().
Referenced by vpMbEdgeTracker::addPolygon().
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protectedinherited |
Add a polygon to the list of polygons.
p | : The polygon to add. |
Definition at line 1448 of file vpMbEdgeTracker.cpp.
References vpMbEdgeTracker::addLine(), vpMbHiddenFaces< PolygonType >::addPolygon(), vpMbEdgeTracker::faces, vpMbtPolygon::getNbPoint(), vpMbEdgeTracker::index_polygon, vpMbtPolygon::p, and vpMbtPolygon::setIndex().
Referenced by vpMbEdgeTracker::initFaceFromCorners().
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protectedinherited |
Clean the pyramid of image allocated with the initPyramid() method. The vector has a size equal to zero at the end of the method.
_pyramid | : The pyramid of image to clean. |
Definition at line 1863 of file vpMbEdgeTracker.cpp.
Referenced by init(), vpMbEdgeTracker::init(), setPose(), vpMbEdgeTracker::track(), and vpMbEdgeTracker::~vpMbEdgeTracker().
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protectedinherited |
Compute , with J the interaction matrix and R the vector of residu.
vpMatrixException::incorrectMatrixSizeError | if the sizes of the matrices do not allow the computation. |
interaction | : The interaction matrix (size Nx6). |
error | : The residu vector (size Nx1). |
JTR | : The resulting JTR matrix (size 6x1). |
Definition at line 1312 of file vpMbTracker.cpp.
References vpMatrix::getCols(), vpMatrix::getRows(), vpMatrixException::incorrectMatrixSizeError, and vpMatrix::resize().
Referenced by computeVVS(), vpMbKltTracker::computeVVS(), and vpMbEdgeTracker::computeVVS().
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protected |
Realise the VVS loop for the tracking
I | : current image. |
nbInfos | : Size of the features. |
w_mbt | : weight vector for MBT. |
w_klt | : weight vector for KLT. |
lvl | : level of the pyramid. |
Definition at line 474 of file vpMbEdgeKltTracker.cpp.
References vpMatrix::AtA(), vpMbTracker::cam, vpMbTracker::cMo, compute_interaction, vpMbTracker::computeCovariance, vpMatrix::computeCovarianceMatrix(), vpMbTracker::computeJTR(), vpMbTracker::covarianceMatrix, vpMbKltTracker::ctTc0, vpMatrix::diag(), vpExponentialMap::direct(), vpMbKltTracker::faces, vpCameraParameters::get_px(), vpMatrix::getRows(), vpHomogeneousMatrix::inverse(), lambda, maxIter, vpRobust::MEstimator(), vpTrackingException::notEnoughPointError, vpMatrix::pseudoInverse(), vpColVector::resize(), vpRobust::resize(), vpMatrix::resize(), vpRobust::setIteration(), vpRobust::setThreshold(), vpMbHiddenFaces< PolygonType >::size(), vpMath::sqr(), vpMatrix::stackMatrices(), thresholdKLT, thresholdMBT, trackFirstLoop(), trackSecondLoop(), vpRobust::TUKEY, and vpERROR_TRACE.
Referenced by track().
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protectedinherited |
Realise the VVS loop for the tracking
nbInfos | : Size of the features |
w | : weight of the features after M-Estimation. |
Definition at line 495 of file vpMbKltTracker.cpp.
References vpMatrix::AtA(), vpMbKltTracker::c0Mo, vpMbTracker::cam, vpMbTracker::cMo, vpMbKltTracker::compute_interaction, vpMbTracker::computeCovariance, vpMatrix::computeCovarianceMatrix(), vpMbTracker::computeJTR(), vpMbTracker::covarianceMatrix, vpMbKltTracker::ctTc0, vpMatrix::diag(), vpExponentialMap::direct(), vpMbKltTracker::faces, vpCameraParameters::get_px(), vpMatrix::getRows(), vpHomogeneousMatrix::inverse(), vpMbKltTracker::lambda, vpMbKltTracker::maxIter, vpRobust::MEstimator(), vpMatrix::pseudoInverse(), vpColVector::resize(), vpMatrix::resize(), vpRobust::setIteration(), vpRobust::setThreshold(), vpMbHiddenFaces< PolygonType >::size(), and vpRobust::TUKEY.
Referenced by track(), and vpMbKltTracker::track().
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protectedinherited |
Compute the visual servoing loop to get the pose of the feature set.
vpTrackingException::notEnoughPointError | if the number of detected feature is equal to zero. |
_I | : The current image. |
Definition at line 191 of file vpMbEdgeTracker.cpp.
References vpMbTracker::cam, vpMbtDistanceLine::closeToImageBorder(), vpMbTracker::cMo, vpMbEdgeTracker::compute_interaction, vpMbTracker::computeCovariance, vpMatrix::computeCovarianceMatrix(), vpMbtDistanceLine::computeInteractionMatrixError(), vpMbtDistanceCylinder::computeInteractionMatrixError(), vpMbTracker::computeJTR(), vpMbTracker::covarianceMatrix, vpMbEdgeTracker::cylinders, vpMatrix::diag(), vpExponentialMap::direct(), vpMbtDistanceLine::error, vpMbtDistanceCylinder::error, vpCameraParameters::get_px(), vpMeTracker::getMeList(), vpMatrix::getRows(), vpMeSite::getState(), vpMbtDistanceLine::hiddenface, vpMbtDistanceLine::initInteractionMatrixError(), vpMbtDistanceCylinder::initInteractionMatrixError(), vpHomogeneousMatrix::inverse(), vpMbHiddenFaces< PolygonType >::isAppearing(), vpMbtDistanceLine::L, vpMbtDistanceCylinder::L, vpMbEdgeTracker::lambda, vpMbtDistanceLine::Lindex_polygon, vpMbEdgeTracker::lines, vpMeSite::M_ESTIMATOR, vpMbtDistanceLine::meline, vpMbtDistanceCylinder::meline1, vpMbtDistanceCylinder::meline2, vpRobust::MEstimator(), vpMbtDistanceLine::nbFeature, vpMbtDistanceCylinder::nbFeature, vpMbtDistanceCylinder::nbFeaturel1, vpMbtDistanceCylinder::nbFeaturel2, vpMeSite::NO_SUPPRESSION, vpTrackingException::notEnoughPointError, vpMatrix::pseudoInverse(), vpMbtDistanceLine::Reinit, vpMbtDistanceCylinder::Reinit, vpColVector::resize(), vpMbEdgeTracker::scaleLevel, vpRobust::setIteration(), vpMbtDistanceLine::setMeanWeight(), vpMbtDistanceCylinder::setMeanWeight1(), vpMbtDistanceCylinder::setMeanWeight2(), vpMeSite::setState(), vpRobust::setThreshold(), vpMath::sign(), vpMath::sqr(), vpRobust::TUKEY, and vpERROR_TRACE.
Referenced by vpMbEdgeTracker::track().
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Display the 3D model at a given position using the given 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 | : boolean to say if all the model has to be displayed. |
Reimplemented from vpMbEdgeTracker.
Definition at line 848 of file vpMbEdgeKltTracker.cpp.
References vpMbEdgeTracker::cylinders, vpMbKltTracker::display(), vpMbEdgeTracker::scaleLevel, and vpMbEdgeTracker::scales.
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Display the 3D model at a given position using the given camera parameters
I | : The color image. |
cMo | : Pose used to project the 3D model into the image. |
cam | : The camera parameters. |
col | : The desired color. |
thickness | : The thickness of the lines. |
displayFullModel | : boolean to say if all the model has to be displayed. |
Reimplemented from vpMbEdgeTracker.
Definition at line 874 of file vpMbEdgeKltTracker.cpp.
References vpMbEdgeTracker::cylinders, vpMbKltTracker::display(), vpMbEdgeTracker::scaleLevel, and vpMbEdgeTracker::scales.
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protectedinherited |
Modify the camera parameters to have them corresponding to the current scale. The new parameters are divided by .
_scale | : Scale to use. |
Definition at line 1932 of file vpMbEdgeTracker.cpp.
References vpMbTracker::cam, vpCameraParameters::get_K(), vpCameraParameters::initFromCalibrationMatrix(), and vpMbEdgeTracker::scaleLevel.
Referenced by vpMbEdgeTracker::addCylinder(), vpMbEdgeTracker::addLine(), init(), vpMbEdgeTracker::init(), setPose(), and vpMbEdgeTracker::track().
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protectedvirtualinherited |
Extract a cylinder to track from the VMRL model. This method calls the initCylinder() method implemented in the child class.
face_set | : Pointer to the cylinder in the vrml format. |
transform | : Transformation matrix applied to the cylinder. |
Definition at line 1161 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::extractGroup().
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protectedvirtualinherited |
Extract a face of the object to track from the VMRL model. This method calls the initFaceFromCorners() method implemented in the child class.
face_set | : Pointer to the face in the vrml format. |
transform | : Transformation matrix applied to the face. |
indexFace | : Face index. |
Definition at line 1107 of file vpMbTracker.cpp.
References vpMbTracker::initFaceFromCorners(), and vpPoint::setWorldCoordinates().
Referenced by vpMbTracker::extractGroup().
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protectedvirtualinherited |
Extract a VRML object Group.
sceneGraphVRML2 | : Current node (either Transform, or Group node). |
transform | : Transformation matrix for this group. |
indexFace | : Index of the face. |
Definition at line 1020 of file vpMbTracker.cpp.
References vpMbTracker::extractCylinders(), vpMbTracker::extractFaces(), and vpMbTracker::extractLines().
Referenced by vpMbTracker::loadVRMLModel().
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protectedvirtualinherited |
Extract a line of the object to track from the VMRL model. This method calls the initFaceFromCorners() method implemented in the child class.
line_set | : Pointer to the line in the vrml format. |
Definition at line 1257 of file vpMbTracker.cpp.
References vpMbTracker::initFaceFromCorners(), and vpPoint::setWorldCoordinates().
Referenced by vpMbTracker::extractGroup().
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inlinevirtual |
Return the angle used to test polygons apparition.
Reimplemented from vpMbEdgeTracker.
Definition at line 235 of file vpMbEdgeKltTracker.h.
References vpMbKltTracker::getAngleAppear().
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Return the angle used to test polygons disparition.
Reimplemented from vpMbEdgeTracker.
Definition at line 238 of file vpMbEdgeKltTracker.h.
References vpMbKltTracker::getAngleDisappear().
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inlinevirtualinherited |
Get the camera parameters.
cam | : copy of the camera parameters used by the tracker. |
Definition at line 160 of file vpMbTracker.h.
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inlinevirtualinherited |
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inline |
Return a reference to the faces structure.
Definition at line 241 of file vpMbEdgeKltTracker.h.
References vpMbKltTracker::faces.
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inlineinherited |
Definition at line 340 of file vpMbEdgeTracker.h.
Compute the center of gravity of a set of point. This is used in the cylinder extraction to find the center of the circles.
vpException::dimensionError | if the set is empty. |
pts | : Set of point to extract the center of gravity. |
Definition at line 1228 of file vpMbTracker.cpp.
References vpException::dimensionError, vpPoint::get_oX(), and vpPoint::setWorldCoordinates().
Referenced by vpMbTracker::extractCylinders().
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inherited |
Get the current list of KLT points.
Definition at line 200 of file vpMbKltTracker.cpp.
References vpKltOpencv::getFeature(), vpKltOpencv::getNbFeatures(), and vpMbKltTracker::tracker.
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inherited |
Get the current list of KLT points and their id.
Definition at line 221 of file vpMbKltTracker.cpp.
References vpKltOpencv::getFeature(), vpKltOpencv::getNbFeatures(), and vpMbKltTracker::tracker.
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inlineinherited |
Get the klt tracker at the current state.
Definition at line 292 of file vpMbKltTracker.h.
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inlineinherited |
Get the current list of KLT points.
Definition at line 281 of file vpMbKltTracker.h.
References vpKltOpencv::getFeatures().
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inline |
Get the value of the gain used to compute the control law.
Definition at line 248 of file vpMbEdgeKltTracker.h.
References vpMbEdgeTracker::lambda.
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inherited |
Get the list of the cylinders tracked for the specified level. Each cylinder contains the list of the vpMeSite.
vpException::dimensionError | if the second parameter does not correspond to an used level. |
level | : Level corresponding to the list to return. |
cylindersList | : The list of the cylinders of the model. |
Definition at line 1912 of file vpMbEdgeTracker.cpp.
References vpMbEdgeTracker::cylinders, vpException::dimensionError, and vpMbEdgeTracker::scales.
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inherited |
Get the list of the lines tracked for the specified level. Each line contains the list of the vpMeSite.
vpException::dimensionError | if the second parameter does not correspond to an used level. |
level | : Level corresponding to the list to return. |
linesList | : The list of the lines of the model. |
Definition at line 1888 of file vpMbEdgeTracker.cpp.
References vpException::dimensionError, vpMbEdgeTracker::lines, and vpMbEdgeTracker::scales.
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inlineinherited |
Get the erosion of the mask used on the Model faces.
Definition at line 306 of file vpMbKltTracker.h.
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inline |
Get the maximum iteration of the virtual visual servoing stage.
Definition at line 255 of file vpMbEdgeKltTracker.h.
References vpMbKltTracker::maxIter.
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inlineinherited |
Get the moving edge parameters.
Definition at line 350 of file vpMbEdgeTracker.h.
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inlineinherited |
Get the current number of klt points.
Definition at line 320 of file vpMbKltTracker.h.
References vpKltOpencv::getNbFeatures().
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inherited |
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.
vpException::dimensionError | if level does not represent a used level. |
Definition at line 1687 of file vpMbEdgeTracker.cpp.
References vpMbEdgeTracker::cylinders, vpException::dimensionError, vpMeTracker::getMeList(), vpMbtDistanceLine::isVisible(), vpMbEdgeTracker::lines, vpMbtDistanceLine::meline, vpMbtDistanceCylinder::meline1, vpMbtDistanceCylinder::meline2, vpMeSite::NO_SUPPRESSION, and vpMbEdgeTracker::scales.
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inherited |
Get the number of polygon (face) representing the object to track.
Definition at line 1748 of file vpMbEdgeTracker.cpp.
References vpMbEdgeTracker::faces, and vpMbHiddenFaces< PolygonType >::size().
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inherited |
Return the polygon (face) "index".
vpException::dimensionError | if index does not represent a good polygon. |
index | : Index of the polygon to return. |
Definition at line 1733 of file vpMbEdgeTracker.cpp.
References vpException::dimensionError, vpMbEdgeTracker::faces, and vpMbHiddenFaces< PolygonType >::size().
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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.
cMo | : the pose |
Definition at line 179 of file vpMbTracker.h.
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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.
Definition at line 188 of file vpMbTracker.h.
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inlineinherited |
Return the scales levels used for the tracking.
Definition at line 361 of file vpMbEdgeTracker.h.
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inlineinherited |
Get the threshold for the acceptation of a point.
Definition at line 327 of file vpMbKltTracker.h.
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protectedvirtual |
Initialisation of the tracker using a known initial pose. The 3D model must first have been loaded.
I | : Input image. |
Reimplemented from vpMbEdgeTracker.
Definition at line 74 of file vpMbEdgeKltTracker.cpp.
References vpMbEdgeTracker::cleanPyramid(), vpMbTracker::cMo, vpMbEdgeTracker::downScale(), vpMbKltTracker::faces, vpMbEdgeTracker::faces, vpMbKltTracker::init(), vpMbEdgeTracker::initMovingEdge(), vpMbEdgeTracker::initPyramid(), vpMbEdgeTracker::Ipyramid, vpMbEdgeTracker::nbvisiblepolygone, vpMbEdgeTracker::scales, vpMbHiddenFaces< PolygonType >::size(), and vpMbEdgeTracker::upScale().
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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):
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. |
vpException::ioError | : The file specified in initFile doesn't exist. |
Definition at line 148 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, vpDisplayOpenCV::init(), vpMbTracker::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.
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virtualinherited |
Initialise the tracking by clicking on the image points corresponding to the 3D points (object frame) in the list points3D_list.
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 364 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, vpDisplayOpenCV::init(), vpMbTracker::init(), vpPose::LAGRANGE, vpImageIo::readPPM(), vpColor::red, vpPoint::set_x(), vpPoint::set_y(), and vpPose::VIRTUAL_VS.
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protectedvirtual |
Add a cylinder to track from tow points on the axis (defining the length of the cylinder) and its radius.
_p1 | : First point on the axis. |
_p2 | : Second point on the axis. |
_radius | : Radius of the cylinder. |
_indexCylinder | : Index of the cylinder. |
Reimplemented from vpMbEdgeTracker.
Definition at line 832 of file vpMbEdgeKltTracker.cpp.
References vpMbEdgeTracker::initCylinder().
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protectedvirtual |
Initialise a new face from the coordinates given in parameter.
corners | : Coordinates of the corners of the face in the object frame. |
indexFace | : index of the face (depends on the vrml file organisation). |
Reimplemented from vpMbEdgeTracker.
Definition at line 816 of file vpMbEdgeKltTracker.cpp.
References vpMbKltTracker::initFaceFromCorners(), and vpMbEdgeTracker::initFaceFromCorners().
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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):
I | : Input image |
initFile | : Path to the file containing all the points. |
Definition at line 481 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.
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virtualinherited |
Initialise the tracking with the list of image points (points2D_list) and the list of corresponding 3D points (object frame) (points3D_list).
I | : Input image |
points2D_list | : List of image points. |
points3D_list | : List of 3D points (object frame). |
Definition at line 560 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.
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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):
Where the three firsts lines refer to the translation and the three last to the rotation in thetaU parametrisation (see vpThetaUVector).
I | : Input image |
initFile | : Path to the file containing the pose. |
Definition at line 615 of file vpMbTracker.cpp.
References vpHomogeneousMatrix::buildFrom(), vpMbTracker::cMo, vpMbTracker::init(), and vpException::ioError.
Referenced by vpMbTracker::initFromPose(), and vpMbEdgeTracker::reInitModel().
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virtualinherited |
Initialise the tracking thanks to the pose.
I | : Input image |
cMo | : Pose matrix. |
Definition at line 650 of file vpMbTracker.cpp.
References vpMbTracker::cMo, and vpMbTracker::init().
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virtualinherited |
Initialise the tracking thanks to the pose vector.
I | : Input image |
cPo | : Pose vector. |
Definition at line 662 of file vpMbTracker.cpp.
References vpMbTracker::initFromPose().
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protected |
Definition at line 168 of file vpMbEdgeKltTracker.cpp.
References vpMbEdgeTracker::cylinders, vpException::dimensionError, vpMbtDistanceLine::initInteractionMatrixError(), vpMbtDistanceCylinder::initInteractionMatrixError(), vpMbEdgeTracker::lines, vpMbtDistanceLine::nbFeature, vpMbtDistanceCylinder::nbFeature, and vpMbEdgeTracker::scales.
Referenced by trackFirstLoop().
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protectedinherited |
Initialize the moving edge thanks to a given pose of the camera. The 3D model is projected into the image to create moving edges along the lines.
I | : The image. |
_cMo | : The pose of the camera used to initialize the moving edges. |
Definition at line 1146 of file vpMbEdgeTracker.cpp.
References vpMbEdgeTracker::cylinders, vpMbtDistanceLine::hiddenface, vpMbtDistanceLine::initMovingEdge(), vpMbtDistanceCylinder::initMovingEdge(), vpMbHiddenFaces< PolygonType >::isVisible(), vpMbtDistanceLine::Lindex_polygon, vpMbEdgeTracker::lines, vpMbtDistanceLine::meline, vpMbtDistanceCylinder::meline1, vpMbtDistanceCylinder::meline2, vpMbEdgeTracker::scaleLevel, and vpMbtDistanceLine::setVisible().
Referenced by init(), vpMbEdgeTracker::init(), postTracking(), setPose(), and vpMbEdgeTracker::track().
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protectedinherited |
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.
_I | : The input image. |
_pyramid | : The pyramid of image to build from the input image. |
Definition at line 1817 of file vpMbEdgeTracker.cpp.
References vpImage< Type >::bitmap, vpImageConvert::convert(), vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), and vpMbEdgeTracker::scales.
Referenced by init(), vpMbEdgeTracker::init(), setPose(), and vpMbEdgeTracker::track().
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protectedvirtualinherited |
Load a 3D model contained in a .cao file.
the structure of the file is (without the comments) :
modelFile | : Full name of the .CAO file containing the model. |
Definition at line 822 of file vpMbTracker.cpp.
References vpException::badValue, vpMbTracker::initCylinder(), vpMbTracker::initFaceFromCorners(), vpException::ioError, vpPoint::setWorldCoordinates(), and vpTRACE.
Referenced by vpMbTracker::loadModel().
void vpMbEdgeKltTracker::loadConfigFile | ( | const char * | configFile | ) |
Load the xml configuration file. From the configuration file initialize the parameters corresponding to the objects: moving-edges, KLT, camera.
vpException::ioError | if the file has not been properly parsed (file not found or wrong format for the data). |
configFile | : full name of the xml file. |
The XML configuration file has the following form:
Definition at line 272 of file vpMbEdgeKltTracker.cpp.
References vpMbKltTracker::loadConfigFile(), vpMbEdgeTracker::loadConfigFile(), and vpTRACE.
Referenced by loadConfigFile().
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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: moving-edges, KLT, camera.
configFile | : full name of the xml file. |
Reimplemented from vpMbEdgeTracker.
Definition at line 205 of file vpMbEdgeKltTracker.cpp.
References loadConfigFile().
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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.
vpException::ioError | if the file cannot be open, or if its extension is not wrl or cao. |
modelFile | : the file containing the model. |
Reimplemented from vpMbEdgeTracker.
Definition at line 293 of file vpMbEdgeKltTracker.cpp.
References vpMbTracker::loadModel().
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inherited |
Load a 3D model contained in a file. This file is either a vrml or a cao file.
file | : Full name the file containing the 3D model description. The extension of this file is either .wrl or .cao. |
Definition at line 1553 of file vpMbEdgeTracker.cpp.
References vpMbTracker::loadModel().
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protectedvirtualinherited |
Load the 3D model of the object from a vrml file. Only LineSet and FaceSet are extracted from the vrml file.
vpException::fatalError | if the file cannot be open. |
modelFile | : The full name of the file containing the 3D model. |
Definition at line 745 of file vpMbTracker.cpp.
References vpMbTracker::coinUsed, vpMbTracker::extractGroup(), vpException::fatalError, and vpERROR_TRACE.
Referenced by vpMbTracker::loadModel().
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protected |
Realise the post tracking operations. Mostly visibility tests
Definition at line 302 of file vpMbEdgeKltTracker.cpp.
References vpMbTracker::cMo, vpMbEdgeTracker::cylinders, vpMbTracker::displayFeatures, vpMbtDistanceLine::displayMovingEdges(), vpMbtDistanceCylinder::displayMovingEdges(), vpMbKltTracker::faces, vpMbEdgeTracker::faces, vpMbEdgeTracker::initMovingEdge(), vpMbtDistanceLine::isVisible(), vpMbEdgeTracker::lines, vpMbEdgeTracker::nbvisiblepolygone, vpMbKltTracker::postTracking(), postTrackingMbt(), vpMbEdgeTracker::reinitMovingEdge(), vpMbHiddenFaces< PolygonType >::size(), and vpMbEdgeTracker::updateMovingEdge().
Referenced by track().
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protectedinherited |
Realise the post tracking operations. Mostly visibility tests
Definition at line 437 of file vpMbKltTracker.cpp.
References vpMbKltTracker::angleAppears, vpMbKltTracker::angleDisappears, vpMbTracker::cam, vpMbTracker::cMo, vpMbKltTracker::faces, vpMbKltTracker::percentGood, vpMbHiddenFaces< PolygonType >::setVisible(), vpMbHiddenFaces< PolygonType >::setVisibleOgre(), vpMbHiddenFaces< PolygonType >::size(), vpMbKltTracker::threshold_outlier, and vpMbKltTracker::useOgre.
Referenced by postTracking(), and vpMbKltTracker::track().
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protected |
post tracking computation. Compute the mean weight of a line and, check the weight associated to a site (to eventually remove an outlier) and eventually set a flag to re-initialise the line.
w | : Vector of weight associated to the residu. |
lvl | : Optional parameter to specify the level to track. |
Definition at line 360 of file vpMbEdgeKltTracker.cpp.
References vpMbEdgeTracker::cylinders, vpException::dimensionError, vpMeTracker::getMeList(), vpMbEdgeTracker::lines, vpMeSite::M_ESTIMATOR, vpMbtDistanceLine::meline, vpMbtDistanceCylinder::meline1, vpMbtDistanceCylinder::meline2, vpMbtDistanceLine::nbFeature, vpMbtDistanceCylinder::nbFeature, vpMbtDistanceCylinder::nbFeaturel1, vpMbtDistanceCylinder::nbFeaturel2, vpMbtDistanceLine::Reinit, vpMbtDistanceCylinder::Reinit, vpMbEdgeTracker::scales, vpMbtDistanceLine::setMeanWeight(), vpMbtDistanceCylinder::setMeanWeight1(), vpMbtDistanceCylinder::setMeanWeight2(), and vpMeSite::setState().
Referenced by postTracking().
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protectedinherited |
Realise the pre tracking operations
I | : The input image. |
nbInfos | : Size of the features. |
nbFaceUsed | : Number of face used for the tracking. |
Definition at line 411 of file vpMbKltTracker.cpp.
References vpImageConvert::convert(), vpMbKltTracker::cur, vpMbKltTracker::faces, vpMbKltTracker::firstTrack, vpMbHiddenFaces< PolygonType >::size(), vpKltOpencv::track(), and vpMbKltTracker::tracker.
Referenced by track(), and vpMbKltTracker::track().
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protectedvirtualinherited |
Definition at line 117 of file vpMbKltTracker.cpp.
References vpMbKltTracker::c0Mo, vpMbTracker::cMo, vpImageConvert::convert(), vpMbKltTracker::ctTc0, vpMbKltTracker::cur, vpMbKltTracker::faces, vpMbKltTracker::firstTrack, vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpKltOpencv::initTracking(), vpMbKltTracker::maskBorder, vpHomogeneousMatrix::setIdentity(), vpMbHiddenFaces< PolygonType >::size(), and vpMbKltTracker::tracker.
Referenced by vpMbKltTracker::init(), vpMbKltTracker::setPose(), track(), and vpMbKltTracker::track().
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protectedinherited |
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.
_lvl | : The level to re-initialise. |
Definition at line 1977 of file vpMbEdgeTracker.cpp.
References vpMbTracker::cMo, vpMbEdgeTracker::cylinders, vpMbEdgeTracker::Ipyramid, vpMbEdgeTracker::lines, vpMbtDistanceLine::reinitMovingEdge(), vpMbtDistanceCylinder::reinitMovingEdge(), vpMbEdgeTracker::scaleLevel, vpMbEdgeTracker::trackMovingEdge(), and vpMbEdgeTracker::updateMovingEdge().
Referenced by vpMbEdgeTracker::track().
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inherited |
Re-initialise the model used by the tracker.
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 1669 of file vpMbEdgeTracker.cpp.
References vpMbTracker::initFromPose(), vpMbEdgeTracker::loadModel(), and vpMbEdgeTracker::resetTracker().
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protectedinherited |
Reinitialize the lines if it is required.
A line is reinitialized if the 2D line do not match enough with the projected 3D line.
I | : the image. |
_cMo | : the pose of the used to re-initialise the moving edges |
Definition at line 1263 of file vpMbEdgeTracker.cpp.
References vpMbEdgeTracker::cylinders, vpMbtDistanceLine::isVisible(), vpMbEdgeTracker::lines, vpMbtDistanceLine::Reinit, vpMbtDistanceCylinder::Reinit, vpMbtDistanceLine::reinitMovingEdge(), vpMbtDistanceCylinder::reinitMovingEdge(), and vpMbEdgeTracker::scaleLevel.
Referenced by postTracking(), and vpMbEdgeTracker::track().
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protectedinherited |
Remove a cylinder by its name.
name | : The name of the cylinder to remove. |
Definition at line 1425 of file vpMbEdgeTracker.cpp.
References vpMbEdgeTracker::cylinders, vpMbtDistanceCylinder::getName(), and vpMbEdgeTracker::scales.
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protectedinherited |
Remove a line using its name.
name | : The name of the line to remove. |
Definition at line 1357 of file vpMbEdgeTracker.cpp.
References vpMbtDistanceLine::getName(), vpMbEdgeTracker::lines, and vpMbEdgeTracker::scales.
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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.
Reimplemented from vpMbEdgeTracker.
Definition at line 161 of file vpMbEdgeKltTracker.cpp.
References vpMbKltTracker::resetTracker(), and vpMbEdgeTracker::resetTracker().
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inherited |
Save the pose in the given filename
filename | : Path to the file used to save the pose. |
Definition at line 673 of file vpMbTracker.cpp.
References vpPoseVector::buildFrom(), and vpMbTracker::cMo.
Referenced by vpMbTracker::initClick().
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inlinevirtual |
Set the angle used to test polygons apparition. 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.
a | : new angle in radian. |
Reimplemented from vpMbEdgeTracker.
Definition at line 272 of file vpMbEdgeKltTracker.h.
References vpMbKltTracker::setAngleAppear().
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inlinevirtual |
Set the angle used to test polygons disparition. 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.
a | : new angle in radian. |
Reimplemented from vpMbEdgeTracker.
Definition at line 283 of file vpMbEdgeKltTracker.h.
References vpMbKltTracker::setAngleDisappear().
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virtual |
Set the camera parameters
cam | : the new camera parameters |
Reimplemented from vpMbEdgeTracker.
Definition at line 801 of file vpMbEdgeKltTracker.cpp.
References vpMbTracker::cam, vpMbKltTracker::setCameraParameters(), and vpMbEdgeTracker::setCameraParameters().
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inlinevirtualinherited |
Set if the covaraince matrix has to be computed.
flag | : True if the covariance has to be computed, false otherwise |
Definition at line 242 of file vpMbTracker.h.
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inlineinherited |
Enable to display the features.
displayF | : set it to true to display the features. |
Definition at line 249 of file vpMbTracker.h.
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inlineinherited |
Enable to display the points along the line with a color corresponding to their state.
displayMe | : set it to true to display the points. |
Definition at line 430 of file vpMbEdgeTracker.h.
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inlineinherited |
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 : .
The threshold is ideally between 0 and 1.
threshold1 | : The new value of the threshold. |
Definition at line 441 of file vpMbEdgeTracker.h.
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inherited |
Set the new value of the klt tracker.
t | : Klt tracker containing the new values. |
Definition at line 240 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 vpMbKltTracker::tracker.
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inline |
Set the value of the gain used to compute the control law.
lambda | : the desired value for the gain. |
Definition at line 292 of file vpMbEdgeKltTracker.h.
References vpMbEdgeTracker::lambda, vpMbKltTracker::setLambda(), and vpMbEdgeTracker::setLambda().
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inlineinherited |
Set the erosion of the mask used on the Model faces.
e | : The desired erosion. |
Definition at line 369 of file vpMbKltTracker.h.
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inline |
Set the maximum iteration of the virtual visual servoing stage.
max | : the desired number of iteration |
Definition at line 299 of file vpMbEdgeKltTracker.h.
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inherited |
Set the moving edge parameters.
me | : an instance of vpMe containing all the desired parameters |
Definition at line 144 of file vpMbEdgeTracker.cpp.
References vpMbEdgeTracker::cylinders, vpMbEdgeTracker::lines, vpMbEdgeTracker::me, vpMbEdgeTracker::scales, and vpMbtDistanceCylinder::setMovingEdge().
Referenced by vpMbEdgeTracker::loadConfigFile().
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inlinevirtual |
Use Ogre3D for visibility tests
v | : True to use it, False otherwise |
Reimplemented from vpMbEdgeTracker.
Definition at line 308 of file vpMbEdgeKltTracker.h.
References vpMbKltTracker::setOgreVisibilityTest().
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virtual |
Set the pose to be used in entry of the next call to the track() function. This pose will be just used once.
I | : image corresponding to the desired pose. |
cdMo | : Pose to affect. |
Reimplemented from vpMbEdgeTracker.
Definition at line 114 of file vpMbEdgeKltTracker.cpp.
References vpMbEdgeTracker::cleanPyramid(), vpMbTracker::cMo, vpMbEdgeTracker::downScale(), vpMbKltTracker::faces, vpMbEdgeTracker::faces, vpMbKltTracker::firstTrack, vpMbEdgeTracker::initMovingEdge(), vpMbEdgeTracker::initPyramid(), vpMbEdgeTracker::Ipyramid, vpMbEdgeTracker::lines, vpMbtDistanceLine::meline, vpMbEdgeTracker::nbvisiblepolygone, vpMbEdgeTracker::scaleLevel, vpMbEdgeTracker::scales, vpMbKltTracker::setPose(), vpMbHiddenFaces< PolygonType >::size(), and vpMbEdgeTracker::upScale().
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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.
filename | : The new filename. |
Definition at line 271 of file vpMbTracker.h.
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inherited |
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).
scales | : The vector describing the levels to use. |
Definition at line 1774 of file vpMbEdgeTracker.cpp.
References vpMbEdgeTracker::cylinders, vpMbEdgeTracker::lines, vpMbEdgeTracker::scales, and vpERROR_TRACE.
Referenced by vpMbEdgeTracker::resetTracker().
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inlineinherited |
Set the threshold for the acceptation of a point.
th | : Threshold for the weight below which a point is rejected. |
Definition at line 387 of file vpMbKltTracker.h.
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inlinevirtual |
Check if the tracking failed.
vpTrackingException::fatalError | if the test fails. |
Reimplemented from vpMbEdgeTracker.
Definition at line 312 of file vpMbEdgeKltTracker.h.
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virtual |
Realise the tracking of the object in the image.
vpException | : if the tracking is supposed to have failed. |
I | : the input image. |
Reimplemented from vpMbEdgeTracker.
Definition at line 651 of file vpMbEdgeKltTracker.cpp.
References computeVVS(), vpMbKltTracker::computeVVS(), vpMbEdgeTracker::init(), postTracking(), vpMbKltTracker::preTracking(), vpMbKltTracker::reinit(), and vpMbEdgeTracker::trackMovingEdge().
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protected |
Definition at line 678 of file vpMbEdgeKltTracker.cpp.
References vpMbtDistanceLine::closeToImageBorder(), vpMbTracker::cMo, vpMbtDistanceLine::computeInteractionMatrixError(), vpMbtDistanceCylinder::computeInteractionMatrixError(), vpMbEdgeTracker::cylinders, vpException::dimensionError, vpMeTracker::getMeList(), vpMeSite::getState(), vpMbtDistanceLine::hiddenface, initMbtTracking(), vpMbHiddenFaces< PolygonType >::isAppearing(), vpMbtDistanceLine::Lindex_polygon, vpMbEdgeTracker::lines, vpMbtDistanceLine::meline, vpMbtDistanceCylinder::meline1, vpMbtDistanceCylinder::meline2, vpMbtDistanceLine::nbFeature, vpMbtDistanceCylinder::nbFeature, vpMeSite::NO_SUPPRESSION, vpColVector::resize(), and vpMbEdgeTracker::scales.
Referenced by computeVVS().
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protectedinherited |
Track the moving edges in the image.
I | : the image. |
Definition at line 1201 of file vpMbEdgeTracker.cpp.
References vpMbTracker::cMo, vpMbEdgeTracker::cylinders, vpMbtDistanceLine::initMovingEdge(), vpMbtDistanceCylinder::initMovingEdge(), vpMbtDistanceLine::isVisible(), vpMbEdgeTracker::lines, vpMbtDistanceLine::meline, vpMbtDistanceCylinder::meline1, vpMbtDistanceCylinder::meline2, vpMbEdgeTracker::scaleLevel, vpMbtDistanceLine::trackMovingEdge(), and vpMbtDistanceCylinder::trackMovingEdge().
Referenced by vpMbEdgeTracker::reInitLevel(), track(), and vpMbEdgeTracker::track().
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protected |
Definition at line 762 of file vpMbEdgeKltTracker.cpp.
References vpMbtDistanceLine::computeInteractionMatrixError(), vpMbtDistanceCylinder::computeInteractionMatrixError(), vpMbEdgeTracker::cylinders, vpMbtDistanceLine::error, vpMbtDistanceCylinder::error, vpMbtDistanceLine::L, vpMbtDistanceCylinder::L, vpMbEdgeTracker::lines, vpMbtDistanceLine::nbFeature, and vpMbtDistanceCylinder::nbFeature.
Referenced by computeVVS().
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protectedinherited |
Update the moving edges at the end of the virtual visual servoing.
I | : the image. |
Definition at line 1231 of file vpMbEdgeTracker.cpp.
References vpMbTracker::cMo, vpMbEdgeTracker::cylinders, vpMbtDistanceLine::isVisible(), vpMbEdgeTracker::lines, vpMbtDistanceLine::nbFeature, vpMbtDistanceCylinder::nbFeaturel1, vpMbtDistanceCylinder::nbFeaturel2, vpMbtDistanceLine::Reinit, vpMbtDistanceCylinder::Reinit, vpMbEdgeTracker::scaleLevel, vpMbtDistanceLine::updateMovingEdge(), and vpMbtDistanceCylinder::updateMovingEdge().
Referenced by postTracking(), vpMbEdgeTracker::reInitLevel(), and vpMbEdgeTracker::track().
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protectedinherited |
Modify the camera parameters to have them corresponding to the current scale. The new parameters are multiplied by .
_scale | : Scale to use. |
Definition at line 1954 of file vpMbEdgeTracker.cpp.
References vpMbTracker::cam, vpCameraParameters::get_K(), vpCameraParameters::initFromCalibrationMatrix(), and vpMbEdgeTracker::scaleLevel.
Referenced by vpMbEdgeTracker::addCylinder(), vpMbEdgeTracker::addLine(), init(), vpMbEdgeTracker::init(), setPose(), and vpMbEdgeTracker::track().
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protectedinherited |
Detect the visible faces in the image and says if a new one appeared.
_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 1474 of file vpMbEdgeTracker.cpp.
References vpMbEdgeTracker::faces, vpMbEdgeTracker::nbvisiblepolygone, vpMath::rad(), vpMbHiddenFaces< PolygonType >::setVisible(), vpMbHiddenFaces< PolygonType >::setVisibleOgre(), and vpMbEdgeTracker::useOgre.
Referenced by vpMbEdgeTracker::init(), and vpMbEdgeTracker::track().
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protectedinherited |
Detect the visible faces in the image and says if a new one appeared.
_I | : Image to test if a face is entirely in the image. |
_cMo | : The pose of the camera used to project the 3D model into the image. |
newvisibleline | : This parameter is set to true if a new face appeared. |
Definition at line 1512 of file vpMbEdgeTracker.cpp.
References vpMbTracker::cam, vpMbEdgeTracker::faces, vpMbEdgeTracker::nbvisiblepolygone, vpMath::rad(), vpMbHiddenFaces< PolygonType >::setVisible(), vpMbHiddenFaces< PolygonType >::setVisibleOgre(), and vpMbEdgeTracker::useOgre.
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Angle used to detect a face apparition.
Definition at line 220 of file vpMbKltTracker.h.
Referenced by vpMbKltTracker::init(), vpMbKltTracker::loadConfigFile(), vpMbKltTracker::postTracking(), vpMbKltTracker::resetTracker(), vpMbKltTracker::setPose(), and vpMbKltTracker::vpMbKltTracker().
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protectedinherited |
Angle used to detect a face apparition.
Definition at line 317 of file vpMbEdgeTracker.h.
Referenced by vpMbEdgeTracker::loadConfigFile(), and vpMbEdgeTracker::vpMbEdgeTracker().
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Angle used to detect a face disparition.
Definition at line 222 of file vpMbKltTracker.h.
Referenced by vpMbKltTracker::init(), vpMbKltTracker::loadConfigFile(), vpMbKltTracker::postTracking(), vpMbKltTracker::resetTracker(), vpMbKltTracker::setPose(), and vpMbKltTracker::vpMbKltTracker().
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protectedinherited |
Angle used to detect a face disparition.
Definition at line 320 of file vpMbEdgeTracker.h.
Referenced by vpMbEdgeTracker::loadConfigFile(), and vpMbEdgeTracker::vpMbEdgeTracker().
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protectedinherited |
Initial pose.
Definition at line 218 of file vpMbKltTracker.h.
Referenced by vpMbKltTracker::computeVVS(), and vpMbKltTracker::reinit().
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protectedinherited |
The camera parameters.
Definition at line 106 of file vpMbTracker.h.
Referenced by vpMbEdgeTracker::addCylinder(), vpMbEdgeTracker::addLine(), computeVVS(), vpMbKltTracker::computeVVS(), vpMbEdgeTracker::computeVVS(), vpMbEdgeTracker::downScale(), vpMbKltTracker::init(), vpMbEdgeTracker::init(), vpMbTracker::initClick(), vpMbKltTracker::initFaceFromCorners(), vpMbTracker::initFromPoints(), vpMbEdgeTracker::loadConfigFile(), vpMbKltTracker::postTracking(), setCameraParameters(), vpMbKltTracker::setCameraParameters(), vpMbEdgeTracker::setCameraParameters(), vpMbKltTracker::setPose(), vpMbEdgeTracker::upScale(), and vpMbEdgeTracker::visibleFace().
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protectedinherited |
The current pose.
Definition at line 108 of file vpMbTracker.h.
Referenced by computeVVS(), vpMbKltTracker::computeVVS(), vpMbEdgeTracker::computeVVS(), vpMbKltTracker::init(), init(), vpMbEdgeTracker::init(), vpMbTracker::initClick(), vpMbTracker::initFromPoints(), vpMbTracker::initFromPose(), postTracking(), vpMbKltTracker::postTracking(), vpMbKltTracker::reinit(), vpMbEdgeTracker::reInitLevel(), vpMbKltTracker::resetTracker(), vpMbEdgeTracker::resetTracker(), vpMbTracker::savePose(), setPose(), vpMbKltTracker::setPose(), vpMbEdgeTracker::setPose(), vpMbEdgeTracker::track(), trackFirstLoop(), vpMbEdgeTracker::trackMovingEdge(), and vpMbEdgeTracker::updateMovingEdge().
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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 114 of file vpMbTracker.h.
Referenced by vpMbTracker::loadVRMLModel(), vpMbTracker::vpMbTracker(), and vpMbTracker::~vpMbTracker().
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If true, compute the interaction matrix at each iteration of the minimisation. Otherwise, compute it only on the first iteration.
Definition at line 214 of file vpMbEdgeKltTracker.h.
Referenced by computeVVS(), and vpMbEdgeKltTracker().
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protectedinherited |
Flag used to specify if the covariance matrix has to be computed or not.
Definition at line 118 of file vpMbTracker.h.
Referenced by computeVVS(), vpMbKltTracker::computeVVS(), vpMbEdgeTracker::computeVVS(), vpMbKltTracker::resetTracker(), vpMbEdgeKltTracker(), vpMbEdgeTracker::vpMbEdgeTracker(), vpMbKltTracker::vpMbKltTracker(), and vpMbTracker::vpMbTracker().
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protectedinherited |
Covariance matrix.
Definition at line 120 of file vpMbTracker.h.
Referenced by computeVVS(), vpMbKltTracker::computeVVS(), and vpMbEdgeTracker::computeVVS().
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protectedinherited |
The estimated displacement of the pose between the current instant and the initial position.
Definition at line 240 of file vpMbKltTracker.h.
Referenced by computeVVS(), vpMbKltTracker::computeVVS(), and vpMbKltTracker::reinit().
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protectedinherited |
Temporary OpenCV image for fast conversion.
Definition at line 216 of file vpMbKltTracker.h.
Referenced by vpMbKltTracker::preTracking(), vpMbKltTracker::reinit(), vpMbKltTracker::resetTracker(), vpMbKltTracker::vpMbKltTracker(), and vpMbKltTracker::~vpMbKltTracker().
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protectedinherited |
Vector of the tracked cylinders.
Definition at line 284 of file vpMbEdgeTracker.h.
Referenced by vpMbEdgeTracker::addCylinder(), vpMbEdgeTracker::computeVVS(), display(), vpMbEdgeTracker::display(), vpMbEdgeTracker::getLcylinder(), vpMbEdgeTracker::getNbPoints(), initMbtTracking(), vpMbEdgeTracker::initMovingEdge(), postTracking(), postTrackingMbt(), vpMbEdgeTracker::reInitLevel(), vpMbEdgeTracker::reinitMovingEdge(), vpMbEdgeTracker::removeCylinder(), vpMbEdgeTracker::resetTracker(), vpMbEdgeTracker::setMovingEdge(), vpMbEdgeTracker::setScales(), vpMbEdgeTracker::testTracking(), vpMbEdgeTracker::track(), trackFirstLoop(), vpMbEdgeTracker::trackMovingEdge(), trackSecondLoop(), vpMbEdgeTracker::updateMovingEdge(), vpMbEdgeTracker::vpMbEdgeTracker(), and vpMbEdgeTracker::~vpMbEdgeTracker().
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protectedinherited |
If true, the features are displayed.
Definition at line 122 of file vpMbTracker.h.
Referenced by vpMbKltTracker::display(), postTracking(), vpMbEdgeTracker::track(), and vpMbTracker::vpMbTracker().
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protectedinherited |
Set of faces describing the object.
Definition at line 244 of file vpMbKltTracker.h.
Referenced by computeVVS(), vpMbKltTracker::computeVVS(), vpMbKltTracker::display(), getFaces(), vpMbKltTracker::init(), init(), vpMbKltTracker::initFaceFromCorners(), postTracking(), vpMbKltTracker::postTracking(), vpMbKltTracker::preTracking(), vpMbKltTracker::reinit(), vpMbKltTracker::resetTracker(), vpMbKltTracker::setCameraParameters(), setPose(), vpMbKltTracker::setPose(), vpMbKltTracker::testTracking(), vpMbEdgeKltTracker(), and vpMbKltTracker::vpMbKltTracker().
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protectedinherited |
Set of faces describing the object.
Definition at line 296 of file vpMbEdgeTracker.h.
Referenced by vpMbEdgeTracker::addLine(), vpMbEdgeTracker::addPolygon(), vpMbEdgeTracker::display(), vpMbEdgeTracker::getNbPolygon(), vpMbEdgeTracker::getPolygon(), init(), vpMbEdgeTracker::init(), postTracking(), vpMbEdgeTracker::resetTracker(), setPose(), vpMbEdgeTracker::visibleFace(), and vpMbEdgeTracker::vpMbEdgeTracker().
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protectedinherited |
Flag to specify whether the init method is called the first or not (specific calls to realise in this case).
Definition at line 226 of file vpMbKltTracker.h.
Referenced by vpMbKltTracker::resetTracker(), and vpMbKltTracker::vpMbKltTracker().
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protectedinherited |
First track() called.
Definition at line 246 of file vpMbKltTracker.h.
Referenced by vpMbKltTracker::preTracking(), vpMbKltTracker::reinit(), vpMbKltTracker::resetTracker(), setPose(), vpMbKltTracker::setPose(), and vpMbKltTracker::vpMbKltTracker().
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protectedinherited |
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 293 of file vpMbEdgeTracker.h.
Referenced by vpMbEdgeTracker::addPolygon(), vpMbEdgeTracker::resetTracker(), and vpMbEdgeTracker::vpMbEdgeTracker().
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protectedinherited |
Pyramid of image associated to the current image. This pyramid is compted in the init() and in the track() methods.
Definition at line 308 of file vpMbEdgeTracker.h.
Referenced by init(), vpMbEdgeTracker::init(), vpMbEdgeTracker::reInitLevel(), setPose(), vpMbEdgeTracker::track(), vpMbEdgeTracker::vpMbEdgeTracker(), and vpMbEdgeTracker::~vpMbEdgeTracker().
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The gain of the virtual visual servoing stage.
Definition at line 216 of file vpMbEdgeKltTracker.h.
Referenced by computeVVS(), and vpMbEdgeKltTracker().
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protectedinherited |
Vector of list of all the lines tracked (each line is linked to a list of moving edges). Each element of the vector is for a scale (element 0 = level 0 = no subsampling).
Definition at line 282 of file vpMbEdgeTracker.h.
Referenced by vpMbEdgeTracker::addLine(), vpMbEdgeTracker::computeVVS(), vpMbEdgeTracker::display(), vpMbEdgeTracker::getLline(), vpMbEdgeTracker::getNbPoints(), initMbtTracking(), vpMbEdgeTracker::initMovingEdge(), postTracking(), postTrackingMbt(), vpMbEdgeTracker::reInitLevel(), vpMbEdgeTracker::reinitMovingEdge(), vpMbEdgeTracker::removeLine(), vpMbEdgeTracker::resetTracker(), vpMbEdgeTracker::setMovingEdge(), setPose(), vpMbEdgeTracker::setPose(), vpMbEdgeTracker::setScales(), vpMbEdgeTracker::testTracking(), vpMbEdgeTracker::track(), trackFirstLoop(), vpMbEdgeTracker::trackMovingEdge(), trackSecondLoop(), vpMbEdgeTracker::updateMovingEdge(), vpMbEdgeTracker::vpMbEdgeTracker(), and vpMbEdgeTracker::~vpMbEdgeTracker().
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protectedinherited |
Erosion of the mask.
Definition at line 228 of file vpMbKltTracker.h.
Referenced by vpMbKltTracker::loadConfigFile(), vpMbKltTracker::reinit(), vpMbKltTracker::resetTracker(), and vpMbKltTracker::vpMbKltTracker().
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protected |
The maximum iteration of the virtual visual servoing stage.
Definition at line 222 of file vpMbEdgeKltTracker.h.
Referenced by computeVVS(), and vpMbEdgeKltTracker().
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protectedinherited |
The moving edges parameters.
Definition at line 280 of file vpMbEdgeTracker.h.
Referenced by vpMbEdgeTracker::addCylinder(), vpMbEdgeTracker::addLine(), vpMbEdgeTracker::loadConfigFile(), and vpMbEdgeTracker::setMovingEdge().
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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 110 of file vpMbTracker.h.
Referenced by vpMbTracker::loadModel().
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protectedinherited |
Flag used to ensure that the CAD model is loaded before the initialisation.
Definition at line 112 of file vpMbTracker.h.
Referenced by vpMbKltTracker::init(), vpMbTracker::loadModel(), and vpMbTracker::vpMbTracker().
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protectedinherited |
Number of polygon (face) currently visible.
Definition at line 299 of file vpMbEdgeTracker.h.
Referenced by init(), postTracking(), vpMbEdgeTracker::resetTracker(), setPose(), vpMbEdgeTracker::visibleFace(), and vpMbEdgeTracker::vpMbEdgeTracker().
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protectedinherited |
Index of the cylinder to add, and total number of polygon extracted so far.
Definition at line 290 of file vpMbEdgeTracker.h.
Referenced by vpMbEdgeTracker::addCylinder(), vpMbEdgeTracker::initCylinder(), vpMbEdgeTracker::resetTracker(), and vpMbEdgeTracker::vpMbEdgeTracker().
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protectedinherited |
Index of the polygon to add, and total number of polygon extracted so far.
Definition at line 287 of file vpMbEdgeTracker.h.
Referenced by vpMbEdgeTracker::addLine(), vpMbEdgeTracker::resetTracker(), and vpMbEdgeTracker::vpMbEdgeTracker().
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protectedinherited |
Percentage of good points over total number of points below which tracking is supposed to have failed.
Definition at line 302 of file vpMbEdgeTracker.h.
Referenced by vpMbEdgeTracker::resetTracker(), vpMbEdgeTracker::testTracking(), and vpMbEdgeTracker::vpMbEdgeTracker().
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protectedinherited |
Percentage of good points, according to the initial number, that must have the tracker.
Definition at line 236 of file vpMbKltTracker.h.
Referenced by vpMbKltTracker::postTracking(), vpMbKltTracker::resetTracker(), and vpMbKltTracker::vpMbKltTracker().
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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 116 of file vpMbTracker.h.
Referenced by vpMbTracker::initClick().
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protectedinherited |
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 311 of file vpMbEdgeTracker.h.
Referenced by vpMbEdgeTracker::computeVVS(), display(), vpMbEdgeTracker::display(), vpMbEdgeTracker::downScale(), vpMbEdgeTracker::initMovingEdge(), vpMbEdgeTracker::reInitLevel(), vpMbEdgeTracker::reinitMovingEdge(), setPose(), vpMbEdgeTracker::setPose(), vpMbEdgeTracker::testTracking(), vpMbEdgeTracker::trackMovingEdge(), vpMbEdgeTracker::updateMovingEdge(), and vpMbEdgeTracker::upScale().
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protectedinherited |
Vector of scale level to use for the multi-scale tracking.
Definition at line 305 of file vpMbEdgeTracker.h.
Referenced by vpMbEdgeTracker::addCylinder(), vpMbEdgeTracker::addLine(), display(), vpMbEdgeTracker::display(), vpMbEdgeTracker::getLcylinder(), vpMbEdgeTracker::getLline(), vpMbEdgeTracker::getNbPoints(), init(), vpMbEdgeTracker::init(), initMbtTracking(), vpMbEdgeTracker::initPyramid(), postTrackingMbt(), vpMbEdgeTracker::removeCylinder(), vpMbEdgeTracker::removeLine(), vpMbEdgeTracker::resetTracker(), vpMbEdgeTracker::setMovingEdge(), setPose(), vpMbEdgeTracker::setScales(), vpMbEdgeTracker::track(), trackFirstLoop(), vpMbEdgeTracker::vpMbEdgeTracker(), and vpMbEdgeTracker::~vpMbEdgeTracker().
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protectedinherited |
Threshold below which the weight associated to a point to consider this one as an outlier.
Definition at line 234 of file vpMbKltTracker.h.
Referenced by vpMbKltTracker::postTracking(), vpMbKltTracker::resetTracker(), and vpMbKltTracker::vpMbKltTracker().
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protected |
The threshold used in the robust estimation of KLT.
Definition at line 218 of file vpMbEdgeKltTracker.h.
Referenced by computeVVS(), and vpMbEdgeKltTracker().
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protected |
The threshold used in the robust estimation of MBT.
Definition at line 220 of file vpMbEdgeKltTracker.h.
Referenced by computeVVS(), and vpMbEdgeKltTracker().
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protectedinherited |
Points tracker.
Definition at line 242 of file vpMbKltTracker.h.
Referenced by vpMbKltTracker::getKltImagePoints(), vpMbKltTracker::getKltImagePointsWithId(), vpMbKltTracker::loadConfigFile(), vpMbKltTracker::preTracking(), vpMbKltTracker::reinit(), vpMbKltTracker::resetTracker(), vpMbKltTracker::setKltOpencv(), vpMbKltTracker::setPose(), and vpMbKltTracker::vpMbKltTracker().
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protectedinherited |
Use Ogre3d for visibility tests.
Definition at line 238 of file vpMbKltTracker.h.
Referenced by vpMbKltTracker::display(), vpMbKltTracker::init(), vpMbKltTracker::postTracking(), vpMbKltTracker::resetTracker(), vpMbKltTracker::setOgreVisibilityTest(), vpMbKltTracker::setPose(), and vpMbKltTracker::vpMbKltTracker().
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protectedinherited |
Use Ogre3d for visibility tests.
Definition at line 314 of file vpMbEdgeTracker.h.
Referenced by vpMbEdgeTracker::display(), vpMbEdgeTracker::init(), vpMbEdgeTracker::setOgreVisibilityTest(), vpMbEdgeTracker::visibleFace(), and vpMbEdgeTracker::vpMbEdgeTracker().