#include <visp3/mbt/vpMbEdgeTracker.h>

Inheritance diagram for vpMbEdgeTracker:

Public Types
enum	vpMbtOptimizationMethod { GAUSS_NEWTON_OPT = 0, LEVENBERG_MARQUARDT_OPT = 1 }

Public Member Functions
	vpMbEdgeTracker ()

virtual	~vpMbEdgeTracker ()

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)

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	getLambda () const

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

void	getLcircle (std::list< vpMbtDistanceCircle * > &circlesList, const unsigned int level=0)

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

void	getMovingEdge (vpMe &p_me) const

vpMe	getMovingEdge () const

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

std::vector< bool >	getScales () const

double	getGoodMovingEdgesRatioThreshold () const

void	loadConfigFile (const std::string &configFile)

void	loadConfigFile (const char *configFile)

void	reInitModel (const vpImage< unsigned char > &I, const std::string &cad_name, const vpHomogeneousMatrix &cMo_, const bool verbose=false)

void	reInitModel (const vpImage< unsigned char > &I, const char *cad_name, const vpHomogeneousMatrix &cMo, const bool verbose=false)

void	resetTracker ()

virtual void	setCameraParameters (const vpCameraParameters &camera)

virtual void	setClipping (const unsigned int &flags)

virtual void	setFarClippingDistance (const double &dist)

virtual void	setNearClippingDistance (const double &dist)

virtual void	setOgreVisibilityTest (const bool &v)

virtual void	setScanLineVisibilityTest (const bool &v)

void	setGoodMovingEdgesRatioThreshold (const double threshold)

virtual void	setLambda (const double gain)

void	setMovingEdge (const vpMe &me)

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

void	setScales (const std::vector< bool > &_scales)

void	setUseEdgeTracking (const std::string &name, const bool &useEdgeTracking)

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

virtual double	getAngleAppear () const

virtual double	getAngleDisappear () const

virtual void	getCameraParameters (vpCameraParameters &camera) const

virtual unsigned int	getClipping () const

virtual vpMatrix	getCovarianceMatrix () const

virtual double	getProjectionError () const

virtual vpColVector	getEstimatedDoF ()

virtual vpColVector	getError ()

vpMbHiddenFaces< vpMbtPolygon > &	getFaces ()

virtual double	getFarClippingDistance () const

virtual vpColVector	getRobustWeights ()

virtual unsigned int	getNbPolygon () const

virtual double	getNearClippingDistance () const

virtual vpMbtOptimizationMethod	getOptimizationMethod () const

virtual vpMbtPolygon *	getPolygon (const unsigned int index)

virtual std::pair< std::vector< vpPolygon >, std::vector< std::vector< vpPoint > > >	getPolygonFaces (const bool orderPolygons=true, const bool useVisibility=true)

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 char *modelFile, const bool verbose=false)

virtual void	loadModel (const std::string &modelFile, const bool verbose=false)

void	savePose (const std::string &filename)

virtual void	setAngleAppear (const double &a)

virtual void	setAngleDisappear (const double &a)

virtual void	setCovarianceComputation (const bool &flag)

void	setDisplayFeatures (const bool displayF)

virtual void	setEstimatedDoF (const vpColVector &v)

virtual void	setLod (const bool useLod, const std::string &name="")

virtual void	setMinLineLengthThresh (const double minLineLengthThresh, const std::string &name="")

virtual void	setMinPolygonAreaThresh (const double minPolygonAreaThresh, const std::string &name="")

virtual void	setOptimizationMethod (const vpMbtOptimizationMethod &opt)

void	setPoseSavingFilename (const std::string &filename)

virtual void	setProjectionErrorComputation (const bool &flag)

void	setOgreShowConfigDialog (const bool showConfigDialog)

void	setNbRayCastingAttemptsForVisibility (const unsigned int &attempts)

void	setGoodNbRayCastingAttemptsRatio (const double &ratio)

Protected Member Functions
bool	samePoint (const vpPoint &P1, const vpPoint &P2)

void	addCircle (const vpPoint &P1, const vpPoint &P2, const vpPoint &P3, const double r, int idFace=-1, const std::string &name="")

void	addCylinder (const vpPoint &P1, const vpPoint &P2, const double r, int idFace=-1, const std::string &name="")

void	addLine (vpPoint &p1, vpPoint &p2, int polygon=-1, std::string name="")

void	addPolygon (vpMbtPolygon &p)

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

void	computeProjectionError (const vpImage< unsigned char > &_I)

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

void	downScale (const unsigned int _scale)

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

virtual void	initCircle (const vpPoint &p1, const vpPoint &p2, const vpPoint &p3, const double radius, const int idFace=0, const std::string &name="")

virtual void	initCylinder (const vpPoint &p1, const vpPoint &p2, const double radius, const int idFace=0, const std::string &name="")

virtual void	initFaceFromCorners (vpMbtPolygon &polygon)

virtual void	initFaceFromLines (vpMbtPolygon &polygon)

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	removeCircle (const std::string &name)

void	removeCylinder (const std::string &name)

void	removeLine (const std::string &name)

void	resetMovingEdge ()

void	testTracking ()

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)

void	addPolygon (const std::vector< vpPoint > &corners, const int idFace=-1, const std::string &polygonName="", const bool useLod=false, const double minPolygonAreaThreshold=2500.0, const double minLineLengthThreshold=50.0)

void	addPolygon (const vpPoint &p1, const vpPoint &p2, const vpPoint &p3, const double radius, const int idFace=-1, const std::string &polygonName="", const bool useLod=false, const double minPolygonAreaThreshold=2500.0)

void	addPolygon (const vpPoint &p1, const vpPoint &p2, const int idFace=-1, const std::string &polygonName="", const bool useLod=false, const double minLineLengthThreshold=50)

void	addPolygon (const std::vector< std::vector< vpPoint > > &listFaces, const int idFace=-1, const std::string &polygonName="", const bool useLod=false, const double minLineLengthThreshold=50)

void	createCylinderBBox (const vpPoint &p1, const vpPoint &p2, const double &radius, std::vector< std::vector< vpPoint > > &listFaces)

void	computeJTR (const vpMatrix &J, const vpColVector &R, vpColVector &JTR)

virtual void	extractGroup (SoVRMLGroup *sceneGraphVRML2, vpHomogeneousMatrix &transform, int &idFace)

virtual void	extractFaces (SoVRMLIndexedFaceSet *face_set, vpHomogeneousMatrix &transform, int &idFace, const std::string &polygonName="")

virtual void	extractLines (SoVRMLIndexedLineSet *line_set, int &idFace, const std::string &polygonName="")

virtual void	extractCylinders (SoVRMLIndexedFaceSet *face_set, vpHomogeneousMatrix &transform, int &idFace, const std::string &polygonName="")

vpPoint	getGravityCenter (const std::vector< vpPoint > &_pts)

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

virtual void	loadCAOModel (const std::string &modelFile, std::vector< std::string > &vectorOfModelFilename, int &startIdFace, const bool verbose=false, const bool parent=true)

void	removeComment (std::ifstream &fileId)

bool	parseBoolean (std::string &input)

std::map< std::string, std::string >	parseParameters (std::string &endLine)

std::string &	ltrim (std::string &s)

std::string &	rtrim (std::string &s)

std::string &	trim (std::string &s)

Protected Attributes
int	compute_interaction

double	lambda

vpMe	me

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

std::vector< std::list< vpMbtDistanceCircle * > >	circles

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

unsigned int	nline

unsigned int	ncircle

unsigned int	ncylinder

unsigned int	nbvisiblepolygone

double	percentageGdPt

std::vector< bool >	scales

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

unsigned int	scaleLevel

vpCameraParameters	cam

vpHomogeneousMatrix	cMo

vpMatrix	oJo

bool	isoJoIdentity

std::string	modelFileName

bool	modelInitialised

std::string	poseSavingFilename

bool	computeCovariance

vpMatrix	covarianceMatrix

bool	computeProjError

double	projectionError

bool	displayFeatures

vpColVector	m_w

vpColVector	m_error

vpMbtOptimizationMethod	m_optimizationMethod

vpMbHiddenFaces< vpMbtPolygon >	faces

double	angleAppears

double	angleDisappears

double	distNearClip

double	distFarClip

unsigned int	clippingFlag

bool	useOgre

bool	ogreShowConfigDialog

bool	useScanLine

unsigned int	nbPoints

unsigned int	nbLines

unsigned int	nbPolygonLines

unsigned int	nbPolygonPoints

unsigned int	nbCylinders

unsigned int	nbCircles

bool	useLodGeneral

bool	applyLodSettingInConfig

double	minLineLengthThresholdGeneral

double	minPolygonAreaThresholdGeneral

std::map< std::string, std::string >	mapOfParameterNames

Detailed Description

Make the complete tracking of an object by using its CAD model.

This class allows to track an object or a scene given its 3D model. A video can be found in the http://www.irisa.fr/lagadic/visp/computer-vision.html web page. The Tutorial: Markerless model-based tracking is also a good starting point to use this class.

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.

#include <visp/vpMbEdgeTracker.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()
{
  vpMbEdgeTracker tracker; // Create a 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 Edge 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);
  }
  // Cleanup memory allocated by xml library used to parse the xml config file in vpMbEdgeTracker::loadConfigFile()
  vpXmlParser::cleanup();
  return 0;
}

For application with large inter-images displacement, multi-scale tracking is also possible, by setting the number of scales used and by activating (or not) them using a vector of booleans, as presented in the following code:

...
vpHomogeneousMatrix cMo; // Pose computed using the tracker.
vpCameraParameters cam;
std::vector< bool > scales(3); //Three scales used
scales.push_back(true); //First scale : active
scales.push_back(false); //Second scale (/2) : not active
scales.push_back(true); //Third scale (/4) : active
tracker.setScales(scales); // Set active scales for multi-scale tracking
tracker.loadConfigFile("cube.xml"); // Load the configuration of the tracker
tracker.getCameraParameters(cam); // Get the camera parameters used by the tracker (from the configuration file).
...
// Cleanup memory allocated by xml library used to parse the xml config file in vpMbEdgeTracker::loadConfigFile()
vpXmlParser::cleanup();

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/vpMbEdgeTracker.h>
#include <visp/vpImage.h>
#include <visp/vpHomogeneousMatrix.h>
#include <visp/vpCameraParameters.h>
#include <visp/vpImageIo.h>
int main()
{
  vpMbEdgeTracker tracker; // Create a 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); // 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 
  }
  
  // Cleanup memory allocated by xml library used to parse the xml config file in vpMbEdgeTracker::loadConfigFile()
  vpXmlParser::cleanup();
  return 0;
}

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

#include <visp/vpMbEdgeTracker.h>
#include <visp/vpImage.h>
#include <visp/vpImageIo.h>
#include <visp/vpHomogeneousMatrix.h>
#include <visp/vpCameraParameters.h>
#include <visp/vpDisplayX.h>
int main()
{
  vpMbEdgeTracker tracker; // Create a 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 Edge 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);
  }
  
  // Cleanup memory allocated by xml library used to parse the xml config file in vpMbEdgeTracker::loadConfigFile()
  vpXmlParser::cleanup();
  return 0;
}

Examples:: mbtEdgeTracking.cpp, testKeyPoint-2.cpp, testKeyPoint-4.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, tutorial-mb-edge-tracker.cpp, tutorial-mb-tracker-full.cpp, and tutorial-mb-tracker.cpp.

Definition at line 260 of file vpMbEdgeTracker.h.

Member Enumeration Documentation

enum vpMbTracker::vpMbtOptimizationMethod

inherited

Enumerator
GAUSS_NEWTON_OPT
LEVENBERG_MARQUARDT_OPT

Definition at line 106 of file vpMbTracker.h.

Constructor & Destructor Documentation

vpMbEdgeTracker::vpMbEdgeTracker ( )

Basic constructor

Definition at line 71 of file vpMbEdgeTracker.cpp.

References vpMbTracker::angleAppears, vpMbTracker::angleDisappears, vpMbTracker::faces, vpMbHiddenFaces< PolygonType >::getOgreContext(), vpMath::rad(), scales, and vpAROgre::setWindowName().

vpMbEdgeTracker::~vpMbEdgeTracker ( )

virtual

Basic destructor useful to deallocate the memory.

Definition at line 89 of file vpMbEdgeTracker.cpp.

References circles, cleanPyramid(), cylinders, Ipyramid, lines, and scales.

Member Function Documentation

void vpMbEdgeTracker::addCircle	(	const vpPoint &	P1,
		const vpPoint &	P2,
		const vpPoint &	P3,
		const double	r,
		int	idFace = `-1`,
		const std::string &	name = `""`
	)

protected

Add a circle to the list of circles.

Parameters

P1	: Center of the circle.
P2,P3	: Two points on the plane containing the circle. With the center of the circle we have 3 points defining the plane that contains the circle.
r	: Radius of the circle.
idFace	: Id of the face that is associated to the circle to handle visibility test.
name	: the optional name of the circle.

Definition at line 2001 of file vpMbEdgeTracker.cpp.

References vpMbtDistanceCircle::buildFrom(), vpMbTracker::cam, circles, downScale(), vpMbTracker::faces, vpMbtDistanceCircle::hiddenface, vpMbtDistanceCircle::index_polygon, vpMath::maximum(), me, ncircle, vpMbtDistanceCircle::p1, vpMbtDistanceCircle::p2, vpMbtDistanceCircle::p3, vpMbtDistanceCircle::radius, samePoint(), scales, vpMbtDistanceCircle::setCameraParameters(), vpMbtDistanceCircle::setIndex(), vpMbtDistanceCircle::setMovingEdge(), vpMbtDistanceCircle::setName(), and upScale().

Referenced by initCircle().

void vpMbEdgeTracker::addCylinder	(	const vpPoint &	P1,
		const vpPoint &	P2,
		const double	r,
		int	idFace = `-1`,
		const std::string &	name = `""`
	)

protected

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.
idFace	: The index of the face.
name	: the optional name of the cylinder

Definition at line 2055 of file vpMbEdgeTracker.cpp.

References vpMbtDistanceCylinder::buildFrom(), vpMbTracker::cam, cylinders, downScale(), vpMbTracker::faces, vpMbtDistanceCylinder::hiddenface, vpMbtDistanceCylinder::index_polygon, vpMath::maximum(), me, ncylinder, vpMbtDistanceCylinder::p1, vpMbtDistanceCylinder::p2, vpMbtDistanceCylinder::radius, samePoint(), scales, vpMbtDistanceCylinder::setCameraParameters(), vpMbtDistanceCylinder::setIndex(), vpMbtDistanceCylinder::setMovingEdge(), vpMbtDistanceCylinder::setName(), and upScale().

Referenced by initCylinder().

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

protected

Add a line belonging to the $ index $ the polygon 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.
polygon	: The index of the polygon to which the line belongs.
name	: the optional name of the line

Definition at line 1918 of file vpMbEdgeTracker.cpp.

Referenced by addPolygon(), initFaceFromCorners(), and initFaceFromLines().

void vpMbEdgeTracker::addPolygon ( vpMbtPolygon & p )

protected

Add a polygon to the list of polygons.

Parameters

p	: The polygon to add.

Definition at line 2141 of file vpMbEdgeTracker.cpp.

References addLine(), vpMbtPolygon::getIndex(), vpPolygon3D::getNbPoint(), and vpPolygon3D::p.

void vpMbTracker::addPolygon	(	const std::vector< vpPoint > &	corners,
		const int	idFace = `-1`,
		const std::string &	polygonName = `""`,
		const bool	useLod = `false`,
		const double	minPolygonAreaThreshold = `2500.0`,
		const double	minLineLengthThreshold = `50.0`
	)

protectedinherited

void vpMbTracker::addPolygon	(	const vpPoint &	p1,
		const vpPoint &	p2,
		const vpPoint &	p3,
		const double	radius,
		const int	idFace = `-1`,
		const std::string &	polygonName = `""`,
		const bool	useLod = `false`,
		const double	minPolygonAreaThreshold = `2500.0`
	)

protectedinherited

void vpMbTracker::addPolygon	(	const vpPoint &	p1,
		const vpPoint &	p2,
		const int	idFace = `-1`,
		const std::string &	polygonName = `""`,
		const bool	useLod = `false`,
		const double	minLineLengthThreshold = `50`
	)

protectedinherited

Definition at line 920 of file vpMbTracker.cpp.

References vpPolygon3D::addPoint(), vpMbHiddenFaces< PolygonType >::addPolygon(), vpMbTracker::clippingFlag, vpMbTracker::distFarClip, vpMbTracker::distNearClip, vpMbTracker::faces, vpPolygon3D::FAR_CLIPPING, vpMbHiddenFaces< PolygonType >::getPolygon(), vpMbTracker::minPolygonAreaThresholdGeneral, vpPolygon3D::NEAR_CLIPPING, vpPolygon3D::NO_CLIPPING, vpMbtPolygon::setIndex(), vpMbtPolygon::setLod(), vpMbtPolygon::setMinLineLengthThresh(), vpMbtPolygon::setMinPolygonAreaThresh(), vpMbtPolygon::setName(), and vpPolygon3D::setNbPoint().

void vpMbTracker::addPolygon	(	const std::vector< std::vector< vpPoint > > &	listFaces,
		const int	idFace = `-1`,
		const std::string &	polygonName = `""`,
		const bool	useLod = `false`,
		const double	minLineLengthThreshold = `50`
	)

protectedinherited

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

protected

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 2654 of file vpMbEdgeTracker.cpp.

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

void vpMbTracker::computeJTR	(	const vpMatrix &	interaction,
		const vpColVector &	error,
		vpColVector &	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 vector is resized.

Parameters

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

Definition at line 2366 of file vpMbTracker.cpp.

References vpArray2D< Type >::getCols(), vpArray2D< Type >::getRows(), vpMatrixException::incorrectMatrixSizeError, and vpColVector::resize().

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

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

protected

Compute the projection error of the model. This approach compares the gradient direction around samples of each lines of the model with their direction. Error is expressed in degrees between 0 and 90;

Parameters

_I	: Image in which the model appears.

Definition at line 1031 of file vpMbEdgeTracker.cpp.

References circles, cylinders, vpMath::deg(), vpMbtDistanceCircle::isTracked(), vpMbtDistanceLine::isTracked(), vpMbtDistanceCylinder::isTracked(), vpMbtDistanceCircle::isVisible(), vpMbtDistanceLine::isVisible(), vpMbtDistanceCylinder::isVisible(), lines, vpMbtDistanceCircle::meEllipse, vpMbtDistanceLine::meline, vpMbtDistanceCylinder::meline1, vpMbtDistanceCylinder::meline2, vpMbTracker::projectionError, and scaleLevel.

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

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

protected

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 170 of file vpMbEdgeTracker.cpp.

Referenced by track().

void vpMbTracker::createCylinderBBox	(	const vpPoint &	p1,
		const vpPoint &	p2,
		const double &	radius,
		std::vector< std::vector< vpPoint > > &	listFaces
	)

protectedinherited

Definition at line 2436 of file vpMbTracker.cpp.

References vpException::badValue, vpColVector::clear(), vpColVector::crossProd(), vpColVector::euclideanNorm(), vpPoint::get_oX(), vpPoint::get_oY(), vpPoint::get_oZ(), and vpColVector::normalize().

Referenced by vpMbTracker::extractCylinders(), and vpMbTracker::loadCAOModel().

void vpMbEdgeTracker::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 from a given position of the camera.

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	: If true, the full model is displayed (even the non visible faces).

Implements vpMbTracker.

Examples:: mbtEdgeTracking.cpp, testKeyPoint-2.cpp, testKeyPoint-4.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, and tutorial-mb-edge-tracker.cpp.

Definition at line 1533 of file vpMbEdgeTracker.cpp.

References circles, cylinders, vpMbHiddenFaces< PolygonType >::displayOgre(), vpMbTracker::faces, lines, scaleLevel, scales, and vpMbTracker::useOgre.

void vpMbEdgeTracker::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 from a given position of the camera.

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	: If true, the full model is displayed (even the non visible surfaces).

Implements vpMbTracker.

Definition at line 1572 of file vpMbEdgeTracker.cpp.

References circles, cylinders, vpMbHiddenFaces< PolygonType >::displayOgre(), vpMbTracker::faces, lines, scaleLevel, scales, and vpMbTracker::useOgre.

void vpMbEdgeTracker::downScale ( const unsigned int _scale )

protected

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 2746 of file vpMbEdgeTracker.cpp.

References vpMbTracker::cam, vpCameraParameters::get_K(), vpCameraParameters::initFromCalibrationMatrix(), and scaleLevel.

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

void vpMbTracker::extractCylinders	(	SoVRMLIndexedFaceSet *	face_set,
		vpHomogeneousMatrix &	transform,
		int &	idFace,
		const std::string &	polygonName = `""`
	)

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.
idFace	: Id of the face.
polygonName	Name of the polygon.

Definition at line 1983 of file vpMbTracker.cpp.

References vpMbTracker::addPolygon(), vpException::badValue, vpMbTracker::createCylinderBBox(), vpException::dimensionError, vpPoint::get_oX(), vpPoint::get_oY(), vpPoint::get_oZ(), vpMbTracker::getGravityCenter(), vpMbTracker::initCylinder(), vpMath::maximum(), vpPoint::setWorldCoordinates(), and vpColVector::sumSquare().

Referenced by vpMbTracker::extractGroup().

void vpMbTracker::extractFaces	(	SoVRMLIndexedFaceSet *	face_set,
		vpHomogeneousMatrix &	transform,
		int &	idFace,
		const std::string &	polygonName = `""`
	)

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.
idFace	: Face id.
polygonName	Name of the polygon.

Definition at line 1927 of file vpMbTracker.cpp.

References vpMbTracker::addPolygon(), vpMbTracker::faces, vpMbHiddenFaces< PolygonType >::getPolygon(), vpMbTracker::initFaceFromCorners(), and vpPoint::setWorldCoordinates().

Referenced by vpMbTracker::extractGroup().

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

protectedvirtualinherited

Extract a VRML object Group.

Parameters

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

Definition at line 1837 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::loadVRMLModel().

void vpMbTracker::extractLines	(	SoVRMLIndexedLineSet *	line_set,
		int &	idFace,
		const std::string &	polygonName = `""`
	)

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.
idFace	: Id of the face.
polygonName	Name of the polygon.

Definition at line 2060 of file vpMbTracker.cpp.

References vpMbTracker::addPolygon(), vpMbTracker::faces, vpMbHiddenFaces< PolygonType >::getPolygon(), vpMbTracker::initFaceFromCorners(), and vpPoint::setWorldCoordinates().

Referenced by vpMbTracker::extractGroup().

virtual double vpMbTracker::getAngleAppear ( ) const

inlinevirtualinherited

Return the angle used to test polygons appearance.

Definition at line 215 of file vpMbTracker.h.

virtual double vpMbTracker::getAngleDisappear ( ) const

inlinevirtualinherited

Return the angle used to test polygons disappearance.

Definition at line 218 of file vpMbTracker.h.

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, testKeyPoint-2.cpp, testKeyPoint-4.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, tutorial-mb-edge-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, tutorial-mb-klt-tracker.cpp, tutorial-mb-tracker-full.cpp, and tutorial-mb-tracker.cpp.

Definition at line 225 of file vpMbTracker.h.

virtual unsigned int vpMbTracker::getClipping ( ) const

inlinevirtualinherited

Get the clipping used and defined in vpPolygon3D::vpMbtPolygonClippingType.

Returns: Clipping flags.

Examples:: mbtEdgeKltTracking.cpp, mbtEdgeTracking.cpp, mbtKltTracking.cpp, testKeyPoint-2.cpp, testKeyPoint-4.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, tutorial-mb-edge-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, tutorial-mb-klt-tracker.cpp, and tutorial-mb-tracker-full.cpp.

Definition at line 232 of file vpMbTracker.h.

virtual vpMatrix vpMbTracker::getCovarianceMatrix ( ) const

inlinevirtualinherited

Get the covariance matrix.

Definition at line 237 of file vpMbTracker.h.

References vpTRACE.

virtual vpColVector vpMbTracker::getError ( )

inlinevirtualinherited

Return the error vector $(s-s^*)$ reached after the virtual visual servoing process used to estimate the pose.

The following example shows how to use this function to compute the norm of the residual and the norm of the residual normalized by the number of features that are tracked:

tracker.track(I);
std::cout << "Residual: " << sqrt( (tracker.getError()).sumSquare()) << std::endl;
std::cout << "Residual normalized: " << sqrt( (tracker.getError()).sumSquare())/tracker.getError().size() << std::endl;

See also: getRobustWeights()

Definition at line 266 of file vpMbTracker.h.

vpColVector vpMbTracker::getEstimatedDoF ( )

virtualinherited

Get a 1x6 vpColVector representing the estimated degrees of freedom. vpColVector[0] = 1 if translation on X is estimated, 0 otherwise; vpColVector[1] = 1 if translation on Y is estimated, 0 otherwise; vpColVector[2] = 1 if translation on Z is estimated, 0 otherwise; vpColVector[3] = 1 if rotation on X is estimated, 0 otherwise; vpColVector[4] = 1 if rotation on Y is estimated, 0 otherwise; vpColVector[5] = 1 if rotation on Z is estimated, 0 otherwise;

Returns: 1x6 vpColVector representing the estimated degrees of freedom.

Definition at line 2397 of file vpMbTracker.cpp.

References vpMbTracker::oJo.

vpMbHiddenFaces<vpMbtPolygon>& vpMbTracker::getFaces ( )

inlineinherited

Return a reference to the faces structure.

Definition at line 271 of file vpMbTracker.h.

virtual double vpMbTracker::getFarClippingDistance ( ) const

inlinevirtualinherited

Get the far distance for clipping.

Returns: Far clipping value.

Definition at line 278 of file vpMbTracker.h.

double vpMbEdgeTracker::getGoodMovingEdgesRatioThreshold ( ) const

inline

Returns: The threshold value between 0 and 1 over good moving edges ratio. It allows to decide if the tracker has enough valid moving edges to compute a pose. 1 means that all moving edges should be considered as good to have a valid pose, while 0.1 means that 10% of the moving edge are enough to declare a pose valid.

See also: setGoodMovingEdgesRatioThreshold()

Definition at line 357 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 2108 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::extractCylinders().

virtual double vpMbEdgeTracker::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 322 of file vpMbEdgeTracker.h.

void vpMbEdgeTracker::getLcircle	(	std::list< vpMbtDistanceCircle * > &	circlesList,
		const unsigned int	level = `0`
	)

Get the list of the circles tracked for the specified level. Each circle 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.
circlesList	: The list of the circles of the model.

Definition at line 2727 of file vpMbEdgeTracker.cpp.

References circles, vpException::dimensionError, and scales.

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

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 2703 of file vpMbEdgeTracker.cpp.

References cylinders, vpException::dimensionError, and scales.

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

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 2679 of file vpMbEdgeTracker.cpp.

References vpException::dimensionError, lines, and scales.

void vpMbEdgeTracker::getMovingEdge ( vpMe & p_me ) const

inline

Get the moving edge parameters.

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

Definition at line 333 of file vpMbEdgeTracker.h.

vpMe vpMbEdgeTracker::getMovingEdge ( ) const

inline

Get the moving edge parameters.

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

Definition at line 339 of file vpMbEdgeTracker.h.

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

Return the number of good points (vpMeSite) tracked. A good point is a vpMeSite with its flag "state" 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 2417 of file vpMbEdgeTracker.cpp.

References circles, cylinders, vpException::dimensionError, vpMbtDistanceCircle::isTracked(), vpMbtDistanceLine::isTracked(), vpMbtDistanceCylinder::isTracked(), vpMbtDistanceCircle::isVisible(), vpMbtDistanceLine::isVisible(), vpMbtDistanceCylinder::isVisible(), lines, vpMbtDistanceCircle::meEllipse, vpMbtDistanceLine::meline, vpMbtDistanceCylinder::meline1, vpMbtDistanceCylinder::meline2, vpMbtDistanceLine::nbFeature, vpMeSite::NO_SUPPRESSION, and scales.

virtual unsigned int vpMbTracker::getNbPolygon ( ) const

inlinevirtualinherited

Get the number of polygons (faces) representing the object to track.

Returns: Number of polygons.

Definition at line 309 of file vpMbTracker.h.

References vpMbHiddenFaces< PolygonType >::size().

Referenced by vpMbTracker::getPolygonFaces(), vpMbEdgeKltTracker::loadConfigFile(), vpMbKltTracker::loadConfigFile(), and loadConfigFile().

virtual double vpMbTracker::getNearClippingDistance ( ) const

inlinevirtualinherited

Get the near distance for clipping.

Returns: Near clipping value.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 318 of file vpMbTracker.h.

Referenced by vpMbEdgeKltTracker::getNearClippingDistance().

virtual vpMbtOptimizationMethod vpMbTracker::getOptimizationMethod ( ) const

inlinevirtualinherited

Get the optimization method used during the tracking. 0 = Gauss-Newton approach. 1 = Levenberg-Marquardt approach.

Returns: Optimization method.

Definition at line 327 of file vpMbTracker.h.

virtual vpMbtPolygon* vpMbTracker::getPolygon ( const unsigned int index )

inlinevirtualinherited

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 338 of file vpMbTracker.h.

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

Referenced by vpMbTracker::getPolygonFaces().

std::pair< std::vector< vpPolygon >, std::vector< std::vector< vpPoint > > > vpMbTracker::getPolygonFaces	(	const bool	orderPolygons = `true`,
		const bool	useVisibility = `true`
	)

virtualinherited

Get the list of polygons faces (a vpPolygon representing the projection of the face in the image and a list of face corners in 3D), with the possibility to order by distance to the camera or to use the visibility check to consider if the polygon face must be retrieved or not.

Parameters

orderPolygons	: If true, the resulting list is ordered from the nearest polygon faces to the farther.
useVisibility	: If true, only visible faces will be retrieved.

Returns: A pair object containing the list of vpPolygon and the list of face corners.

Examples:: testKeyPoint-2.cpp, testKeyPoint-4.cpp, tutorial-detection-object-mbt.cpp, and tutorial-detection-object-mbt2.cpp.

Definition at line 2139 of file vpMbTracker.cpp.

References vpMbTracker::cam, vpMbTracker::cMo, vpMeterPixelConversion::convertPoint(), vpPoint::get_x(), vpPoint::get_y(), vpMbTracker::getNbPolygon(), vpMbTracker::getPolygon(), vpPolygon3D::nbpt, and vpForwardProjection::project().

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, testKeyPoint-2.cpp, testKeyPoint-4.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, tutorial-mb-edge-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, tutorial-mb-klt-tracker.cpp, tutorial-mb-tracker-full.cpp, and tutorial-mb-tracker.cpp.

Definition at line 356 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 365 of file vpMbTracker.h.

virtual double vpMbTracker::getProjectionError ( ) const

inlinevirtualinherited

Get the error angle between the gradient direction of the model features projected at the resulting pose and their normal.

Returns: the value for the error.

Definition at line 249 of file vpMbTracker.h.

virtual vpColVector vpMbTracker::getRobustWeights ( )

inlinevirtualinherited

Return the weights vector $w_i$ computed by the robust scheme.

The following example shows how to use this function to compute the norm of the weighted residual and the norm of the weighted residual normalized by the sum of the weights associated to the features that are tracked:

tracker.track(I);
vpColVector w = tracker.getRobustWeights();
vpColVector e = tracker.getError();
vpColVector we(w.size());
for(unsigned int i=0; i<w.size(); i++)
  we[i] = w[i]*e[i];
std::cout << "Weighted residual: " << sqrt( (we).sumSquare() ) << std::endl;
std::cout << "Weighted residual normalized: " << sqrt( (we).sumSquare() ) / w.sum() << std::endl;

See also: getError()

Definition at line 300 of file vpMbTracker.h.

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

inline

Return the scales levels used for the tracking.

Returns: The scales levels used for the tracking.

Definition at line 348 of file vpMbEdgeTracker.h.

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

protectedvirtual

Initialize the tracking.

Parameters

I	: The image.

Implements vpMbTracker.

Definition at line 1338 of file vpMbEdgeTracker.cpp.

References vpMbTracker::cam, cleanPyramid(), vpMbTracker::cMo, vpMbHiddenFaces< PolygonType >::computeClippedPolygons(), vpCameraParameters::computeFov(), vpMbHiddenFaces< PolygonType >::computeScanLineRender(), downScale(), vpMbTracker::faces, vpException::fatalError, vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), initMovingEdge(), vpMbHiddenFaces< PolygonType >::initOgre(), initPyramid(), Ipyramid, vpMbHiddenFaces< PolygonType >::isOgreInitialised(), vpMbTracker::modelInitialised, vpMbTracker::ogreShowConfigDialog, resetMovingEdge(), scales, vpMbHiddenFaces< PolygonType >::setBackgroundSizeOgre(), vpMbHiddenFaces< PolygonType >::setOgreShowConfigDialog(), upScale(), vpMbTracker::useOgre, vpMbTracker::useScanLine, and visibleFace().

Referenced by setPose().

void vpMbEdgeTracker::initCircle	(	const vpPoint &	p1,
		const vpPoint &	p2,
		const vpPoint &	p3,
		const double	radius,
		const int	idFace = `0`,
		const std::string &	name = `""`
	)

protectedvirtual

Add a circle to track from its center, 3 points (including the center) defining the plane that contain the circle and its radius.

Parameters

p1	: Center of the circle.
p2,p3	: Two points on the plane containing the circle. With the center of the circle we have 3 points defining the plane that contains the circle.
radius	: Radius of the circle.
idFace	: Index of the face associated to the circle to handle visibility test.
name	: The optional name of the circle.

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 2247 of file vpMbEdgeTracker.cpp.

References addCircle().

Referenced by vpMbEdgeKltTracker::initCircle().

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. This functionality is only available if visp_io module is used.

Exceptions

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

See also: setPathNamePoseSaving()

Examples:: mbtEdgeKltTracking.cpp, mbtEdgeTracking.cpp, mbtKltTracking.cpp, testKeyPoint-2.cpp, testKeyPoint-4.cpp, tutorial-detection-object-mbt.cpp, tutorial-mb-edge-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, tutorial-mb-klt-tracker.cpp, tutorial-mb-tracker-full.cpp, and tutorial-mb-tracker.cpp.

Definition at line 179 of file vpMbTracker.cpp.

References vpPose::addPoint(), vpException::badValue, vpHomogeneousMatrix::buildFrom(), vpMouseButton::button1, vpMbTracker::cam, vpIoTools::checkFilename(), vpPose::clearPoint(), vpMbTracker::cMo, vpPose::computePose(), vpPose::computeResidual(), vpPixelMeterConversion::convertPoint(), vpPose::DEMENTHON, vpImage< Type >::display, vpMbTracker::display(), vpDisplay::display(), vpDisplay::displayCross(), vpDisplay::displayFrame(), vpDisplay::displayText(), vpHomogeneousMatrix::eye(), vpDisplay::flush(), vpDisplay::getClick(), vpImage< Type >::getWidth(), vpDisplay::getWindowXPosition(), vpDisplay::getWindowYPosition(), vpColor::green, vpMbTracker::init(), vpDisplay::init(), vpException::ioError, vpPose::LAGRANGE, vpMbTracker::poseSavingFilename, vpImageIo::read(), vpColor::red, vpMbTracker::savePose(), vpPoint::set_x(), vpPoint::set_y(), 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. This functionality is only available if visp_io module is used.

Definition at line 450 of file vpMbTracker.cpp.

References vpPose::addPoint(), vpMouseButton::button1, vpMbTracker::cam, vpIoTools::checkFilename(), vpPose::clearPoint(), vpMbTracker::cMo, vpPose::computePose(), vpPose::computeResidual(), vpPixelMeterConversion::convertPoint(), vpPose::DEMENTHON, vpImage< Type >::display, vpMbTracker::display(), vpDisplay::display(), vpDisplay::displayCross(), vpDisplay::displayFrame(), vpDisplay::displayPoint(), vpDisplay::displayText(), vpDisplay::flush(), vpDisplay::getClick(), vpImage< Type >::getWidth(), vpDisplay::getWindowXPosition(), vpDisplay::getWindowYPosition(), vpColor::green, vpMbTracker::init(), vpDisplay::init(), vpPose::LAGRANGE, vpImageIo::read(), vpColor::red, and vpPose::VIRTUAL_VS.

void vpMbEdgeTracker::initCylinder	(	const vpPoint &	p1,
		const vpPoint &	p2,
		const double	radius,
		const int	idFace = `0`,
		const std::string &	name = `""`
	)

protectedvirtual

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.
idFace	: Id of the face that is associated to the cylinder to handle visibility test.
name	: The optional name of the cylinder.

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 2264 of file vpMbEdgeTracker.cpp.

References addCylinder().

Referenced by vpMbEdgeKltTracker::initCylinder().

void vpMbEdgeTracker::initFaceFromCorners ( vpMbtPolygon & polygon )

protectedvirtual

Add the lines to track from the polygon description. If the polygon has only two points, it defines a single line that is always visible. If it has three or more corners, it defines a face. In that case the visibility of the face is computed in order to track the corresponding lines only if the face is visible.

The id of the polygon is supposed to be set prior calling this function.

This method is called from the loadModel() one to add a face of the object to track.

Parameters

polygon : The polygon describing the set of lines that has to be tracked.

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 2204 of file vpMbEdgeTracker.cpp.

References addLine(), vpMbtPolygon::getIndex(), vpMbtPolygon::getName(), vpPolygon3D::getNbPoint(), and vpPolygon3D::p.

Referenced by vpMbEdgeKltTracker::initFaceFromCorners().

void vpMbEdgeTracker::initFaceFromLines ( vpMbtPolygon & polygon )

protectedvirtual

Add the lines to track from the polygon description. If the polygon has only two points, it defines a single line that is always visible. If it has three or more corners, it defines a face. In that case the visibility of the face is computed in order to track the corresponding lines only if the face is visible.

The id of the polygon is supposed to be set prior calling this function.

This method is called from the loadModel() one to add a face of the object to track.

Parameters

polygon : The polygon describing the set of lines that has to be tracked.

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 2226 of file vpMbEdgeTracker.cpp.

References addLine(), vpMbtPolygon::getIndex(), vpMbtPolygon::getName(), vpPolygon3D::getNbPoint(), and vpPolygon3D::p.

Referenced by vpMbEdgeKltTracker::initFaceFromLines().

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 581 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 666 of file vpMbTracker.cpp.

References vpPose::addPoint(), vpMbTracker::cam, vpMbTracker::cMo, vpPose::computePose(), vpPose::computeResidual(), vpPixelMeterConversion::convertPoint(), vpPose::DEMENTHON, vpMbTracker::init(), vpPose::LAGRANGE, 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, mbtKltTracking.cpp, testKeyPoint-2.cpp, and testKeyPoint-4.cpp.

Definition at line 719 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::initFromPose(), vpMbKltTracker::reInitModel(), and 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 753 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 765 of file vpMbTracker.cpp.

References vpMbTracker::initFromPose().

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

protected

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 1608 of file vpMbEdgeTracker.cpp.

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

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

protected

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 2608 of file vpMbEdgeTracker.cpp.

References vpImage< Type >::bitmap, vpImageConvert::convert(), vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), and scales.

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

void vpMbTracker::loadCAOModel	(	const std::string &	modelFile,
		std::vector< std::string > &	vectorOfModelFilename,
		int &	startIdFace,
		const bool	verbose = `false`,
		const bool	parent = `true`
	)

protectedvirtualinherited

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

Since ViSP 2.9.1, lines starting with # character are considered as comments. It is also possible to add comment at the end of the lines. No specific character is requested before the comment. In the following example we use "//" but it could be an other character.

Since ViSP 2.9.1, circles are supported.

The structure of the file is :

V1
# Number of points describing the object
8
0.01 0.01 0.01  // point with index 0 \
...             // ...                 | coordinates of the points in the object frame (in m.)
0.01 0.01 0.01  // point with index 7 /
# Number of lines to track.
3
0 2 // line with index 0 \
1 4 //                    | Index of the points representing the extremities of the lines
1 5 // line with index 2 /
# Number of polygon (face) to track using the line previously described
1
3 0 1 2 // Face described as follow : nbLine indexLine1 indexLine2 ... indexLineN
# Number of polygon (face) to track using the points previously described
3
4 0 2 3 4 // Face described as follow : nbPoint IndexPoint1 IndexPoint2 ... IndexPointN
4 1 3 5 7
3 1 5 6 
# Number of cylinder
1
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.)
# Number of circle
1
0.5 0 1 2 // radius, index center point, index 2 other points on the plane containing the circle

Parameters

modelFile	: Full name of the main *.cao file containing the model.
vectorOfModelFilename	: A vector of *.cao files.
startIdFace	: Current Id of the face.
verbose	: If true, will print additional information with CAO model files which include other CAO model files.
parent	: This parameter is set to true when parsing a parent CAO model file, and false when parsing an included CAO model file.

Definition at line 1275 of file vpMbTracker.cpp.

References vpMbTracker::addPolygon(), vpMbTracker::applyLodSettingInConfig, vpException::badValue, vpIoTools::checkFilename(), vpMbTracker::createCylinderBBox(), vpIoTools::createFilePath(), vpMbTracker::faces, vpIoTools::getName(), vpIoTools::getParent(), vpMbHiddenFaces< PolygonType >::getPolygon(), vpMbTracker::initCircle(), vpMbTracker::initCylinder(), vpMbTracker::initFaceFromCorners(), vpMbTracker::initFaceFromLines(), vpException::ioError, vpIoTools::isAbsolutePathname(), vpMbTracker::minLineLengthThresholdGeneral, vpMbTracker::minPolygonAreaThresholdGeneral, vpMbTracker::nbCircles, vpMbTracker::nbCylinders, vpMbTracker::nbLines, vpMbTracker::nbPoints, vpMbTracker::nbPolygonLines, vpMbTracker::nbPolygonPoints, vpMbTracker::parseBoolean(), vpMbTracker::parseParameters(), vpMbTracker::removeComment(), vpPoint::setWorldCoordinates(), vpMbTracker::useLodGeneral, and vpTRACE.

Referenced by vpMbTracker::loadModel().

void vpMbEdgeTracker::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, camera and visibility angles.

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.

Examples:: mbtEdgeTracking.cpp, testKeyPoint-2.cpp, testKeyPoint-4.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, and tutorial-mb-edge-tracker.cpp.

Definition at line 1412 of file vpMbEdgeTracker.cpp.

void vpMbEdgeTracker::loadConfigFile ( const char * configFile )

Load the xml configuration file. From the configuration file initialize the parameters corresponding to the objects: moving-edges, camera and visibility angles.

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>7</tracking>
    </range>
    <contrast>
      <edge_threshold>5000</edge_threshold>
      <mu1>0.5</mu1>
      <mu2>0.5</mu2>
    </contrast>
    <sample>
      <step>4</step>
    </sample>
  </ecm>
  <face>
    <near_clipping>0.01</near_clipping>
    <far_clipping>0.90</far_clipping>
    <fov_clipping>1</fov_clipping>
  </face>
  <camera>
    <u0>320</u0>
    <v0>240</v0>
    <px>686.24</px>
    <py>686.24</py>
  </camera>
</conf>

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

Definition at line 1467 of file vpMbEdgeTracker.cpp.

void vpMbTracker::loadModel	(	const char *	modelFile,
		const bool	verbose = `false`
	)

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()

{

...

#if defined(VISP_HAVE_COIN3D) && (COIN_MAJOR_VERSION == 3)

SoDB::finish();

#endif

}

Exceptions

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

Parameters

modelFile	: the file containing the the 3D model description. The extension of this file is either .wrl or .cao.
verbose	: verbose option to print additional information when loading CAO model files which include other CAO model files.

Examples:: mbtEdgeKltTracking.cpp, mbtEdgeTracking.cpp, mbtKltTracking.cpp, testKeyPoint-2.cpp, testKeyPoint-4.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, tutorial-mb-edge-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, tutorial-mb-klt-tracker.cpp, tutorial-mb-tracker-full.cpp, and tutorial-mb-tracker.cpp.

Definition at line 1014 of file vpMbTracker.cpp.

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

void vpMbTracker::loadModel	(	const std::string &	modelFile,
		const bool	verbose = `false`
	)

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()

{

...

#if defined(VISP_HAVE_COIN3D) && (COIN_MAJOR_VERSION == 3)

SoDB::finish();

#endif

}

Exceptions

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

Parameters

modelFile	: the file containing the the 3D model description. The extension of this file is either .wrl or .cao.
verbose	: verbose option to print additional information when loading CAO model files which include other CAO model files.

Definition at line 1045 of file vpMbTracker.cpp.

References vpIoTools::checkFilename(), vpMbTracker::faces, vpException::ioError, vpMbTracker::loadCAOModel(), vpMbTracker::loadVRMLModel(), vpMbTracker::modelFileName, vpMbTracker::modelInitialised, vpMbTracker::nbCircles, vpMbTracker::nbCylinders, vpMbTracker::nbLines, vpMbTracker::nbPoints, vpMbTracker::nbPolygonLines, vpMbTracker::nbPolygonPoints, and vpMbHiddenFaces< PolygonType >::size().

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()

{

...

#if defined(VISP_HAVE_COIN3D) && (COIN_MAJOR_VERSION == 3)

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 1111 of file vpMbTracker.cpp.

References vpMbTracker::extractGroup(), vpMbTracker::faces, vpException::fatalError, vpMbHiddenFaces< PolygonType >::size(), and vpERROR_TRACE.

Referenced by vpMbTracker::loadModel().

std::string& vpMbTracker::ltrim ( std::string & s )

inlineprotectedinherited

Definition at line 644 of file vpMbTracker.h.

bool vpMbTracker::parseBoolean ( std::string & input )

inlineprotectedinherited

Definition at line 632 of file vpMbTracker.h.

Referenced by vpMbTracker::loadCAOModel().

std::map< std::string, std::string > vpMbTracker::parseParameters ( std::string & endLine )

protectedinherited

Definition at line 1172 of file vpMbTracker.cpp.

References vpMbTracker::mapOfParameterNames, and vpMbTracker::trim().

Referenced by vpMbTracker::loadCAOModel().

void vpMbEdgeTracker::reInitLevel ( const unsigned int _lvl )

protected

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 2792 of file vpMbEdgeTracker.cpp.

References circles, vpMbTracker::cMo, cylinders, Ipyramid, lines, vpMbtDistanceCircle::reinitMovingEdge(), vpMbtDistanceLine::reinitMovingEdge(), vpMbtDistanceCylinder::reinitMovingEdge(), scaleLevel, trackMovingEdge(), and updateMovingEdge().

Referenced by track().

void vpMbEdgeTracker::reInitModel	(	const vpImage< unsigned char > &	I,
		const std::string &	cad_name,
		const vpHomogeneousMatrix &	cMo_,
		const bool	verbose = `false`
	)

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
verbose	: verbose option to print additional information when loading CAO model files which include other CAO model files.

Definition at line 2343 of file vpMbEdgeTracker.cpp.

void vpMbEdgeTracker::reInitModel	(	const vpImage< unsigned char > &	I,
		const char *	cad_name,
		const vpHomogeneousMatrix &	cMo_,
		const bool	verbose = `false`
	)

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
verbose	: verbose option to print additional information when loading CAO model files which include other CAO model files.

Definition at line 2359 of file vpMbEdgeTracker.cpp.

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

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

protected

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 1813 of file vpMbEdgeTracker.cpp.

References circles, cylinders, vpMbtDistanceCircle::isVisible(), vpMbtDistanceLine::isVisible(), vpMbtDistanceCylinder::isVisible(), lines, vpMbtDistanceCircle::Reinit, vpMbtDistanceLine::Reinit, vpMbtDistanceCylinder::Reinit, vpMbtDistanceCircle::reinitMovingEdge(), vpMbtDistanceLine::reinitMovingEdge(), vpMbtDistanceCylinder::reinitMovingEdge(), and scaleLevel.

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

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

protected

Remove a circle by its name.

Parameters

name	: The name of the circle to remove.

Definition at line 2118 of file vpMbEdgeTracker.cpp.

References circles, vpMbtDistanceCircle::getName(), and scales.

void vpMbTracker::removeComment ( std::ifstream & fileId )

protectedinherited

Definition at line 1159 of file vpMbTracker.cpp.

References vpException::ioError.

Referenced by vpMbTracker::loadCAOModel().

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

protected

Remove a cylinder by its name.

Parameters

name	: The name of the cylinder to remove.

Definition at line 2095 of file vpMbEdgeTracker.cpp.

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

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

protected

Remove a line using its name.

Parameters

name	: The name of the line to remove.

Definition at line 1973 of file vpMbEdgeTracker.cpp.

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

void vpMbEdgeTracker::resetMovingEdge ( )

protected

Definition at line 1844 of file vpMbEdgeTracker.cpp.

References circles, cylinders, lines, and scales.

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

void vpMbEdgeTracker::resetTracker ( )

virtual

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

Implements vpMbTracker.

Examples:: mbtEdgeTracking.cpp.

Definition at line 2276 of file vpMbEdgeTracker.cpp.

References vpMbTracker::angleAppears, vpMbTracker::angleDisappears, circles, vpMbTracker::clippingFlag, vpMbTracker::cMo, compute_interaction, cylinders, vpHomogeneousMatrix::eye(), vpMbTracker::faces, vpMbTracker::GAUSS_NEWTON_OPT, lambda, lines, vpMbTracker::m_optimizationMethod, nbvisiblepolygone, ncylinder, nline, vpPolygon3D::NO_CLIPPING, percentageGdPt, vpMath::rad(), vpMbHiddenFaces< PolygonType >::reset(), scales, setScales(), vpMbTracker::useOgre, and vpMbTracker::useScanLine.

Referenced by vpMbEdgeKltTracker::resetTracker().

std::string& vpMbTracker::rtrim ( std::string & s )

inlineprotectedinherited

Definition at line 649 of file vpMbTracker.h.

bool vpMbEdgeTracker::samePoint	(	const vpPoint &	P1,
		const vpPoint &	P2
	)

protected

Check if two vpPoints are similar.

To be similar : $ (X_1 - X_2)^2 + (Y_1 - Y_2)^2 + (Z_1 - Z_2)^2 < epsilon $ .

Parameters

P1	: The first point to compare
P2	: The second point to compare

Definition at line 1894 of file vpMbEdgeTracker.cpp.

References vpPoint::get_oX(), vpPoint::get_oY(), and vpPoint::get_oZ().

Referenced by addCircle(), addCylinder(), and addLine().

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 776 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::initClick().

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

inlinevirtualinherited

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.

Examples:: mbtEdgeKltTracking.cpp, mbtKltTracking.cpp, testKeyPoint-2.cpp, testKeyPoint-4.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, tutorial-mb-edge-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, tutorial-mb-klt-tracker.cpp, and tutorial-mb-tracker-full.cpp.

Definition at line 419 of file vpMbTracker.h.

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

inlinevirtualinherited

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.

Examples:: mbtEdgeKltTracking.cpp, mbtKltTracking.cpp, testKeyPoint-2.cpp, testKeyPoint-4.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, tutorial-mb-edge-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, tutorial-mb-klt-tracker.cpp, and tutorial-mb-tracker-full.cpp.

Definition at line 430 of file vpMbTracker.h.

virtual void vpMbEdgeTracker::setCameraParameters ( const vpCameraParameters & camera )

inlinevirtual

Set the camera parameters.

Parameters

camera : the new camera parameters

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

Examples:: mbtEdgeTracking.cpp, testKeyPoint-2.cpp, testKeyPoint-4.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, and tutorial-mb-edge-tracker.cpp.

Definition at line 372 of file vpMbEdgeTracker.h.

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

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

virtual

Specify which clipping to use.

See also: vpMbtPolygonClipping

Parameters

flags : New clipping flags.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

Examples:: mbtEdgeTracking.cpp, testKeyPoint-2.cpp, testKeyPoint-4.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, and tutorial-mb-edge-tracker.cpp.

Definition at line 2577 of file vpMbEdgeTracker.cpp.

References vpMbTracker::clippingFlag, vpMbtDistanceLine::getPolygon(), lines, scales, vpPolygon3D::setClipping(), and vpMbTracker::setClipping().

Referenced by 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 446 of file vpMbTracker.h.

void vpMbTracker::setDisplayFeatures ( const bool displayF )

inlineinherited

Enable to display the features. By features, we meant the moving edges (ME) and the klt points if used.

Note that if present, the moving edges can be displayed with different colors:

If green : The ME is a good point.
If blue : The ME is removed because of a contrast problem during the tracking phase.
If purple : The ME is removed because of a threshold problem during the tracking phase.
If red : The ME is removed because it is rejected by the robust approach in the virtual visual servoing scheme.

Parameters

displayF : set it to true to display the features.

Examples:: mbtEdgeKltTracking.cpp, mbtEdgeTracking.cpp, mbtKltTracking.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, tutorial-mb-edge-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, tutorial-mb-klt-tracker.cpp, tutorial-mb-tracker-full.cpp, and tutorial-mb-tracker.cpp.

Definition at line 459 of file vpMbTracker.h.

void vpMbTracker::setEstimatedDoF ( const vpColVector & v )

virtualinherited

Set a 1x6 vpColVector representing the estimated degrees of freedom. The vector has to be this form: vpColVector[0] = 1 if translation on X is estimated, 0 otherwise; vpColVector[1] = 1 if translation on Y is estimated, 0 otherwise; vpColVector[2] = 1 if translation on Z is estimated, 0 otherwise; vpColVector[3] = 1 if rotation on X is estimated, 0 otherwise; vpColVector[4] = 1 if rotation on Y is estimated, 0 otherwise; vpColVector[5] = 1 if rotation on Z is estimated, 0 otherwise;

Definition at line 2416 of file vpMbTracker.cpp.

References vpArray2D< Type >::getRows(), vpMbTracker::isoJoIdentity, and vpMbTracker::oJo.

void vpMbEdgeTracker::setFarClippingDistance ( const double & dist )

virtual

Set the far distance for clipping.

Parameters

dist	: Far clipping value.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

Examples:: mbtEdgeTracking.cpp, testKeyPoint-2.cpp, testKeyPoint-4.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, and tutorial-mb-edge-tracker.cpp.

Definition at line 2521 of file vpMbEdgeTracker.cpp.

References vpMbTracker::clippingFlag, vpMbTracker::distFarClip, vpMbTracker::distNearClip, vpMbtDistanceLine::getPolygon(), lines, vpPolygon3D::NEAR_CLIPPING, scales, vpPolygon3D::setFarClippingDistance(), vpMbTracker::setFarClippingDistance(), and vpTRACE.

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

void vpMbEdgeTracker::setGoodMovingEdgesRatioThreshold ( const double threshold )

inline

Set the threshold value between 0 and 1 over good moving edges ratio. It allows to decide if the tracker has enough valid moving edges to compute a pose. 1 means that all moving edges should be considered as good to have a valid pose, while 0.1 means that 10% of the moving edge are enough to declare a pose valid.

Parameters

threshold : Value between 0 and 1 that corresponds to the ratio of good moving edges that is necessary to consider that the estimated pose is valid. Default value is 0.4.

See also: getGoodMovingEdgesRatioThreshold()

Definition at line 441 of file vpMbEdgeTracker.h.

void vpMbTracker::setGoodNbRayCastingAttemptsRatio ( const double & ratio )

inlineinherited

Set the ratio of visibility attempts that has to be successful to consider a polygon as visible.

See also: setNbRayCastingAttemptsForVisibility(const unsigned int &)

Parameters

ratio : Ratio of succesful attempts that has to be considered. Value has to be between 0.0 (0%) and 1.0 (100%).

Definition at line 547 of file vpMbTracker.h.

References vpMbHiddenFaces< PolygonType >::setGoodNbRayCastingAttemptsRatio().

virtual void vpMbEdgeTracker::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 448 of file vpMbEdgeTracker.h.

Referenced by vpMbEdgeKltTracker::setLambda().

void vpMbTracker::setLod	(	const bool	useLod,
		const std::string &	name = `""`
	)

virtualinherited

Set the flag to consider if the level of detail (LOD) is used.

Parameters

useLod	: true if the level of detail must be used, false otherwise. When true, two parameters can be set, see setMinLineLengthThresh() and setMinPolygonAreaThresh().
name	: name of the face we want to modify the LOD parameter.

See also: setMinLineLengthThresh(), setMinPolygonAreaThresh()

Definition at line 2264 of file vpMbTracker.cpp.

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

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

void vpMbTracker::setMinLineLengthThresh	(	const double	minLineLengthThresh,
		const std::string &	name = `""`
	)

virtualinherited

Set the threshold for the minimum line length to be considered as visible in the LOD case.

Parameters

minLineLengthThresh	: threshold for the minimum line length in pixel.
name	: name of the face we want to modify the LOD threshold.

See also: setLod(), setMinPolygonAreaThresh()

Definition at line 2283 of file vpMbTracker.cpp.

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

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

void vpMbTracker::setMinPolygonAreaThresh	(	const double	minPolygonAreaThresh,
		const std::string &	name = `""`
	)

virtualinherited

Set the minimum polygon area to be considered as visible in the LOD case.

Parameters

minPolygonAreaThresh	: threshold for the minimum polygon area in pixel.
name	: name of the face we want to modify the LOD threshold.

See also: setLod(), setMinLineLengthThresh()

Definition at line 2302 of file vpMbTracker.cpp.

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

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

void vpMbEdgeTracker::setMovingEdge ( const vpMe & p_me )

Set the moving edge parameters.

Parameters

p_me	: an instance of vpMe containing all the desired parameters

Examples:: mbtEdgeKltTracking.cpp, mbtEdgeTracking.cpp, testKeyPoint-2.cpp, testKeyPoint-4.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, tutorial-mb-edge-tracker.cpp, and tutorial-mb-hybrid-tracker.cpp.

Definition at line 136 of file vpMbEdgeTracker.cpp.

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

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

void vpMbTracker::setNbRayCastingAttemptsForVisibility ( const unsigned int & attempts )

inlineinherited

Set the number of rays that will be sent toward each polygon for visibility test. Each ray will go from the optic center of the camera to a random point inside the considered polygon.

See also: setGoodNbRayCastingAttemptsRatio(const unsigned int &)

Parameters

attempts Number of rays to be sent.

Definition at line 538 of file vpMbTracker.h.

References vpMbHiddenFaces< PolygonType >::setNbRayCastingAttemptsForVisibility().

void vpMbEdgeTracker::setNearClippingDistance ( const double & dist )

virtual

Set the near distance for clipping.

Parameters

dist	: Near clipping value.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

Examples:: mbtEdgeTracking.cpp, testKeyPoint-2.cpp, testKeyPoint-4.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, and tutorial-mb-edge-tracker.cpp.

Definition at line 2548 of file vpMbEdgeTracker.cpp.

References vpMbTracker::clippingFlag, vpMbTracker::distFarClip, vpMbTracker::distNearClip, vpPolygon3D::FAR_CLIPPING, vpMbtDistanceLine::getPolygon(), lines, scales, vpPolygon3D::setNearClippingDistance(), vpMbTracker::setNearClippingDistance(), and vpTRACE.

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

void vpMbTracker::setOgreShowConfigDialog ( const bool showConfigDialog )

inlineinherited

Enable/Disable the appearance of Ogre config dialog on startup.

Warning: This method has only effect when Ogre is used and Ogre visibility test is enabled using setOgreVisibilityTest() with true parameter.

Parameters

showConfigDialog : if true, shows Ogre dialog window (used to set Ogre rendering options) when Ogre visibility is enabled. By default, this functionality is turned off.

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

Definition at line 523 of file vpMbTracker.h.

virtual void vpMbEdgeTracker::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 vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

Examples:: mbtEdgeTracking.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, and tutorial-mb-edge-tracker.cpp.

Definition at line 405 of file vpMbEdgeTracker.h.

References vpMbTracker::setOgreVisibilityTest().

virtual void vpMbTracker::setOptimizationMethod ( const vpMbtOptimizationMethod & opt )

inlinevirtualinherited

Set the optimization method used during the tracking.

Parameters

opt	: Optimization method to use.

Definition at line 478 of file vpMbTracker.h.

void vpMbEdgeTracker::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.

Parameters

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

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

Examples:: mbtEdgeTracking.cpp, testKeyPoint-2.cpp, testKeyPoint-4.cpp, tutorial-detection-object-mbt.cpp, and tutorial-detection-object-mbt2.cpp.

Definition at line 1393 of file vpMbEdgeTracker.cpp.

References vpMbTracker::cMo, and init().

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 500 of file vpMbTracker.h.

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

inlinevirtualinherited

Set if the projection error criteria has to be computed.

Parameters

flag	: True if the projection error criteria has to be computed, false otherwise

Reimplemented in vpMbKltTracker, and vpMbEdgeKltTracker.

Definition at line 509 of file vpMbTracker.h.

Referenced by vpMbEdgeKltTracker::setProjectionErrorComputation().

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

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 2487 of file vpMbEdgeTracker.cpp.

References cylinders, lines, scales, and vpERROR_TRACE.

Referenced by resetTracker().

virtual void vpMbEdgeTracker::setScanLineVisibilityTest ( const bool & v )

inlinevirtual

Use Scanline algorithm for visibility tests

Parameters

v	: True to use it, False otherwise

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

Examples:: mbtEdgeTracking.cpp.

Definition at line 417 of file vpMbEdgeTracker.h.

References vpMbTracker::setScanLineVisibilityTest().

Referenced by vpMbEdgeKltTracker::setScanLineVisibilityTest().

void vpMbEdgeTracker::setUseEdgeTracking	(	const std::string &	name,
		const bool &	useEdgeTracking
	)

Set if the polygons that have the given name have to be considered during the tracking phase.

Parameters

name	: name of the polygon(s).
useEdgeTracking	: True if it has to be considered, False otherwise.

Definition at line 2833 of file vpMbEdgeTracker.cpp.

References circles, cylinders, vpMbTracker::faces, lines, and scales.

void vpMbEdgeTracker::testTracking ( )

protectedvirtual

Check if the tracking failed.

Exceptions

vpTrackingException::fatalError if the test fails.

Implements vpMbTracker.

Definition at line 1103 of file vpMbEdgeTracker.cpp.

References circles, cylinders, vpTrackingException::fatalError, vpMeSite::getState(), vpMbtDistanceCircle::isTracked(), vpMbtDistanceLine::isTracked(), vpMbtDistanceCylinder::isTracked(), vpMbtDistanceCircle::isVisible(), vpMbtDistanceLine::isVisible(), vpMbtDistanceCylinder::isVisible(), lines, vpMbtDistanceCircle::meEllipse, vpMbtDistanceLine::meline, vpMbtDistanceCylinder::meline1, vpMbtDistanceCylinder::meline2, vpMath::minimum(), vpMeSite::NO_SUPPRESSION, percentageGdPt, and scaleLevel.

Referenced by track().

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

virtual

Compute each state of the tracking procedure for all the feature sets.

If the tracking is considered as failed an exception is thrown.

Parameters

I	: The image.

Implements vpMbTracker.

Examples:: mbtEdgeTracking.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, and tutorial-mb-edge-tracker.cpp.

Definition at line 1186 of file vpMbEdgeTracker.cpp.

References vpMbTracker::cam, circles, cleanPyramid(), vpMbTracker::cMo, vpMbHiddenFaces< PolygonType >::computeClippedPolygons(), computeProjectionError(), vpMbTracker::computeProjError, vpMbHiddenFaces< PolygonType >::computeScanLineRender(), computeVVS(), vpMbTracker::covarianceMatrix, cylinders, vpMbTracker::displayFeatures, vpMbtDistanceCircle::displayMovingEdges(), vpMbtDistanceLine::displayMovingEdges(), vpMbtDistanceCylinder::displayMovingEdges(), downScale(), vpMbTracker::faces, vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), initMovingEdge(), initPyramid(), Ipyramid, vpMbtDistanceCircle::isTracked(), vpMbtDistanceLine::isTracked(), vpMbtDistanceCylinder::isTracked(), vpMbtDistanceCircle::isVisible(), vpMbtDistanceLine::isVisible(), vpMbtDistanceCylinder::isVisible(), lines, vpMbTracker::projectionError, reInitLevel(), reinitMovingEdge(), scales, testTracking(), trackMovingEdge(), updateMovingEdge(), upScale(), vpMbTracker::useScanLine, visibleFace(), and vpTRACE.

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

protected

Track the moving edges in the image.

Parameters

I	: the image.

Definition at line 1724 of file vpMbEdgeTracker.cpp.

References circles, vpMbTracker::cMo, cylinders, vpMbtDistanceCircle::initMovingEdge(), vpMbtDistanceLine::initMovingEdge(), vpMbtDistanceCylinder::initMovingEdge(), vpMbtDistanceCircle::isTracked(), vpMbtDistanceLine::isTracked(), vpMbtDistanceCylinder::isTracked(), vpMbtDistanceCircle::isVisible(), vpMbtDistanceLine::isVisible(), vpMbtDistanceCylinder::isVisible(), lines, vpMbtDistanceCircle::meEllipse, vpMbtDistanceLine::meline, vpMbtDistanceCylinder::meline1, vpMbtDistanceCylinder::meline2, scaleLevel, vpMbtDistanceCircle::trackMovingEdge(), vpMbtDistanceLine::trackMovingEdge(), and vpMbtDistanceCylinder::trackMovingEdge().

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

std::string& vpMbTracker::trim ( std::string & s )

inlineprotectedinherited

Definition at line 654 of file vpMbTracker.h.

Referenced by vpMbTracker::parseParameters().

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

protected

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

Parameters

I	: the image.

Definition at line 1767 of file vpMbEdgeTracker.cpp.

References circles, vpMbTracker::cMo, cylinders, vpMbtDistanceCircle::isVisible(), vpMbtDistanceLine::isVisible(), vpMbtDistanceCylinder::isVisible(), lines, vpMbtDistanceCircle::nbFeature, vpMbtDistanceCylinder::nbFeaturel1, vpMbtDistanceCylinder::nbFeaturel2, vpMbtDistanceLine::nbFeatureTotal, vpMbtDistanceCircle::Reinit, vpMbtDistanceLine::Reinit, vpMbtDistanceCylinder::Reinit, scaleLevel, vpMbtDistanceCircle::updateMovingEdge(), vpMbtDistanceLine::updateMovingEdge(), and vpMbtDistanceCylinder::updateMovingEdge().

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

void vpMbEdgeTracker::upScale ( const unsigned int _scale )

protected

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 2768 of file vpMbEdgeTracker.cpp.

References vpMbTracker::cam, vpCameraParameters::get_K(), vpCameraParameters::initFromCalibrationMatrix(), and scaleLevel.

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

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

protected

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 2162 of file vpMbEdgeTracker.cpp.

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

Referenced by init(), and track().

Member Data Documentation

double vpMbTracker::angleAppears

protectedinherited

Angle used to detect a face appearance.

Definition at line 146 of file vpMbTracker.h.

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

double vpMbTracker::angleDisappears

protectedinherited

Angle used to detect a face disappearance.

Definition at line 148 of file vpMbTracker.h.

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

bool vpMbTracker::applyLodSettingInConfig

protectedinherited

True if the CAO model is loaded before the call to loadConfigFile, (deduced by the number of polygons)

Definition at line 175 of file vpMbTracker.h.

Referenced by vpMbTracker::loadCAOModel(), vpMbEdgeKltTracker::loadConfigFile(), vpMbKltTracker::loadConfigFile(), and loadConfigFile().

vpCameraParameters vpMbTracker::cam

protectedinherited

std::vector< std::list< vpMbtDistanceCircle*> > vpMbEdgeTracker::circles

protected

unsigned int vpMbTracker::clippingFlag

protectedinherited

Flags specifying which clipping to used.

Definition at line 154 of file vpMbTracker.h.

Referenced by addLine(), vpMbTracker::addPolygon(), vpMbKltTracker::display(), vpMbEdgeKltTracker::loadConfigFile(), vpMbKltTracker::loadConfigFile(), loadConfigFile(), vpMbKltTracker::resetTracker(), resetTracker(), setClipping(), vpMbTracker::setClipping(), setFarClippingDistance(), vpMbTracker::setFarClippingDistance(), setNearClippingDistance(), and vpMbTracker::setNearClippingDistance().

vpHomogeneousMatrix vpMbTracker::cMo

protectedinherited

int vpMbEdgeTracker::compute_interaction

protected

If this flag is true, the interaction matrix extracted from the feature set is computed at each iteration in the visual servoing loop.

Definition at line 268 of file vpMbEdgeTracker.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 127 of file vpMbTracker.h.

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

bool vpMbTracker::computeProjError

protectedinherited

Flag used to specify if the gradient error criteria has to be computed or not.

Definition at line 131 of file vpMbTracker.h.

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

vpMatrix vpMbTracker::covarianceMatrix

protectedinherited

Covariance matrix.

Definition at line 129 of file vpMbTracker.h.

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

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

protected

bool vpMbTracker::displayFeatures

protectedinherited

If true, the features are displayed.

Definition at line 135 of file vpMbTracker.h.

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

double vpMbTracker::distFarClip

protectedinherited

Distance for near clipping.

Definition at line 152 of file vpMbTracker.h.

Referenced by addLine(), vpMbTracker::addPolygon(), setFarClippingDistance(), vpMbTracker::setFarClippingDistance(), setNearClippingDistance(), and vpMbTracker::setNearClippingDistance().

double vpMbTracker::distNearClip

protectedinherited

Distance for near clipping.

Definition at line 150 of file vpMbTracker.h.

Referenced by addLine(), vpMbTracker::addPolygon(), setFarClippingDistance(), vpMbTracker::setFarClippingDistance(), setNearClippingDistance(), and vpMbTracker::setNearClippingDistance().

vpMbHiddenFaces<vpMbtPolygon> vpMbTracker::faces

protectedinherited

Set of faces describing the object.

Definition at line 144 of file vpMbTracker.h.

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

protected

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

Definition at line 302 of file vpMbEdgeTracker.h.

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

bool vpMbTracker::isoJoIdentity

protectedinherited

Boolean to know if oJo is identity (for fast computation)

Definition at line 119 of file vpMbTracker.h.

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

double vpMbEdgeTracker::lambda

protected

The gain of the virtual visual servoing stage.

Definition at line 270 of file vpMbEdgeTracker.h.

Referenced by computeVVS(), vpMbEdgeKltTracker::getLambda(), and resetTracker().

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

protected

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 275 of file vpMbEdgeTracker.h.

Referenced by addLine(), computeProjectionError(), computeVVS(), vpMbEdgeKltTracker::display(), display(), getLline(), getNbPoints(), vpMbEdgeKltTracker::initMbtTracking(), initMovingEdge(), vpMbEdgeKltTracker::postTracking(), vpMbEdgeKltTracker::postTrackingMbt(), reInitLevel(), vpMbEdgeKltTracker::reInitModel(), reInitModel(), reinitMovingEdge(), removeLine(), resetMovingEdge(), resetTracker(), setClipping(), setFarClippingDistance(), setMovingEdge(), setNearClippingDistance(), setScales(), setUseEdgeTracking(), testTracking(), track(), vpMbEdgeKltTracker::trackFirstLoop(), trackMovingEdge(), vpMbEdgeKltTracker::trackSecondLoop(), updateMovingEdge(), and ~vpMbEdgeTracker().

vpColVector vpMbTracker::m_error

protectedinherited

Error s-s*.

Definition at line 139 of file vpMbTracker.h.

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

vpMbtOptimizationMethod vpMbTracker::m_optimizationMethod

protectedinherited

Optimization method used.

Definition at line 141 of file vpMbTracker.h.

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

vpColVector vpMbTracker::m_w

protectedinherited

Weights used in the robust scheme.

Definition at line 137 of file vpMbTracker.h.

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

std::map<std::string, std::string> vpMbTracker::mapOfParameterNames

protectedinherited

Map with [map.first]=parameter_names and [map.second]=type (string, number or boolean)

Definition at line 181 of file vpMbTracker.h.

Referenced by vpMbTracker::parseParameters(), and vpMbTracker::vpMbTracker().

vpMe vpMbEdgeTracker::me

protected

The moving edges parameters.

Definition at line 273 of file vpMbEdgeTracker.h.

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

double vpMbTracker::minLineLengthThresholdGeneral

protectedinherited

Minimum line length threshold for LOD mode (general setting)

Definition at line 177 of file vpMbTracker.h.

Referenced by vpMbTracker::addPolygon(), vpMbTracker::loadCAOModel(), vpMbEdgeKltTracker::loadConfigFile(), vpMbKltTracker::loadConfigFile(), and loadConfigFile().

double vpMbTracker::minPolygonAreaThresholdGeneral

protectedinherited

Minimum polygon area threshold for LOD mode (general setting)

Definition at line 179 of file vpMbTracker.h.

Referenced by vpMbTracker::addPolygon(), vpMbTracker::loadCAOModel(), vpMbEdgeKltTracker::loadConfigFile(), vpMbKltTracker::loadConfigFile(), and loadConfigFile().

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 121 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 123 of file vpMbTracker.h.

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

unsigned int vpMbTracker::nbCircles

protectedinherited

Number of circles in CAO model.

Definition at line 171 of file vpMbTracker.h.

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

unsigned int vpMbTracker::nbCylinders

protectedinherited

Number of cylinders in CAO model.

Definition at line 169 of file vpMbTracker.h.

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

unsigned int vpMbTracker::nbLines

protectedinherited

Number of lines in CAO model.

Definition at line 163 of file vpMbTracker.h.

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

unsigned int vpMbTracker::nbPoints

protectedinherited

Number of points in CAO model.

Definition at line 161 of file vpMbTracker.h.

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

unsigned int vpMbTracker::nbPolygonLines

protectedinherited

Number of polygon lines in CAO model.

Definition at line 165 of file vpMbTracker.h.

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

unsigned int vpMbTracker::nbPolygonPoints

protectedinherited

Number of polygon points in CAO model.

Definition at line 167 of file vpMbTracker.h.

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

unsigned int vpMbEdgeTracker::nbvisiblepolygone

protected

Number of polygon (face) currently visible.

Definition at line 293 of file vpMbEdgeTracker.h.

Referenced by vpMbEdgeKltTracker::reInitModel(), reInitModel(), resetTracker(), and visibleFace().

unsigned int vpMbEdgeTracker::ncircle

protected

Index of the circle to add, and total number of circles extracted so far.

Definition at line 287 of file vpMbEdgeTracker.h.

Referenced by addCircle(), vpMbEdgeKltTracker::reInitModel(), and reInitModel().

unsigned int vpMbEdgeTracker::ncylinder

protected

Index of the cylinder to add, and total number of cylinders extracted so far.

Definition at line 290 of file vpMbEdgeTracker.h.

Referenced by addCylinder(), vpMbEdgeKltTracker::reInitModel(), reInitModel(), and resetTracker().

unsigned int vpMbEdgeTracker::nline

protected

Index of the polygon to add, and total number of polygon extracted so far.

Definition at line 284 of file vpMbEdgeTracker.h.

Referenced by addLine(), vpMbEdgeKltTracker::reInitModel(), reInitModel(), and resetTracker().

bool vpMbTracker::ogreShowConfigDialog

protectedinherited

Definition at line 157 of file vpMbTracker.h.

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

vpMatrix vpMbTracker::oJo

protectedinherited

The Degrees of Freedom to estimate.

Definition at line 117 of file vpMbTracker.h.

Referenced by vpMbEdgeKltTracker::computeVVS(), vpMbKltTracker::computeVVS(), computeVVS(), vpMbTracker::getEstimatedDoF(), vpMbTracker::setEstimatedDoF(), and vpMbTracker::vpMbTracker().

double vpMbEdgeTracker::percentageGdPt

protected

Percentage of good points over total number of points below which tracking is supposed to have failed.

Definition at line 296 of file vpMbEdgeTracker.h.

Referenced by resetTracker(), and testTracking().

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 125 of file vpMbTracker.h.

Referenced by vpMbTracker::initClick().

double vpMbTracker::projectionError

protectedinherited

Error angle between the gradient direction of the model features projected at the resulting pose and their normal.

Definition at line 133 of file vpMbTracker.h.

Referenced by computeProjectionError(), and track().

unsigned int vpMbEdgeTracker::scaleLevel

protected

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 305 of file vpMbEdgeTracker.h.

Referenced by computeProjectionError(), computeVVS(), vpMbEdgeKltTracker::display(), display(), downScale(), initMovingEdge(), vpMbEdgeKltTracker::postTrackingMbt(), reInitLevel(), reinitMovingEdge(), testTracking(), vpMbEdgeKltTracker::trackFirstLoop(), trackMovingEdge(), vpMbEdgeKltTracker::trackSecondLoop(), updateMovingEdge(), and upScale().