#include <vpMbKltTracker.h>

Inheritance diagram for vpMbKltTracker:

Public Member Functions
	vpMbKltTracker ()

virtual	~vpMbKltTracker ()

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 void	loadConfigFile (const std::string &configFile)

void	loadConfigFile (const char *configFile)

virtual double	getAngleAppear () const

virtual double	getAngleDisappear () const

virtual unsigned int	getClipping () const

vpMbHiddenFaces< vpMbtKltPolygon > &	getFaces ()

virtual double	getFarClippingDistance () const

CvPoint2D32f *	getKltPoints ()

std::vector< vpImagePoint >	getKltImagePoints () const

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

vpKltOpencv	getKltOpencv () const

virtual double	getLambda () const

unsigned int	getMaskBorder () const

virtual unsigned int	getMaxIter () const

int	getNbKltPoints () const

virtual double	getNearClippingDistance () const

double	getThresholdAcceptation () const

void	resetTracker ()

virtual void	setAngleAppear (const double &a)

virtual void	setAngleDisappear (const double &a)

void	setCameraParameters (const vpCameraParameters &cam)

virtual void	setClipping (const unsigned int &flags)

virtual void	setFarClippingDistance (const double &dist)

void	setKltOpencv (const vpKltOpencv &t)

virtual void	setLambda (const double lambda)

void	setMaskBorder (const unsigned int &e)

virtual void	setMaxIter (const unsigned int max)

virtual void	setNearClippingDistance (const double &dist)

virtual void	setOgreVisibilityTest (const bool &v)

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

void	setThresholdAcceptation (const double th)

virtual void	testTracking ()

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

virtual 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)

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

void	savePose (const std::string &filename)

virtual void	setCovarianceComputation (const bool &flag)

void	setDisplayFeatures (const bool displayF)

void	setPoseSavingFilename (const std::string &filename)

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

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

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

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

virtual void	initCylinder (const vpPoint &, const vpPoint, const double, const unsigned int)

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)

Protected Attributes
IplImage *	cur

vpHomogeneousMatrix	c0Mo

double	angleAppears

double	angleDisappears

bool	compute_interaction

bool	firstInitialisation

unsigned int	maskBorder

double	lambda

unsigned int	maxIter

double	threshold_outlier

double	percentGood

bool	useOgre

vpHomogeneousMatrix	ctTc0

vpKltOpencv	tracker

vpMbHiddenFaces< vpMbtKltPolygon >	faces

bool	firstTrack

double	distNearClip

double	distFarClip

unsigned int	clippingFlag

vpCameraParameters	cam

vpHomogeneousMatrix	cMo

std::string	modelFileName

bool	modelInitialised

std::string	poseSavingFilename

bool	computeCovariance

vpMatrix	covarianceMatrix

bool	displayFeatures

Detailed Description

Model based tracker using only KLT.

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

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

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

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

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

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

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

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

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

Definition at line 227 of file vpMbKltTracker.h.

Constructor & Destructor Documentation

vpMbKltTracker::~vpMbKltTracker ( )

virtual

Basic destructor.

Definition at line 89 of file vpMbKltTracker.cpp.

References cur.

Member Function Documentation

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

protectedinherited

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

Exceptions

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

Warning: The JTR matrix is resized.

Parameters

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

Definition at line 1318 of file vpMbTracker.cpp.

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

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

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

protected

Realize the VVS loop for the tracking

Parameters

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

Definition at line 571 of file vpMbKltTracker.cpp.

References vpMatrix::AtA(), c0Mo, vpMbTracker::cam, vpMbTracker::cMo, compute_interaction, vpMbTracker::computeCovariance, vpMatrix::computeCovarianceMatrix(), vpMbTracker::computeJTR(), vpMbTracker::covarianceMatrix, ctTc0, vpMatrix::diag(), vpExponentialMap::direct(), faces, vpCameraParameters::get_px(), vpMatrix::getRows(), vpHomogeneousMatrix::inverse(), lambda, maxIter, vpRobust::MEstimator(), vpMatrix::pseudoInverse(), vpColVector::resize(), vpMatrix::resize(), vpRobust::setIteration(), vpRobust::setThreshold(), vpMbHiddenFaces< PolygonType >::size(), and vpRobust::TUKEY.

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

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

virtual

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

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.

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

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

Definition at line 814 of file vpMbKltTracker.cpp.

References vpMbTracker::cam, clippingFlag, vpCameraParameters::computeFov(), vpMbTracker::displayFeatures, vpDisplay::displayLine(), vpMbHiddenFaces< PolygonType >::displayOgre(), vpMbtPolygon::DOWN_CLIPPING, faces, vpMbtPolygon::FAR_CLIPPING, vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpMbtPolygon::LEFT_CLIPPING, vpMbtPolygon::NEAR_CLIPPING, vpMbtPolygon::RIGHT_CLIPPING, vpMbHiddenFaces< PolygonType >::size(), vpMbtPolygon::UP_CLIPPING, and useOgre.

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

virtual

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

Parameters

I	: The color image.
cMo	: Pose used to project the 3D model into the image.
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.

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 868 of file vpMbKltTracker.cpp.

References vpMbTracker::cam, clippingFlag, vpCameraParameters::computeFov(), vpMbTracker::displayFeatures, vpDisplay::displayLine(), vpMbHiddenFaces< PolygonType >::displayOgre(), vpMbtPolygon::DOWN_CLIPPING, faces, vpMbtPolygon::FAR_CLIPPING, vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpMbtPolygon::LEFT_CLIPPING, vpMbtPolygon::NEAR_CLIPPING, vpMbtPolygon::RIGHT_CLIPPING, vpMbHiddenFaces< PolygonType >::size(), vpMbtPolygon::UP_CLIPPING, and useOgre.

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

protectedvirtualinherited

Extract a cylinder to track from the VMRL model. This method calls the initCylinder() method implemented in the child class.

Warning: This method extract cylinder described using an indexed face set not a cylinder set since software such as AC3D or blender export a cylinder using this data type. the object name is used, if it begins with "cyl" then this method is called otherwise the extractFaces() is used.

Parameters

face_set	: Pointer to the cylinder in the vrml format.
transform	: Transformation matrix applied to the cylinder.

Definition at line 1167 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().

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

protectedvirtualinherited

Extract a face of the object to track from the VMRL model. This method calls the initFaceFromCorners() method implemented in the child class.

Parameters

face_set	: Pointer to the face in the vrml format.
transform	: Transformation matrix applied to the face.
indexFace	: Face index.

Definition at line 1113 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::extractGroup().

void vpMbTracker::extractGroup	(	SoVRMLGroup *	sceneGraphVRML2,
		vpHomogeneousMatrix &	transform,
		unsigned int &	indexFace
	)

protectedvirtualinherited

Extract a VRML object Group.

Parameters

sceneGraphVRML2	: Current node (either Transform, or Group node).
transform	: Transformation matrix for this group.
indexFace	: Index of the face.

Definition at line 1026 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::loadVRMLModel().

void vpMbTracker::extractLines ( SoVRMLIndexedLineSet * line_set )

protectedvirtualinherited

Extract a line of the object to track from the VMRL model. This method calls the initFaceFromCorners() method implemented in the child class.

Parameters

line_set : Pointer to the line in the vrml format.

Definition at line 1263 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::extractGroup().

virtual double vpMbKltTracker::getAngleAppear ( ) const

inlinevirtual

Return the angle used to test polygons appearance.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 289 of file vpMbKltTracker.h.

Referenced by vpMbEdgeKltTracker::getAngleAppear().

virtual double vpMbKltTracker::getAngleDisappear ( ) const

inlinevirtual

Return the angle used to test polygons disappearance.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 292 of file vpMbKltTracker.h.

Referenced by vpMbEdgeKltTracker::getAngleDisappear().

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

inlinevirtualinherited

Get the camera parameters.

Parameters

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

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

Definition at line 158 of file vpMbTracker.h.

virtual unsigned int vpMbKltTracker::getClipping ( ) const

inlinevirtual

Get the clipping used.

See also: vpMbtPolygonClipping

Returns: Clipping flags.

Reimplemented in vpMbEdgeKltTracker.

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

Definition at line 301 of file vpMbKltTracker.h.

virtual vpMatrix vpMbTracker::getCovarianceMatrix ( ) const

inlinevirtualinherited

Get the covariance matrix.

Definition at line 163 of file vpMbTracker.h.

References vpTRACE.

vpMbHiddenFaces<vpMbtKltPolygon>& vpMbKltTracker::getFaces ( )

inline

Return a reference to the faces structure.

Definition at line 304 of file vpMbKltTracker.h.

virtual double vpMbKltTracker::getFarClippingDistance ( ) const

inlinevirtual

Get the far distance for clipping.

Returns: Far clipping value.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 311 of file vpMbKltTracker.h.

Referenced by vpMbEdgeKltTracker::getFarClippingDistance().

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

protectedinherited

Compute the center of gravity of a set of point. This is used in the cylinder extraction to find the center of the circles.

Exceptions

vpException::dimensionError if the set is empty.

Parameters

pts	: Set of point to extract the center of gravity.

Returns: Center of gravity of the set.

Definition at line 1234 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::extractCylinders().

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

Get the current list of KLT points.

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

Returns: the list of KLT points through vpKltOpencv.

Definition at line 210 of file vpMbKltTracker.cpp.

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

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

Get the current list of KLT points and their id.

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

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

Definition at line 231 of file vpMbKltTracker.cpp.

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

vpKltOpencv vpMbKltTracker::getKltOpencv ( ) const

inline

Get the klt tracker at the current state.

Returns: klt tracker.

Definition at line 329 of file vpMbKltTracker.h.

CvPoint2D32f* vpMbKltTracker::getKltPoints ( )

inline

Get the current list of KLT points.

Returns: the list of KLT points through vpKltOpencv.

Definition at line 318 of file vpMbKltTracker.h.

References vpKltOpencv::getFeatures().

virtual double vpMbKltTracker::getLambda ( ) const

inlinevirtual

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

Returns: the value for the gain.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 336 of file vpMbKltTracker.h.

unsigned int vpMbKltTracker::getMaskBorder ( ) const

inline

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

Returns: The erosion.

Definition at line 343 of file vpMbKltTracker.h.

virtual unsigned int vpMbKltTracker::getMaxIter ( ) const

inlinevirtual

Get the maximum iteration of the virtual visual servoing stage.

Returns: the number of iteration

Reimplemented in vpMbEdgeKltTracker.

Definition at line 350 of file vpMbKltTracker.h.

int vpMbKltTracker::getNbKltPoints ( ) const

inline

Get the current number of klt points.

Returns: the number of features

Definition at line 357 of file vpMbKltTracker.h.

References vpKltOpencv::getNbFeatures().

virtual double vpMbKltTracker::getNearClippingDistance ( ) const

inlinevirtual

Get the near distance for clipping.

Returns: Near clipping value.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 364 of file vpMbKltTracker.h.

Referenced by vpMbEdgeKltTracker::getNearClippingDistance().

void vpMbTracker::getPose ( vpHomogeneousMatrix & cMo ) const

inlineinherited

Get the current pose between the object and the camera. cMo is the matrix which can be used to express coordinates from the object frame to camera frame.

Parameters

cMo	: the pose

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

Definition at line 177 of file vpMbTracker.h.

vpHomogeneousMatrix vpMbTracker::getPose ( ) const

inlineinherited

Get the current pose between the object and the camera. cMo is the matrix which can be used to express coordinates from the object frame to camera frame.

Returns: the current pose

Definition at line 186 of file vpMbTracker.h.

double vpMbKltTracker::getThresholdAcceptation ( ) const

inline

Get the threshold for the acceptation of a point.

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

Definition at line 371 of file vpMbKltTracker.h.

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

protectedvirtual

Initialise the tracking.

Parameters

I	: Input image.

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 98 of file vpMbKltTracker.cpp.

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

Referenced by vpMbEdgeKltTracker::init().

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

virtualinherited

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

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

Parameters

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

Exceptions

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

See also: setPathNamePoseSaving()

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

Definition at line 132 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::read(), vpColor::red, vpMbTracker::savePose(), vpPoint::set_x(), vpPoint::set_y(), vpHomogeneousMatrix::setIdentity(), vpPoint::setWorldCoordinates(), and vpPose::VIRTUAL_VS.

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

virtualinherited

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

Parameters

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

Definition at line 348 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::read(), vpColor::red, vpPoint::set_x(), vpPoint::set_y(), and vpPose::VIRTUAL_VS.

virtual void vpMbKltTracker::initCylinder	(	const vpPoint &	p1,
		const vpPoint	p2,
		const double	radius,
		const unsigned	indexCylinder
	)

inlineprotectedvirtual

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.

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 446 of file vpMbKltTracker.h.

void vpMbKltTracker::initFaceFromCorners	(	const std::vector< vpPoint > &	corners,
		const unsigned int	indexFace = `-1`
	)

protectedvirtual

Initialise a new face from the coordinates given in parameter.

Parameters

corners	: Coordinates of the corners of the face in the object frame.
indexFace	: index of the face (depends on the vrml file organization).

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 452 of file vpMbKltTracker.cpp.

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

Referenced by vpMbEdgeKltTracker::initFaceFromCorners().

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

virtualinherited

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

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

Parameters

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

Definition at line 465 of file vpMbTracker.cpp.

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

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

virtualinherited

Initialise the tracking with the list of image points (points2D_list) and the list of corresponding 3D points (object frame) (points3D_list).

Parameters

I	: Input image
points2D_list	: List of image points.
points3D_list	: List of 3D points (object frame).

Definition at line 544 of file vpMbTracker.cpp.

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

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

virtualinherited

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

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

Where the three firsts lines refer to the translation and the three last to the rotation in thetaU parametrisation (see vpThetaUVector).

Parameters

I	: Input image
initFile	: Path to the file containing the pose.

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

Definition at line 599 of file vpMbTracker.cpp.

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

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

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

virtualinherited

Initialise the tracking thanks to the pose.

Parameters

I	: Input image
cMo	: Pose matrix.

Definition at line 634 of file vpMbTracker.cpp.

References vpMbTracker::cMo, and vpMbTracker::init().

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

virtualinherited

Initialise the tracking thanks to the pose vector.

Parameters

I	: Input image
cPo	: Pose vector.

Definition at line 646 of file vpMbTracker.cpp.

References vpMbTracker::initFromPose().

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

protectedvirtualinherited

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

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

V1
// Number of points describing the object
01 0.01 0.01  //  \
...             //  | coordinates of the points in the object frame (in m.)
01 0.01 0.01  // /
// Number of lines to track. 
2 //  \
4 //  | Index of the points representing the extremities of the lines
5 // /
// Number of polygon (face) to track using the line previously described
// Face described as follow : nbLine IndexLine1 indexLine2 ... indexLineN
// Number of polygon (face) to track using the line previously described
0 2 3 4 // Face described as follow : nbPoint IndexPoint1 IndexPoint2 ... IndexPointN
1 3 5 7
1 5 6 
// Number of cylinder
7 0.05 // Index of the limits points on the axis (used to know the 'height' of the cylinder) and radius of the cyclinder (in m.)

Parameters

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

Definition at line 828 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::loadModel().

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

virtual

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

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

Parameters

configFile : full name of the xml file.

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

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

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

Definition at line 697 of file vpMbKltTracker.cpp.

Referenced by vpMbEdgeKltTracker::loadConfigFile().

void vpMbKltTracker::loadConfigFile ( const char * configFile )

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

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

Exceptions

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

Parameters

configFile : full name of the xml file.

The XML configuration file has the following form:

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

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

Definition at line 749 of file vpMbKltTracker.cpp.

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

virtualinherited

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

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

{

...

#ifdef VISP_HAVE_COIN

SoDB::finish();

#endif

}

Exceptions

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

Parameters

modelFile : the file containing the model.

Reimplemented in vpMbEdgeTracker, and vpMbEdgeKltTracker.

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

Definition at line 695 of file vpMbTracker.cpp.

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

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

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

protectedvirtualinherited

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

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

{

...

#ifdef VISP_HAVE_COIN

SoDB::finish();

#endif

}; The cylinders extracted using this method do not use the Cylinder keyword of vrml since vrml exporter such as Blender or AC3D consider a cylinder as an IndexedFaceSet. To test whether an indexedFaceSet is a cylinder or not, the name of the geometry is read. If the name begins with "cyl" then the faceset is supposed to be a cylinder. For example, the line
geometry DEF cyl_cylinder1 IndexedFaceSet

defines a cylinder named cyl_cylinder1.

Exceptions

vpException::fatalError if the file cannot be open.

Parameters

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

Definition at line 753 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::loadModel().

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

protected

Realize the post tracking operations. Mostly visibility tests

Definition at line 513 of file vpMbKltTracker.cpp.

References angleAppears, angleDisappears, vpMbTracker::cam, vpMbTracker::cMo, faces, percentGood, vpMbHiddenFaces< PolygonType >::setVisible(), vpMbHiddenFaces< PolygonType >::setVisibleOgre(), vpMbHiddenFaces< PolygonType >::size(), threshold_outlier, and useOgre.

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

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

protected

Realize the pre tracking operations

Parameters

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

Definition at line 487 of file vpMbKltTracker.cpp.

References vpImageConvert::convert(), cur, faces, firstTrack, vpMbHiddenFaces< PolygonType >::size(), vpKltOpencv::track(), and tracker.

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

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

protectedvirtual

Definition at line 125 of file vpMbKltTracker.cpp.

References c0Mo, vpMbTracker::cMo, vpImageConvert::convert(), ctTc0, cur, faces, firstTrack, vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpKltOpencv::initTracking(), maskBorder, vpHomogeneousMatrix::setIdentity(), vpMbHiddenFaces< PolygonType >::size(), and tracker.

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

void vpMbKltTracker::resetTracker ( )

virtual

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

Implements vpMbTracker.

Definition at line 158 of file vpMbKltTracker.cpp.

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

Referenced by vpMbEdgeKltTracker::resetTracker().

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

inherited

Save the pose in the given filename

Parameters

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

Definition at line 657 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::initClick().

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

inlinevirtual

Set the angle used to test polygons appearance. If the angle between the normal of the polygon and the line going from the camera to the polygon center has a value lower than this parameter, the polygon is considered as appearing. The polygon will then be tracked.

Parameters

a	: new angle in radian.

Reimplemented in vpMbEdgeKltTracker.

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

Definition at line 384 of file vpMbKltTracker.h.

Referenced by vpMbEdgeKltTracker::setAngleAppear().

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

inlinevirtual

Set the angle used to test polygons disappearance. If the angle between the normal of the polygon and the line going from the camera to the polygon center has a value greater than this parameter, the polygon is considered as disappearing. The tracking of the polygon will then be stopped.

Parameters

a	: new angle in radian.

Reimplemented in vpMbEdgeKltTracker.

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

Definition at line 395 of file vpMbKltTracker.h.

Referenced by vpMbEdgeKltTracker::setAngleDisappear().

void vpMbKltTracker::setCameraParameters ( const vpCameraParameters & cam )

virtual

Set the camera parameters.

Parameters

cam	: the new camera parameters.

Reimplemented from vpMbTracker.

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

Definition at line 266 of file vpMbKltTracker.cpp.

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

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

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

virtual

Specify which clipping to use.

See also: vpMbtPolygonClipping

Parameters

flags : New clipping flags.

Reimplemented in vpMbEdgeKltTracker.

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

Definition at line 438 of file vpMbKltTracker.cpp.

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

Referenced by vpMbEdgeKltTracker::setClipping().

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

inlinevirtualinherited

Set if the covaraince matrix has to be computed.

Parameters

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

Definition at line 240 of file vpMbTracker.h.

void vpMbTracker::setDisplayFeatures ( const bool displayF )

inlineinherited

Enable to display the features.

Parameters

displayF : set it to true to display the features.

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

Definition at line 247 of file vpMbTracker.h.

void vpMbKltTracker::setFarClippingDistance ( const double & dist )

virtual

Set the far distance for clipping.

Parameters

dist	: Far clipping value.

Reimplemented in vpMbEdgeKltTracker.

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

Definition at line 394 of file vpMbKltTracker.cpp.

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

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

void vpMbKltTracker::setKltOpencv ( const vpKltOpencv & t )

Set the new value of the klt tracker.

Parameters

t	: Klt tracker containing the new values.

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

Definition at line 250 of file vpMbKltTracker.cpp.

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

virtual void vpMbKltTracker::setLambda ( const double lambda )

inlinevirtual

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

Parameters

lambda : the desired value for the gain.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 410 of file vpMbKltTracker.h.

Referenced by vpMbEdgeKltTracker::setLambda().

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

inline

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

Parameters

e	: The desired erosion.

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

Definition at line 417 of file vpMbKltTracker.h.

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

inlinevirtual

Set the maximum iteration of the virtual visual servoing stage.

Parameters

max	: the desired number of iteration

Reimplemented in vpMbEdgeKltTracker.

Definition at line 424 of file vpMbKltTracker.h.

Referenced by vpMbEdgeKltTracker::vpMbEdgeKltTracker().

void vpMbKltTracker::setNearClippingDistance ( const double & dist )

virtual

Set the near distance for clipping.

Parameters

dist	: Near clipping value.

Reimplemented in vpMbEdgeKltTracker.

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

Definition at line 415 of file vpMbKltTracker.cpp.

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

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

void vpMbKltTracker::setOgreVisibilityTest ( const bool & v )

virtual

Use Ogre3D for visibility tests

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

Parameters

v	: True to use it, False otherwise

Reimplemented in vpMbEdgeKltTracker.

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

Definition at line 282 of file vpMbKltTracker.cpp.

References useOgre.

Referenced by vpMbEdgeKltTracker::setOgreVisibilityTest().

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

virtual

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

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

Parameters

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

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 303 of file vpMbKltTracker.cpp.

References angleAppears, angleDisappears, vpMbTracker::cam, vpPlane::changeFrame(), vpMbTracker::cMo, vpException::divideByZeroError, vpHomogeneousMatrix::extract(), faces, firstTrack, vpCameraParameters::get_K(), vpCameraParameters::get_K_inverse(), vpPlane::getD(), vpKltOpencv::getMaxFeatures(), vpPlane::getNormal(), vpHomogeneousMatrix::inverse(), vpColVector::normalize(), reinit(), vpKltOpencv::setInitialGuess(), vpMbHiddenFaces< PolygonType >::setVisible(), vpMbHiddenFaces< PolygonType >::setVisibleOgre(), vpMbHiddenFaces< PolygonType >::size(), tracker, and useOgre.

Referenced by vpMbEdgeKltTracker::setPose().

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

inlineinherited

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

Parameters

filename : The new filename.

Definition at line 269 of file vpMbTracker.h.

void vpMbKltTracker::setThresholdAcceptation ( const double th )

inline

Set the threshold for the acceptation of a point.

Parameters

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

Definition at line 437 of file vpMbKltTracker.h.

void vpMbKltTracker::testTracking ( )

virtual

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

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

Exceptions

vpTrackingException::fatalError if the test fails.

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 920 of file vpMbKltTracker.cpp.

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

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

virtual

Realize the tracking of the object in the image

Exceptions

vpException : if the tracking is supposed to have failed

Parameters

I	: the input image

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

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

Definition at line 667 of file vpMbKltTracker.cpp.

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

Member Data Documentation

double vpMbKltTracker::angleAppears

protected

Angle used to detect a face appearance.

Definition at line 235 of file vpMbKltTracker.h.

Referenced by init(), loadConfigFile(), postTracking(), resetTracker(), setPose(), and vpMbKltTracker().

double vpMbKltTracker::angleDisappears

protected

Angle used to detect a face disappearance.

Definition at line 237 of file vpMbKltTracker.h.

Referenced by init(), loadConfigFile(), postTracking(), resetTracker(), setPose(), and vpMbKltTracker().

vpHomogeneousMatrix vpMbKltTracker::c0Mo

protected

Initial pose.

Definition at line 233 of file vpMbKltTracker.h.

Referenced by computeVVS(), and reinit().

vpCameraParameters vpMbTracker::cam

protectedinherited

unsigned int vpMbKltTracker::clippingFlag

protected

Flags specifying which clipping to used.

Definition at line 267 of file vpMbKltTracker.h.

Referenced by display(), vpMbEdgeKltTracker::getClipping(), initFaceFromCorners(), loadConfigFile(), resetTracker(), setClipping(), setFarClippingDistance(), setNearClippingDistance(), and vpMbKltTracker().

bool vpMbKltTracker::compute_interaction

protected

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

Definition at line 239 of file vpMbKltTracker.h.

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

bool vpMbTracker::computeCovariance

protectedinherited

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

Definition at line 116 of file vpMbTracker.h.

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

vpMatrix vpMbTracker::covarianceMatrix

protectedinherited

Covariance matrix.

Definition at line 118 of file vpMbTracker.h.

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

vpHomogeneousMatrix vpMbKltTracker::ctTc0

protected

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

Definition at line 255 of file vpMbKltTracker.h.

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

IplImage* vpMbKltTracker::cur

protected

Temporary OpenCV image for fast conversion.

Definition at line 231 of file vpMbKltTracker.h.

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

bool vpMbTracker::displayFeatures

protectedinherited

If true, the features are displayed.

Definition at line 120 of file vpMbTracker.h.

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

double vpMbKltTracker::distFarClip

protected

Distance for near clipping.

Definition at line 265 of file vpMbKltTracker.h.

Referenced by initFaceFromCorners(), setFarClippingDistance(), and setNearClippingDistance().

double vpMbKltTracker::distNearClip

protected

Distance for near clipping.

Definition at line 263 of file vpMbKltTracker.h.

Referenced by initFaceFromCorners(), setFarClippingDistance(), and setNearClippingDistance().

vpMbHiddenFaces<vpMbtKltPolygon> vpMbKltTracker::faces

protected

Set of faces describing the object.

Definition at line 259 of file vpMbKltTracker.h.

Referenced by vpMbEdgeKltTracker::computeVVS(), computeVVS(), vpMbEdgeKltTracker::display(), display(), vpMbEdgeKltTracker::getFaces(), init(), vpMbEdgeKltTracker::init(), initFaceFromCorners(), vpMbEdgeKltTracker::postTracking(), postTracking(), preTracking(), reinit(), resetTracker(), setCameraParameters(), setClipping(), setFarClippingDistance(), setNearClippingDistance(), vpMbEdgeKltTracker::setPose(), setPose(), testTracking(), vpMbEdgeKltTracker::track(), vpMbEdgeKltTracker::vpMbEdgeKltTracker(), and vpMbKltTracker().

bool vpMbKltTracker::firstInitialisation

protected

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

Definition at line 241 of file vpMbKltTracker.h.

Referenced by resetTracker(), and vpMbKltTracker().

bool vpMbKltTracker::firstTrack

protected

First track() called.

Definition at line 261 of file vpMbKltTracker.h.

Referenced by preTracking(), reinit(), resetTracker(), vpMbEdgeKltTracker::setPose(), setPose(), and vpMbKltTracker().

double vpMbKltTracker::lambda

protected

The gain of the virtual visual servoing stage.

Definition at line 245 of file vpMbKltTracker.h.

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

unsigned int vpMbKltTracker::maskBorder

protected

Erosion of the mask.

Definition at line 243 of file vpMbKltTracker.h.

Referenced by loadConfigFile(), reinit(), resetTracker(), and vpMbKltTracker().

unsigned int vpMbKltTracker::maxIter

protected

The maximum iteration of the virtual visual servoing stage.

Definition at line 247 of file vpMbKltTracker.h.

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

std::string vpMbTracker::modelFileName

protectedinherited

The name of the file containing the model (it is used to create a file name.0.pos used to store the compute pose in the initClick method).

Definition at line 110 of file vpMbTracker.h.

Referenced by vpMbTracker::loadModel().

bool vpMbTracker::modelInitialised

protectedinherited

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

Definition at line 112 of file vpMbTracker.h.

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

double vpMbKltTracker::percentGood

protected

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

Definition at line 251 of file vpMbKltTracker.h.

Referenced by postTracking(), resetTracker(), and vpMbKltTracker().

std::string vpMbTracker::poseSavingFilename

protectedinherited

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

Definition at line 114 of file vpMbTracker.h.

Referenced by vpMbTracker::initClick().

double vpMbKltTracker::threshold_outlier

protected

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

Definition at line 249 of file vpMbKltTracker.h.

Referenced by postTracking(), resetTracker(), and vpMbKltTracker().

vpKltOpencv vpMbKltTracker::tracker

protected

Points tracker.

Definition at line 257 of file vpMbKltTracker.h.

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

bool vpMbKltTracker::useOgre

protected

Use Ogre3d for visibility tests.

Definition at line 253 of file vpMbKltTracker.h.

Referenced by vpMbEdgeKltTracker::display(), display(), init(), postTracking(), resetTracker(), setOgreVisibilityTest(), setPose(), and vpMbKltTracker().

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

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