ViSP  2.9.0

#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< vpImagePointgetKltImagePoints () const
 
std::map< int, vpImagePointgetKltImagePointsWithId () 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 gain)
 
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 &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)
 
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< vpMbtKltPolygonfaces
 
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.
vpHomogeneousMatrix cMo; // Pose computed using the tracker.
// Acquire an image
vpImageIo::read(I, "cube.pgm");
#if defined VISP_HAVE_X11
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
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.
}
#if defined VISP_HAVE_XML2
// Cleanup memory allocated by xml library used to parse the xml config file in vpMbKltTracker::loadConfigFile()
#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.
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()
#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.
vpHomogeneousMatrix cMo; // Pose used to display the model.
// Acquire an image
vpImageIo::read(I, "cube.pgm");
#if defined VISP_HAVE_X11
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
tracker.display(I, cMo, cam, vpColor::darkRed, 1, true); // Display the model at the computed pose.
}
#if defined VISP_HAVE_XML2
// Cleanup memory allocated by xml library used to parse the xml config file in vpMbKltTracker::loadConfigFile()
#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 75 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::incorrectMatrixSizeErrorif 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 vpMbEdgeKltTracker::computeVVS(), computeVVS(), and vpMbEdgeTracker::computeVVS().

void vpMbKltTracker::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.

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

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

Definition at line 801 of file vpMbKltTracker.cpp.

References 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 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.

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 855 of file vpMbKltTracker.cpp.

References 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 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 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 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 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::dimensionErrorif 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

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 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 218 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 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):

4 // Number of points in the file (minimum is four)
0.01 0.01 0.01 // \
... // | 3D coordinates in the object basis
0.01 -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
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 439 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):

4 // Number of 3D points in the file (minimum is four)
0.01 0.01 0.01 // \
... // | 3D coordinates in meters in the object frame
0.01 -0.01 -0.01 // /
4 // Number of image points in the file (has to be the same as the number of 3D points)
100 200 // \
... // | 2D coordinates in pixel in the image
50 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
0.0000 // \
0.0000 // |
1.0000 // | Exemple of value for the pose vector where Z = 1 meter
0.0000 // |
0.0000 // |
0.0000 // /

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().

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
8 // Number of points describing the object
0.01 0.01 0.01 // \
... // | coordinates of the points in the object frame (in m.)
0.01 0.01 0.01 // /
3 // Number of lines to track.
0 2 // \
1 4 // | Index of the points representing the extremities of the lines
1 5 // /
0 // Number of polygon (face) to track using the line previously described
// Face described as follow : nbLine IndexLine1 indexLine2 ... indexLineN
3 // Number of polygon (face) to track using the line previously described
4 0 2 3 4 // Face described as follow : nbPoint IndexPoint1 IndexPoint2 ... IndexPointN
4 1 3 5 7
3 1 5 6
1 // Number of cylinder
6 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 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 684 of file vpMbKltTracker.cpp.

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::ioErrorif 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 736 of file vpMbKltTracker.cpp.

References angleAppears, angleDisappears, clippingFlag, vpMath::deg(), vpMbtPolygon::FOV_CLIPPING, vpMbXmlParser::getAngleAppear(), vpMbXmlParser::getAngleDisappear(), vpMbtKltXmlParser::getBlockSize(), vpMbXmlParser::getCameraParameters(), vpMbXmlParser::getFarClippingDistance(), vpMbXmlParser::getFovClipping(), vpMbtKltXmlParser::getHarrisParam(), vpMbtKltXmlParser::getMaskBorder(), vpMbtKltXmlParser::getMaxFeatures(), vpMbtKltXmlParser::getMinDistance(), vpMbXmlParser::getNearClippingDistance(), vpMbtKltXmlParser::getPyramidLevels(), vpMbtKltXmlParser::getQuality(), vpMbtKltXmlParser::getWindowSize(), vpMbXmlParser::hasFarClippingDistance(), vpMbXmlParser::hasNearClippingDistance(), vpException::ioError, maskBorder, vpMbtKltXmlParser::parse(), vpMath::rad(), vpMbXmlParser::setAngleAppear(), vpMbXmlParser::setAngleDisappear(), vpMbtKltXmlParser::setBlockSize(), vpKltOpencv::setBlockSize(), setCameraParameters(), setClipping(), setFarClippingDistance(), vpKltOpencv::setHarrisFreeParameter(), vpMbtKltXmlParser::setHarrisParam(), vpMbtKltXmlParser::setMaskBorder(), vpMbtKltXmlParser::setMaxFeatures(), vpKltOpencv::setMaxFeatures(), vpMbtKltXmlParser::setMinDistance(), vpKltOpencv::setMinDistance(), setNearClippingDistance(), vpMbtKltXmlParser::setPyramidLevels(), vpKltOpencv::setPyramidLevels(), vpMbtKltXmlParser::setQuality(), vpKltOpencv::setQuality(), vpMbtKltXmlParser::setWindowSize(), vpKltOpencv::setWindowSize(), tracker, vpERROR_TRACE, and vpTRACE.

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::ioErrorif 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 705 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::fatalErrorif 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 vpMbKltTracker::postTracking ( const vpImage< unsigned char > &  I,
vpColVector w 
)
protected
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 474 of file vpMbKltTracker.cpp.

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

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

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 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 camera)
virtual

Set the camera parameters.

Parameters
camera: the new camera parameters.

Reimplemented from vpMbTracker.

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

Definition at line 253 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 425 of file vpMbKltTracker.cpp.

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

Referenced by loadConfigFile(), vpMbEdgeKltTracker::loadConfigFile(), and 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 381 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().

virtual void vpMbKltTracker::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 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 402 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 269 of file vpMbKltTracker.cpp.

References useOgre.

Referenced by vpMbEdgeKltTracker::setOgreVisibilityTest().

void vpMbKltTracker::setPose ( const vpImage< unsigned char > &  I,
const vpHomogeneousMatrix cdMo 
)
virtual
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::fatalErrorif the test fails.

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 907 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 654 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(), vpMbEdgeKltTracker::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(), vpMbEdgeKltTracker::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().

unsigned int vpMbKltTracker::clippingFlag
protected
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(), and resetTracker().

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(), and vpMbEdgeKltTracker::vpMbEdgeKltTracker().

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

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().

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().

bool vpMbKltTracker::firstTrack
protected

First track() called.

Definition at line 261 of file vpMbKltTracker.h.

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

double vpMbKltTracker::lambda
protected

The gain of the virtual visual servoing stage.

Definition at line 245 of file vpMbKltTracker.h.

Referenced by computeVVS(), and resetTracker().

unsigned int vpMbKltTracker::maskBorder
protected

Erosion of the mask.

Definition at line 243 of file vpMbKltTracker.h.

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

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(), and resetTracker().

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(), and vpMbTracker::loadModel().

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(), and 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().

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(), and resetTracker().

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(), and setPose().