Visual Servoing Platform
version 3.0.0
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#include <visp3/mbt/vpMbTracker.h>
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 |
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:
Definition at line 103 of file vpMbTracker.h.
Enumerator | |
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GAUSS_NEWTON_OPT | |
LEVENBERG_MARQUARDT_OPT |
Definition at line 106 of file vpMbTracker.h.
vpMbTracker::vpMbTracker | ( | ) |
Basic constructor. Set default values.
Definition at line 129 of file vpMbTracker.cpp.
References vpMatrix::eye(), mapOfParameterNames, and oJo.
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virtual |
Basic destructor that doest nothing.
Definition at line 151 of file vpMbTracker.cpp.
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protected |
Definition at line 791 of file vpMbTracker.cpp.
References vpPolygon3D::addPoint(), vpMbHiddenFaces< PolygonType >::addPolygon(), clippingFlag, distFarClip, distNearClip, faces, vpPolygon3D::FAR_CLIPPING, vpMbHiddenFaces< PolygonType >::getPolygon(), vpPolygon3D::NEAR_CLIPPING, vpPolygon3D::NO_CLIPPING, vpMbtPolygon::setIndex(), vpMbtPolygon::setLod(), vpMbtPolygon::setMinLineLengthThresh(), vpMbtPolygon::setMinPolygonAreaThresh(), vpMbtPolygon::setName(), and vpPolygon3D::setNbPoint().
Referenced by extractCylinders(), extractFaces(), extractLines(), and loadCAOModel().
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Definition at line 839 of file vpMbTracker.cpp.
References vpPolygon3D::addPoint(), vpMbHiddenFaces< PolygonType >::addPolygon(), clippingFlag, vpColVector::crossProd(), distFarClip, distNearClip, faces, vpPolygon3D::FAR_CLIPPING, vpPoint::get_oX(), vpPoint::get_oY(), vpPoint::get_oZ(), vpPlane::getA(), vpPlane::getB(), vpPlane::getC(), vpMbHiddenFaces< PolygonType >::getPolygon(), minLineLengthThresholdGeneral, vpPolygon3D::NEAR_CLIPPING, vpPolygon3D::NO_CLIPPING, vpPlane::object_frame, vpMath::rad(), vpMbtPolygon::setIndex(), vpMbtPolygon::setLod(), vpMbtPolygon::setMinLineLengthThresh(), vpMbtPolygon::setMinPolygonAreaThresh(), vpMbtPolygon::setName(), vpPolygon3D::setNbPoint(), vpPoint::setWorldCoordinates(), and vpMath::sqr().
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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().
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Definition at line 955 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::setIsPolygonOriented(), vpMbtPolygon::setLod(), vpMbtPolygon::setMinLineLengthThresh(), vpMbtPolygon::setMinPolygonAreaThresh(), vpMbtPolygon::setName(), and vpPolygon3D::setNbPoint().
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Compute , with J the interaction matrix and R the vector of residu.
vpMatrixException::incorrectMatrixSizeError | if the sizes of the matrices do not allow the computation. |
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().
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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().
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pure virtual |
Display the 3D model at a given position using the given camera parameters on a grey level image.
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.
Referenced by initClick().
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pure virtual |
Display the 3D model at a given position using the given camera parameters on a color (RGBa) image.
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.
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Extract a cylinder to track from the VMRL model. This method calls the initCylinder() method implemented in the child class.
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().
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Extract a face of the object to track from the VMRL model. This method calls the initFaceFromCorners() method implemented in the child class.
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().
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Extract a VRML object Group.
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().
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Extract a line of the object to track from the VMRL model. This method calls the initFaceFromCorners() method implemented in the child class.
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().
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Return the angle used to test polygons appearance.
Definition at line 215 of file vpMbTracker.h.
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Return the angle used to test polygons disappearance.
Definition at line 218 of file vpMbTracker.h.
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Get the camera parameters.
camera | : copy of the camera parameters used by the tracker. |
Definition at line 225 of file vpMbTracker.h.
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Get the clipping used and defined in vpPolygon3D::vpMbtPolygonClippingType.
Definition at line 232 of file vpMbTracker.h.
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Return the error vector 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:
Definition at line 266 of file vpMbTracker.h.
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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;
Definition at line 2397 of file vpMbTracker.cpp.
References oJo.
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Return a reference to the faces structure.
Definition at line 271 of file vpMbTracker.h.
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Get the far distance for clipping.
Definition at line 278 of file vpMbTracker.h.
Compute the center of gravity of a set of point. This is used in the cylinder extraction to find the center of the circles.
vpException::dimensionError | if the set is empty. |
pts | : Set of point to extract the center of gravity. |
Definition at line 2108 of file vpMbTracker.cpp.
References vpException::dimensionError, vpPoint::get_oX(), and vpPoint::setWorldCoordinates().
Referenced by extractCylinders().
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Get the number of polygons (faces) representing the object to track.
Definition at line 309 of file vpMbTracker.h.
References vpMbHiddenFaces< PolygonType >::size().
Referenced by getPolygonFaces(), vpMbEdgeKltTracker::loadConfigFile(), vpMbKltTracker::loadConfigFile(), and vpMbEdgeTracker::loadConfigFile().
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Get the near distance for clipping.
Reimplemented in vpMbEdgeKltTracker.
Definition at line 318 of file vpMbTracker.h.
Referenced by vpMbEdgeKltTracker::getNearClippingDistance().
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Get the optimization method used during the tracking. 0 = Gauss-Newton approach. 1 = Levenberg-Marquardt approach.
Definition at line 327 of file vpMbTracker.h.
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Return the polygon (face) "index".
vpException::dimensionError | if index does not represent a good polygon. |
index | : Index of the polygon to return. |
Definition at line 338 of file vpMbTracker.h.
References vpException::dimensionError, and vpMbHiddenFaces< PolygonType >::size().
Referenced by getPolygonFaces().
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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.
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. |
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().
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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.
cMo_ | : the pose |
Definition at line 356 of file vpMbTracker.h.
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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.
Definition at line 365 of file vpMbTracker.h.
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Get the error angle between the gradient direction of the model features projected at the resulting pose and their normal.
Definition at line 249 of file vpMbTracker.h.
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Return the weights vector 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:
Definition at line 300 of file vpMbTracker.h.
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Initialise the tracking.
I | : Input image. |
Implemented in vpMbEdgeTracker, vpMbEdgeKltTracker, and vpMbKltTracker.
Referenced by initClick(), initFromPoints(), and initFromPose().
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Add a circle to track from its center, 3 points (including the center) defining the plane that contain the circle and its radius.
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().
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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):
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. |
vpException::ioError | : The file specified in initFile doesn't exist. |
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.
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Initialise the tracking by clicking on the image points corresponding to the 3D points (object frame) in the list points3D_list.
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.
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protectedpure virtual |
Add a cylinder to track from two points on the axis (defining the length of the cylinder) and its radius.
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().
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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.
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().
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protectedpure virtual |
Implemented in vpMbEdgeTracker, vpMbKltTracker, and vpMbEdgeKltTracker.
Referenced by loadCAOModel().
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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):
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.
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Initialise the tracking with the list of image points (points2D_list) and the list of corresponding 3D points (object frame) (points3D_list).
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.
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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):
Where the three firsts lines refer to the translation and the three last to the rotation in thetaU parametrisation (see vpThetaUVector).
I | : Input image |
initFile | : Path to the file containing the pose. |
Definition at line 719 of file vpMbTracker.cpp.
References vpHomogeneousMatrix::buildFrom(), cMo, init(), and vpException::ioError.
Referenced by initFromPose(), vpMbKltTracker::reInitModel(), and vpMbEdgeTracker::reInitModel().
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Initialise the tracking thanks to the pose.
I | : Input image |
cMo_ | : Pose matrix. |
Definition at line 753 of file vpMbTracker.cpp.
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Initialise the tracking thanks to the pose vector.
I | : Input image |
cPo | : Pose vector. |
Definition at line 765 of file vpMbTracker.cpp.
References initFromPose().
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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 :
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().
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Load a config file to parameterise the behavior of the tracker.
Pure virtual method to adapt to each tracker.
configFile | : An xml config file to parse. |
Implemented in vpMbEdgeTracker, vpMbKltTracker, and vpMbEdgeKltTracker.
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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.
vpException::ioError | if the file cannot be open, or if its extension is not wrl or cao. |
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 1014 of file vpMbTracker.cpp.
Referenced by vpMbEdgeKltTracker::reInitModel(), vpMbKltTracker::reInitModel(), and vpMbEdgeTracker::reInitModel().
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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.
vpException::ioError | if the file cannot be open, or if its extension is not wrl or cao. |
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().
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Load the 3D model of the object from a vrml file. Only LineSet and FaceSet are extracted from the vrml file.
vpException::fatalError | if the file cannot be open. |
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().
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Definition at line 644 of file vpMbTracker.h.
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Definition at line 632 of file vpMbTracker.h.
Referenced by loadCAOModel().
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Definition at line 1172 of file vpMbTracker.cpp.
References mapOfParameterNames, and trim().
Referenced by loadCAOModel().
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Definition at line 1159 of file vpMbTracker.cpp.
References vpException::ioError.
Referenced by loadCAOModel().
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Reset the tracker.
Implemented in vpMbEdgeTracker, vpMbKltTracker, and vpMbEdgeKltTracker.
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Definition at line 649 of file vpMbTracker.h.
void vpMbTracker::savePose | ( | const std::string & | filename | ) |
Save the pose in the given filename
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().
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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.
a | : new angle in radian. |
Definition at line 419 of file vpMbTracker.h.
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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.
a | : new angle in radian. |
Definition at line 430 of file vpMbTracker.h.
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Set the camera parameters.
camera | : the new camera parameters |
Reimplemented in vpMbEdgeTracker, vpMbKltTracker, and vpMbEdgeKltTracker.
Definition at line 437 of file vpMbTracker.h.
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Specify which clipping to use.
flags | : New clipping flags. |
Reimplemented in vpMbEdgeTracker, and vpMbEdgeKltTracker.
Definition at line 2344 of file vpMbTracker.cpp.
References clippingFlag, faces, and vpMbHiddenFaces< PolygonType >::size().
Referenced by vpMbKltTracker::loadConfigFile(), and vpMbEdgeTracker::setClipping().
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Set if the covaraince matrix has to be computed.
flag | : True if the covariance has to be computed, false otherwise |
Definition at line 446 of file vpMbTracker.h.
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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:
displayF | : set it to true to display the features. |
Definition at line 459 of file vpMbTracker.h.
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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.
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Set the far distance for clipping.
dist | : Far clipping value. |
Reimplemented in vpMbEdgeTracker, and vpMbEdgeKltTracker.
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().
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Set the ratio of visibility attempts that has to be successful to consider a polygon as visible.
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().
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Set the flag to consider if the level of detail (LOD) is used.
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. |
Definition at line 2264 of file vpMbTracker.cpp.
References faces, and vpMbHiddenFaces< PolygonType >::size().
Referenced by vpMbEdgeKltTracker::loadConfigFile(), vpMbKltTracker::loadConfigFile(), and vpMbEdgeTracker::loadConfigFile().
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Set the threshold for the minimum line length to be considered as visible in the LOD case.
minLineLengthThresh | : threshold for the minimum line length in pixel. |
name | : name of the face we want to modify the LOD threshold. |
Definition at line 2283 of file vpMbTracker.cpp.
References faces, and vpMbHiddenFaces< PolygonType >::size().
Referenced by vpMbEdgeKltTracker::loadConfigFile(), vpMbKltTracker::loadConfigFile(), and vpMbEdgeTracker::loadConfigFile().
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Set the minimum polygon area to be considered as visible in the LOD case.
minPolygonAreaThresh | : threshold for the minimum polygon area in pixel. |
name | : name of the face we want to modify the LOD threshold. |
Definition at line 2302 of file vpMbTracker.cpp.
References faces, and vpMbHiddenFaces< PolygonType >::size().
Referenced by vpMbEdgeKltTracker::loadConfigFile(), vpMbKltTracker::loadConfigFile(), and vpMbEdgeTracker::loadConfigFile().
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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.
attempts | Number of rays to be sent. |
Definition at line 538 of file vpMbTracker.h.
References vpMbHiddenFaces< PolygonType >::setNbRayCastingAttemptsForVisibility().
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Set the near distance for clipping.
dist | : Near clipping value. |
Reimplemented in vpMbEdgeTracker, and vpMbEdgeKltTracker.
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().
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Enable/Disable the appearance of Ogre config dialog on startup.
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. |
Definition at line 523 of file vpMbTracker.h.
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Use Ogre3D for visibility tests
v | : True to use it, False otherwise |
Reimplemented in vpMbEdgeTracker, vpMbKltTracker, and vpMbEdgeKltTracker.
Definition at line 2219 of file vpMbTracker.cpp.
References useOgre.
Referenced by vpMbEdgeKltTracker::setOgreVisibilityTest(), vpMbKltTracker::setOgreVisibilityTest(), and vpMbEdgeTracker::setOgreVisibilityTest().
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Set the optimization method used during the tracking.
opt | : Optimization method to use. |
Definition at line 478 of file vpMbTracker.h.
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Set the pose to be used in entry of the next call to the track() function. This pose will be just used once.
I | : image corresponding to the desired pose. |
cdMo | : Pose to affect. |
Implemented in vpMbEdgeTracker, vpMbKltTracker, and vpMbEdgeKltTracker.
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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.
filename | : The new filename. |
Definition at line 500 of file vpMbTracker.h.
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Set if the projection error criteria has to be computed.
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().
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Reimplemented in vpMbEdgeTracker, vpMbKltTracker, and vpMbEdgeKltTracker.
Definition at line 511 of file vpMbTracker.h.
Referenced by vpMbKltTracker::setScanLineVisibilityTest(), and vpMbEdgeTracker::setScanLineVisibilityTest().
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Test the quality of the tracking.
vpException | if the test fail. |
Implemented in vpMbEdgeTracker, vpMbKltTracker, and vpMbEdgeKltTracker.
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Track the object in the given image
I | : The current image. |
Implemented in vpMbEdgeTracker, vpMbKltTracker, and vpMbEdgeKltTracker.
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Definition at line 654 of file vpMbTracker.h.
Referenced by parseParameters().
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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().
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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().
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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().
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The camera parameters.
Definition at line 113 of file vpMbTracker.h.
Referenced by vpMbKltTracker::addCircle(), vpMbEdgeTracker::addCircle(), vpMbEdgeTracker::addCylinder(), vpMbEdgeTracker::addLine(), vpMbEdgeKltTracker::computeVVS(), vpMbKltTracker::computeVVS(), vpMbEdgeTracker::computeVVS(), vpMbKltTracker::display(), vpMbEdgeTracker::downScale(), getPolygonFaces(), vpMbKltTracker::init(), vpMbEdgeTracker::init(), initClick(), vpMbKltTracker::initCylinder(), vpMbKltTracker::initFaceFromCorners(), vpMbKltTracker::initFaceFromLines(), initFromPoints(), vpMbEdgeKltTracker::loadConfigFile(), vpMbEdgeTracker::loadConfigFile(), vpMbEdgeKltTracker::postTracking(), vpMbKltTracker::postTracking(), vpMbKltTracker::reinit(), vpMbEdgeKltTracker::setCameraParameters(), vpMbKltTracker::setCameraParameters(), vpMbEdgeKltTracker::setPose(), vpMbKltTracker::setPose(), vpMbEdgeTracker::track(), vpMbEdgeTracker::upScale(), and vpMbEdgeTracker::visibleFace().
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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().
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The current pose.
Definition at line 115 of file vpMbTracker.h.
Referenced by vpMbEdgeKltTracker::computeVVS(), vpMbKltTracker::computeVVS(), vpMbEdgeTracker::computeVVS(), getPolygonFaces(), vpMbKltTracker::init(), vpMbEdgeKltTracker::init(), vpMbEdgeTracker::init(), initClick(), initFromPoints(), initFromPose(), vpMbEdgeKltTracker::postTracking(), vpMbKltTracker::postTracking(), vpMbKltTracker::reinit(), vpMbEdgeTracker::reInitLevel(), vpMbEdgeKltTracker::reInitModel(), vpMbKltTracker::reInitModel(), vpMbEdgeTracker::reInitModel(), vpMbKltTracker::resetTracker(), vpMbEdgeTracker::resetTracker(), savePose(), vpMbEdgeKltTracker::setPose(), vpMbKltTracker::setPose(), vpMbEdgeTracker::setPose(), vpMbEdgeTracker::track(), vpMbEdgeKltTracker::trackFirstLoop(), vpMbEdgeTracker::trackMovingEdge(), vpMbEdgeKltTracker::trackSecondLoop(), and vpMbEdgeTracker::updateMovingEdge().
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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().
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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().
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Covariance matrix.
Definition at line 129 of file vpMbTracker.h.
Referenced by vpMbEdgeKltTracker::computeVVS(), vpMbKltTracker::computeVVS(), vpMbEdgeTracker::computeVVS(), and vpMbEdgeTracker::track().
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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().
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Distance for near clipping.
Definition at line 152 of file vpMbTracker.h.
Referenced by vpMbEdgeTracker::addLine(), addPolygon(), vpMbEdgeTracker::setFarClippingDistance(), setFarClippingDistance(), vpMbEdgeTracker::setNearClippingDistance(), and setNearClippingDistance().
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Distance for near clipping.
Definition at line 150 of file vpMbTracker.h.
Referenced by vpMbEdgeTracker::addLine(), addPolygon(), vpMbEdgeTracker::setFarClippingDistance(), setFarClippingDistance(), vpMbEdgeTracker::setNearClippingDistance(), and setNearClippingDistance().
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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().
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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().
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Error s-s*.
Definition at line 139 of file vpMbTracker.h.
Referenced by vpMbEdgeKltTracker::computeVVS(), vpMbKltTracker::computeVVS(), and vpMbEdgeTracker::computeVVS().
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Optimization method used.
Definition at line 141 of file vpMbTracker.h.
Referenced by vpMbEdgeKltTracker::computeVVS(), vpMbKltTracker::computeVVS(), vpMbEdgeTracker::computeVVS(), vpMbKltTracker::resetTracker(), and vpMbEdgeTracker::resetTracker().
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Weights used in the robust scheme.
Definition at line 137 of file vpMbTracker.h.
Referenced by vpMbEdgeKltTracker::computeVVS(), vpMbEdgeTracker::computeVVS(), and vpMbKltTracker::track().
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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().
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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().
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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().
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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().
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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().
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Number of circles in CAO model.
Definition at line 171 of file vpMbTracker.h.
Referenced by loadCAOModel(), and loadModel().
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Number of cylinders in CAO model.
Definition at line 169 of file vpMbTracker.h.
Referenced by loadCAOModel(), and loadModel().
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Number of lines in CAO model.
Definition at line 163 of file vpMbTracker.h.
Referenced by loadCAOModel(), and loadModel().
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Number of points in CAO model.
Definition at line 161 of file vpMbTracker.h.
Referenced by loadCAOModel(), and loadModel().
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Number of polygon lines in CAO model.
Definition at line 165 of file vpMbTracker.h.
Referenced by loadCAOModel(), and loadModel().
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Number of polygon points in CAO model.
Definition at line 167 of file vpMbTracker.h.
Referenced by loadCAOModel(), and loadModel().
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Definition at line 157 of file vpMbTracker.h.
Referenced by vpMbKltTracker::init(), and vpMbEdgeTracker::init().
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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().
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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().
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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().
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True if LOD mode is enabled.
Definition at line 173 of file vpMbTracker.h.
Referenced by loadCAOModel(), vpMbEdgeKltTracker::loadConfigFile(), vpMbKltTracker::loadConfigFile(), and vpMbEdgeTracker::loadConfigFile().
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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().
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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().