Visual Servoing Platform  version 3.0.0
vpMbTracker Class Referenceabstract

#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 vpMbtPolygongetPolygon (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< vpMbtPolygonfaces
 
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

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::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::incorrectMatrixSizeErrorif 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
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.
polygonNameName 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.
polygonNameName 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.
polygonNameName 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
virtual unsigned int vpMbTracker::getClipping ( ) const
inlinevirtual
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::dimensionErrorif the set is empty.
Parameters
pts: Set of point to extract the center of gravity.
Returns
Center of gravity of the set.

Definition at line 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::dimensionErrorif 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 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):

4 // Number of points in the file (minimum is four)
0.01 0.01 0.01 // \
... // | 3D coordinates in the object basis
0.01 -0.01 -0.01 // /
Parameters
I: Input image
initFile: File containing the points where to click
displayHelp: Optionnal display of an image ( 'initFile.ppm' ). This image may be used to show where to click. 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):

4 // Number of 3D points in the file (minimum is four)
0.01 0.01 0.01 // \
... // | 3D coordinates in meters in the object frame
0.01 -0.01 -0.01 // /
4 // Number of image points in the file (has to be the same as the number of 3D points)
100 200 // \
... // | 2D coordinates in pixel in the image
50 10 // /
Parameters
I: Input image
initFile: Path to the file containing all the points.

Definition at line 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
0.0000 // \
0.0000 // |
1.0000 // | Exemple of value for the pose vector where Z = 1 meter
0.0000 // |
0.0000 // |
0.0000 // /

Where the three firsts lines refer to the translation and the three last to the rotation in thetaU parametrisation (see vpThetaUVector).

Parameters
I: Input image
initFile: Path to the file containing the pose.
Examples:
mbtEdgeKltTracking.cpp, mbtEdgeTracking.cpp, 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::ioErrorif 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::ioErrorif 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::fatalErrorif 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
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
attemptsNumber of rays to be sent.

Definition at line 538 of file vpMbTracker.h.

References vpMbHiddenFaces< PolygonType >::setNbRayCastingAttemptsForVisibility().

void vpMbTracker::setNearClippingDistance ( const double &  dist)
virtual
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
virtual void vpMbTracker::testTracking ( )
pure virtual

Test the quality of the tracking.

Exceptions
vpExceptionif 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

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().

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
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
double vpMbTracker::distNearClip
protected
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
vpMbtOptimizationMethod vpMbTracker::m_optimizationMethod
protected
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
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