#include <visp3/mbt/vpMbTracker.h>

Inheritance diagram for vpMbTracker:

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

Public Member Functions
	vpMbTracker ()

virtual	~vpMbTracker ()

virtual void	display (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, const unsigned int thickness=1, const bool displayFullModel=false)=0

virtual void	display (const vpImage< vpRGBa > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, const unsigned int thickness=1, const bool displayFullModel=false)=0

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	init (const vpImage< unsigned char > &I)=0

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	loadConfigFile (const std::string &configFile)=0

virtual void	loadModel (const char *modelFile, const bool verbose=false)

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

virtual void	resetTracker ()=0

void	savePose (const std::string &filename)

virtual void	setAngleAppear (const double &a)

virtual void	setAngleDisappear (const double &a)

virtual void	setCameraParameters (const vpCameraParameters &camera)

virtual void	setClipping (const unsigned int &flags)

virtual void	setCovarianceComputation (const bool &flag)

void	setDisplayFeatures (const bool displayF)

virtual void	setEstimatedDoF (const vpColVector &v)

virtual void	setFarClippingDistance (const double &dist)

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	setNearClippingDistance (const double &dist)

virtual void	setOptimizationMethod (const vpMbtOptimizationMethod &opt)

virtual void	setPose (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cdMo)=0

void	setPoseSavingFilename (const std::string &filename)

virtual void	setProjectionErrorComputation (const bool &flag)

virtual void	setScanLineVisibilityTest (const bool &v)

void	setOgreShowConfigDialog (const bool showConfigDialog)

virtual void	setOgreVisibilityTest (const bool &v)

void	setNbRayCastingAttemptsForVisibility (const unsigned int &attempts)

void	setGoodNbRayCastingAttemptsRatio (const double &ratio)

virtual void	testTracking ()=0

virtual void	track (const vpImage< unsigned char > &I)=0

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

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

virtual void	initFaceFromCorners (vpMbtPolygon &polygon)=0

virtual void	initFaceFromLines (vpMbtPolygon &polygon)=0

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
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

Main methods for a model-based tracker.

This class provides the main methods for a model based tracker. This pure virtual class must be used in inheritance for a tracker that compute the interaction matrix and the residu vector using a defined information (edge, points of interest, patch, ...)

This class intends to define a common basis for object tracking. This is realised by implementing the main functions:

init() : Initialisation of the tracker (it includes re-initialisation). This method is called at the end of the initClick() method.
initFaceFromCorners() : Initialisation of the lines that has to be tracked.
track() : Tracking on the current image
testTracking() : Test the tracking. This method throws exception if the tracking failed.
display() : Display the model and eventually other information.

Examples:: tutorial-mb-tracker-full.cpp, and tutorial-mb-tracker.cpp.

Definition at line 103 of file vpMbTracker.h.

Member Enumeration Documentation

enum vpMbTracker::vpMbtOptimizationMethod

Enumerator
GAUSS_NEWTON_OPT
LEVENBERG_MARQUARDT_OPT

Definition at line 106 of file vpMbTracker.h.

Constructor & Destructor Documentation

vpMbTracker::vpMbTracker ( )

Basic constructor. Set default values.

Definition at line 129 of file vpMbTracker.cpp.

References vpMatrix::eye(), mapOfParameterNames, and oJo.

vpMbTracker::~vpMbTracker ( )

virtual

Basic destructor that doest nothing.

Definition at line 151 of file vpMbTracker.cpp.

Member Function Documentation

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`
	)

protected

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`
	)

protected

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`
	)

protected

Definition at line 920 of file vpMbTracker.cpp.

References vpPolygon3D::addPoint(), vpMbHiddenFaces< PolygonType >::addPolygon(), clippingFlag, distFarClip, distNearClip, faces, vpPolygon3D::FAR_CLIPPING, vpMbHiddenFaces< PolygonType >::getPolygon(), 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`
	)

protected

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

protected

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 vpMbEdgeTracker::computeVVS().

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

protected

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 extractCylinders(), and loadCAOModel().

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

pure virtual

Display the 3D model at a given position using the given camera parameters on a grey level image.

Parameters

I	: The image.
cMo	: Pose used to project the 3D model into the image.
cam	: The camera parameters.
col	: The desired color.
thickness	: The thickness of the lines.
displayFullModel	: If true, the full model is displayed (even the non visible surfaces).

Implemented in vpMbEdgeTracker, vpMbKltTracker, and vpMbEdgeKltTracker.

Examples:: tutorial-mb-tracker-full.cpp, and tutorial-mb-tracker.cpp.

Referenced by initClick().

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

pure virtual

Display the 3D model at a given position using the given camera parameters on a color (RGBa) image.

Parameters

I	: The image.
cMo	: Pose used to project the 3D model into the image.
cam	: The camera parameters.
col	: The desired color.
thickness	: The thickness of the lines.
displayFullModel	: If true, the full model is displayed (even the non visible surfaces).

Implemented in vpMbEdgeTracker, vpMbKltTracker, and vpMbEdgeKltTracker.

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

protectedvirtual

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

Referenced by extractGroup().

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

protectedvirtual

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

Referenced by extractGroup().

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

protectedvirtual

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 extractCylinders(), extractFaces(), and extractLines().

Referenced by loadVRMLModel().

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

protectedvirtual

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

Referenced by extractGroup().

virtual double vpMbTracker::getAngleAppear ( ) const

inlinevirtual

Return the angle used to test polygons appearance.

Definition at line 215 of file vpMbTracker.h.

virtual double vpMbTracker::getAngleDisappear ( ) const

inlinevirtual

Return the angle used to test polygons disappearance.

Definition at line 218 of file vpMbTracker.h.

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

inlinevirtual

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

inlinevirtual

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

inlinevirtual

Get the covariance matrix.

Definition at line 237 of file vpMbTracker.h.

References vpTRACE.

virtual vpColVector vpMbTracker::getError ( )

inlinevirtual

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 ( )

virtual

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 oJo.

vpMbHiddenFaces<vpMbtPolygon>& vpMbTracker::getFaces ( )

inline

Return a reference to the faces structure.

Definition at line 271 of file vpMbTracker.h.

virtual double vpMbTracker::getFarClippingDistance ( ) const

inlinevirtual

Get the far distance for clipping.

Returns: Far clipping value.

Definition at line 278 of file vpMbTracker.h.

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

protected

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 extractCylinders().

virtual unsigned int vpMbTracker::getNbPolygon ( ) const

inlinevirtual

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 getPolygonFaces(), vpMbEdgeKltTracker::loadConfigFile(), vpMbKltTracker::loadConfigFile(), and vpMbEdgeTracker::loadConfigFile().

virtual double vpMbTracker::getNearClippingDistance ( ) const

inlinevirtual

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

inlinevirtual

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 )

inlinevirtual

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 getPolygonFaces().

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

virtual

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

void vpMbTracker::getPose ( vpHomogeneousMatrix & cMo_ ) const

inline

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

inline

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

inlinevirtual

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 ( )

inlinevirtual

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.

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

pure virtual

Initialise the tracking.

Parameters

I	: Input image.

Implemented in vpMbEdgeTracker, vpMbEdgeKltTracker, and vpMbKltTracker.

Referenced by initClick(), initFromPoints(), and initFromPose().

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

protectedpure virtual

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	: Id of the face associated to the circle.
name	: Name of the circle.

Implemented in vpMbEdgeTracker, vpMbKltTracker, and vpMbEdgeKltTracker.

Referenced by loadCAOModel().

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

virtual

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, cam, vpIoTools::checkFilename(), vpPose::clearPoint(), cMo, vpPose::computePose(), vpPose::computeResidual(), vpPixelMeterConversion::convertPoint(), vpPose::DEMENTHON, vpImage< Type >::display, display(), vpDisplay::display(), vpDisplay::displayCross(), vpDisplay::displayFrame(), vpDisplay::displayText(), vpHomogeneousMatrix::eye(), vpDisplay::flush(), vpDisplay::getClick(), vpImage< Type >::getWidth(), vpDisplay::getWindowXPosition(), vpDisplay::getWindowYPosition(), vpColor::green, init(), vpDisplay::init(), vpException::ioError, vpPose::LAGRANGE, poseSavingFilename, vpImageIo::read(), vpColor::red, 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 = `""`
	)

virtual

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

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

protectedpure virtual

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 associated to the cylinder.
name	: Name of the cylinder.

Implemented in vpMbEdgeTracker, vpMbKltTracker, and vpMbEdgeKltTracker.

Referenced by extractCylinders(), and loadCAOModel().

virtual void vpMbTracker::initFaceFromCorners ( vpMbtPolygon & polygon )

protectedpure virtual

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.

Parameters

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

Implemented in vpMbEdgeTracker, vpMbKltTracker, and vpMbEdgeKltTracker.

Referenced by extractFaces(), extractLines(), and loadCAOModel().

virtual void vpMbTracker::initFaceFromLines ( vpMbtPolygon & polygon )

protectedpure virtual

Implemented in vpMbEdgeTracker, vpMbKltTracker, and vpMbEdgeKltTracker.

Referenced by loadCAOModel().

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

virtual

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, cam, cMo, vpPose::computePose(), vpPose::computeResidual(), vpPixelMeterConversion::convertPoint(), vpPose::DEMENTHON, 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
	)

virtual

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(), cam, cMo, vpPose::computePose(), vpPose::computeResidual(), vpPixelMeterConversion::convertPoint(), vpPose::DEMENTHON, init(), vpPose::LAGRANGE, vpPose::VIRTUAL_VS, and vpERROR_TRACE.

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

virtual

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(), cMo, init(), and vpException::ioError.

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

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

virtual

Initialise the tracking thanks to the pose.

Parameters

I	: Input image
cMo_	: Pose matrix.

Definition at line 753 of file vpMbTracker.cpp.

References cMo, and init().

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

virtual

Initialise the tracking thanks to the pose vector.

Parameters

I	: Input image
cPo	: Pose vector.

Definition at line 765 of file vpMbTracker.cpp.

References initFromPose().

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

protectedvirtual

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

Referenced by loadModel().

virtual void vpMbTracker::loadConfigFile ( const std::string & configFile )

pure virtual

Load a config file to parameterise the behavior of the tracker.

Pure virtual method to adapt to each tracker.

Parameters

configFile : An xml config file to parse.

Implemented in vpMbEdgeTracker, vpMbKltTracker, and vpMbEdgeKltTracker.

Examples:: tutorial-mb-tracker-full.cpp.

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

virtual

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

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 vpMbEdgeTracker::reInitModel().

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

virtual

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

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

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

protectedvirtual

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

Referenced by loadModel().

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

inlineprotected

Definition at line 644 of file vpMbTracker.h.

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

inlineprotected

Definition at line 632 of file vpMbTracker.h.

Referenced by loadCAOModel().

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

protected

Definition at line 1172 of file vpMbTracker.cpp.

References mapOfParameterNames, and trim().

Referenced by loadCAOModel().

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

protected

Definition at line 1159 of file vpMbTracker.cpp.

References vpException::ioError.

Referenced by loadCAOModel().

virtual void vpMbTracker::resetTracker ( )

pure virtual

Reset the tracker.

Implemented in vpMbEdgeTracker, vpMbKltTracker, and vpMbEdgeKltTracker.

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

inlineprotected

Definition at line 649 of file vpMbTracker.h.

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

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 cMo.

Referenced by initClick().

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

inlinevirtual

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

Parameters

a	: new angle in radian.

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 )

inlinevirtual

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

Parameters

a	: new angle in radian.

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 vpMbTracker::setCameraParameters ( const vpCameraParameters & camera )

inlinevirtual

Set the camera parameters.

Parameters

camera : the new camera parameters

Reimplemented in vpMbEdgeTracker, vpMbKltTracker, and vpMbEdgeKltTracker.

Examples:: tutorial-mb-tracker-full.cpp, and tutorial-mb-tracker.cpp.

Definition at line 437 of file vpMbTracker.h.

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

virtual

Specify which clipping to use.

See also: vpMbtPolygonClipping

Parameters

flags : New clipping flags.

Reimplemented in vpMbEdgeTracker, and vpMbEdgeKltTracker.

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

Definition at line 2344 of file vpMbTracker.cpp.

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

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

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

inlinevirtual

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 )

inline

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 )

virtual

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(), isoJoIdentity, and oJo.

void vpMbTracker::setFarClippingDistance ( const double & dist )

virtual

Set the far distance for clipping.

Parameters

dist	: Far clipping value.

Reimplemented in vpMbEdgeTracker, and vpMbEdgeKltTracker.

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

Definition at line 2236 of file vpMbTracker.cpp.

References clippingFlag, distFarClip, distNearClip, faces, vpPolygon3D::FAR_CLIPPING, vpMbHiddenFaces< PolygonType >::getOgreContext(), vpPolygon3D::NEAR_CLIPPING, vpAROgre::setFarClippingDistance(), vpMbHiddenFaces< PolygonType >::size(), and vpTRACE.

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

void vpMbTracker::setGoodNbRayCastingAttemptsRatio ( const double & ratio )

inline

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().

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

virtual

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

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

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

virtual

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

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

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

virtual

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

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

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

inline

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 vpMbTracker::setNearClippingDistance ( const double & dist )

virtual

Set the near distance for clipping.

Parameters

dist	: Near clipping value.

Reimplemented in vpMbEdgeTracker, and vpMbEdgeKltTracker.

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

Definition at line 2318 of file vpMbTracker.cpp.

References clippingFlag, distFarClip, distNearClip, faces, vpPolygon3D::FAR_CLIPPING, vpMbHiddenFaces< PolygonType >::getOgreContext(), vpPolygon3D::NEAR_CLIPPING, vpAROgre::setNearClippingDistance(), vpMbHiddenFaces< PolygonType >::size(), and vpTRACE.

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

void vpMbTracker::setOgreShowConfigDialog ( const bool showConfigDialog )

inline

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.

void vpMbTracker::setOgreVisibilityTest ( const bool & v )

virtual

Use Ogre3D for visibility tests

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

Parameters

v	: True to use it, False otherwise

Reimplemented in vpMbEdgeTracker, vpMbKltTracker, and vpMbEdgeKltTracker.

Examples:: tutorial-mb-tracker-full.cpp.

Definition at line 2219 of file vpMbTracker.cpp.

References useOgre.

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

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

inlinevirtual

Set the optimization method used during the tracking.

Parameters

opt	: Optimization method to use.

Definition at line 478 of file vpMbTracker.h.

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

pure virtual

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

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

Parameters

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

Implemented in vpMbEdgeTracker, vpMbKltTracker, and vpMbEdgeKltTracker.

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

inline

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 )

inlinevirtual

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().

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

inlinevirtual

Reimplemented in vpMbEdgeTracker, vpMbKltTracker, and vpMbEdgeKltTracker.

Definition at line 511 of file vpMbTracker.h.

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

virtual void vpMbTracker::testTracking ( )

pure virtual

Test the quality of the tracking.

Exceptions

vpException if the test fail.

Implemented in vpMbEdgeTracker, vpMbKltTracker, and vpMbEdgeKltTracker.

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

pure virtual

Track the object in the given image

Parameters

I	: The current image.

Implemented in vpMbEdgeTracker, vpMbKltTracker, and vpMbEdgeKltTracker.

Examples:: tutorial-mb-tracker-full.cpp, and tutorial-mb-tracker.cpp.

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

inlineprotected

Definition at line 654 of file vpMbTracker.h.

Referenced by parseParameters().

Member Data Documentation

double vpMbTracker::angleAppears

protected

Angle used to detect a face appearance.

Definition at line 146 of file vpMbTracker.h.

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

double vpMbTracker::angleDisappears

protected

Angle used to detect a face disappearance.

Definition at line 148 of file vpMbTracker.h.

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

bool vpMbTracker::applyLodSettingInConfig

protected

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 loadCAOModel(), vpMbEdgeKltTracker::loadConfigFile(), vpMbKltTracker::loadConfigFile(), and vpMbEdgeTracker::loadConfigFile().

vpCameraParameters vpMbTracker::cam

protected

The camera parameters.

Definition at line 113 of file vpMbTracker.h.

unsigned int vpMbTracker::clippingFlag

protected

Flags specifying which clipping to used.

Definition at line 154 of file vpMbTracker.h.

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

vpHomogeneousMatrix vpMbTracker::cMo

protected

The current pose.

Definition at line 115 of file vpMbTracker.h.

bool vpMbTracker::computeCovariance

protected

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

bool vpMbTracker::computeProjError

protected

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 vpMbEdgeTracker::track().

vpMatrix vpMbTracker::covarianceMatrix

protected

Covariance matrix.

Definition at line 129 of file vpMbTracker.h.

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

bool vpMbTracker::displayFeatures

protected

If true, the features are displayed.

Definition at line 135 of file vpMbTracker.h.

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

double vpMbTracker::distFarClip

protected

Distance for near clipping.

Definition at line 152 of file vpMbTracker.h.

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

double vpMbTracker::distNearClip

protected

Distance for near clipping.

Definition at line 150 of file vpMbTracker.h.

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

vpMbHiddenFaces<vpMbtPolygon> vpMbTracker::faces

protected

Set of faces describing the object.

Definition at line 144 of file vpMbTracker.h.

Referenced by vpMbEdgeTracker::addCircle(), vpMbEdgeTracker::addCylinder(), vpMbEdgeTracker::addLine(), addPolygon(), vpMbEdgeKltTracker::display(), vpMbKltTracker::display(), vpMbEdgeTracker::display(), extractFaces(), extractLines(), vpMbKltTracker::init(), vpMbEdgeTracker::init(), vpMbKltTracker::initCylinder(), vpMbKltTracker::initFaceFromCorners(), vpMbKltTracker::initFaceFromLines(), loadCAOModel(), vpMbEdgeKltTracker::loadConfigFile(), vpMbKltTracker::loadConfigFile(), loadModel(), loadVRMLModel(), vpMbEdgeKltTracker::postTracking(), vpMbKltTracker::postTracking(), vpMbKltTracker::reinit(), vpMbEdgeKltTracker::reInitModel(), vpMbKltTracker::reInitModel(), vpMbEdgeTracker::reInitModel(), vpMbKltTracker::resetTracker(), vpMbEdgeTracker::resetTracker(), setClipping(), setFarClippingDistance(), setLod(), setMinLineLengthThresh(), setMinPolygonAreaThresh(), setNearClippingDistance(), vpMbEdgeKltTracker::setPose(), vpMbKltTracker::setPose(), vpMbEdgeTracker::setUseEdgeTracking(), vpMbEdgeTracker::track(), vpMbEdgeTracker::visibleFace(), vpMbEdgeKltTracker::vpMbEdgeKltTracker(), vpMbEdgeTracker::vpMbEdgeTracker(), and vpMbKltTracker::vpMbKltTracker().

bool vpMbTracker::isoJoIdentity

protected

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

Definition at line 119 of file vpMbTracker.h.

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

vpColVector vpMbTracker::m_error

protected

Error s-s*.

Definition at line 139 of file vpMbTracker.h.

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

vpMbtOptimizationMethod vpMbTracker::m_optimizationMethod

protected

Optimization method used.

Definition at line 141 of file vpMbTracker.h.

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

vpColVector vpMbTracker::m_w

protected

Weights used in the robust scheme.

Definition at line 137 of file vpMbTracker.h.

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

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

protected

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

Definition at line 181 of file vpMbTracker.h.

Referenced by parseParameters(), and vpMbTracker().

double vpMbTracker::minLineLengthThresholdGeneral

protected

Minimum line length threshold for LOD mode (general setting)

Definition at line 177 of file vpMbTracker.h.

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

double vpMbTracker::minPolygonAreaThresholdGeneral

protected

Minimum polygon area threshold for LOD mode (general setting)

Definition at line 179 of file vpMbTracker.h.

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

std::string vpMbTracker::modelFileName

protected

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 loadModel().

bool vpMbTracker::modelInitialised

protected

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(), vpMbEdgeTracker::init(), and loadModel().

unsigned int vpMbTracker::nbCircles

protected

Number of circles in CAO model.

Definition at line 171 of file vpMbTracker.h.

Referenced by loadCAOModel(), and loadModel().

unsigned int vpMbTracker::nbCylinders

protected

Number of cylinders in CAO model.

Definition at line 169 of file vpMbTracker.h.

Referenced by loadCAOModel(), and loadModel().

unsigned int vpMbTracker::nbLines

protected

Number of lines in CAO model.

Definition at line 163 of file vpMbTracker.h.

Referenced by loadCAOModel(), and loadModel().

unsigned int vpMbTracker::nbPoints

protected

Number of points in CAO model.

Definition at line 161 of file vpMbTracker.h.

Referenced by loadCAOModel(), and loadModel().

unsigned int vpMbTracker::nbPolygonLines

protected

Number of polygon lines in CAO model.

Definition at line 165 of file vpMbTracker.h.

Referenced by loadCAOModel(), and loadModel().

unsigned int vpMbTracker::nbPolygonPoints

protected

Number of polygon points in CAO model.

Definition at line 167 of file vpMbTracker.h.

Referenced by loadCAOModel(), and loadModel().

bool vpMbTracker::ogreShowConfigDialog

protected

Definition at line 157 of file vpMbTracker.h.

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

vpMatrix vpMbTracker::oJo

protected

The Degrees of Freedom to estimate.

Definition at line 117 of file vpMbTracker.h.

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

std::string vpMbTracker::poseSavingFilename

protected

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 initClick().

double vpMbTracker::projectionError

protected

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

bool vpMbTracker::useLodGeneral

protected

True if LOD mode is enabled.

Definition at line 173 of file vpMbTracker.h.

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

bool vpMbTracker::useOgre

protected

Use Ogre3d for visibility tests.

Definition at line 156 of file vpMbTracker.h.

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

bool vpMbTracker::useScanLine

protected

Use Scanline for visibility tests.

Definition at line 159 of file vpMbTracker.h.

Referenced by vpMbEdgeTracker::addLine(), vpMbKltTracker::display(), vpMbEdgeTracker::init(), vpMbKltTracker::initCylinder(), vpMbKltTracker::initFaceFromCorners(), vpMbKltTracker::initFaceFromLines(), vpMbEdgeKltTracker::postTracking(), vpMbKltTracker::reinit(), vpMbKltTracker::resetTracker(), vpMbEdgeTracker::resetTracker(), vpMbEdgeKltTracker::setPose(), vpMbKltTracker::setPose(), and vpMbEdgeTracker::track().

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

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Member Data Documentation