#include <vpMbEdgeKltTracker.h>

Inheritance diagram for vpMbEdgeKltTracker:

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 () const

virtual double	getAngleDisappear () const

virtual unsigned int	getClipping () const

vpMbHiddenFaces< vpMbtKltPolygon > &	getFaces ()

virtual double	getFarClippingDistance () const

virtual double	getLambda () const

virtual unsigned int	getMaxIter () const

virtual double	getNearClippingDistance () const

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)

virtual void	setClipping (const unsigned int &flags)

virtual void	setFarClippingDistance (const double &dist)

virtual void	setLambda (const double gain)

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)

virtual void	testTracking ()

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

CvPoint2D32f *	getKltPoints ()

std::vector< vpImagePoint >	getKltImagePoints () const

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

vpKltOpencv	getKltOpencv () const

unsigned int	getMaskBorder () const

int	getNbKltPoints () const

double	getThresholdAcceptation () const

void	setKltOpencv (const vpKltOpencv &t)

void	setMaskBorder (const unsigned int &e)

void	setThresholdAcceptation (const double th)

virtual void	getCameraParameters (vpCameraParameters &camera) 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 () const

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 &p_me) const

unsigned int	getNbPoints (const unsigned int level=0) const

unsigned int	getNbPolygon () const

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 vpImage< unsigned char > &_I, const vpHomogeneousMatrix &_cMo, bool &newvisibleline)

Deprecated functions
vp_deprecated void	visibleFace (const vpHomogeneousMatrix &_cMo, bool &newvisibleline)

Protected Attributes
bool	compute_interaction

double	lambda

double	thresholdKLT

double	thresholdMBT

unsigned int	maxIter

IplImage *	cur

vpHomogeneousMatrix	c0Mo

double	angleAppears

double	angleDisappears

bool	firstInitialisation

unsigned int	maskBorder

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

vpMe	me

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

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

unsigned int	nline

unsigned int	ncylinder

int	index_polygon

vpMbHiddenFaces< vpMbtPolygon >	faces

unsigned int	nbvisiblepolygone

double	percentageGdPt

std::vector< bool >	scales

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

unsigned int	scaleLevel

bool	useOgre

double	angleAppears

double	angleDisappears

double	distNearClip

double	distFarClip

unsigned int	clippingFlag

Detailed Description

Hybrid tracker based on moving-edges and keypoints tracked using KLT tracker.

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/vpMbEdgeKltTracker.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
  vpMbEdgeKltTracker tracker; // Create an hybrid model based tracker.
  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 Hybrid 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 vpMbEdgeKltTracker::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/vpMbEdgeKltTracker.h>
#include <visp/vpImage.h>
#include <visp/vpHomogeneousMatrix.h>
#include <visp/vpCameraParameters.h>
#include <visp/vpImageIo.h>
int main()
{
#if defined VISP_HAVE_OPENCV
  vpMbEdgeKltTracker tracker; // Create an hybrid model based tracker.
  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); // initialise 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 vpMbEdgeKltTracker::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/vpMbEdgeKltTracker.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
  vpMbEdgeKltTracker tracker; // Create an hybrid model based tracker.
  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 Hybrid 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);
  }
  
#endif
  // Cleanup memory allocated by xml library used to parse the xml config file in vpMbEdgeKltTracker::loadConfigFile()
  vpXmlParser::cleanup();
#endif
  return 0;
#endif
}

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

Definition at line 226 of file vpMbEdgeKltTracker.h.

Constructor & Destructor Documentation

vpMbEdgeKltTracker::vpMbEdgeKltTracker ( )

Definition at line 46 of file vpMbEdgeKltTracker.cpp.

References vpMbTracker::computeCovariance, vpMbKltTracker::faces, vpMbHiddenFaces< PolygonType >::getOgreContext(), vpMbKltTracker::setMaxIter(), and vpAROgre::setWindowName().

vpMbEdgeKltTracker::~vpMbEdgeKltTracker ( )

virtual

Basic constructor

Definition at line 62 of file vpMbEdgeKltTracker.cpp.

Member Function Documentation

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

protectedinherited

Add a cylinder to the list of cylinders.

Parameters

P1	: The first extremity of the axis.
P2	: The second extremity of the axis.
r	: The radius of the cylinder.
name	: the optional name of the cylinder

Definition at line 1396 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().

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

protectedinherited

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

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

Parameters

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

Definition at line 1313 of file vpMbEdgeTracker.cpp.

Referenced by vpMbEdgeTracker::addPolygon().

void vpMbEdgeTracker::addPolygon ( vpMbtPolygon & p )

protectedinherited

Add a polygon to the list of polygons.

Parameters

p	: The polygon to add.

Definition at line 1458 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().

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

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.

Parameters

_pyramid : The pyramid of image to clean.

Definition at line 1991 of file vpMbEdgeTracker.cpp.

Referenced by init(), vpMbEdgeTracker::init(), setPose(), track(), vpMbEdgeTracker::track(), and vpMbEdgeTracker::~vpMbEdgeTracker().

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

protectedinherited

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

Exceptions

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

Warning: The JTR matrix is resized.

Parameters

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

Definition at line 1433 of file vpMbTracker.cpp.

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

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

void vpMbEdgeKltTracker::computeVVS	(	const vpImage< unsigned char > &	I,
		const unsigned int &	nbInfos,
		vpColVector &	w_mbt,
		vpColVector &	w_klt,
		const unsigned int	lvl = `0`
	)

protected

Realize the VVS loop for the tracking

Parameters

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 532 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().

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

protectedinherited

Realize the VVS loop for the tracking

Parameters

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

Definition at line 558 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().

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

protectedinherited

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

Exceptions

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

Parameters

_I	: The current image.

Definition at line 177 of file vpMbEdgeTracker.cpp.

Referenced by vpMbEdgeTracker::track().

void vpMbEdgeKltTracker::display	(	const vpImage< unsigned char > &	I,
		const vpHomogeneousMatrix &	cMo_,
		const vpCameraParameters &	camera,
		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.
camera	: 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.

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

Definition at line 930 of file vpMbEdgeKltTracker.cpp.

References vpMbEdgeTracker::cylinders, vpMbtDistanceLine::display(), vpMbTracker::displayFeatures, vpMbHiddenFaces< PolygonType >::displayOgre(), vpMbKltTracker::faces, vpMbHiddenFaces< PolygonType >::isVisible(), vpMbEdgeTracker::lines, vpMbEdgeTracker::scaleLevel, vpMbEdgeTracker::scales, vpMbHiddenFaces< PolygonType >::size(), and vpMbKltTracker::useOgre.

void vpMbEdgeKltTracker::display	(	const vpImage< vpRGBa > &	I,
		const vpHomogeneousMatrix &	cMo_,
		const vpCameraParameters &	camera,
		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.
camera	: 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 973 of file vpMbEdgeKltTracker.cpp.

References vpMbEdgeTracker::cylinders, vpMbtDistanceLine::display(), vpMbTracker::displayFeatures, vpMbHiddenFaces< PolygonType >::displayOgre(), vpMbKltTracker::faces, vpMbHiddenFaces< PolygonType >::isVisible(), vpMbEdgeTracker::lines, vpMbEdgeTracker::scaleLevel, vpMbEdgeTracker::scales, vpMbHiddenFaces< PolygonType >::size(), and vpMbKltTracker::useOgre.

void vpMbEdgeTracker::downScale ( const unsigned int _scale )

protectedinherited

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

Parameters

_scale : Scale to use.

Definition at line 2060 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(), track(), and vpMbEdgeTracker::track().

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 1282 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 1228 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 1141 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 1378 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::extractGroup().

virtual double vpMbEdgeKltTracker::getAngleAppear ( ) const

inlinevirtual

Return the angle used to test polygons appearance.

Reimplemented from vpMbEdgeTracker.

Definition at line 251 of file vpMbEdgeKltTracker.h.

References vpMbKltTracker::getAngleAppear().

virtual double vpMbEdgeKltTracker::getAngleDisappear ( ) const

inlinevirtual

Return the angle used to test polygons disappearance.

Reimplemented from vpMbEdgeTracker.

Definition at line 254 of file vpMbEdgeKltTracker.h.

References vpMbKltTracker::getAngleDisappear().

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

inlinevirtualinherited

Get the camera parameters.

Parameters

camera : 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 vpMbEdgeKltTracker::getClipping ( ) const

inlinevirtual

Get the clipping used.

See also: vpMbtPolygonClipping

Returns: Clipping flags.

Reimplemented from vpMbEdgeTracker.

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

Definition at line 263 of file vpMbEdgeKltTracker.h.

References vpMbKltTracker::clippingFlag.

virtual vpMatrix vpMbTracker::getCovarianceMatrix ( ) const

inlinevirtualinherited

Get the covariance matrix.

Definition at line 163 of file vpMbTracker.h.

References vpTRACE.

vpMbHiddenFaces<vpMbtKltPolygon>& vpMbEdgeKltTracker::getFaces ( )

inline

Return a reference to the faces structure.

Definition at line 266 of file vpMbEdgeKltTracker.h.

References vpMbKltTracker::faces.

virtual double vpMbEdgeKltTracker::getFarClippingDistance ( ) const

inlinevirtual

Get the far distance for clipping.

Returns: Far clipping value.

Reimplemented from vpMbEdgeTracker.

Definition at line 273 of file vpMbEdgeKltTracker.h.

References vpMbKltTracker::getFarClippingDistance().

double vpMbEdgeTracker::getFirstThreshold ( ) const

inlineinherited

Definition at line 366 of file vpMbEdgeTracker.h.

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

protectedinherited

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

Exceptions

vpException::dimensionError if the set is empty.

Parameters

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

Returns: Center of gravity of the set.

Definition at line 1349 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::extractCylinders().

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

inherited

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 197 of file vpMbKltTracker.cpp.

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

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

inherited

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 218 of file vpMbKltTracker.cpp.

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

vpKltOpencv vpMbKltTracker::getKltOpencv ( ) const

inlineinherited

Get the klt tracker at the current state.

Returns: klt tracker.

Definition at line 329 of file vpMbKltTracker.h.

CvPoint2D32f* vpMbKltTracker::getKltPoints ( )

inlineinherited

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 vpMbEdgeKltTracker::getLambda ( ) const

inlinevirtual

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

Returns: the value for the gain.

Reimplemented from vpMbEdgeTracker.

Definition at line 280 of file vpMbEdgeKltTracker.h.

References vpMbEdgeTracker::lambda.

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

inherited

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

Exceptions

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

Parameters

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

Definition at line 2040 of file vpMbEdgeTracker.cpp.

References vpMbEdgeTracker::cylinders, vpException::dimensionError, and vpMbEdgeTracker::scales.

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

inherited

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

Exceptions

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

Parameters

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

Definition at line 2016 of file vpMbEdgeTracker.cpp.

References vpException::dimensionError, vpMbEdgeTracker::lines, and vpMbEdgeTracker::scales.

unsigned int vpMbKltTracker::getMaskBorder ( ) const

inlineinherited

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 vpMbEdgeKltTracker::getMaxIter ( ) const

inlinevirtual

Get the maximum iteration of the virtual visual servoing stage.

Returns: the number of iteration

Reimplemented from vpMbKltTracker.

Definition at line 287 of file vpMbEdgeKltTracker.h.

References vpMbKltTracker::maxIter.

void vpMbEdgeTracker::getMovingEdge ( vpMe & p_me ) const

inlineinherited

Get the moving edge parameters.

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

Definition at line 383 of file vpMbEdgeTracker.h.

int vpMbKltTracker::getNbKltPoints ( ) const

inlineinherited

Get the current number of klt points.

Returns: the number of features

Definition at line 357 of file vpMbKltTracker.h.

References vpKltOpencv::getNbFeatures().

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

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.

Exceptions

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

Returns: the number of good points.

Definition at line 1735 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.

unsigned int vpMbEdgeTracker::getNbPolygon ( ) const

inherited

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

Returns: Number of polygon.

Definition at line 1796 of file vpMbEdgeTracker.cpp.

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

virtual double vpMbEdgeKltTracker::getNearClippingDistance ( ) const

inlinevirtual

Get the near distance for clipping.

Returns: Near clipping value.

Reimplemented from vpMbEdgeTracker.

Definition at line 294 of file vpMbEdgeKltTracker.h.

References vpMbKltTracker::getNearClippingDistance().

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

inherited

Return the polygon (face) "index".

Exceptions

vpException::dimensionError if index does not represent a good polygon.

Parameters

index : Index of the polygon to return.

Returns: Pointer to the polygon index.

Definition at line 1781 of file vpMbEdgeTracker.cpp.

References vpException::dimensionError, vpMbEdgeTracker::faces, and vpMbHiddenFaces< PolygonType >::size().

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.

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

inlineinherited

Return the scales levels used for the tracking.

Returns: The scales levels used for the tracking.

Definition at line 401 of file vpMbEdgeTracker.h.

double vpMbKltTracker::getThresholdAcceptation ( ) const

inlineinherited

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

protectedvirtual

Initialization of the tracker using a known initial pose. The 3D model must first have been loaded.

Parameters

I	: Input image.

Reimplemented from vpMbEdgeTracker.

Definition at line 73 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().

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 131 of file vpMbTracker.cpp.

References vpPose::addPoint(), vpException::badValue, 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 352 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.

void vpMbEdgeKltTracker::initCylinder	(	const vpPoint &	p1,
		const vpPoint &	p2,
		const double	radius,
		const unsigned int	indexCylinder
	)

protectedvirtual

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

Parameters

p1	: First point on the axis.
p2	: Second point on the axis.
radius	: Radius of the cylinder.
indexCylinder	: Index of the cylinder.

Reimplemented from vpMbEdgeTracker.

Definition at line 914 of file vpMbEdgeKltTracker.cpp.

References vpMbEdgeTracker::initCylinder().

void vpMbEdgeKltTracker::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).

Reimplemented from vpMbEdgeTracker.

Definition at line 898 of file vpMbEdgeKltTracker.cpp.

References vpMbKltTracker::initFaceFromCorners(), and vpMbEdgeTracker::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 469 of file vpMbTracker.cpp.

References vpPose::addPoint(), vpException::badValue, 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 554 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 609 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 644 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 656 of file vpMbTracker.cpp.

References vpMbTracker::initFromPose().

unsigned int vpMbEdgeKltTracker::initMbtTracking ( const unsigned int level = 0 )

protected

Definition at line 167 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().

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

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.

Parameters

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(), track(), and vpMbEdgeTracker::track().

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

protectedinherited

Compute the pyramid of image associated to the image in parameter. The scales computed are the ones corresponding to the scales attribute 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 realized.

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

Parameters

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

Definition at line 1945 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(), track(), and vpMbEdgeTracker::track().

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

protectedvirtualinherited

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

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

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

Parameters

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

Definition at line 838 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.

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>
  <ecm>
    <mask>
      <size>5</size>
      <nb_mask>180</nb_mask>
    </mask>
    <range>
      <tracking>10</tracking>
    </range>
    <contrast>
      <edge_threshold>7000</edge_threshold>
      <mu1>0.5</mu1>
      <mu2>0.5</mu2>
    </contrast>
  </ecm>
  <sample>
    <step>4</step>
    <nb_sample>250</nb_sample>
  </sample>
  <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()

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

Definition at line 274 of file vpMbEdgeKltTracker.cpp.

Referenced by loadConfigFile().

void vpMbEdgeKltTracker::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: moving-edges, 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()

Reimplemented from vpMbEdgeTracker.

Definition at line 204 of file vpMbEdgeKltTracker.cpp.

References loadConfigFile().

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

virtual

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

Exceptions

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

Parameters

modelFile : the file containing the model.

Reimplemented from vpMbEdgeTracker.

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

Definition at line 351 of file vpMbEdgeKltTracker.cpp.

References vpMbTracker::loadModel().

void vpMbEdgeTracker::loadModel ( const char * file )

inherited

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

Parameters

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

See also: vpMbTracker::loadModel()

Definition at line 1566 of file vpMbEdgeTracker.cpp.

References vpMbTracker::loadModel().

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

protectedvirtualinherited

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

Warning: 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 763 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::loadModel().

bool vpMbEdgeKltTracker::postTracking	(	const vpImage< unsigned char > &	I,
		vpColVector &	w_mbt,
		vpColVector &	w_klt,
		const unsigned int	lvl = `0`
	)

protected

Realize the post tracking operations. Mostly visibility tests

Definition at line 360 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().

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

protectedinherited

Realize the post tracking operations. Mostly visibility tests

Definition at line 500 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().

void vpMbEdgeKltTracker::postTrackingMbt	(	vpColVector &	w,
		const unsigned int	lvl = `0`
	)

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-initialize the line.

Warning: level parameter not yet implemented.

Parameters

w	: Vector of weight associated to the residual.
lvl	: Optional parameter to specify the level to track.

Definition at line 418 of file vpMbEdgeKltTracker.cpp.

Referenced by postTracking().

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

protectedinherited

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 474 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().

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

protectedvirtualinherited

void vpMbEdgeTracker::reInitLevel ( const unsigned int _lvl )

protectedinherited

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

Parameters

_lvl	: The level to re-initialize.

Definition at line 2105 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().

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

inherited

Re-initialize the model used by the tracker.

Parameters

I	: The image containing the object to initialize.
cad_name	: Path to the file containing the 3D model description.
cMo_	: The new vpHomogeneousMatrix between the camera and the new model

Definition at line 1686 of file vpMbEdgeTracker.cpp.

References vpMbTracker::cMo, vpMbEdgeTracker::cylinders, vpMbEdgeTracker::faces, vpMbEdgeTracker::index_polygon, vpMbTracker::initFromPose(), vpMbEdgeTracker::lines, vpMbEdgeTracker::loadModel(), vpMbEdgeTracker::nbvisiblepolygone, vpMbEdgeTracker::ncylinder, vpMbEdgeTracker::nline, vpMbHiddenFaces< PolygonType >::reset(), vpMbEdgeTracker::scales, and vpHomogeneousMatrix::setIdentity().

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

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.

Parameters

I	: the image.
_cMo	: the pose of the used to re-initialize 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().

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

protectedinherited

Remove a cylinder by its name.

Parameters

name	: The name of the cylinder to remove.

Definition at line 1435 of file vpMbEdgeTracker.cpp.

References vpMbEdgeTracker::cylinders, vpMbtDistanceCylinder::getName(), and vpMbEdgeTracker::scales.

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

protectedinherited

Remove a line using its name.

Parameters

name	: The name of the line to remove.

Definition at line 1367 of file vpMbEdgeTracker.cpp.

References vpMbtDistanceLine::getName(), vpMbEdgeTracker::lines, and vpMbEdgeTracker::scales.

void vpMbEdgeKltTracker::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.

Reimplemented from vpMbEdgeTracker.

Definition at line 160 of file vpMbEdgeKltTracker.cpp.

References vpMbKltTracker::resetTracker(), and vpMbEdgeTracker::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 667 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::initClick().

virtual void vpMbEdgeKltTracker::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 from vpMbEdgeTracker.

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

Definition at line 311 of file vpMbEdgeKltTracker.h.

References vpMbKltTracker::setAngleAppear(), and vpMbEdgeTracker::setAngleAppear().

virtual void vpMbEdgeKltTracker::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 from vpMbEdgeTracker.

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

Definition at line 322 of file vpMbEdgeKltTracker.h.

References vpMbKltTracker::setAngleDisappear(), and vpMbEdgeTracker::setAngleDisappear().

void vpMbEdgeKltTracker::setCameraParameters ( const vpCameraParameters & camera )

virtual

Set the camera parameters

Parameters

camera : the new camera parameters

Reimplemented from vpMbEdgeTracker.

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

Definition at line 883 of file vpMbEdgeKltTracker.cpp.

References vpMbTracker::cam, vpMbKltTracker::setCameraParameters(), and vpMbEdgeTracker::setCameraParameters().

Referenced by loadConfigFile().

virtual void vpMbEdgeKltTracker::setClipping ( const unsigned int & flags )

inlinevirtual

Specify which clipping to use.

See also: vpMbtPolygonClipping

Parameters

flags : New clipping flags.

Reimplemented from vpMbEdgeTracker.

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

Definition at line 333 of file vpMbEdgeKltTracker.h.

References vpMbKltTracker::setClipping(), and vpMbEdgeTracker::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 vpMbEdgeTracker::setDisplayMovingEdges ( const bool displayMe )

inlineinherited

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

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

Parameters

displayMe : set it to true to display the points.

Examples:: mbtEdgeTracking.cpp.

Definition at line 472 of file vpMbEdgeTracker.h.

virtual void vpMbEdgeKltTracker::setFarClippingDistance ( const double & dist )

inlinevirtual

Set the far distance for clipping.

Parameters

dist	: Far clipping value.

Reimplemented from vpMbEdgeTracker.

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

Definition at line 340 of file vpMbEdgeKltTracker.h.

References vpMbKltTracker::setFarClippingDistance(), and vpMbEdgeTracker::setFarClippingDistance().

Referenced by loadConfigFile().

void vpMbEdgeTracker::setFirstThreshold ( const double threshold1 )

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 : $nbGoodPoint > threshold1 \times (nbGoodPoint + nbBadPoint)$ .

The threshold is ideally between 0 and 1.

Parameters

threshold1 : The new value of the threshold.

Definition at line 485 of file vpMbEdgeTracker.h.

void vpMbKltTracker::setKltOpencv ( const vpKltOpencv & t )

inherited

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 237 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.

virtual void vpMbEdgeKltTracker::setLambda ( const double gain )

inlinevirtual

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

Parameters

gain	: the desired value for the gain.

Reimplemented from vpMbEdgeTracker.

Definition at line 347 of file vpMbEdgeKltTracker.h.

References vpMbKltTracker::setLambda(), and vpMbEdgeTracker::setLambda().

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

inlineinherited

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 vpMbEdgeKltTracker::setMaxIter ( const unsigned int max )

inlinevirtual

Set the maximum iteration of the virtual visual servoing stage.

Parameters

max	: the desired number of iteration

Reimplemented from vpMbKltTracker.

Definition at line 354 of file vpMbEdgeKltTracker.h.

void vpMbEdgeTracker::setMovingEdge ( const vpMe & p_me )

inherited

Set the moving edge parameters.

Parameters

p_me	: an instance of vpMe containing all the desired parameters

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

Definition at line 130 of file vpMbEdgeTracker.cpp.

References vpMbEdgeTracker::cylinders, vpMbEdgeTracker::lines, vpMbEdgeTracker::me, vpMbEdgeTracker::scales, and vpMbtDistanceCylinder::setMovingEdge().

Referenced by loadConfigFile(), and vpMbEdgeTracker::loadConfigFile().

virtual void vpMbEdgeKltTracker::setNearClippingDistance ( const double & dist )

inlinevirtual

Set the near distance for clipping.

Parameters

dist	: Near clipping value.

Reimplemented from vpMbEdgeTracker.

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

Definition at line 361 of file vpMbEdgeKltTracker.h.

References vpMbKltTracker::setNearClippingDistance(), and vpMbEdgeTracker::setNearClippingDistance().

Referenced by loadConfigFile().

virtual void vpMbEdgeKltTracker::setOgreVisibilityTest ( const bool & v )

inlinevirtual

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 from vpMbEdgeTracker.

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

Definition at line 370 of file vpMbEdgeKltTracker.h.

References vpMbKltTracker::setOgreVisibilityTest().

void vpMbEdgeKltTracker::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.

Reimplemented from vpMbEdgeTracker.

Definition at line 113 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().

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

inherited

Set the scales to use to realize the tracking. The vector of boolean activates or not the scales to set 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 subsampled by two.

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

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

Parameters

scale : The vector describing the levels to use.

Definition at line 1822 of file vpMbEdgeTracker.cpp.

References vpMbEdgeTracker::cylinders, vpMbEdgeTracker::lines, vpMbEdgeTracker::scales, and vpERROR_TRACE.

Referenced by vpMbEdgeTracker::resetTracker().

void vpMbKltTracker::setThresholdAcceptation ( const double th )

inlineinherited

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.

virtual void vpMbEdgeKltTracker::testTracking ( )

inlinevirtual

Check if the tracking failed.

Exceptions

vpTrackingException::fatalError if the test fails.

Reimplemented from vpMbEdgeTracker.

Definition at line 374 of file vpMbEdgeKltTracker.h.

void vpMbEdgeKltTracker::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.

Reimplemented from vpMbEdgeTracker.

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

Definition at line 709 of file vpMbEdgeKltTracker.cpp.

References vpMbEdgeTracker::cleanPyramid(), vpMbTracker::cMo, computeVVS(), vpMbKltTracker::computeVVS(), vpMbEdgeTracker::downScale(), vpMbKltTracker::faces, vpMbEdgeTracker::faces, vpMbEdgeTracker::initMovingEdge(), vpMbEdgeTracker::initPyramid(), vpMbEdgeTracker::Ipyramid, vpMbEdgeTracker::nbvisiblepolygone, postTracking(), vpMbKltTracker::preTracking(), vpMbKltTracker::reinit(), vpMbEdgeTracker::scales, vpMbHiddenFaces< PolygonType >::size(), vpMbEdgeTracker::trackMovingEdge(), and vpMbEdgeTracker::upScale().

unsigned int vpMbEdgeKltTracker::trackFirstLoop	(	const vpImage< unsigned char > &	I,
		vpColVector &	factor,
		const unsigned int	lvl = `0`
	)

protected

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

protectedinherited

Track the moving edges in the image.

Parameters

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().

void vpMbEdgeKltTracker::trackSecondLoop	(	const vpImage< unsigned char > &	I,
		vpMatrix &	L,
		vpColVector &	_error,
		vpHomogeneousMatrix &	cMo,
		const unsigned int	lvl = `0`
	)

protected

Definition at line 844 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().

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

protectedinherited

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

Parameters

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().

void vpMbEdgeTracker::upScale ( const unsigned int _scale )

protectedinherited

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

Parameters

_scale : Scale to use.

Definition at line 2082 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(), track(), and vpMbEdgeTracker::track().

void vpMbEdgeTracker::visibleFace	(	const vpImage< unsigned char > &	_I,
		const vpHomogeneousMatrix &	_cMo,
		bool &	newvisibleline
	)

protectedinherited

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

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

Parameters

_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 1526 of file vpMbEdgeTracker.cpp.

References vpMbEdgeTracker::angleAppears, vpMbEdgeTracker::angleDisappears, vpMbTracker::cam, vpMbEdgeTracker::faces, vpMbEdgeTracker::nbvisiblepolygone, vpMbHiddenFaces< PolygonType >::setVisible(), vpMbHiddenFaces< PolygonType >::setVisibleOgre(), and vpMbEdgeTracker::useOgre.

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

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

protectedinherited

Deprecated:: This method is deprecated since it is no more used since ViSP 2.7.0.

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

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

Parameters

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

Definition at line 1487 of file vpMbEdgeTracker.cpp.

References vpMbEdgeTracker::faces, vpMbEdgeTracker::nbvisiblepolygone, vpMath::rad(), vpMbHiddenFaces< PolygonType >::setVisible(), vpMbHiddenFaces< PolygonType >::setVisibleOgre(), and vpMbEdgeTracker::useOgre.

Member Data Documentation

double vpMbKltTracker::angleAppears

protectedinherited

Angle used to detect a face appearance.

Definition at line 235 of file vpMbKltTracker.h.

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

double vpMbEdgeTracker::angleAppears

protectedinherited

Angle used to detect a face appearance.

Definition at line 317 of file vpMbEdgeTracker.h.

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

double vpMbKltTracker::angleDisappears

protectedinherited

Angle used to detect a face disappearance.

Definition at line 237 of file vpMbKltTracker.h.

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

double vpMbEdgeTracker::angleDisappears

protectedinherited

Angle used to detect a face disappearance.

Definition at line 320 of file vpMbEdgeTracker.h.

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

vpHomogeneousMatrix vpMbKltTracker::c0Mo

protectedinherited

Initial pose.

Definition at line 233 of file vpMbKltTracker.h.

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

vpCameraParameters vpMbTracker::cam

protectedinherited

unsigned int vpMbKltTracker::clippingFlag

protectedinherited

Flags specifying which clipping to used.

Definition at line 267 of file vpMbKltTracker.h.

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

unsigned int vpMbEdgeTracker::clippingFlag

protectedinherited

Flags specifying which clipping to used.

Definition at line 329 of file vpMbEdgeTracker.h.

Referenced by vpMbEdgeTracker::addLine(), loadConfigFile(), vpMbEdgeTracker::loadConfigFile(), vpMbEdgeTracker::resetTracker(), vpMbEdgeTracker::setClipping(), vpMbEdgeTracker::setFarClippingDistance(), and vpMbEdgeTracker::setNearClippingDistance().

vpHomogeneousMatrix vpMbTracker::cMo

protectedinherited

bool vpMbEdgeKltTracker::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 230 of file vpMbEdgeKltTracker.h.

Referenced by computeVVS().

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 computeVVS(), vpMbKltTracker::computeVVS(), vpMbEdgeTracker::computeVVS(), vpMbKltTracker::resetTracker(), and vpMbEdgeKltTracker().

vpMatrix vpMbTracker::covarianceMatrix

protectedinherited

Covariance matrix.

Definition at line 118 of file vpMbTracker.h.

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

vpHomogeneousMatrix vpMbKltTracker::ctTc0

protectedinherited

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

Definition at line 255 of file vpMbKltTracker.h.

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

IplImage* vpMbKltTracker::cur

protectedinherited

Temporary OpenCV image for fast conversion.

Definition at line 231 of file vpMbKltTracker.h.

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

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

protectedinherited

bool vpMbTracker::displayFeatures

protectedinherited

If true, the features are displayed.

Definition at line 120 of file vpMbTracker.h.

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

double vpMbKltTracker::distFarClip

protectedinherited

Distance for near clipping.

Definition at line 265 of file vpMbKltTracker.h.

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

double vpMbEdgeTracker::distFarClip

protectedinherited

Distance for near clipping.

Definition at line 326 of file vpMbEdgeTracker.h.

Referenced by vpMbEdgeTracker::addLine(), vpMbEdgeTracker::setFarClippingDistance(), and vpMbEdgeTracker::setNearClippingDistance().

double vpMbKltTracker::distNearClip

protectedinherited

Distance for near clipping.

Definition at line 263 of file vpMbKltTracker.h.

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

double vpMbEdgeTracker::distNearClip

protectedinherited

Distance for near clipping.

Definition at line 323 of file vpMbEdgeTracker.h.

Referenced by vpMbEdgeTracker::addLine(), vpMbEdgeTracker::setFarClippingDistance(), and vpMbEdgeTracker::setNearClippingDistance().

vpMbHiddenFaces<vpMbtKltPolygon> vpMbKltTracker::faces

protectedinherited

vpMbHiddenFaces<vpMbtPolygon> vpMbEdgeTracker::faces

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::reInitModel(), vpMbEdgeTracker::resetTracker(), setPose(), track(), vpMbEdgeTracker::visibleFace(), and vpMbEdgeTracker::vpMbEdgeTracker().

bool vpMbKltTracker::firstInitialisation

protectedinherited

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 vpMbKltTracker::resetTracker().

bool vpMbKltTracker::firstTrack

protectedinherited

First track() called.

Definition at line 261 of file vpMbKltTracker.h.

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

int vpMbEdgeTracker::index_polygon

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::reInitModel(), and vpMbEdgeTracker::resetTracker().

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

protectedinherited

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

Definition at line 308 of file vpMbEdgeTracker.h.

Referenced by init(), vpMbEdgeTracker::init(), vpMbEdgeTracker::reInitLevel(), setPose(), track(), vpMbEdgeTracker::track(), and vpMbEdgeTracker::~vpMbEdgeTracker().

double vpMbEdgeKltTracker::lambda

protected

The gain of the virtual visual servoing stage.

Definition at line 232 of file vpMbEdgeKltTracker.h.

Referenced by computeVVS().

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

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.

unsigned int vpMbKltTracker::maskBorder

protectedinherited

Erosion of the mask.

Definition at line 243 of file vpMbKltTracker.h.

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

unsigned int vpMbEdgeKltTracker::maxIter

protected

The maximum iteration of the virtual visual servoing stage.

Definition at line 238 of file vpMbEdgeKltTracker.h.

Referenced by computeVVS().

vpMe vpMbEdgeTracker::me

protectedinherited

The moving edges parameters.

Definition at line 280 of file vpMbEdgeTracker.h.

Referenced by vpMbEdgeTracker::addCylinder(), vpMbEdgeTracker::addLine(), loadConfigFile(), vpMbEdgeTracker::loadConfigFile(), and vpMbEdgeTracker::setMovingEdge().

std::string vpMbTracker::modelFileName

protectedinherited

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

Definition at line 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 vpMbKltTracker::init(), and vpMbTracker::loadModel().

unsigned int vpMbEdgeTracker::nbvisiblepolygone

protectedinherited

Number of polygon (face) currently visible.

Definition at line 299 of file vpMbEdgeTracker.h.

Referenced by init(), postTracking(), vpMbEdgeTracker::reInitModel(), vpMbEdgeTracker::resetTracker(), setPose(), track(), and vpMbEdgeTracker::visibleFace().

unsigned int vpMbEdgeTracker::ncylinder

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::reInitModel(), and vpMbEdgeTracker::resetTracker().

unsigned int vpMbEdgeTracker::nline

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::reInitModel(), and vpMbEdgeTracker::resetTracker().

double vpMbEdgeTracker::percentageGdPt

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(), and vpMbEdgeTracker::testTracking().

double vpMbKltTracker::percentGood

protectedinherited

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

Definition at line 251 of file vpMbKltTracker.h.

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

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().

unsigned int vpMbEdgeTracker::scaleLevel

protectedinherited

Current scale level used. This attribute must not be modified outside 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().

std::vector<bool> vpMbEdgeTracker::scales

protectedinherited

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

Definition at line 305 of file vpMbEdgeTracker.h.

double vpMbKltTracker::threshold_outlier

protectedinherited

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 vpMbKltTracker::postTracking(), and vpMbKltTracker::resetTracker().

double vpMbEdgeKltTracker::thresholdKLT

protected

The threshold used in the robust estimation of KLT.

Definition at line 234 of file vpMbEdgeKltTracker.h.

Referenced by computeVVS().

double vpMbEdgeKltTracker::thresholdMBT

protected

The threshold used in the robust estimation of MBT.

Definition at line 236 of file vpMbEdgeKltTracker.h.

Referenced by computeVVS().

vpKltOpencv vpMbKltTracker::tracker

protectedinherited

Points tracker.

Definition at line 257 of file vpMbKltTracker.h.

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

bool vpMbKltTracker::useOgre

protectedinherited

Use Ogre3d for visibility tests.

Definition at line 253 of file vpMbKltTracker.h.

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

bool vpMbEdgeTracker::useOgre

protectedinherited

Use Ogre3d for visibility tests.

Definition at line 314 of file vpMbEdgeTracker.h.

Referenced by vpMbEdgeTracker::display(), vpMbEdgeTracker::init(), vpMbEdgeTracker::setOgreVisibilityTest(), and vpMbEdgeTracker::visibleFace().

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Protected Attributes

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