#include <visp3/mbt/vpMbEdgeMultiTracker.h>

Inheritance diagram for vpMbEdgeMultiTracker:

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

Public Member Functions
	vpMbEdgeMultiTracker ()

	vpMbEdgeMultiTracker (const unsigned int nbCameras)

	vpMbEdgeMultiTracker (const std::vector< std::string > &cameraNames)

virtual	~vpMbEdgeMultiTracker ()

Inherited functionalities from vpMbEdgeMultiTracker
virtual void	display (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo_, const vpCameraParameters &cam_, const vpColor &col, const unsigned int thickness=1, const bool displayFullModel=false)

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

virtual void	display (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, const vpHomogeneousMatrix &c1Mo, const vpHomogeneousMatrix &c2Mo, const vpCameraParameters &cam1, const vpCameraParameters &cam2, const vpColor &col, const unsigned int thickness=1, const bool displayFullModel=false)

virtual void	display (const vpImage< vpRGBa > &I1, const vpImage< vpRGBa > &I2, const vpHomogeneousMatrix &c1Mo, const vpHomogeneousMatrix &c2Mo, const vpCameraParameters &cam1, const vpCameraParameters &cam2, const vpColor &col, const unsigned int thickness=1, const bool displayFullModel=false)

virtual void	display (const std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, const std::map< std::string, vpHomogeneousMatrix > &mapOfCameraPoses, const std::map< std::string, vpCameraParameters > &mapOfCameraParameters, const vpColor &col, const unsigned int thickness=1, const bool displayFullModel=false)

virtual void	display (const std::map< std::string, const vpImage< vpRGBa > * > &mapOfImages, const std::map< std::string, vpHomogeneousMatrix > &mapOfCameraPoses, const std::map< std::string, vpCameraParameters > &mapOfCameraParameters, const vpColor &col, const unsigned int thickness=1, const bool displayFullModel=false)

virtual std::vector< std::string >	getCameraNames () const

virtual void	getCameraParameters (vpCameraParameters &camera) const

virtual void	getCameraParameters (vpCameraParameters &cam1, vpCameraParameters &cam2) const

virtual void	getCameraParameters (const std::string &cameraName, vpCameraParameters &camera) const

virtual void	getCameraParameters (std::map< std::string, vpCameraParameters > &mapOfCameraParameters) const

virtual unsigned int	getClipping (const std::string &cameraName) const

virtual vpMbHiddenFaces < vpMbtPolygon > &	getFaces ()

virtual vpMbHiddenFaces < vpMbtPolygon > &	getFaces (const std::string &cameraName)

virtual std::map< std::string, vpMbHiddenFaces< vpMbtPolygon > >	getFaces () const

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

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

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

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

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

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

virtual void	getMovingEdge (vpMe &p_me) const

virtual vpMe	getMovingEdge () const

virtual void	getMovingEdge (const std::string &cameraName, vpMe &p_me) const

virtual vpMe	getMovingEdge (const std::string &cameraName) const

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

virtual unsigned int	getNbPoints (const std::string &cameraName, const unsigned int level=0) const

virtual unsigned int	getNbPolygon () const

virtual unsigned int	getNbPolygon (const std::string &cameraName) const

virtual std::map< std::string, unsigned int >	getMultiNbPolygon () const

unsigned int	getNumberOfCameras () const

virtual void	getPose (vpHomogeneousMatrix &c1Mo, vpHomogeneousMatrix &c2Mo) const

virtual void	getPose (const std::string &cameraName, vpHomogeneousMatrix &cMo_) const

virtual void	getPose (std::map< std::string, vpHomogeneousMatrix > &mapOfCameraPoses) const

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

virtual void	initClick (const vpImage< unsigned char > &I, const std::vector< vpPoint > &points3D_list, const std::string &displayFile="")

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

virtual void	initClick (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, const std::string &initFile1, const std::string &initFile2, const bool displayHelp=false, const bool firstCameraIsReference=true)

virtual void	initClick (const std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, const std::string &initFile, const bool displayHelp=false)

virtual void	initClick (const std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, const std::map< std::string, std::string > &mapOfInitFiles, const bool displayHelp=false)

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	initFromPose (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, const vpHomogeneousMatrix &c1Mo, const vpHomogeneousMatrix &c2Mo, const bool firstCameraIsReference=true)

virtual void	initFromPose (const std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, const vpHomogeneousMatrix &cMo_)

virtual void	initFromPose (const std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, const std::map< std::string, vpHomogeneousMatrix > &mapOfCameraPoses)

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

virtual void	loadConfigFile (const std::string &configFile1, const std::string &configFile2, const bool firstCameraIsReference=true)

virtual void	loadConfigFile (const std::map< std::string, std::string > &mapOfConfigFiles)

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

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

virtual void	reInitModel (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, const std::string &cad_name, const vpHomogeneousMatrix &c1Mo, const vpHomogeneousMatrix &c2Mo, const bool verbose=false, const bool firstCameraIsReference=true)

virtual void	reInitModel (const std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, const std::string &cad_name, const std::map< std::string, vpHomogeneousMatrix > &mapOfCameraPoses, const bool verbose=false)

virtual void	resetTracker ()

virtual void	setAngleAppear (const double &a)

virtual void	setAngleDisappear (const double &a)

virtual void	setCameraParameters (const vpCameraParameters &camera)

virtual void	setCameraParameters (const vpCameraParameters &camera1, const vpCameraParameters &camera2, const bool firstCameraIsReference=true)

virtual void	setCameraParameters (const std::string &cameraName, const vpCameraParameters &camera)

virtual void	setCameraParameters (const std::map< std::string, vpCameraParameters > &mapOfCameraParameters)

virtual void	setCameraTransformationMatrix (const std::string &cameraName, const vpHomogeneousMatrix &cameraTransformationMatrix)

virtual void	setCameraTransformationMatrix (const std::map< std::string, vpHomogeneousMatrix > &mapOfTransformationMatrix)

virtual void	setClipping (const unsigned int &flags)

virtual void	setClipping (const std::string &cameraName, const unsigned int &flags)

virtual void	setCovarianceComputation (const bool &flag)

virtual void	setDisplayFeatures (const bool displayF)

virtual void	setFarClippingDistance (const double &dist)

virtual void	setFarClippingDistance (const std::string &cameraName, const double &dist)

virtual void	setGoodMovingEdgesRatioThreshold (const double threshold)

void	setGoodNbRayCastingAttemptsRatio (const double &ratio)

void	setNbRayCastingAttemptsForVisibility (const unsigned int &attempts)

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

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

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

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

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

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

virtual void	setMovingEdge (const vpMe &me)

virtual void	setMovingEdge (const std::string &cameraName, const vpMe &me)

virtual void	setNearClippingDistance (const double &dist)

virtual void	setNearClippingDistance (const std::string &cameraName, const double &dist)

virtual void	setOgreShowConfigDialog (const bool showConfigDialog)

virtual void	setOgreVisibilityTest (const bool &v)

virtual void	setOptimizationMethod (const vpMbtOptimizationMethod &opt)

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

virtual void	setPose (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, const vpHomogeneousMatrix &c1Mo, const vpHomogeneousMatrix c2Mo, const bool firstCameraIsReference=true)

virtual void	setPose (const std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, const vpHomogeneousMatrix &cMo_)

virtual void	setPose (const std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, const std::map< std::string, vpHomogeneousMatrix > &mapOfCameraPoses)

virtual void	setProjectionErrorComputation (const bool &flag)

virtual void	setReferenceCameraName (const std::string &referenceCameraName)

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

virtual void	setScanLineVisibilityTest (const bool &v)

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

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

virtual void	track (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2)

virtual void	track (std::map< std::string, const vpImage< unsigned char > * > &mapOfImages)

Inherited functionalities from vpMbEdgeTracker
virtual double	getLambda () const

std::vector< bool >	getScales () const

double	getGoodMovingEdgesRatioThreshold () const

void	loadConfigFile (const char *configFile)

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

virtual void	setLambda (const double gain)

Inherited functionalities from vpMbTracker
virtual double	getAngleAppear () const

virtual double	getAngleDisappear () const

virtual unsigned int	getClipping () const

virtual vpMatrix	getCovarianceMatrix () const

virtual double	getProjectionError () const

virtual vpColVector	getEstimatedDoF () const

virtual vpColVector	getError () const

virtual double	getFarClippingDistance () const

virtual vpColVector	getRobustWeights () 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, const bool clipPolygon=false)

virtual void	getPose (vpHomogeneousMatrix &cMo_) const

virtual vpHomogeneousMatrix	getPose () const

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

virtual void	setEstimatedDoF (const vpColVector &v)

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

void	setPoseSavingFilename (const std::string &filename)

Protected Types
enum	FeatureType { LINE, CYLINDER, CIRCLE }

typedef enum vpMbEdgeMultiTracker::FeatureType	FeatureType

Protected Member Functions
Protected Member Functions Inherited from vpMbEdgeMultiTracker
virtual void	cleanPyramid (std::map< std::string, std::vector< const vpImage< unsigned char > * > > &pyramid)

virtual void	computeProjectionError ()

virtual void	computeVVS (std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, const unsigned int lvl)

virtual void	computeVVSSecondPhaseWeights (const unsigned int iter, const unsigned int nerror, vpColVector &weighted_error, vpColVector &w_lines, vpColVector &w_cylinders, vpColVector &w_circles, std::map< std::string, unsigned int > &mapOfNumberOfLines, std::map< std::string, unsigned int > &mapOfNumberOfCylinders, std::map< std::string, unsigned int > &mapOfNumberOfCircles, std::map< std::string, vpColVector > &mapOfWeightLines, std::map< std::string, vpColVector > &mapOfWeightCylinders, std::map< std::string, vpColVector > &mapOfWeightCircles, std::map< std::string, vpColVector > &mapOfErrorLines, std::map< std::string, vpColVector > &mapOfErrorCylinders, std::map< std::string, vpColVector > &mapOfErrorCircles, std::map< std::string, vpRobust > &mapOfRobustLines, std::map< std::string, vpRobust > &mapOfRobustCylinders, std::map< std::string, vpRobust > &mapOfRobustCircles, double threshold)

virtual void	initPyramid (const std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, std::map< std::string, std::vector< const vpImage< unsigned char > * > > &pyramid)

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

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

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

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

void	addPolygon (vpMbtPolygon &p)

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

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

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

void	computeVVSFirstPhase (const vpImage< unsigned char > &I, const unsigned int iter, vpMatrix &L, vpColVector &factor, double &count, vpColVector &error, vpColVector &w_mbt, const unsigned int lvl=0)

void	computeVVSFirstPhaseFactor (const vpImage< unsigned char > &I, vpColVector &factor, const unsigned int lvl=0)

void	computeVVSFirstPhasePoseEstimation (const unsigned int nerror, const unsigned int iter, const vpColVector &factor, vpColVector &weighted_error, vpMatrix &L, bool &isoJoIdentity_)

void	computeVVSSecondPhase (const vpImage< unsigned char > &I, vpMatrix &L, vpColVector &error_lines, vpColVector &error_cylinders, vpColVector &error_circles, vpColVector &error, const unsigned int lvl)

void	computeVVSSecondPhaseCheckLevenbergMarquardt (const unsigned int iter, const unsigned int nbrow, const vpColVector &m_error_prev, const vpColVector &m_w_prev, const vpHomogeneousMatrix &cMoPrev, double &mu, bool &reStartFromLastIncrement)

void	computeVVSSecondPhasePoseEstimation (const unsigned int nerror, vpMatrix &L, vpMatrix &L_true, vpMatrix &LVJ_true, vpColVector &W_true, const vpColVector &factor, const unsigned int iter, const bool isoJoIdentity_, vpColVector &weighted_error, double &mu, vpColVector &m_error_prev, vpColVector &m_w_prev, vpHomogeneousMatrix &cMoPrev, double &residu_1, double &r)

void	computeVVSSecondPhaseWeights (const unsigned int iter, const unsigned int nerror, const unsigned int nbrow, vpColVector &weighted_error, vpRobust &robust_lines, vpRobust &robust_cylinders, vpRobust &robust_circles, vpColVector &w_lines, vpColVector &w_cylinders, vpColVector &w_circles, vpColVector &error_lines, vpColVector &error_cylinders, vpColVector &error_circles, const unsigned int nberrors_lines, const unsigned int nberrors_cylinders, const unsigned int nberrors_circles)

void	displayFeaturesOnImage (const vpImage< unsigned char > &I, const unsigned int lvl)

void	downScale (const unsigned int _scale)

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

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

virtual void	initFaceFromCorners (vpMbtPolygon &polygon)

virtual void	initFaceFromLines (vpMbtPolygon &polygon)

unsigned int	initMbtTracking (unsigned int &nberrors_lines, unsigned int &nberrors_cylinders, unsigned int &nberrors_circles)

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

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

void	reInitLevel (const unsigned int _lvl)

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

void	removeCircle (const std::string &name)

void	removeCylinder (const std::string &name)

void	removeLine (const std::string &name)

void	resetMovingEdge ()

void	testTracking ()

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

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

void	updateMovingEdgeWeights ()

void	upScale (const unsigned int _scale)

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

Protected Member Functions Inherited from vpMbTracker
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) const

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) const

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) const

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

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

Protected Attributes
std::map< std::string, vpHomogeneousMatrix >	m_mapOfCameraTransformationMatrix

std::map< std::string, vpMbEdgeTracker * >	m_mapOfEdgeTrackers

std::map< std::string, std::vector< const vpImage < unsigned char > * > >	m_mapOfPyramidalImages

std::string	m_referenceCameraName

int	compute_interaction

double	lambda

vpMe	me

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

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

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

unsigned int	nline

unsigned int	ncircle

unsigned int	ncylinder

unsigned int	nbvisiblepolygone

double	percentageGdPt

std::vector< bool >	scales

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

unsigned int	scaleLevel

unsigned int	nbFeaturesForProjErrorComputation

vpCameraParameters	cam

vpHomogeneousMatrix	cMo

vpMatrix	oJo

bool	isoJoIdentity

std::string	modelFileName

bool	modelInitialised

std::string	poseSavingFilename

bool	computeCovariance

vpMatrix	covarianceMatrix

bool	computeProjError

double	projectionError

bool	displayFeatures

vpColVector	m_w

vpColVector	m_error

vpMbtOptimizationMethod	m_optimizationMethod

vpMbHiddenFaces< vpMbtPolygon >	faces

double	angleAppears

double	angleDisappears

double	distNearClip

double	distFarClip

unsigned int	clippingFlag

bool	useOgre

bool	ogreShowConfigDialog

bool	useScanLine

unsigned int	nbPoints

unsigned int	nbLines

unsigned int	nbPolygonLines

unsigned int	nbPolygonPoints

unsigned int	nbCylinders

unsigned int	nbCircles

bool	useLodGeneral

bool	applyLodSettingInConfig

double	minLineLengthThresholdGeneral

double	minPolygonAreaThresholdGeneral

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

Detailed Description

Make the complete stereo (or more) tracking of an object by using its CAD model.

This class allows to track an object or a scene given its 3D model. The Tutorial: Markerless model-based tracking with stereo cameras is also a good starting point to use this class.

The tracker requires the knowledge of the 3D model that could be provided in a vrml or in a cao file. The cao format is described in loadCAOModel(). It may also use an xml file used to tune the behavior of the tracker and an init file used to compute the pose at the very first image.

Examples:: mbtEdgeMultiTracking.cpp, tutorial-mb-tracker-stereo-mono.cpp, and tutorial-mb-tracker-stereo.cpp.

Definition at line 67 of file vpMbEdgeMultiTracker.h.

Member Typedef Documentation

typedef enum vpMbEdgeMultiTracker::FeatureType vpMbEdgeMultiTracker::FeatureType

protected

Member Enumeration Documentation

enum vpMbEdgeMultiTracker::FeatureType

protected

Enumerator
LINE
CYLINDER
CIRCLE

Definition at line 332 of file vpMbEdgeMultiTracker.h.

enum vpMbTracker::vpMbtOptimizationMethod

inherited

Enumerator
GAUSS_NEWTON_OPT
LEVENBERG_MARQUARDT_OPT

Definition at line 106 of file vpMbTracker.h.

Constructor & Destructor Documentation

vpMbEdgeMultiTracker::vpMbEdgeMultiTracker ( )

Basic constructor

Definition at line 55 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfCameraTransformationMatrix, m_mapOfEdgeTrackers, and vpMbEdgeTracker::vpMbEdgeTracker().

vpMbEdgeMultiTracker::vpMbEdgeMultiTracker ( const unsigned int nbCameras )

Construct a vpMbEdgeMultiTracker with the specified number of cameras.

Parameters

nbCameras : Number of cameras to use.

Definition at line 68 of file vpMbEdgeMultiTracker.cpp.

References vpTrackingException::fatalError, m_mapOfCameraTransformationMatrix, m_mapOfEdgeTrackers, m_referenceCameraName, and vpMbEdgeTracker::vpMbEdgeTracker().

vpMbEdgeMultiTracker::vpMbEdgeMultiTracker ( const std::vector< std::string > & cameraNames )

Construct a vpMbEdgeMultiTracker with the specified list of camera names. By default, the first camera name by alphabetic order is the reference camera.

Parameters

cameraNames : List of camera names.

Definition at line 109 of file vpMbEdgeMultiTracker.cpp.

References vpTrackingException::fatalError, m_mapOfEdgeTrackers, m_referenceCameraName, and vpMbEdgeTracker::vpMbEdgeTracker().

vpMbEdgeMultiTracker::~vpMbEdgeMultiTracker ( )

virtual

Basic destructor useful to deallocate the memory.

Definition at line 127 of file vpMbEdgeMultiTracker.cpp.

References cleanPyramid(), m_mapOfEdgeTrackers, and m_mapOfPyramidalImages.

Member Function Documentation

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

protectedinherited

Add a circle to the list of circles.

Parameters

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

Definition at line 2148 of file vpMbEdgeTracker.cpp.

Referenced by vpMbEdgeTracker::initCircle().

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

protectedinherited

Add a cylinder to the list of cylinders.

Parameters

P1	: The first extremity of the axis.
P2	: The second extremity of the axis.
r	: The radius of the cylinder.
idFace	: The index of the face.
name	: the optional name of the cylinder

Definition at line 2202 of file vpMbEdgeTracker.cpp.

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

Referenced by vpMbEdgeTracker::initCylinder().

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

protectedinherited

Add a line belonging to the $ index $ the polygon to the list of lines. It is defined by its two extremities.

If the line already exists, the ploygone's index is added to the list of polygon to which it belongs.

Parameters

P1	: The first extremity of the line.
P2	: The second extremity of the line.
polygon	: The index of the polygon to which the line belongs.
name	: the optional name of the line

Definition at line 2065 of file vpMbEdgeTracker.cpp.

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

void vpMbEdgeTracker::addPolygon ( vpMbtPolygon & p )

protectedinherited

Add a polygon to the list of polygons.

Parameters

p	: The polygon to add.

Definition at line 2288 of file vpMbEdgeTracker.cpp.

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

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

protectedinherited

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

protectedinherited

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

protectedinherited

Definition at line 922 of file vpMbTracker.cpp.

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

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

protectedinherited

void vpMbEdgeMultiTracker::cleanPyramid ( std::map< std::string, std::vector< const vpImage< unsigned char > * > > & pyramid )

protectedvirtual

Definition at line 138 of file vpMbEdgeMultiTracker.cpp.

Referenced by track(), and ~vpMbEdgeMultiTracker().

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

protectedinherited

Clean the pyramid of image allocated with the initPyramid() method. The vector has a size equal to zero at the end of the method.

Parameters

_pyramid : The pyramid of image to clean.

Definition at line 2846 of file vpMbEdgeTracker.cpp.

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

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

protectedinherited

Compute $ J^T R $ , with J the interaction matrix and R the vector of residu.

Exceptions

vpMatrixException::incorrectMatrixSizeError if the sizes of the matrices do not allow the computation.

Warning: The JTR vector is resized.

Parameters

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

Definition at line 2361 of file vpMbTracker.cpp.

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

Referenced by vpMbEdgeKltTracker::computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), vpMbEdgeTracker::computeVVSFirstPhasePoseEstimation(), vpMbKltTracker::computeVVSPoseEstimation(), and vpMbEdgeTracker::computeVVSSecondPhasePoseEstimation().

void vpMbEdgeMultiTracker::computeProjectionError ( )

protectedvirtual

Definition at line 154 of file vpMbEdgeMultiTracker.cpp.

References vpMbTracker::computeProjError, vpMath::deg(), m_mapOfEdgeTrackers, vpMbEdgeTracker::nbFeaturesForProjErrorComputation, vpMbTracker::projectionError, and vpMath::rad().

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

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

protectedinherited

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

Parameters

_I	: Image in which the model appears.

Definition at line 1026 of file vpMbEdgeTracker.cpp.

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

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

void vpMbEdgeMultiTracker::computeVVS	(	std::map< std::string, const vpImage< unsigned char > * > &	mapOfImages,
		const unsigned int	lvl
	)

protectedvirtual

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

protectedinherited

Compute the visual servoing loop to get the pose of the feature set.

Exceptions

vpTrackingException::notEnoughPointError if the number of detected feature is equal to zero.

Parameters

_I	: The current image.
lvl	: The level in the pyramid scale.

Definition at line 169 of file vpMbEdgeTracker.cpp.

References vpMbTracker::computeCovariance, vpMatrix::computeCovarianceMatrixVVS(), vpMbEdgeTracker::computeVVSFirstPhase(), vpMbEdgeTracker::computeVVSFirstPhasePoseEstimation(), vpMbEdgeTracker::computeVVSSecondPhase(), vpMbEdgeTracker::computeVVSSecondPhaseCheckLevenbergMarquardt(), vpMbEdgeTracker::computeVVSSecondPhasePoseEstimation(), vpMbEdgeTracker::computeVVSSecondPhaseWeights(), vpMbTracker::covarianceMatrix, vpMatrix::diag(), vpMatrix::eye(), vpArray2D< Type >::getRows(), vpMbEdgeTracker::initMbtTracking(), vpMbTracker::isoJoIdentity, vpMbTracker::m_error, vpMbTracker::m_w, vpTrackingException::notEnoughPointError, vpMbTracker::oJo, vpColVector::resize(), vpRobust::setIteration(), and vpMbEdgeTracker::updateMovingEdgeWeights().

Referenced by vpMbEdgeTracker::track().

void vpMbEdgeTracker::computeVVSFirstPhase	(	const vpImage< unsigned char > &	I,
		const unsigned int	iter,
		vpMatrix &	L,
		vpColVector &	factor,
		double &	count,
		vpColVector &	error,
		vpColVector &	w_mbt,
		const unsigned int	lvl = `0`
	)

protectedinherited

Definition at line 302 of file vpMbEdgeTracker.cpp.

Referenced by vpMbEdgeTracker::computeVVS().

void vpMbEdgeTracker::computeVVSFirstPhaseFactor	(	const vpImage< unsigned char > &	I,
		vpColVector &	factor,
		const unsigned int	lvl = `0`
	)

protectedinherited

void vpMbEdgeTracker::computeVVSFirstPhasePoseEstimation	(	const unsigned int	nerror,
		const unsigned int	iter,
		const vpColVector &	factor,
		vpColVector &	weighted_error,
		vpMatrix &	L,
		bool &	isoJoIdentity_
	)

protectedinherited

Definition at line 695 of file vpMbEdgeTracker.cpp.

References vpMatrix::AtA(), vpVelocityTwistMatrix::buildFrom(), vpMbTracker::cMo, vpMbEdgeTracker::compute_interaction, vpMbTracker::computeJTR(), vpExponentialMap::direct(), vpMatrix::eye(), vpException::fatalError, vpArray2D< Type >::getRows(), vpHomogeneousMatrix::inverse(), vpMbTracker::m_error, vpMbTracker::m_w, vpMbTracker::oJo, and vpMatrix::pseudoInverse().

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

void vpMbEdgeTracker::computeVVSSecondPhase	(	const vpImage< unsigned char > &	I,
		vpMatrix &	L,
		vpColVector &	error_lines,
		vpColVector &	error_cylinders,
		vpColVector &	error_circles,
		vpColVector &	error,
		const unsigned int	lvl
	)

protectedinherited

Definition at line 764 of file vpMbEdgeTracker.cpp.

References vpMbEdgeTracker::circles, vpMbTracker::cMo, vpMbtDistanceCircle::computeInteractionMatrixError(), vpMbtDistanceLine::computeInteractionMatrixError(), vpMbtDistanceCylinder::computeInteractionMatrixError(), vpMbEdgeTracker::cylinders, vpMbtDistanceCircle::error, vpMbtDistanceLine::error, vpMbtDistanceCylinder::error, vpMbtDistanceLine::L, vpMbtDistanceCircle::L, vpMbtDistanceCylinder::L, vpMbEdgeTracker::lines, vpMbtDistanceCircle::nbFeature, vpMbtDistanceCylinder::nbFeature, and vpMbtDistanceLine::nbFeatureTotal.

Referenced by vpMbEdgeTracker::computeVVS().

void vpMbEdgeTracker::computeVVSSecondPhaseCheckLevenbergMarquardt	(	const unsigned int	iter,
		const unsigned int	nbrow,
		const vpColVector &	m_error_prev,
		const vpColVector &	m_w_prev,
		const vpHomogeneousMatrix &	cMoPrev,
		double &	mu,
		bool &	reStartFromLastIncrement
	)

protectedinherited

Definition at line 827 of file vpMbEdgeTracker.cpp.

References vpMbTracker::cMo, vpTrackingException::fatalError, vpMbTracker::LEVENBERG_MARQUARDT_OPT, vpMbTracker::m_error, vpMbTracker::m_optimizationMethod, vpMbTracker::m_w, and vpColVector::sumSquare().

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

void vpMbEdgeTracker::computeVVSSecondPhasePoseEstimation	(	const unsigned int	nerror,
		vpMatrix &	L,
		vpMatrix &	L_true,
		vpMatrix &	LVJ_true,
		vpColVector &	W_true,
		const vpColVector &	factor,
		const unsigned int	iter,
		const bool	isoJoIdentity_,
		vpColVector &	weighted_error,
		double &	mu,
		vpColVector &	m_error_prev,
		vpColVector &	m_w_prev,
		vpHomogeneousMatrix &	cMoPrev,
		double &	residu_1,
		double &	r
	)

protectedinherited

void vpMbEdgeMultiTracker::computeVVSSecondPhaseWeights	(	const unsigned int	iter,
		const unsigned int	nerror,
		vpColVector &	weighted_error,
		vpColVector &	w_lines,
		vpColVector &	w_cylinders,
		vpColVector &	w_circles,
		std::map< std::string, unsigned int > &	mapOfNumberOfLines,
		std::map< std::string, unsigned int > &	mapOfNumberOfCylinders,
		std::map< std::string, unsigned int > &	mapOfNumberOfCircles,
		std::map< std::string, vpColVector > &	mapOfWeightLines,
		std::map< std::string, vpColVector > &	mapOfWeightCylinders,
		std::map< std::string, vpColVector > &	mapOfWeightCircles,
		std::map< std::string, vpColVector > &	mapOfErrorLines,
		std::map< std::string, vpColVector > &	mapOfErrorCylinders,
		std::map< std::string, vpColVector > &	mapOfErrorCircles,
		std::map< std::string, vpRobust > &	mapOfRobustLines,
		std::map< std::string, vpRobust > &	mapOfRobustCylinders,
		std::map< std::string, vpRobust > &	mapOfRobustCircles,
		double	threshold
	)

protectedvirtual

Definition at line 483 of file vpMbEdgeMultiTracker.cpp.

References vpCameraParameters::get_px(), m_mapOfEdgeTrackers, vpColVector::resize(), vpMath::sqr(), vpColVector::stack(), and vpRobust::TUKEY.

Referenced by computeVVS(), and vpMbEdgeKltMultiTracker::computeVVS().

void vpMbEdgeTracker::computeVVSSecondPhaseWeights	(	const unsigned int	iter,
		const unsigned int	nerror,
		const unsigned int	nbrow,
		vpColVector &	weighted_error,
		vpRobust &	robust_lines,
		vpRobust &	robust_cylinders,
		vpRobust &	robust_circles,
		vpColVector &	w_lines,
		vpColVector &	w_cylinders,
		vpColVector &	w_circles,
		vpColVector &	error_lines,
		vpColVector &	error_cylinders,
		vpColVector &	error_circles,
		const unsigned int	nberrors_lines,
		const unsigned int	nberrors_cylinders,
		const unsigned int	nberrors_circles
	)

protectedinherited

Definition at line 962 of file vpMbEdgeTracker.cpp.

References vpMbTracker::cam, vpCameraParameters::get_px(), vpMbTracker::m_w, vpRobust::MEstimator(), vpColVector::resize(), vpRobust::setIteration(), vpRobust::setThreshold(), vpMath::sqr(), and vpRobust::TUKEY.

Referenced by vpMbEdgeTracker::computeVVS().

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

protectedinherited

Definition at line 2434 of file vpMbTracker.cpp.

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

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

void vpMbEdgeMultiTracker::display	(	const vpImage< unsigned char > &	I,
		const vpHomogeneousMatrix &	cMo_,
		const vpCameraParameters &	cam_,
		const vpColor &	col,
		const unsigned int	thickness = `1`,
		const bool	displayFullModel = `false`
	)

virtual

Display the 3D model from a given position of the camera.

Parameters

I	: The grayscale 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 faces).

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 617 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers, and m_referenceCameraName.

Referenced by vpMbEdgeKltMultiTracker::display().

void vpMbEdgeMultiTracker::display	(	const vpImage< vpRGBa > &	I,
		const vpHomogeneousMatrix &	cMo_,
		const vpCameraParameters &	cam_,
		const vpColor &	col,
		const unsigned int	thickness = `1`,
		const bool	displayFullModel = `false`
	)

virtual

Display the 3D model from a given position of the camera.

Parameters

I	: The color 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 faces).

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 638 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers, and m_referenceCameraName.

void vpMbEdgeMultiTracker::display	(	const vpImage< unsigned char > &	I1,
		const vpImage< unsigned char > &	I2,
		const vpHomogeneousMatrix &	c1Mo,
		const vpHomogeneousMatrix &	c2Mo,
		const vpCameraParameters &	cam1,
		const vpCameraParameters &	cam2,
		const vpColor &	col,
		const unsigned int	thickness = `1`,
		const bool	displayFullModel = `false`
	)

virtual

Display the 3D model from a given position of the camera (stereo cameras configuration).

Parameters

I1	: The first grayscale image.
I2	: The second grayscale image.
c1Mo	: Pose used to project the 3D model into the first image.
c2Mo	: Pose used to project the 3D model into the second image.
cam1	: The first camera parameters.
cam2	: The second camera parameters.
col	: The desired color.
thickness	: The thickness of the lines.
displayFullModel	: If true, the full model is displayed (even the non visible faces).

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 662 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

void vpMbEdgeMultiTracker::display	(	const vpImage< vpRGBa > &	I1,
		const vpImage< vpRGBa > &	I2,
		const vpHomogeneousMatrix &	c1Mo,
		const vpHomogeneousMatrix &	c2Mo,
		const vpCameraParameters &	cam1,
		const vpCameraParameters &	cam2,
		const vpColor &	col,
		const unsigned int	thickness = `1`,
		const bool	displayFullModel = `false`
	)

virtual

Display the 3D model from a given position of the camera (stereo cameras configuration).

Parameters

I1	: The first color image.
I2	: The second color image.
c1Mo	: Pose used to project the 3D model into the first image.
c2Mo	: Pose used to project the 3D model into the second image.
cam1	: The first camera parameters.
cam2	: The second camera parameters.
col	: The desired color.
thickness	: The thickness of the lines.
displayFullModel	: If true, the full model is displayed (even the non visible faces).

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 691 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

void vpMbEdgeMultiTracker::display	(	const std::map< std::string, const vpImage< unsigned char > * > &	mapOfImages,
		const std::map< std::string, vpHomogeneousMatrix > &	mapOfCameraPoses,
		const std::map< std::string, vpCameraParameters > &	mapOfCameraParameters,
		const vpColor &	col,
		const unsigned int	thickness = `1`,
		const bool	displayFullModel = `false`
	)

virtual

Display the 3D model from a given position of the camera (multiple cameras configuration).

Parameters

mapOfImages	: Map of grayscale images.
mapOfCameraPoses	: Map of camera poses.
mapOfCameraParameters	: Map of camera parameters.
col	: The desired color.
thickness	: The thickness of the lines.
displayFullModel	: If true, the full model is displayed (even the non visible faces).

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 717 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

void vpMbEdgeMultiTracker::display	(	const std::map< std::string, const vpImage< vpRGBa > * > &	mapOfImages,
		const std::map< std::string, vpHomogeneousMatrix > &	mapOfCameraPoses,
		const std::map< std::string, vpCameraParameters > &	mapOfCameraParameters,
		const vpColor &	col,
		const unsigned int	thickness = `1`,
		const bool	displayFullModel = `false`
	)

virtual

Display the 3D model from a given position of the camera (multiple cameras configuration).

Parameters

mapOfImages	: Map of color images.
mapOfCameraPoses	: Map of camera poses.
mapOfCameraParameters	: Map of camera parameters.
col	: The desired color.
thickness	: The thickness of the lines.
displayFullModel	: If true, the full model is displayed (even the non visible faces).

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 747 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

void vpMbEdgeTracker::displayFeaturesOnImage	(	const vpImage< unsigned char > &	I,
		const unsigned int	lvl
	)

protectedinherited

Definition at line 1573 of file vpMbEdgeTracker.cpp.

References vpMbEdgeTracker::circles, vpMbEdgeTracker::cylinders, vpMbtDistanceCircle::displayMovingEdges(), vpMbtDistanceLine::displayMovingEdges(), vpMbtDistanceCylinder::displayMovingEdges(), vpMbtDistanceCircle::isTracked(), vpMbtDistanceLine::isTracked(), vpMbtDistanceCylinder::isTracked(), vpMbtDistanceCircle::isVisible(), vpMbtDistanceLine::isVisible(), vpMbtDistanceCylinder::isVisible(), and vpMbEdgeTracker::lines.

Referenced by vpMbEdgeTracker::track().

void vpMbEdgeTracker::downScale ( const unsigned int _scale )

protectedinherited

Modify the camera parameters to have them corresponding to the current scale. The new parameters are divided by $2^{\_scale}$ .

Parameters

_scale : Scale to use.

Definition at line 2938 of file vpMbEdgeTracker.cpp.

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

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

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

protectedvirtualinherited

Extract a cylinder to track from the VMRL model. This method calls the initCylinder() method implemented in the child class.

Warning: This method extract cylinder described using an indexed face set not a cylinder set since software such as AC3D or blender export a cylinder using this data type. the object name is used, if it begins with "cyl" then this method is called otherwise the extractFaces() is used.

Parameters

face_set	: Pointer to the cylinder in the vrml format.
transform	: Transformation matrix applied to the cylinder.
idFace	: Id of the face.
polygonName	Name of the polygon.

Definition at line 1967 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::extractGroup().

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

protectedvirtualinherited

Extract a face of the object to track from the VMRL model. This method calls the initFaceFromCorners() method implemented in the child class.

Parameters

face_set	: Pointer to the face in the vrml format.
transform	: Transformation matrix applied to the face.
idFace	: Face id.
polygonName	Name of the polygon.

Definition at line 1911 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::extractGroup().

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

protectedvirtualinherited

Extract a VRML object Group.

Parameters

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

Definition at line 1821 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::loadVRMLModel().

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

protectedvirtualinherited

Extract a line of the object to track from the VMRL model. This method calls the initFaceFromCorners() method implemented in the child class.

Parameters

line_set	: Pointer to the line in the vrml format.
idFace	: Id of the face.
polygonName	Name of the polygon.

Definition at line 2044 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::extractGroup().

virtual double vpMbTracker::getAngleAppear ( ) const

inlinevirtualinherited

Return the angle used to test polygons appearance.

Definition at line 191 of file vpMbTracker.h.

virtual double vpMbTracker::getAngleDisappear ( ) const

inlinevirtualinherited

Return the angle used to test polygons disappearance.

Definition at line 194 of file vpMbTracker.h.

std::vector< std::string > vpMbEdgeMultiTracker::getCameraNames ( ) const

virtual

Get the camera names.

Returns: The vector of camera names.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 772 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

Referenced by vpMbEdgeKltMultiTracker::getCameraNames().

void vpMbEdgeMultiTracker::getCameraParameters ( vpCameraParameters & camera ) const

virtual

Get the camera parameters for the mono/reference camera.

Parameters

camera : Copy of the camera parameters used by the tracker.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 788 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers, and m_referenceCameraName.

Referenced by vpMbEdgeKltMultiTracker::getCameraParameters().

void vpMbEdgeMultiTracker::getCameraParameters	(	vpCameraParameters &	cam1,
		vpCameraParameters &	cam2
	)		const

virtual

Get the camera parameters for the stereo cameras case.

Parameters

cam1	: Copy of the camera parameters for the first camera.
cam2	: Copy of the camera parameters for the second camera.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 804 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

void vpMbEdgeMultiTracker::getCameraParameters	(	const std::string &	cameraName,
		vpCameraParameters &	camera
	)		const

virtual

Get the camera parameters specified by its name.

Parameters

cameraName	: Name of the camera.
camera	: Copy of the camera parameters.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 823 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

void vpMbEdgeMultiTracker::getCameraParameters ( std::map< std::string, vpCameraParameters > & mapOfCameraParameters ) const

virtual

Get all the camera parameters.

Parameters

mapOfCameraParameters : Map of camera parameters.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 837 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

unsigned int vpMbEdgeMultiTracker::getClipping ( const std::string & cameraName ) const

virtual

Get the clipping used and defined in vpPolygon3D::vpMbtPolygonClippingType for the given camera name.

Parameters

cameraName : Name of the desired camera.

Returns: Clipping flags.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 855 of file vpMbEdgeMultiTracker.cpp.

References vpMbTracker::getClipping(), and m_mapOfEdgeTrackers.

virtual unsigned int vpMbTracker::getClipping ( ) const

inlinevirtualinherited

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

Returns: Clipping flags.

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

Definition at line 208 of file vpMbTracker.h.

Referenced by getClipping(), vpMbKltMultiTracker::getClipping(), and vpMbEdgeKltMultiTracker::getClipping().

virtual vpMatrix vpMbTracker::getCovarianceMatrix ( ) const

inlinevirtualinherited

Get the covariance matrix.

Examples:: mbtEdgeKltTracking.cpp, mbtEdgeTracking.cpp, and mbtKltTracking.cpp.

Definition at line 213 of file vpMbTracker.h.

References vpTRACE.

virtual vpColVector vpMbTracker::getError ( ) const

inlinevirtualinherited

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

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

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

See Also: getRobustWeights()

Definition at line 243 of file vpMbTracker.h.

vpColVector vpMbTracker::getEstimatedDoF ( ) const

virtualinherited

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

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

Definition at line 2392 of file vpMbTracker.cpp.

References vpMbTracker::oJo.

vpMbHiddenFaces< vpMbtPolygon > & vpMbEdgeMultiTracker::getFaces ( )

virtual

Return a reference to the faces structure.

Returns: Reference to the face structure.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 871 of file vpMbEdgeMultiTracker.cpp.

References vpMbTracker::faces, m_mapOfEdgeTrackers, and m_referenceCameraName.

Referenced by vpMbEdgeKltMultiTracker::getEdgeFaces().

vpMbHiddenFaces< vpMbtPolygon > & vpMbEdgeMultiTracker::getFaces ( const std::string & cameraName )

virtual

Return a reference to the faces structure for the given camera name.

Returns: Reference to the face structure.

Definition at line 886 of file vpMbEdgeMultiTracker.cpp.

References vpMbTracker::faces, and m_mapOfEdgeTrackers.

std::map< std::string, vpMbHiddenFaces< vpMbtPolygon > > vpMbEdgeMultiTracker::getFaces ( ) const

virtual

Return a map of faces structure for each camera.

Returns: Reference a map of the face structure for each camera.

Definition at line 901 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

virtual double vpMbTracker::getFarClippingDistance ( ) const

inlinevirtualinherited

Get the far distance for clipping.

Returns: Far clipping value.

Definition at line 255 of file vpMbTracker.h.

double vpMbEdgeTracker::getGoodMovingEdgesRatioThreshold ( ) const

inlineinherited

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

See Also: setGoodMovingEdgesRatioThreshold()

Definition at line 367 of file vpMbEdgeTracker.h.

References vpMbEdgeTracker::percentageGdPt.

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

protectedinherited

Compute the center of gravity of a set of point. This is used in the cylinder extraction to find the center of the circles.

Exceptions

vpException::dimensionError if the set is empty.

Parameters

pts	: Set of point to extract the center of gravity.

Returns: Center of gravity of the set.

Definition at line 2092 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::extractCylinders().

virtual double vpMbEdgeTracker::getLambda ( ) const

inlinevirtualinherited

Get the value of the gain used to compute the control law.

Returns: the value for the gain.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 332 of file vpMbEdgeTracker.h.

References vpMbEdgeKltMultiTracker::lambda.

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

Get the list of the circles tracked for the specified level. Each circle contains the list of the vpMeSite.

Exceptions

vpException::dimensionError if the second parameter does not correspond to an used level.

Parameters

level	: Level corresponding to the list to return.
circlesList	: The list of the circles of the model.

Definition at line 921 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers, and m_referenceCameraName.

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

virtual

Get the list of the circles tracked for the specified level. Each circle contains the list of the vpMeSite.

Exceptions

vpException::dimensionError if the second parameter does not correspond to an used level.

Parameters

cameraName	: Camera name for which we want to get the list of vpMbtDistanceCircle.
level	: Level corresponding to the list to return.
circlesList	: The list of the circles of the model.

Definition at line 942 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

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

Get the list of the cylinders tracked for the specified level. Each cylinder contains the list of the vpMeSite.

Exceptions

vpException::dimensionError if the second parameter does not correspond to an used level.

Parameters

level	: Level corresponding to the list to return.
cylindersList	: The list of the cylinders of the model.

Definition at line 962 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers, and m_referenceCameraName.

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

virtual

Get the list of the cylinders tracked for the specified level. Each cylinder contains the list of the vpMeSite.

Exceptions

vpException::dimensionError if the second parameter does not correspond to an used level.

Parameters

cameraName	: Camera name for which we want to get the list of vpMbtDistanceCylinder.
level	: Level corresponding to the list to return.
cylindersList	: The list of the cylinders of the model.

Definition at line 983 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

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

Get the list of the lines tracked for the specified level. Each line contains the list of the vpMeSite.

Exceptions

vpException::dimensionError if the second parameter does not correspond to an used level.

Parameters

level	: Level corresponding to the list to return.
linesList	: The list of the lines of the model.

Definition at line 1003 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers, and m_referenceCameraName.

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

virtual

Get the list of the lines tracked for the specified level. Each line contains the list of the vpMeSite.

Exceptions

vpException::dimensionError if the second parameter does not correspond to an used level.

Parameters

cameraName	: Camera name for which we want to get the list of vpMbtDistanceLine.
level	: Level corresponding to the list to return.
linesList	: The list of the lines of the model.

Definition at line 1024 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

void vpMbEdgeMultiTracker::getMovingEdge ( vpMe & p_me ) const

virtual

Get the moving edge parameters for the reference camera.

Parameters

p_me	: Moving edge parameters for the reference camera.

Reimplemented from vpMbEdgeTracker.

Definition at line 1040 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers, and m_referenceCameraName.

vpMe vpMbEdgeMultiTracker::getMovingEdge ( ) const

virtual

Get the moving edge parameters for the reference camera.

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

Reimplemented from vpMbEdgeTracker.

Definition at line 1054 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers, and m_referenceCameraName.

Referenced by getMovingEdge().

void vpMbEdgeMultiTracker::getMovingEdge	(	const std::string &	cameraName,
		vpMe &	p_me
	)		const

virtual

Get the moving edge parameters for the specified camera name.

Parameters

cameraName	: Name of the camera.
p_me	: Moving edge parameters for the specified camera name.

Definition at line 1073 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

vpMe vpMbEdgeMultiTracker::getMovingEdge ( const std::string & cameraName ) const

virtual

Get the moving edge parameters for the specified camera name.

Parameters

cameraName : Name of the camera.

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

Definition at line 1089 of file vpMbEdgeMultiTracker.cpp.

References getMovingEdge().

std::map< std::string, unsigned int > vpMbEdgeMultiTracker::getMultiNbPolygon ( ) const

virtual

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

Returns: Number of polygons for the specified camera.

Definition at line 1182 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

Referenced by vpMbEdgeKltMultiTracker::getEdgeMultiNbPolygon().

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

virtual

Return the number of good points (vpMeSite) tracked. A good point is a vpMeSite with its flag "state" equal to 0. Only these points are used during the virtual visual servoing stage.

Parameters

level : Pyramid level to consider.

Exceptions

vpException::dimensionError if level does not represent a used level.

Returns: the number of good points for the reference camera.

Reimplemented from vpMbEdgeTracker.

Definition at line 1107 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers, and m_referenceCameraName.

unsigned int vpMbEdgeMultiTracker::getNbPoints	(	const std::string &	cameraName,
		const unsigned int	level = `0`
	)		const

virtual

Return the number of good points (vpMeSite) tracked. A good point is a vpMeSite with its flag "state" equal to 0. Only these points are used during the virtual visual servoing stage.

Parameters

cameraName	: Camera name.
level	: Pyramid level to consider.

Exceptions

vpException::dimensionError if level does not represent a used level.

Returns: the number of good points for the specified camera name.

Definition at line 1134 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

unsigned int vpMbEdgeMultiTracker::getNbPolygon ( ) const

virtual

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

Returns: Number of polygons.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1152 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers, and m_referenceCameraName.

unsigned int vpMbEdgeMultiTracker::getNbPolygon ( const std::string & cameraName ) const

virtual

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

Returns: Number of polygons for the specified camera.

Definition at line 1167 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

virtual double vpMbTracker::getNearClippingDistance ( ) const

inlinevirtualinherited

Get the near distance for clipping.

Returns: Near clipping value.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 295 of file vpMbTracker.h.

Referenced by vpMbEdgeKltTracker::getNearClippingDistance().

unsigned int vpMbEdgeMultiTracker::getNumberOfCameras ( ) const

inline

Get the number of cameras.

Returns: The number of cameras.

Definition at line 163 of file vpMbEdgeMultiTracker.h.

virtual vpMbtOptimizationMethod vpMbTracker::getOptimizationMethod ( ) const

inlinevirtualinherited

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

Returns: Optimization method.

Definition at line 304 of file vpMbTracker.h.

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

inlinevirtualinherited

Return the polygon (face) "index".

Exceptions

vpException::dimensionError if index does not represent a good polygon.

Parameters

index : Index of the polygon to return.

Returns: Pointer to the polygon index.

Definition at line 315 of file vpMbTracker.h.

References vpException::dimensionError.

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

virtualinherited

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

Parameters

orderPolygons	: If true, the resulting list is ordered from the nearest polygon faces to the farther.
useVisibility	: If true, only visible faces will be retrieved.
clipPolygon	: If true, the polygons will be clipped according to the clipping flags set in vpMbTracker.

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 2124 of file vpMbTracker.cpp.

References vpMbTracker::cam, vpMbTracker::cMo, vpMbTracker::faces, and vpMbHiddenFaces< PolygonType >::getPolygon().

void vpMbEdgeMultiTracker::getPose	(	vpHomogeneousMatrix &	c1Mo,
		vpHomogeneousMatrix &	c2Mo
	)		const

virtual

Get the current pose between the object and the cameras.

Parameters

c1Mo	: The camera pose for the first camera.
c2Mo	: The camera pose for the second camera.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1198 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

void vpMbEdgeMultiTracker::getPose	(	const std::string &	cameraName,
		vpHomogeneousMatrix &	cMo_
	)		const

virtual

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

cameraName	: The name of the camera.
cMo_	: The camera pose for the specified camera.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1220 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

void vpMbEdgeMultiTracker::getPose ( std::map< std::string, vpHomogeneousMatrix > & mapOfCameraPoses ) const

virtual

Get the current pose between the object and the cameras.

Parameters

mapOfCameraPoses : The map of camera poses for all the cameras.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1234 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

virtual void vpMbTracker::getPose ( vpHomogeneousMatrix & cMo_ ) const

inlinevirtualinherited

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, tutorial-mb-tracker-stereo-mono.cpp, and tutorial-mb-tracker.cpp.

Definition at line 333 of file vpMbTracker.h.

virtual vpHomogeneousMatrix vpMbTracker::getPose ( ) const

inlinevirtualinherited

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 342 of file vpMbTracker.h.

Referenced by vpMbEdgeKltMultiTracker::getPose(), and vpMbEdgeKltMultiTracker::initClick().

virtual double vpMbTracker::getProjectionError ( ) const

inlinevirtualinherited

Get the error angle between the gradient direction of the model features projected at the resulting pose and their normal. The error is expressed in degree between 0 and 90.

Returns: the value for the error.

Examples:: mbtEdgeKltTracking.cpp, and mbtEdgeTracking.cpp.

Definition at line 226 of file vpMbTracker.h.

virtual vpColVector vpMbTracker::getRobustWeights ( ) const

inlinevirtualinherited

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

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

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

See Also: getError()

Definition at line 277 of file vpMbTracker.h.

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

inlineinherited

Return the scales levels used for the tracking.

Returns: The scales levels used for the tracking.

Definition at line 358 of file vpMbEdgeTracker.h.

References vpMbEdgeTracker::scales.

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

virtual

Initialise the tracking.

Parameters

I	: Input image.

Implements vpMbTracker.

Definition at line 1246 of file vpMbEdgeMultiTracker.cpp.

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

protectedvirtualinherited

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

Parameters

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

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker, and vpMbEdgeKltMultiTracker.

Definition at line 2439 of file vpMbEdgeTracker.cpp.

References vpMbEdgeTracker::addCircle().

Referenced by vpMbEdgeKltTracker::initCircle().

void vpMbEdgeMultiTracker::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.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1259 of file vpMbEdgeMultiTracker.cpp.

References vpMbTracker::cMo, vpTrackingException::initializationError, m_mapOfEdgeTrackers, and m_referenceCameraName.

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

virtual

Initialize the tracking by clicking on the image points corresponding to the 3D points (object frame) in the file initFile. The structure of this file is (without the comments):

// Number of points in the file (minimum is four)
01 0.01 0.01    //  \
...               //  | 3D coordinates in the object basis
01 -0.01 -0.01  // /

Parameters

I	: Input image.
initFile	: File containing the points where to click.
displayHelp	: Optional display of an image ( 'initFile.ppm' ). This image may be used to show where to click.

Exceptions

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

See Also: setPathNamePoseSaving()

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1299 of file vpMbEdgeMultiTracker.cpp.

References vpMbTracker::cMo, vpTrackingException::initializationError, m_mapOfEdgeTrackers, and m_referenceCameraName.

void vpMbEdgeMultiTracker::initClick	(	const vpImage< unsigned char > &	I1,
		const vpImage< unsigned char > &	I2,
		const std::string &	initFile1,
		const std::string &	initFile2,
		const bool	displayHelp = `false`,
		const bool	firstCameraIsReference = `true`
	)

virtual

Initialize the tracking by clicking on the image points corresponding to the 3D points (object frame) in the file initFile. The structure of this file is (without the comments):

// Number of points in the file (minimum is four)
01 0.01 0.01    //  \
...               //  | 3D coordinates in the object basis
01 -0.01 -0.01  // /

Parameters

I1	: Input image for the first camera.
I2	: Input image for the second camera.
initFile1	: File containing the points where to click for the first camera.
initFile2	: File containing the points where to click for the second camera.
displayHelp	: Optional display of an image ( 'initFile.ppm' ). This image may be used to show where to click.
firstCameraIsReference	: If true, the first camera is the reference, otherwise it is the second one.

Exceptions

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

See Also: setPathNamePoseSaving()

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1341 of file vpMbEdgeMultiTracker.cpp.

References vpMbTracker::cam, vpMbTracker::cMo, vpTrackingException::initializationError, and m_mapOfEdgeTrackers.

void vpMbEdgeMultiTracker::initClick	(	const std::map< std::string, const vpImage< unsigned char > * > &	mapOfImages,
		const std::string &	initFile,
		const bool	displayHelp = `false`
	)

virtual

Initialize the tracking by clicking on the image points corresponding to the 3D points (object frame) in the file initFile for the reference camera. The other cameras will be automatically initialized and the camera transformation matrices have to be set before. The structure of this file is (without the comments):

// Number of points in the file (minimum is four)
01 0.01 0.01    //  \
...               //  | 3D coordinates in the object basis
01 -0.01 -0.01  // /

Parameters

mapOfImages	: Map of images.
initFile	: File containing the points where to click for the reference camera.
displayHelp	: Optional display of an image ( 'initFile.ppm' ). This image may be used to show where to click.

Exceptions

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

See Also: setPathNamePoseSaving()

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1394 of file vpMbEdgeMultiTracker.cpp.

References vpMbTracker::cMo, vpTrackingException::initializationError, m_mapOfCameraTransformationMatrix, m_mapOfEdgeTrackers, and m_referenceCameraName.

void vpMbEdgeMultiTracker::initClick	(	const std::map< std::string, const vpImage< unsigned char > * > &	mapOfImages,
		const std::map< std::string, std::string > &	mapOfInitFiles,
		const bool	displayHelp = `false`
	)

virtual

Initialize the tracking by clicking on the image points corresponding to the 3D points (object frame) in the file initFile. The cameras that have not an init file will be automatically initialized but the camera transformation matrices have to be set before. The structure of this file is (without the comments):

// Number of points in the file (minimum is four)
01 0.01 0.01    //  \
...               //  | 3D coordinates in the object basis
01 -0.01 -0.01  // /

Parameters

mapOfImages	: Map of images.
mapOfInitFiles	: map of files containing the points where to click for each camera.
displayHelp	: Optional display of an image ( 'initFile.ppm' ). This image may be used to show where to click.

Exceptions

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

See Also: setPathNamePoseSaving()

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1458 of file vpMbEdgeMultiTracker.cpp.

References vpMbTracker::cMo, vpTrackingException::initializationError, m_mapOfCameraTransformationMatrix, m_mapOfEdgeTrackers, and m_referenceCameraName.

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

protectedvirtualinherited

Add a cylinder to track from two points on the axis (defining the length of the cylinder) and its radius.

Parameters

p1	: First point on the axis.
p2	: Second point on the axis.
radius	: Radius of the cylinder.
idFace	: Id of the face that is associated to the cylinder to handle visibility test.
name	: The optional name of the cylinder.

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker, and vpMbEdgeKltMultiTracker.

Definition at line 2456 of file vpMbEdgeTracker.cpp.

References vpMbEdgeTracker::addCylinder().

Referenced by vpMbEdgeKltTracker::initCylinder().

void vpMbEdgeTracker::initFaceFromCorners ( vpMbtPolygon & polygon )

protectedvirtualinherited

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

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

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

Parameters

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

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker, and vpMbEdgeKltMultiTracker.

Definition at line 2351 of file vpMbEdgeTracker.cpp.

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

Referenced by vpMbEdgeKltTracker::initFaceFromCorners().

void vpMbEdgeTracker::initFaceFromLines ( vpMbtPolygon & polygon )

protectedvirtualinherited

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

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

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

Parameters

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

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker, and vpMbEdgeKltMultiTracker.

Definition at line 2373 of file vpMbEdgeTracker.cpp.

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

Referenced by vpMbEdgeKltTracker::initFaceFromLines().

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

virtualinherited

Initialise the tracking by reading the 3D points (object frame) and the image points in initFile. The structure of this file is (without the comments):

// Number of 3D points in the file (minimum is four)
01 0.01 0.01    //  \
...               //  | 3D coordinates in meters in the object frame
01 -0.01 -0.01  // /
// Number of image points in the file (has to be the same as the number of 3D points)
200    //  \
...        //  | 2D coordinates in pixel in the image
10       //  /

Parameters

I	: Input image
initFile	: Path to the file containing all the points.

Definition at line 583 of file vpMbTracker.cpp.

References vpPose::addPoint(), vpException::badValue, vpMbTracker::cam, vpMbTracker::cMo, vpPose::computePose(), vpPose::computeResidual(), vpPixelMeterConversion::convertPoint(), vpPose::DEMENTHON, vpMbTracker::init(), vpException::ioError, vpPose::LAGRANGE, vpPoint::set_x(), vpPoint::set_y(), vpPoint::setWorldCoordinates(), vpPose::VIRTUAL_VS, and vpERROR_TRACE.

void vpMbTracker::initFromPoints	(	const vpImage< unsigned char > &	I,
		const std::vector< vpImagePoint > &	points2D_list,
		const std::vector< vpPoint > &	points3D_list
	)

virtualinherited

Initialise the tracking with the list of image points (points2D_list) and the list of corresponding 3D points (object frame) (points3D_list).

Parameters

I	: Input image
points2D_list	: List of image points.
points3D_list	: List of 3D points (object frame).

Definition at line 668 of file vpMbTracker.cpp.

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

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

virtual

Initialize the tracking thanks to the pose in vpPoseVector format, and read in the file initFile. The structure of this file is (without the comments):

// The six value of the pose vector
0000    //  \
0000    //  |
0000    //  | Example of value for the pose vector where Z = 1 meter
0000    //  |
0000    //  |
0000    //  /

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

Parameters

I	: Input image
initFile	: Path to the file containing the pose.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1527 of file vpMbEdgeMultiTracker.cpp.

References vpHomogeneousMatrix::buildFrom(), vpMbTracker::cMo, vpHomogeneousMatrix::init(), vpTrackingException::initializationError, vpException::ioError, m_mapOfEdgeTrackers, and m_referenceCameraName.

Referenced by initFromPose(), and vpMbEdgeKltMultiTracker::initFromPose().

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

virtual

Initialize the tracking thanks to the pose.

Parameters

I	: Input image
cMo_	: Pose matrix.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1574 of file vpMbEdgeMultiTracker.cpp.

References vpMbTracker::cMo, vpHomogeneousMatrix::init(), vpTrackingException::initializationError, m_mapOfEdgeTrackers, and m_referenceCameraName.

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

virtual

Initialize the tracking thanks to the pose vector.

Parameters

I	: Input image
cPo	: Pose vector.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1599 of file vpMbEdgeMultiTracker.cpp.

References initFromPose().

void vpMbEdgeMultiTracker::initFromPose	(	const vpImage< unsigned char > &	I1,
		const vpImage< unsigned char > &	I2,
		const vpHomogeneousMatrix &	c1Mo,
		const vpHomogeneousMatrix &	c2Mo,
		const bool	firstCameraIsReference = `true`
	)

virtual

Initialize the tracking thanks to the pose for stereo cameras configuration.

Parameters

I1	: Input image for the first camera.
I2	: Input image for the second camera.
c1Mo	: Pose matrix for the first camera.
c2Mo	: Pose matrix for the second camera.
firstCameraIsReference	: If true, the first camera is the reference camera, otherwise it is the second one.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1613 of file vpMbEdgeMultiTracker.cpp.

References setPose().

void vpMbEdgeMultiTracker::initFromPose	(	const std::map< std::string, const vpImage< unsigned char > * > &	mapOfImages,
		const vpHomogeneousMatrix &	cMo_
	)

virtual

Initialize the tracking thanks to the pose. The camera transformation matrices have to be set before.

Parameters

mapOfImages	: Map of images.
cMo_	: Pose matrix for the reference camera.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1626 of file vpMbEdgeMultiTracker.cpp.

References setPose().

void vpMbEdgeMultiTracker::initFromPose	(	const std::map< std::string, const vpImage< unsigned char > * > &	mapOfImages,
		const std::map< std::string, vpHomogeneousMatrix > &	mapOfCameraPoses
	)

virtual

Initialize the tracking thanks to the pose.

Parameters

mapOfImages	: Map of images.
mapOfCameraPoses	: Map of pose matrix.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1639 of file vpMbEdgeMultiTracker.cpp.

References setPose().

unsigned int vpMbEdgeTracker::initMbtTracking	(	unsigned int &	nberrors_lines,
		unsigned int &	nberrors_cylinders,
		unsigned int &	nberrors_circles
	)

protectedinherited

Definition at line 2383 of file vpMbEdgeTracker.cpp.

References vpMbEdgeTracker::circles, vpMbEdgeTracker::cylinders, vpMbtDistanceCircle::initInteractionMatrixError(), vpMbtDistanceLine::initInteractionMatrixError(), vpMbtDistanceCylinder::initInteractionMatrixError(), vpMbtDistanceCircle::isTracked(), vpMbtDistanceLine::isTracked(), vpMbtDistanceCylinder::isTracked(), vpMbtDistanceCircle::isVisible(), vpMbtDistanceLine::isVisible(), vpMbtDistanceCylinder::isVisible(), vpMbEdgeTracker::lines, vpMbtDistanceCircle::nbFeature, vpMbtDistanceCylinder::nbFeature, vpMbtDistanceLine::nbFeatureTotal, and vpMbEdgeTracker::scaleLevel.

Referenced by vpMbEdgeTracker::computeVVS().

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

protectedinherited

Initialize the moving edge thanks to a given pose of the camera. The 3D model is projected into the image to create moving edges along the lines.

Parameters

I	: The image.
_cMo	: The pose of the camera used to initialize the moving edges.

Definition at line 1608 of file vpMbEdgeTracker.cpp.

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

void vpMbEdgeMultiTracker::initPyramid	(	const std::map< std::string, const vpImage< unsigned char > * > &	mapOfImages,
		std::map< std::string, std::vector< const vpImage< unsigned char > * > > &	pyramid
	)

protectedvirtual

Definition at line 1646 of file vpMbEdgeMultiTracker.cpp.

References vpMbEdgeTracker::initPyramid(), and vpMbEdgeTracker::scales.

Referenced by track().

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

protectedinherited

Compute the pyramid of image associated to the image in parameter. The scales computed are the ones corresponding to the scales attribute of the class. If OpenCV is detected, the functions used to computed a smoothed pyramid come from OpenCV, otherwise a simple subsampling (no smoothing, no interpolation) is realized.

Warning: The pyramid contains pointers to vpImage. To properly deallocate the pyramid. All the element but the first (which is a pointer to the input image) must be freed. A proper cleaning is implemented in the cleanPyramid() method.

Parameters

_I	: The input image.
_pyramid	: The pyramid of image to build from the input image.

Definition at line 2800 of file vpMbEdgeTracker.cpp.

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

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

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

protectedvirtualinherited

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

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

Since ViSP 2.9.1, circles are supported.

The structure of the file is :

V1
# Number of points describing the object
8
0.01 0.01 0.01  // point with index 0 \
...             // ...                 | coordinates of the points in the object frame (in m.)
0.01 0.01 0.01  // point with index 7 /
# Number of lines to track.
3
0 2 // line with index 0 \
1 4 //                    | Index of the points representing the extremities of the lines
1 5 // line with index 2 /
# Number of polygon (face) to track using the line previously described
1
3 0 1 2 // Face described as follow : nbLine indexLine1 indexLine2 ... indexLineN
# Number of polygon (face) to track using the points previously described
3
4 0 2 3 4 // Face described as follow : nbPoint IndexPoint1 IndexPoint2 ... IndexPointN
4 1 3 5 7
3 1 5 6 
# Number of cylinder
1
6 7 0.05 // Index of the limits points on the axis (used to know the 'height' of the cylinder) and radius of the cyclinder (in m.)
# Number of circle
1
0.5 0 1 2 // radius, index center point, index 2 other points on the plane containing the circle

Parameters

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

Definition at line 1276 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::loadModel().

void vpMbEdgeMultiTracker::loadConfigFile ( const std::string & configFile )

virtual

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

Warning: To clean up memory allocated by the xml library, the user has to call vpXmlParser::cleanup() before the exit().

Exceptions

vpException::ioError if the file has not been properly parsed (file not found or wrong format for the data).

Parameters

configFile : full name of the xml file.

The XML configuration file has the following form:

<?xml version="1.0"?>
<conf>
  <ecm>
    <mask>
      <size>5</size>
      <nb_mask>180</nb_mask>
    </mask>
    <range>
      <tracking>7</tracking>
    </range>
    <contrast>
      <edge_threshold>5000</edge_threshold>
      <mu1>0.5</mu1>
      <mu2>0.5</mu2>
    </contrast>
    <sample>
      <step>4</step>
    </sample>
  </ecm>
  <face>
    <near_clipping>0.01</near_clipping>
    <far_clipping>0.90</far_clipping>
    <fov_clipping>1</fov_clipping>
  </face>
  <camera>
    <u0>320</u0>
    <v0>240</v0>
    <px>686.24</px>
    <py>686.24</py>
  </camera>
</conf>

See Also: vpXmlParser::cleanup()

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1707 of file vpMbEdgeMultiTracker.cpp.

References vpMbTracker::angleAppears, vpMbTracker::angleDisappears, vpMbTracker::cam, vpMbTracker::clippingFlag, vpTrackingException::initializationError, m_mapOfEdgeTrackers, m_referenceCameraName, and vpMbEdgeTracker::me.

Referenced by vpMbEdgeKltMultiTracker::loadConfigFile().

void vpMbEdgeMultiTracker::loadConfigFile	(	const std::string &	configFile1,
		const std::string &	configFile2,
		const bool	firstCameraIsReference = `true`
	)

virtual

Load the xml configuration files for the stereo cameras case. An example of such a file is provided in loadConfigFile(const std::string &) documentation. From the configuration file initialize the parameters corresponding to the objects: moving-edges, camera and visibility angles.

Warning: To clean up memory allocated by the xml library, the user has to call vpXmlParser::cleanup() before the exit().

Parameters

configFile1	: Full name of the xml file for the first camera.
configFile2	: Full name of the xml file for the second camera.
firstCameraIsReference	: If true, the first camera is the reference, otherwise it is the second one.

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1743 of file vpMbEdgeMultiTracker.cpp.

References vpMbTracker::angleAppears, vpMbTracker::angleDisappears, vpMbTracker::cam, vpMbTracker::clippingFlag, vpTrackingException::initializationError, m_mapOfEdgeTrackers, and vpMbEdgeTracker::me.

void vpMbEdgeMultiTracker::loadConfigFile ( const std::map< std::string, std::string > & mapOfConfigFiles )

virtual

Load the xml configuration files for all the cameras. An example of such a file is provided in loadConfigFile(const std::string &) documentation. From the configuration file initialize the parameters corresponding to the objects: moving-edges, camera and visibility angles.

Warning: To clean up memory allocated by the xml library, the user has to call vpXmlParser::cleanup() before the exit().

Parameters

mapOfConfigFiles : Map of xml files.

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1795 of file vpMbEdgeMultiTracker.cpp.

References vpMbTracker::angleAppears, vpMbTracker::angleDisappears, vpMbTracker::cam, vpMbTracker::clippingFlag, vpTrackingException::initializationError, m_mapOfEdgeTrackers, m_referenceCameraName, and vpMbEdgeTracker::me.

void vpMbEdgeTracker::loadConfigFile ( const char * configFile )

inherited

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

Warning: To clean up memory allocated by the xml library, the user has to call vpXmlParser::cleanup() before the exit().

Exceptions

vpException::ioError if the file has not been properly parsed (file not found or wrong format for the data).

Parameters

configFile : full name of the xml file.

The XML configuration file has the following form:

<?xml version="1.0"?>
<conf>
  <ecm>
    <mask>
      <size>5</size>
      <nb_mask>180</nb_mask>
    </mask>
    <range>
      <tracking>7</tracking>
    </range>
    <contrast>
      <edge_threshold>5000</edge_threshold>
      <mu1>0.5</mu1>
      <mu2>0.5</mu2>
    </contrast>
    <sample>
      <step>4</step>
    </sample>
  </ecm>
  <face>
    <near_clipping>0.01</near_clipping>
    <far_clipping>0.90</far_clipping>
    <fov_clipping>1</fov_clipping>
  </face>
  <camera>
    <u0>320</u0>
    <v0>240</v0>
    <px>686.24</px>
    <py>686.24</py>
  </camera>
</conf>

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

Definition at line 1440 of file vpMbEdgeTracker.cpp.

References vpMbTracker::angleAppears, vpMbTracker::angleDisappears, vpMbTracker::applyLodSettingInConfig, vpMbTracker::cam, vpMbTracker::clippingFlag, vpMath::deg(), vpPolygon3D::FOV_CLIPPING, vpMbXmlParser::getAngleAppear(), vpMbXmlParser::getAngleDisappear(), vpMbXmlParser::getCameraParameters(), vpMbXmlParser::getFarClippingDistance(), vpMbXmlParser::getFovClipping(), vpMbXmlParser::getLodState(), vpMbtXmlParser::getMe(), vpMbXmlParser::getMinLineLengthThreshold(), vpMbXmlParser::getMinPolygonAreaThreshold(), vpMbTracker::getNbPolygon(), vpMbXmlParser::getNearClippingDistance(), vpMbXmlParser::hasFarClippingDistance(), vpMbXmlParser::hasNearClippingDistance(), vpException::ioError, vpMbEdgeTracker::me, vpMbTracker::minLineLengthThresholdGeneral, vpMbTracker::minPolygonAreaThresholdGeneral, vpMbtXmlParser::parse(), vpMath::rad(), vpMbXmlParser::setAngleAppear(), vpMbXmlParser::setAngleDisappear(), vpMbXmlParser::setCameraParameters(), vpMbEdgeTracker::setCameraParameters(), vpMbEdgeTracker::setClipping(), vpMbEdgeTracker::setFarClippingDistance(), vpMbTracker::setLod(), vpMbTracker::setMinLineLengthThresh(), vpMbTracker::setMinPolygonAreaThresh(), vpMbtXmlParser::setMovingEdge(), vpMbEdgeTracker::setMovingEdge(), vpMbEdgeTracker::setNearClippingDistance(), vpMbTracker::useLodGeneral, and vpTRACE.

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

virtual

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

Warning: When this class is called to load a vrml model, remember that you have to call Call SoDD::finish() before ending the program.
int main()

{

...

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

SoDB::finish();

#endif

}

Exceptions

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

Parameters

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

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1852 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers, and vpMbTracker::modelInitialised.

Referenced by vpMbEdgeKltMultiTracker::loadModel().

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

virtualinherited

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

Warning: When this class is called to load a vrml model, remember that you have to call Call SoDD::finish() before ending the program.
int main()

{

...

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

SoDB::finish();

#endif

}

Exceptions

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

Parameters

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

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

Definition at line 1016 of file vpMbTracker.cpp.

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

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

protectedvirtualinherited

Load the 3D model of the object from a vrml file. Only LineSet and FaceSet are extracted from the vrml file.

Warning: When this class is called, remember that you have to call Call SoDD::finish() before ending the program.
int main()

{

...

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

SoDB::finish();

#endif

}; The cylinders extracted using this method do not use the Cylinder keyword of vrml since vrml exporter such as Blender or AC3D consider a cylinder as an IndexedFaceSet. To test whether an indexedFaceSet is a cylinder or not, the name of the geometry is read. If the name begins with "cyl" then the faceset is supposed to be a cylinder. For example, the line
geometry DEF cyl_cylinder1 IndexedFaceSet

defines a cylinder named cyl_cylinder1.

Exceptions

vpException::fatalError if the file cannot be open.

Parameters

modelFile : The full name of the file containing the 3D model.

Definition at line 1113 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::loadModel().

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

inlineprotectedinherited

Definition at line 655 of file vpMbTracker.h.

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

inlineprotectedinherited

Definition at line 643 of file vpMbTracker.h.

Referenced by vpMbTracker::loadCAOModel().

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

protectedinherited

Definition at line 1173 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::loadCAOModel().

void vpMbEdgeTracker::reInitLevel ( const unsigned int _lvl )

protectedinherited

Re initialize the moving edges associated to a given level. This method is used to re-initialize the level if the tracking failed on this level but succeeded on the other one.

Parameters

_lvl	: The level to re-initialize.

Definition at line 2984 of file vpMbEdgeTracker.cpp.

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

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

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

virtual

Re-initialize the model used by the tracker.

Parameters

I	: The image containing the object to initialize.
cad_name	: Path to the file containing the 3D model description.
cMo_	: The new vpHomogeneousMatrix between the camera and the new model
verbose	: verbose option to print additional information when loading CAO model files which include other CAO model files.

Reimplemented from vpMbEdgeTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1870 of file vpMbEdgeMultiTracker.cpp.

References vpMbTracker::cMo, vpTrackingException::fatalError, m_mapOfEdgeTrackers, m_referenceCameraName, and vpMbTracker::modelInitialised.

Referenced by vpMbEdgeKltMultiTracker::reInitModel().

void vpMbEdgeMultiTracker::reInitModel	(	const vpImage< unsigned char > &	I1,
		const vpImage< unsigned char > &	I2,
		const std::string &	cad_name,
		const vpHomogeneousMatrix &	c1Mo,
		const vpHomogeneousMatrix &	c2Mo,
		const bool	verbose = `false`,
		const bool	firstCameraIsReference = `true`
	)

virtual

Re-initialize the model used by the tracker.

Parameters

I1	: The image containing the object to initialize for the first camera.
I2	: The image containing the object to initialize for the second camera.
cad_name	: Path to the file containing the 3D model description.
c1Mo	: The new vpHomogeneousMatrix between the first camera and the new model.
c2Mo	: The new vpHomogeneousMatrix between the second camera and the new model.
verbose	: verbose option to print additional information when loading CAO model files which include other CAO model files.
firstCameraIsReference	: If true, the first camera is the reference camera, otherwise it is the second one.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1901 of file vpMbEdgeMultiTracker.cpp.

References vpMbTracker::cMo, vpTrackingException::fatalError, and m_mapOfEdgeTrackers.

void vpMbEdgeMultiTracker::reInitModel	(	const std::map< std::string, const vpImage< unsigned char > * > &	mapOfImages,
		const std::string &	cad_name,
		const std::map< std::string, vpHomogeneousMatrix > &	mapOfCameraPoses,
		const bool	verbose = `false`
	)

virtual

Re-initialize the model used by the tracker.

Parameters

mapOfImages	: Map of images.
cad_name	: Path to the file containing the 3D model description.
mapOfCameraPoses	: The new vpHomogeneousMatrix between the cameras and the current object position.
verbose	: Verbose option to print additional information when loading CAO model files which include other CAO model files.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1936 of file vpMbEdgeMultiTracker.cpp.

References vpMbTracker::cMo, vpTrackingException::fatalError, m_mapOfCameraTransformationMatrix, m_mapOfEdgeTrackers, m_referenceCameraName, and vpMbTracker::modelInitialised.

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

inherited

Re-initialize the model used by the tracker.

Parameters

I	: The image containing the object to initialize.
cad_name	: Path to the file containing the 3D model description.
cMo_	: The new vpHomogeneousMatrix between the camera and the new model
verbose	: verbose option to print additional information when loading CAO model files which include other CAO model files.

Definition at line 2551 of file vpMbEdgeTracker.cpp.

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

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

protectedinherited

Reinitialize the lines if it is required.

A line is reinitialized if the 2D line do not match enough with the projected 3D line.

Parameters

I	: the image.
_cMo	: the pose of the used to re-initialize the moving edges

Definition at line 1960 of file vpMbEdgeTracker.cpp.

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

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

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

protectedinherited

Remove a circle by its name.

Parameters

name	: The name of the circle to remove.

Definition at line 2265 of file vpMbEdgeTracker.cpp.

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

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

protectedinherited

Definition at line 1160 of file vpMbTracker.cpp.

References vpException::ioError.

Referenced by vpMbTracker::loadCAOModel().

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

protectedinherited

Remove a cylinder by its name.

Parameters

name	: The name of the cylinder to remove.

Definition at line 2242 of file vpMbEdgeTracker.cpp.

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

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

protectedinherited

Remove a line using its name.

Parameters

name	: The name of the line to remove.

Definition at line 2120 of file vpMbEdgeTracker.cpp.

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

void vpMbEdgeTracker::resetMovingEdge ( )

protectedinherited

Definition at line 1991 of file vpMbEdgeTracker.cpp.

References vpMbEdgeTracker::circles, vpMbEdgeTracker::cylinders, vpMbEdgeTracker::lines, and vpMbEdgeTracker::scales.

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

void vpMbEdgeMultiTracker::resetTracker ( )

virtual

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

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1983 of file vpMbEdgeMultiTracker.cpp.

References vpMbTracker::angleAppears, vpMbTracker::angleDisappears, vpMbTracker::clippingFlag, vpMbTracker::cMo, vpMbEdgeTracker::compute_interaction, vpHomogeneousMatrix::eye(), vpMbTracker::GAUSS_NEWTON_OPT, vpMbEdgeTracker::lambda, m_mapOfEdgeTrackers, vpMbTracker::m_optimizationMethod, vpPolygon3D::NO_CLIPPING, vpMbEdgeTracker::percentageGdPt, vpMath::rad(), vpMbEdgeTracker::scales, setScales(), vpMbTracker::useOgre, and vpMbTracker::useScanLine.

Referenced by vpMbEdgeKltMultiTracker::resetTracker().

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

inlineprotectedinherited

Definition at line 660 of file vpMbTracker.h.

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

protectedinherited

Check if two vpPoints are similar.

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

Parameters

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

Definition at line 2041 of file vpMbEdgeTracker.cpp.

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

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

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

inherited

Save the pose in the given filename

Parameters

filename : Path to the file used to save the pose.

Definition at line 778 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::initClick().

void vpMbEdgeMultiTracker::setAngleAppear ( const double & a )

virtual

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

Parameters

a	: new angle in radian.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2024 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers, and vpMbTracker::setAngleAppear().

Referenced by vpMbEdgeKltMultiTracker::setAngleAppear().

void vpMbEdgeMultiTracker::setAngleDisappear ( const double & a )

virtual

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

Parameters

a	: new angle in radian.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2042 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers, and vpMbTracker::setAngleDisappear().

Referenced by vpMbEdgeKltMultiTracker::setAngleDisappear().

void vpMbEdgeMultiTracker::setCameraParameters ( const vpCameraParameters & camera )

virtual

Set the camera parameters for the monocular case.

Parameters

camera : The new camera parameters.

Reimplemented from vpMbEdgeTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2056 of file vpMbEdgeMultiTracker.cpp.

References vpMbTracker::cam, vpTrackingException::fatalError, vpTrackingException::initializationError, m_mapOfEdgeTrackers, and m_referenceCameraName.

Referenced by vpMbEdgeKltMultiTracker::setCameraParameters().

void vpMbEdgeMultiTracker::setCameraParameters	(	const vpCameraParameters &	camera1,
		const vpCameraParameters &	camera2,
		const bool	firstCameraIsReference = `true`
	)

virtual

Set the camera parameters for the stereo cameras case.

Parameters

camera1	: The new camera parameters for the first camera.
camera2	: The new camera parameters for the second camera.
firstCameraIsReference	: If true, the first camera is the reference, otherwise it is the second one.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2083 of file vpMbEdgeMultiTracker.cpp.

References vpMbTracker::cam, vpTrackingException::fatalError, vpTrackingException::initializationError, and m_mapOfEdgeTrackers.

void vpMbEdgeMultiTracker::setCameraParameters	(	const std::string &	cameraName,
		const vpCameraParameters &	camera
	)

virtual

Set the camera parameters for the specified camera.

Parameters

cameraName	: Camera name.
camera	: The new camera parameters.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2112 of file vpMbEdgeMultiTracker.cpp.

References vpMbTracker::cam, vpTrackingException::initializationError, m_mapOfEdgeTrackers, and m_referenceCameraName.

void vpMbEdgeMultiTracker::setCameraParameters ( const std::map< std::string, vpCameraParameters > & mapOfCameraParameters )

virtual

Set the camera parameters for all the cameras.

Parameters

mapOfCameraParameters : Map of camera parameters.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2132 of file vpMbEdgeMultiTracker.cpp.

References vpMbTracker::cam, vpTrackingException::initializationError, m_mapOfEdgeTrackers, and m_referenceCameraName.

void vpMbEdgeMultiTracker::setCameraTransformationMatrix	(	const std::string &	cameraName,
		const vpHomogeneousMatrix &	cameraTransformationMatrix
	)

virtual

Set the camera transformation matrix for the specified camera ( $_{}^{c_{current}}\textrm{M}_{c_{reference}}$ ).

Parameters

cameraName	: Camera name.
cameraTransformationMatrix	: Camera transformation matrix between the current and the reference camera.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2156 of file vpMbEdgeMultiTracker.cpp.

References vpTrackingException::initializationError, and m_mapOfCameraTransformationMatrix.

Referenced by vpMbEdgeKltMultiTracker::setCameraTransformationMatrix().

void vpMbEdgeMultiTracker::setCameraTransformationMatrix ( const std::map< std::string, vpHomogeneousMatrix > & mapOfTransformationMatrix )

virtual

Set the map of camera transformation matrices ( $_{}^{c_1}\textrm{M}_{c_1}, _{}^{c_2}\textrm{M}_{c_1}, _{}^{c_3}\textrm{M}_{c_1}, \cdots, _{}^{c_n}\textrm{M}_{c_1}$ ).

Parameters

mapOfTransformationMatrix : map of camera transformation matrices.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2174 of file vpMbEdgeMultiTracker.cpp.

References vpTrackingException::initializationError, m_mapOfCameraTransformationMatrix, and m_mapOfEdgeTrackers.

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

virtual

Specify which clipping to use.

See Also: vpMbtPolygonClipping

Parameters

flags : New clipping flags.

Reimplemented from vpMbEdgeTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2196 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers, and vpMbTracker::setClipping().

Referenced by vpMbEdgeKltMultiTracker::setClipping().

void vpMbEdgeMultiTracker::setClipping	(	const std::string &	cameraName,
		const unsigned int &	flags
	)

virtual

Specify which clipping to use.

See Also: vpMbtPolygonClipping

Parameters

cameraName	: Camera to set the clipping.
flags	: New clipping flags.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2214 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

void vpMbEdgeMultiTracker::setCovarianceComputation ( const bool & flag )

virtual

Set if the covaraince matrix has to be computed.

Parameters

flag	: True if the covariance has to be computed, false otherwise

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2229 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers, and vpMbTracker::setCovarianceComputation().

Referenced by vpMbEdgeKltMultiTracker::setCovarianceComputation().

void vpMbEdgeMultiTracker::setDisplayFeatures ( const bool displayF )

virtual

Enable to display the features. By features, we mean 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.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2249 of file vpMbEdgeMultiTracker.cpp.

References vpMbTracker::displayFeatures, and m_mapOfEdgeTrackers.

Referenced by vpMbEdgeKltMultiTracker::setDisplayFeatures().

void vpMbTracker::setEstimatedDoF ( const vpColVector & v )

virtualinherited

Set a 6-dim column vector representing the degrees of freedom in the object frame that are estimated by the tracker. When set to 1, all the 6 dof are estimated.

Below we give the correspondance between the index of the vector and the considered dof:

v[0] = 1 if translation along X is estimated, 0 otherwise;
v[1] = 1 if translation along Y is estimated, 0 otherwise;
v[2] = 1 if translation along Z is estimated, 0 otherwise;
v[3] = 1 if rotation along X is estimated, 0 otherwise;
v[4] = 1 if rotation along Y is estimated, 0 otherwise;
v[5] = 1 if rotation along Z is estimated, 0 otherwise;

Definition at line 2414 of file vpMbTracker.cpp.

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

void vpMbEdgeMultiTracker::setFarClippingDistance ( const double & dist )

virtual

Set the far distance for clipping.

Parameters

dist	: Far clipping value.

Reimplemented from vpMbEdgeTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2263 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers, and vpMbTracker::setFarClippingDistance().

Referenced by vpMbEdgeKltMultiTracker::setFarClippingDistance().

void vpMbEdgeMultiTracker::setFarClippingDistance	(	const std::string &	cameraName,
		const double &	dist
	)

virtual

Set the far distance for clipping for the specified camera.

Parameters

cameraName	: Camera to set the far clipping.
dist	: Far clipping value.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2278 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

void vpMbEdgeMultiTracker::setGoodMovingEdgesRatioThreshold ( const double threshold )

virtual

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

Parameters

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

See Also: getGoodMovingEdgesRatioThreshold()

Definition at line 2299 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers, and vpMbEdgeTracker::percentageGdPt.

void vpMbEdgeMultiTracker::setGoodNbRayCastingAttemptsRatio ( const double & ratio )

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 2316 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

Referenced by vpMbEdgeKltMultiTracker::setGoodNbRayCastingAttemptsRatio().

virtual void vpMbEdgeTracker::setLambda ( const double gain )

inlinevirtualinherited

Set the value of the gain used to compute the control law.

Parameters

gain	: the desired value for the gain.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 458 of file vpMbEdgeTracker.h.

References vpMbEdgeKltMultiTracker::lambda.

Referenced by vpMbEdgeKltTracker::setLambda().

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

virtual

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

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()

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2348 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

Referenced by vpMbEdgeKltMultiTracker::setLod().

void vpMbEdgeMultiTracker::setLod	(	const bool	useLod,
		const std::string &	cameraName,
		const std::string &	name
	)

virtual

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

Parameters

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

See Also: setMinLineLengthThresh(), setMinPolygonAreaThresh()

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2365 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

void vpMbEdgeMultiTracker::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()

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2383 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

Referenced by vpMbEdgeKltMultiTracker::setMinLineLengthThresh().

void vpMbEdgeMultiTracker::setMinLineLengthThresh	(	const double	minLineLengthThresh,
		const std::string &	cameraName,
		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.
cameraName	: name of the camera to consider.
name	: name of the face we want to modify the LOD threshold, if empty all the faces are considered.

See Also: setLod(), setMinPolygonAreaThresh()

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2399 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

void vpMbEdgeMultiTracker::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()

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2418 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

Referenced by vpMbEdgeKltMultiTracker::setMinPolygonAreaThresh().

void vpMbEdgeMultiTracker::setMinPolygonAreaThresh	(	const double	minPolygonAreaThresh,
		const std::string &	cameraName,
		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.
cameraName	: name of the camera to consider.
name	: name of the face we want to modify the LOD threshold, if empty all the faces are considered.

See Also: setLod(), setMinLineLengthThresh()

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2434 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

void vpMbEdgeMultiTracker::setMovingEdge ( const vpMe & me )

virtual

Set the moving edge parameters.

Parameters

me	: an instance of vpMe containing all the desired parameters.

Definition at line 2450 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

void vpMbEdgeMultiTracker::setMovingEdge	(	const std::string &	cameraName,
		const vpMe &	me
	)

virtual

Set the moving edge parameters for the specified camera.

Parameters

cameraName	: Camera name to set the moving edge parameters.
me	: An instance of vpMe containing all the desired parameters.

Definition at line 2463 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

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

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

See Also: setGoodNbRayCastingAttemptsRatio(const unsigned int &)

Parameters

attempts Number of rays to be sent.

Definition at line 2331 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

Referenced by vpMbEdgeKltMultiTracker::setNbRayCastingAttemptsForVisibility().

void vpMbEdgeMultiTracker::setNearClippingDistance ( const double & dist )

virtual

Set the near distance for clipping.

Parameters

dist	: Near clipping value.

Reimplemented from vpMbEdgeTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2477 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers, and vpMbTracker::setNearClippingDistance().

Referenced by vpMbEdgeKltMultiTracker::setNearClippingDistance().

void vpMbEdgeMultiTracker::setNearClippingDistance	(	const std::string &	cameraName,
		const double &	dist
	)

virtual

Set the near distance for clipping for the specified camera.

Parameters

cameraName	: Camera name to set the near clipping distance.
dist	: Near clipping value.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2492 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

void vpMbEdgeMultiTracker::setOgreShowConfigDialog ( const bool showConfigDialog )

virtual

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.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2511 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

Referenced by vpMbEdgeKltMultiTracker::setOgreShowConfigDialog().

void vpMbEdgeMultiTracker::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 from vpMbEdgeTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2525 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers, and vpMbTracker::useOgre.

void vpMbEdgeMultiTracker::setOptimizationMethod ( const vpMbtOptimizationMethod & opt )

virtual

Set the optimization method used during the tracking.

Parameters

opt	: Optimization method to use.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2546 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers, and vpMbTracker::m_optimizationMethod.

Referenced by vpMbEdgeKltMultiTracker::setOptimizationMethod().

void vpMbEdgeMultiTracker::setPose	(	const vpImage< unsigned char > &	I,
		const vpHomogeneousMatrix &	cMo_
	)

virtual

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

Parameters

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

Reimplemented from vpMbEdgeTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2562 of file vpMbEdgeMultiTracker.cpp.

References vpMbTracker::cMo, vpTrackingException::fatalError, m_mapOfEdgeTrackers, and m_referenceCameraName.

Referenced by vpMbEdgeKltMultiTracker::initClick(), initFromPose(), and vpMbEdgeKltMultiTracker::setPose().

void vpMbEdgeMultiTracker::setPose	(	const vpImage< unsigned char > &	I1,
		const vpImage< unsigned char > &	I2,
		const vpHomogeneousMatrix &	c1Mo,
		const vpHomogeneousMatrix	c2Mo,
		const bool	firstCameraIsReference = `true`
	)

virtual

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

Parameters

I1	: First image corresponding to the desired pose.
I2	: Second image corresponding to the desired pose.
c1Mo	: First pose to affect.
c2Mo	: Second pose to affect.
firstCameraIsReference	: if true, the first camera is the reference, otherwise it is the second one.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2590 of file vpMbEdgeMultiTracker.cpp.

References vpMbTracker::cMo, vpTrackingException::fatalError, and m_mapOfEdgeTrackers.

void vpMbEdgeMultiTracker::setPose	(	const std::map< std::string, const vpImage< unsigned char > * > &	mapOfImages,
		const vpHomogeneousMatrix &	cMo_
	)

virtual

Set the pose to be used in entry of the next call to the track() function. This pose will be just used once. The camera transformation matrices have to be set before.

Parameters

mapOfImages	: Map of images.
cMo_	: Pose to affect to the reference camera.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2620 of file vpMbEdgeMultiTracker.cpp.

References vpMbTracker::cMo, vpTrackingException::fatalError, m_mapOfCameraTransformationMatrix, m_mapOfEdgeTrackers, and m_referenceCameraName.

void vpMbEdgeMultiTracker::setPose	(	const std::map< std::string, const vpImage< unsigned char > * > &	mapOfImages,
		const std::map< std::string, vpHomogeneousMatrix > &	mapOfCameraPoses
	)

virtual

Set the pose to be used in entry of the next call to the track() function. This pose will be just used once. Cameras that do not have pose will be automatically handled but the pose for the reference has to be passed in parameter. The camera transformation matrices have to be set before.

Parameters

mapOfImages	: Map of images corresponding to the desired pose.
mapOfCameraPoses	: Map of poses to affect.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2669 of file vpMbEdgeMultiTracker.cpp.

References vpMbTracker::cMo, vpTrackingException::fatalError, m_mapOfCameraTransformationMatrix, m_mapOfEdgeTrackers, and m_referenceCameraName.

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

inlineinherited

Set the filename used to save the initial pose computed using the initClick() method. It is also used to read a previous pose in the same method. If the file is not set then, the initClick() method will create a .0.pos file in the root directory. This directory is the path to the file given to the method initClick() used to know the coordinates in the object frame.

Parameters

filename : The new filename.

Definition at line 492 of file vpMbTracker.h.

void vpMbEdgeMultiTracker::setProjectionErrorComputation ( const bool & flag )

virtual

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 from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2722 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers, and vpMbTracker::setProjectionErrorComputation().

void vpMbEdgeMultiTracker::setReferenceCameraName ( const std::string & referenceCameraName )

virtual

Set the reference camera name.

Parameters

referenceCameraName : Name of the reference camera.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2738 of file vpMbEdgeMultiTracker.cpp.

References vpTrackingException::fatalError, m_mapOfEdgeTrackers, and m_referenceCameraName.

Referenced by vpMbEdgeKltMultiTracker::setReferenceCameraName().

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

virtual

Set the scales to use to realize the tracking. The vector of boolean activates or not the scales to set for the object tracking. The first element of the list correspond to the tracking on the full image, the second element corresponds to the tracking on an image subsampled by two.

Using multi scale tracking allows to track the object with greater moves. It requires the computation of a pyramid of images, but the total tracking can be faster than a tracking based only on the full scale. The pose is computed from the smallest image to the biggest. This may be dangerous if the object to track is small in the image, because the subsampled scale(s) will have only few points to compute the pose (it could result in a loss of precision).

Warning: This method must be used before the tracker has been initialized ( before the call of the loadConfigFile() or loadModel() methods).; Not working for the moment. At least one level must be activated.

Parameters

scale : The vector describing the levels to use.

Definition at line 2769 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers, and vpMbEdgeTracker::setScales().

Referenced by resetTracker().

void vpMbEdgeMultiTracker::setScanLineVisibilityTest ( const bool & v )

virtual

Use Scanline algorithm for visibility tests

Parameters

v	: True to use it, False otherwise

Reimplemented from vpMbEdgeTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2782 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers, and vpMbTracker::setScanLineVisibilityTest().

Referenced by vpMbEdgeKltMultiTracker::setScanLineVisibilityTest().

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

virtual

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

Parameters

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

Definition at line 2798 of file vpMbEdgeMultiTracker.cpp.

References m_mapOfEdgeTrackers.

void vpMbEdgeTracker::testTracking ( )

protectedvirtualinherited

Check if the tracking failed.

Exceptions

vpTrackingException::fatalError if the test fails.

Implements vpMbTracker.

Definition at line 1099 of file vpMbEdgeTracker.cpp.

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

Referenced by vpMbEdgeTracker::track().

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

virtual

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

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

Parameters

I	: The image.

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2812 of file vpMbEdgeMultiTracker.cpp.

References vpMbTracker::cMo, vpMbTracker::computeProjError, vpTrackingException::fatalError, m_mapOfEdgeTrackers, m_referenceCameraName, and vpMbTracker::projectionError.

Referenced by track().

void vpMbEdgeMultiTracker::track	(	const vpImage< unsigned char > &	I1,
		const vpImage< unsigned char > &	I2
	)

virtual

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

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

Parameters

I1	: The first image.
I2	: The second image.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2840 of file vpMbEdgeMultiTracker.cpp.

References vpTrackingException::fatalError, m_mapOfEdgeTrackers, and track().

void vpMbEdgeMultiTracker::track ( std::map< std::string, const vpImage< unsigned char > * > & mapOfImages )

virtual

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

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

Parameters

mapOfImages : Map of images.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2864 of file vpMbEdgeMultiTracker.cpp.

References cleanPyramid(), vpMbTracker::cMo, computeProjectionError(), vpMbTracker::computeProjError, computeVVS(), vpMbTracker::covarianceMatrix, vpMbTracker::displayFeatures, vpMbEdgeTracker::downScale(), vpTrackingException::fatalError, initPyramid(), m_mapOfCameraTransformationMatrix, m_mapOfEdgeTrackers, m_mapOfPyramidalImages, vpMbEdgeTracker::percentageGdPt, vpMbTracker::projectionError, vpMbEdgeTracker::reInitLevel(), vpMbEdgeTracker::scales, vpMbEdgeTracker::upScale(), vpMbTracker::useScanLine, and vpTRACE.

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

protectedinherited

Track the moving edges in the image.

Parameters

I	: the image.

Definition at line 1724 of file vpMbEdgeTracker.cpp.

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

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

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

inlineprotectedinherited

Definition at line 665 of file vpMbTracker.h.

Referenced by vpMbTracker::parseParameters().

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

protectedinherited

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

Parameters

I	: the image.

Definition at line 1764 of file vpMbEdgeTracker.cpp.

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

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

void vpMbEdgeTracker::updateMovingEdgeWeights ( )

protectedinherited

Definition at line 1801 of file vpMbEdgeTracker.cpp.

Referenced by vpMbEdgeTracker::computeVVS().

void vpMbEdgeTracker::upScale ( const unsigned int _scale )

protectedinherited

Modify the camera parameters to have them corresponding to the current scale. The new parameters are multiplied by $2^{\_scale}$ .

Parameters

_scale : Scale to use.

Definition at line 2960 of file vpMbEdgeTracker.cpp.

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

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

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

protectedinherited

Detect the visible faces in the image and says if a new one appeared.

Warning: If in one iteration one face appears and one disappears, then the function will not detect the new face.

Parameters

_I	: Image to test if a face is entirely in the image.
_cMo	: The pose of the camera used to project the 3D model into the image.
newvisibleline	: This parameter is set to true if a new face appeared.

Definition at line 2309 of file vpMbEdgeTracker.cpp.

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

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

Member Data Documentation

double vpMbTracker::angleAppears

protectedinherited

Angle used to detect a face appearance.

Definition at line 146 of file vpMbTracker.h.

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

double vpMbTracker::angleDisappears

protectedinherited

Angle used to detect a face disappearance.

Definition at line 148 of file vpMbTracker.h.

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

bool vpMbTracker::applyLodSettingInConfig

protectedinherited

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

Definition at line 175 of file vpMbTracker.h.

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

vpCameraParameters vpMbTracker::cam

protectedinherited

The camera parameters.

Definition at line 113 of file vpMbTracker.h.

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

protectedinherited

Vector of the tracked circles.

Definition at line 282 of file vpMbEdgeTracker.h.

unsigned int vpMbTracker::clippingFlag

protectedinherited

vpHomogeneousMatrix vpMbTracker::cMo

protectedinherited

The current pose.

Definition at line 115 of file vpMbTracker.h.

int vpMbEdgeTracker::compute_interaction

protectedinherited

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

Definition at line 272 of file vpMbEdgeTracker.h.

Referenced by vpMbEdgeTracker::computeVVSFirstPhasePoseEstimation(), vpMbEdgeTracker::computeVVSSecondPhasePoseEstimation(), resetTracker(), and vpMbEdgeTracker::resetTracker().

bool vpMbTracker::computeCovariance

protectedinherited

Flag used to specify if the covariance matrix has to be computed or not.

Definition at line 127 of file vpMbTracker.h.

Referenced by computeVVS(), vpMbEdgeKltTracker::computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), vpMbKltTracker::computeVVS(), vpMbEdgeTracker::computeVVS(), vpMbKltTracker::computeVVSCovariance(), vpMbKltTracker::computeVVSPoseEstimation(), vpMbEdgeTracker::computeVVSSecondPhasePoseEstimation(), vpMbKltMultiTracker::resetTracker(), vpMbKltTracker::resetTracker(), and vpMbEdgeKltTracker::vpMbEdgeKltTracker().

bool vpMbTracker::computeProjError

protectedinherited

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

Definition at line 131 of file vpMbTracker.h.

Referenced by computeProjectionError(), vpMbEdgeKltTracker::postTracking(), vpMbEdgeKltMultiTracker::postTracking(), track(), vpMbEdgeKltMultiTracker::track(), and vpMbEdgeTracker::track().

vpMatrix vpMbTracker::covarianceMatrix

protectedinherited

Covariance matrix.

Definition at line 129 of file vpMbTracker.h.

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

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

protectedinherited

Vector of the tracked cylinders.

Definition at line 285 of file vpMbEdgeTracker.h.

Referenced by vpMbEdgeTracker::addCylinder(), vpMbEdgeTracker::computeProjectionError(), vpMbEdgeTracker::computeVVSFirstPhase(), vpMbEdgeTracker::computeVVSFirstPhaseFactor(), vpMbEdgeTracker::computeVVSSecondPhase(), vpMbEdgeKltTracker::display(), vpMbEdgeTracker::display(), vpMbEdgeTracker::displayFeaturesOnImage(), vpMbEdgeTracker::getLcylinder(), vpMbEdgeTracker::getNbPoints(), vpMbEdgeKltTracker::initMbtTracking(), vpMbEdgeTracker::initMbtTracking(), vpMbEdgeTracker::initMovingEdge(), vpMbEdgeKltTracker::postTracking(), vpMbEdgeKltTracker::postTrackingMbt(), vpMbEdgeTracker::reInitLevel(), vpMbEdgeKltTracker::reInitModel(), vpMbEdgeTracker::reInitModel(), vpMbEdgeTracker::reinitMovingEdge(), vpMbEdgeTracker::removeCylinder(), vpMbEdgeTracker::resetMovingEdge(), vpMbEdgeTracker::resetTracker(), vpMbEdgeTracker::setCameraParameters(), vpMbEdgeTracker::setMovingEdge(), vpMbEdgeTracker::setScales(), vpMbEdgeTracker::setUseEdgeTracking(), vpMbEdgeTracker::testTracking(), vpMbEdgeKltTracker::trackFirstLoop(), vpMbEdgeTracker::trackMovingEdge(), vpMbEdgeKltTracker::trackSecondLoop(), vpMbEdgeTracker::updateMovingEdge(), vpMbEdgeTracker::updateMovingEdgeWeights(), and vpMbEdgeTracker::~vpMbEdgeTracker().

bool vpMbTracker::displayFeatures

protectedinherited

If true, the features are displayed.

Definition at line 135 of file vpMbTracker.h.

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

double vpMbTracker::distFarClip

protectedinherited

Distance for near clipping.

Definition at line 152 of file vpMbTracker.h.

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

double vpMbTracker::distNearClip

protectedinherited

Distance for near clipping.

Definition at line 150 of file vpMbTracker.h.

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

vpMbHiddenFaces<vpMbtPolygon> vpMbTracker::faces

protectedinherited

Set of faces describing the object.

Definition at line 144 of file vpMbTracker.h.

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

protectedinherited

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

Definition at line 306 of file vpMbEdgeTracker.h.

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

bool vpMbTracker::isoJoIdentity

protectedinherited

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

Definition at line 119 of file vpMbTracker.h.

Referenced by computeVVS(), vpMbEdgeKltTracker::computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), vpMbEdgeTracker::computeVVS(), vpMbKltTracker::computeVVSCovariance(), vpMbKltTracker::computeVVSPoseEstimation(), and vpMbTracker::setEstimatedDoF().

double vpMbEdgeTracker::lambda

protectedinherited

The gain of the virtual visual servoing stage.

Definition at line 274 of file vpMbEdgeTracker.h.

Referenced by vpMbEdgeTracker::computeVVSSecondPhasePoseEstimation(), vpMbEdgeKltTracker::getLambda(), resetTracker(), and vpMbEdgeTracker::resetTracker().

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

protectedinherited

Vector of list of all the lines tracked (each line is linked to a list of moving edges). Each element of the vector is for a scale (element 0 = level 0 = no subsampling).

Definition at line 279 of file vpMbEdgeTracker.h.

vpColVector vpMbTracker::m_error

protectedinherited

Error s-s*.

Definition at line 139 of file vpMbTracker.h.

Referenced by computeVVS(), vpMbEdgeKltTracker::computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), vpMbEdgeTracker::computeVVS(), vpMbKltTracker::computeVVSCheckLevenbergMarquardtKlt(), vpMbKltTracker::computeVVSCovariance(), vpMbEdgeTracker::computeVVSFirstPhasePoseEstimation(), vpMbKltTracker::computeVVSPoseEstimation(), vpMbEdgeTracker::computeVVSSecondPhaseCheckLevenbergMarquardt(), and vpMbEdgeTracker::computeVVSSecondPhasePoseEstimation().

std::map<std::string, vpHomogeneousMatrix> vpMbEdgeMultiTracker::m_mapOfCameraTransformationMatrix

protected

Map of camera transformation matrix between the current camera frame to the reference camera frame (cCurrent_M_cRef)

Definition at line 71 of file vpMbEdgeMultiTracker.h.

Referenced by computeVVS(), initClick(), reInitModel(), setCameraTransformationMatrix(), setPose(), track(), and vpMbEdgeMultiTracker().

std::map<std::string, vpMbEdgeTracker*> vpMbEdgeMultiTracker::m_mapOfEdgeTrackers

protected

Map of Model-based edge trackers.

Definition at line 74 of file vpMbEdgeMultiTracker.h.

std::map<std::string, std::vector<const vpImage<unsigned char>* > > vpMbEdgeMultiTracker::m_mapOfPyramidalImages

protected

Map of pyramidal images for each camera.

Definition at line 77 of file vpMbEdgeMultiTracker.h.

Referenced by track(), and ~vpMbEdgeMultiTracker().

vpMbtOptimizationMethod vpMbTracker::m_optimizationMethod

protectedinherited

Optimization method used.

Definition at line 141 of file vpMbTracker.h.

Referenced by vpMbEdgeKltTracker::computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), vpMbKltTracker::computeVVSCheckLevenbergMarquardtKlt(), vpMbKltTracker::computeVVSPoseEstimation(), vpMbEdgeTracker::computeVVSSecondPhaseCheckLevenbergMarquardt(), vpMbEdgeTracker::computeVVSSecondPhasePoseEstimation(), resetTracker(), vpMbKltMultiTracker::resetTracker(), vpMbKltTracker::resetTracker(), vpMbEdgeTracker::resetTracker(), vpMbKltMultiTracker::setOptimizationMethod(), and setOptimizationMethod().

std::string vpMbEdgeMultiTracker::m_referenceCameraName

protected

Name of the reference camera.

Definition at line 80 of file vpMbEdgeMultiTracker.h.

Referenced by display(), getCameraParameters(), getFaces(), getLcircle(), getLcylinder(), getLline(), getMovingEdge(), getNbPoints(), getNbPolygon(), initClick(), initFromPose(), loadConfigFile(), reInitModel(), setCameraParameters(), setPose(), setReferenceCameraName(), track(), and vpMbEdgeMultiTracker().

vpColVector vpMbTracker::m_w

protectedinherited

Weights used in the robust scheme.

Definition at line 137 of file vpMbTracker.h.

Referenced by computeVVS(), vpMbEdgeKltTracker::computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), vpMbEdgeTracker::computeVVS(), vpMbEdgeTracker::computeVVSFirstPhasePoseEstimation(), vpMbEdgeTracker::computeVVSSecondPhaseCheckLevenbergMarquardt(), vpMbEdgeTracker::computeVVSSecondPhasePoseEstimation(), vpMbEdgeTracker::computeVVSSecondPhaseWeights(), vpMbKltMultiTracker::track(), vpMbKltTracker::track(), and vpMbEdgeTracker::updateMovingEdgeWeights().

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

protectedinherited

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

Definition at line 181 of file vpMbTracker.h.

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

vpMe vpMbEdgeTracker::me

protectedinherited

The moving edges parameters.

Definition at line 277 of file vpMbEdgeTracker.h.

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

double vpMbTracker::minLineLengthThresholdGeneral

protectedinherited

Minimum line length threshold for LOD mode (general setting)

Definition at line 177 of file vpMbTracker.h.

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

double vpMbTracker::minPolygonAreaThresholdGeneral

protectedinherited

Minimum polygon area threshold for LOD mode (general setting)

Definition at line 179 of file vpMbTracker.h.

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

std::string vpMbTracker::modelFileName

protectedinherited

The name of the file containing the model (it is used to create a file name.0.pos used to store the compute pose in the initClick method).

Definition at line 121 of file vpMbTracker.h.

Referenced by vpMbTracker::loadModel().

bool vpMbTracker::modelInitialised

protectedinherited

Flag used to ensure that the CAD model is loaded before the initialisation.

Definition at line 123 of file vpMbTracker.h.

Referenced by vpMbEdgeKltMultiTracker::init(), vpMbKltTracker::init(), vpMbEdgeTracker::init(), loadModel(), vpMbKltMultiTracker::loadModel(), vpMbEdgeKltMultiTracker::loadModel(), vpMbTracker::loadModel(), reInitModel(), and vpMbKltMultiTracker::reInitModel().

unsigned int vpMbTracker::nbCircles

protectedinherited

Number of circles in CAO model.

Definition at line 171 of file vpMbTracker.h.

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

unsigned int vpMbTracker::nbCylinders

protectedinherited

Number of cylinders in CAO model.

Definition at line 169 of file vpMbTracker.h.

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

unsigned int vpMbEdgeTracker::nbFeaturesForProjErrorComputation

protectedinherited

Number of features used in the computation of the projection error.

Definition at line 312 of file vpMbEdgeTracker.h.

Referenced by computeProjectionError(), and vpMbEdgeTracker::computeProjectionError().

unsigned int vpMbTracker::nbLines

protectedinherited

Number of lines in CAO model.

Definition at line 163 of file vpMbTracker.h.

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

unsigned int vpMbTracker::nbPoints

protectedinherited

Number of points in CAO model.

Definition at line 161 of file vpMbTracker.h.

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

unsigned int vpMbTracker::nbPolygonLines

protectedinherited

Number of polygon lines in CAO model.

Definition at line 165 of file vpMbTracker.h.

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

unsigned int vpMbTracker::nbPolygonPoints

protectedinherited

Number of polygon points in CAO model.

Definition at line 167 of file vpMbTracker.h.

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

unsigned int vpMbEdgeTracker::nbvisiblepolygone

protectedinherited

Number of polygon (face) currently visible.

Definition at line 297 of file vpMbEdgeTracker.h.

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

unsigned int vpMbEdgeTracker::ncircle

protectedinherited

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

Definition at line 291 of file vpMbEdgeTracker.h.

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

unsigned int vpMbEdgeTracker::ncylinder

protectedinherited

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

Definition at line 294 of file vpMbEdgeTracker.h.

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

unsigned int vpMbEdgeTracker::nline

protectedinherited

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

Definition at line 288 of file vpMbEdgeTracker.h.

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

bool vpMbTracker::ogreShowConfigDialog

protectedinherited

Definition at line 157 of file vpMbTracker.h.

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

vpMatrix vpMbTracker::oJo

protectedinherited

The Degrees of Freedom to estimate.

Definition at line 117 of file vpMbTracker.h.

Referenced by vpMbEdgeKltTracker::computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), vpMbEdgeTracker::computeVVS(), vpMbEdgeTracker::computeVVSFirstPhasePoseEstimation(), vpMbKltTracker::computeVVSPoseEstimation(), vpMbEdgeTracker::computeVVSSecondPhasePoseEstimation(), vpMbTracker::getEstimatedDoF(), vpMbTracker::setEstimatedDoF(), and vpMbTracker::vpMbTracker().

double vpMbEdgeTracker::percentageGdPt

protectedinherited

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

Definition at line 300 of file vpMbEdgeTracker.h.

Referenced by vpMbEdgeTracker::getGoodMovingEdgesRatioThreshold(), resetTracker(), vpMbEdgeTracker::resetTracker(), setGoodMovingEdgesRatioThreshold(), vpMbEdgeTracker::setGoodMovingEdgesRatioThreshold(), vpMbEdgeTracker::testTracking(), and track().

std::string vpMbTracker::poseSavingFilename

protectedinherited

Filename used to save the initial pose computed using the initClick() method. It is also used to read a previous pose in the same method.

Definition at line 125 of file vpMbTracker.h.

Referenced by vpMbTracker::initClick().

double vpMbTracker::projectionError

protectedinherited

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

Definition at line 133 of file vpMbTracker.h.

Referenced by computeProjectionError(), vpMbEdgeTracker::computeProjectionError(), track(), vpMbEdgeKltMultiTracker::track(), and vpMbEdgeTracker::track().

unsigned int vpMbEdgeTracker::scaleLevel

protectedinherited

Current scale level used. This attribute must not be modified outside of the downScale() and upScale() methods, as it used to specify to some methods which set of distanceLine use.

Definition at line 309 of file vpMbEdgeTracker.h.

Referenced by vpMbEdgeTracker::computeProjectionError(), vpMbEdgeKltTracker::display(), vpMbEdgeTracker::display(), vpMbEdgeTracker::downScale(), vpMbEdgeTracker::initMbtTracking(), vpMbEdgeTracker::initMovingEdge(), vpMbEdgeTracker::reInitLevel(), vpMbEdgeTracker::reinitMovingEdge(), vpMbEdgeTracker::testTracking(), vpMbEdgeTracker::trackMovingEdge(), vpMbEdgeTracker::updateMovingEdge(), vpMbEdgeTracker::updateMovingEdgeWeights(), and vpMbEdgeTracker::upScale().

std::vector<bool> vpMbEdgeTracker::scales

protectedinherited

Vector of scale level to use for the multi-scale tracking.

Definition at line 303 of file vpMbEdgeTracker.h.

bool vpMbTracker::useLodGeneral

protectedinherited

True if LOD mode is enabled.

Definition at line 173 of file vpMbTracker.h.

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

bool vpMbTracker::useOgre

protectedinherited

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(), resetTracker(), vpMbKltMultiTracker::resetTracker(), vpMbKltTracker::resetTracker(), vpMbEdgeTracker::resetTracker(), vpMbKltMultiTracker::setOgreVisibilityTest(), setOgreVisibilityTest(), vpMbEdgeKltMultiTracker::setOgreVisibilityTest(), vpMbTracker::setOgreVisibilityTest(), vpMbKltTracker::setPose(), and vpMbEdgeTracker::visibleFace().

bool vpMbTracker::useScanLine

protectedinherited

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(), vpMbEdgeKltMultiTracker::postTracking(), vpMbKltTracker::reinit(), resetTracker(), vpMbKltMultiTracker::resetTracker(), vpMbKltTracker::resetTracker(), vpMbEdgeTracker::resetTracker(), vpMbEdgeKltTracker::setPose(), vpMbKltTracker::setPose(), track(), and vpMbEdgeTracker::track().

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