#include <vpMbHiddenFaces.h>

Public Member Functions
	vpMbHiddenFaces ()

	~vpMbHiddenFaces ()

void	addPolygon (PolygonType *p)

void	displayOgre (const vpHomogeneousMatrix &_cMo)

std::vector< PolygonType * > &	getPolygon ()

void	initOgre (vpCameraParameters _cam=vpCameraParameters())

bool	getDepthTest ()

unsigned int	getNbVisiblePolygon ()

vpAROgre *	getOgreContext ()

bool	isAppearing (const unsigned int i)

bool	isOgreInitialised ()

bool	isVisible (const unsigned int i)

bool	isVisibleOgre (const vpTranslationVector &cameraPos, const unsigned int &index)

PolygonType *	operator[] (const unsigned int i)

const PolygonType *	operator[] (const unsigned int i) const

void	reset ()

void	setDepthTest (const bool &d)

unsigned int	setVisible (const vpHomogeneousMatrix &_cMo)

unsigned int	setVisible (const vpImage< unsigned char > &_I, const vpCameraParameters &_cam, const vpHomogeneousMatrix &_cMo, const double &angle, bool &changed)

unsigned int	setVisible (const vpImage< unsigned char > &_I, const vpCameraParameters &_cam, const vpHomogeneousMatrix &_cMo, const double &angleAppears, const double &angleDisappears, bool &changed)

unsigned int	setVisible (const vpHomogeneousMatrix &_cMo, const double &angleAppears, const double &angleDisappears, bool &changed)

unsigned int	setVisibleOgre (const vpImage< unsigned char > &_I, const vpCameraParameters &_cam, const vpHomogeneousMatrix &_cMo, const double &angleAppears, const double &angleDisappears, bool &changed)

unsigned int	setVisibleOgre (const vpHomogeneousMatrix &_cMo, const double &angleAppears, const double &angleDisappears, bool &changed)

unsigned int	size ()

Detailed Description

template<class PolygonType = vpMbtPolygon>
class vpMbHiddenFaces< PolygonType >

Implementation of the polygons management for the model-based trackers.

Definition at line 67 of file vpMbHiddenFaces.h.

Constructor & Destructor Documentation

template<class PolygonType >

vpMbHiddenFaces< PolygonType >::vpMbHiddenFaces ( )

Basic constructor.

Definition at line 194 of file vpMbHiddenFaces.h.

References vpAROgre::setShowConfigDialog().

template<class PolygonType >

vpMbHiddenFaces< PolygonType >::~vpMbHiddenFaces ( )

Basic destructor.

Definition at line 209 of file vpMbHiddenFaces.h.

Member Function Documentation

template<class PolygonType>

void vpMbHiddenFaces< PolygonType >::addPolygon ( PolygonType * p )

Add a polygon to the list of polygons.

Parameters

p	: The polygon to add.

Definition at line 231 of file vpMbHiddenFaces.h.

Referenced by vpMbEdgeTracker::addPolygon(), and vpMbKltTracker::initFaceFromCorners().

template<class PolygonType >

void vpMbHiddenFaces< PolygonType >::displayOgre ( const vpHomogeneousMatrix & _cMo )

Update the display in Ogre Window.

Parameters

_cMo	: Pose used to display.

Definition at line 481 of file vpMbHiddenFaces.h.

References vpAROgre::display(), and vpAROgre::isWindowHidden().

Referenced by vpMbKltTracker::display(), and vpMbEdgeTracker::display().

template<class PolygonType = vpMbtPolygon>

bool vpMbHiddenFaces< PolygonType >::getDepthTest ( )

inline

Get the depthTest value.

Returns: true if all the points of a polygon has to be in front of the camera, false otherwise.

Definition at line 117 of file vpMbHiddenFaces.h.

template<class PolygonType = vpMbtPolygon>

unsigned int vpMbHiddenFaces< PolygonType >::getNbVisiblePolygon ( )

inline

get the number of visible polygons.

Returns: number of visible polygons.

Definition at line 124 of file vpMbHiddenFaces.h.

template<class PolygonType = vpMbtPolygon>

vpAROgre* vpMbHiddenFaces< PolygonType >::getOgreContext ( )

inline

Get the Ogre3D Context.

Returns: A pointer on a vpAROgre instance.

Definition at line 132 of file vpMbHiddenFaces.h.

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

template<class PolygonType = vpMbtPolygon>

std::vector<PolygonType*>& vpMbHiddenFaces< PolygonType >::getPolygon ( )

inline

Get the list of polygons.

Returns: Mbt Klt polygons list.

Definition at line 106 of file vpMbHiddenFaces.h.

Referenced by vpMbKltTracker::initFaceFromCorners().

template<class PolygonType >

void vpMbHiddenFaces< PolygonType >::initOgre ( vpCameraParameters _cam = vpCameraParameters() )

Initialise the ogre context for face visibility tests.

Parameters

_cam	: Camera parameters.

Definition at line 446 of file vpMbHiddenFaces.h.

References vpAROgre::getSceneManager(), vpAROgre::init(), and vpAROgre::setCameraParameters().

Referenced by vpMbKltTracker::init(), and vpMbEdgeTracker::init().

template<class PolygonType = vpMbtPolygon>

bool vpMbHiddenFaces< PolygonType >::isAppearing ( const unsigned int i )

inline

Definition at line 135 of file vpMbHiddenFaces.h.

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

template<class PolygonType = vpMbtPolygon>

bool vpMbHiddenFaces< PolygonType >::isOgreInitialised ( )

inline

Tell whether if Ogre Context is initialised or not.

Returns: True if it does, false otherwise.

Definition at line 144 of file vpMbHiddenFaces.h.

Referenced by vpMbKltTracker::init(), and vpMbEdgeTracker::init().

template<class PolygonType = vpMbtPolygon>

bool vpMbHiddenFaces< PolygonType >::isVisible ( const unsigned int i )

inline

Check if the polygon at position i in the list is visible.

Parameters

i	: TPosition in the list.

Returns: Return true if the polygon is visible.

Definition at line 154 of file vpMbHiddenFaces.h.

Referenced by vpMbEdgeTracker::initMovingEdge().

template<class PolygonType >

bool vpMbHiddenFaces< PolygonType >::isVisibleOgre	(	const vpTranslationVector &	cameraPos,
		const unsigned int &	index
	)

Test the visibility of a polygon through Ogre3D via RayCasting.

Parameters

cameraPos	: Position of the camera in the 3D world.
index	: Index of the polygon.

Returns: Return true if the polygon is visible, False otherwise.

Definition at line 541 of file vpMbHiddenFaces.h.

References vpAROgre::getCamera(), and vpAROgre::getSceneManager().

template<class PolygonType = vpMbtPolygon>

PolygonType* vpMbHiddenFaces< PolygonType >::operator[] ( const unsigned int i )

inline

operator[] as modifier.

Definition at line 161 of file vpMbHiddenFaces.h.

template<class PolygonType = vpMbtPolygon>

const PolygonType* vpMbHiddenFaces< PolygonType >::operator[] ( const unsigned int i ) const

inline

operator[] as reader.

Definition at line 163 of file vpMbHiddenFaces.h.

template<class PolygonType >

void vpMbHiddenFaces< PolygonType >::reset ( )

Reset the Hidden faces (remove the list of PolygonType)

Definition at line 268 of file vpMbHiddenFaces.h.

Referenced by vpMbKltTracker::resetTracker(), and vpMbEdgeTracker::resetTracker().

template<class PolygonType = vpMbtPolygon>

void vpMbHiddenFaces< PolygonType >::setDepthTest ( const bool & d )

inline

Set the depthTest value.

Parameters

d	: New value.

Definition at line 172 of file vpMbHiddenFaces.h.

template<class PolygonType >

unsigned int vpMbHiddenFaces< PolygonType >::setVisible ( const vpHomogeneousMatrix & _cMo )

Compute the number of visible polygons.

Parameters

_cMo	: The pose of the camera

Returns: Return the number of visible polygons

Definition at line 251 of file vpMbHiddenFaces.h.

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

template<class PolygonType >

unsigned int vpMbHiddenFaces< PolygonType >::setVisible	(	const vpImage< unsigned char > &	_I,
		const vpCameraParameters &	_cam,
		const vpHomogeneousMatrix &	_cMo,
		const double &	angle,
		bool &	changed
	)

Compute the number of visible polygons.

Parameters

_I	: Image used to check if the region of interest is inside the image.
_cam	: Camera parameters.
_cMo	: The pose of the camera.
angle	: Angle used to test the apparition and disparition of a face.
changed	: True if a face appeared, disappeared or too many points have been lost. False otherwise

Returns: Return the number of visible polygons

Definition at line 397 of file vpMbHiddenFaces.h.

template<class PolygonType >

unsigned int vpMbHiddenFaces< PolygonType >::setVisible	(	const vpImage< unsigned char > &	_I,
		const vpCameraParameters &	_cam,
		const vpHomogeneousMatrix &	_cMo,
		const double &	angleAppears,
		const double &	angleDisappears,
		bool &	changed
	)

Compute the number of visible polygons.

Parameters

_I	: Image used to check if the region of interest is inside the image.
_cam	: Camera parameters.
_cMo	: The pose of the camera
changed	: True if a face appeared, disappeared or too many points have been lost. False otherwise
angleAppears	: Angle used to test the apparition of a face
angleDisappears	: Angle used to test the disparition of a face

Returns: Return the number of visible polygons

Definition at line 416 of file vpMbHiddenFaces.h.

template<class PolygonType >

unsigned int vpMbHiddenFaces< PolygonType >::setVisible	(	const vpHomogeneousMatrix &	_cMo,
		const double &	angleAppears,
		const double &	angleDisappears,
		bool &	changed
	)

Compute the number of visible polygons.

Parameters

_cMo	: The pose of the camera
angleAppears	: Angle used to test the apparition of a face
angleDisappears	: Angle used to test the disparition of a face
changed	: True if a face appeared, disappeared or too many points have been lost. False otherwise

Returns: Return the number of visible polygons

Definition at line 433 of file vpMbHiddenFaces.h.

template<class PolygonType >

unsigned int vpMbHiddenFaces< PolygonType >::setVisibleOgre	(	const vpImage< unsigned char > &	_I,
		const vpCameraParameters &	_cam,
		const vpHomogeneousMatrix &	_cMo,
		const double &	angleAppears,
		const double &	angleDisappears,
		bool &	changed
	)

Compute the number of visible polygons through Ogre3D.

Parameters

_I	: Image used to check if the region of interest is inside the image.
_cam	: Camera parameters.
_cMo	: The pose of the camera
changed	: True if a face appeared, disappeared or too many points have been lost. False otherwise
angleAppears	: Angle used to test the apparition of a face
angleDisappears	: Angle used to test the disparition of a face

Returns: Return the number of visible polygons

Definition at line 509 of file vpMbHiddenFaces.h.

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

template<class PolygonType >

unsigned int vpMbHiddenFaces< PolygonType >::setVisibleOgre	(	const vpHomogeneousMatrix &	_cMo,
		const double &	angleAppears,
		const double &	angleDisappears,
		bool &	changed
	)

Compute the number of visible polygons through Ogre3D.

Parameters

_cMo	: The pose of the camera
angleAppears	: Angle used to test the apparition of a face
angleDisappears	: Angle used to test the disparition of a face
changed	: True if a face appeared, disappeared or too many points have been lost. False otherwise

Returns: Return the number of visible polygons

Definition at line 526 of file vpMbHiddenFaces.h.

template<class PolygonType = vpMbtPolygon>

unsigned int vpMbHiddenFaces< PolygonType >::size ( )

inline

Get the number of polygons.

Returns: Size of the list.

Definition at line 187 of file vpMbHiddenFaces.h.

Referenced by vpMbEdgeKltTracker::computeVVS(), vpMbKltTracker::computeVVS(), vpMbKltTracker::display(), vpMbEdgeTracker::getNbPolygon(), vpMbEdgeTracker::getPolygon(), vpMbEdgeKltTracker::init(), vpMbEdgeKltTracker::postTracking(), vpMbKltTracker::postTracking(), vpMbKltTracker::preTracking(), vpMbKltTracker::reinit(), vpMbKltTracker::setCameraParameters(), vpMbEdgeKltTracker::setPose(), vpMbKltTracker::setPose(), and vpMbKltTracker::testTracking().

Public Member Functions

Detailed Description

template<class PolygonType = vpMbtPolygon> class vpMbHiddenFaces< PolygonType >

Constructor & Destructor Documentation

Member Function Documentation

template<class PolygonType = vpMbtPolygon>
class vpMbHiddenFaces< PolygonType >