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vpMbEdgeTracker Class Reference

#include <visp3/mbt/vpMbEdgeTracker.h>

+ Inheritance diagram for vpMbEdgeTracker:

Public Types

enum  vpMbtOptimizationMethod { GAUSS_NEWTON_OPT = 0, LEVENBERG_MARQUARDT_OPT = 1 }
 

Public Member Functions

 vpMbEdgeTracker ()
 
virtual ~vpMbEdgeTracker ()
 
Inherited functionalities from vpMbEdgeTracker
void display (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, const unsigned int thickness=1, const bool displayFullModel=false)
 
void display (const vpImage< vpRGBa > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, const unsigned int thickness=1, const bool displayFullModel=false)
 
virtual double getLambda () const
 
void getLline (std::list< vpMbtDistanceLine * > &linesList, const unsigned int level=0) const
 
void getLcircle (std::list< vpMbtDistanceCircle * > &circlesList, const unsigned int level=0) const
 
void getLcylinder (std::list< vpMbtDistanceCylinder * > &cylindersList, const unsigned int level=0) const
 
virtual void getMovingEdge (vpMe &p_me) const
 
virtual vpMe getMovingEdge () const
 
virtual unsigned int getNbPoints (const unsigned int level=0) const
 
std::vector< bool > getScales () const
 
double getGoodMovingEdgesRatioThreshold () const
 
void loadConfigFile (const std::string &configFile)
 
void loadConfigFile (const char *configFile)
 
virtual void reInitModel (const vpImage< unsigned char > &I, const std::string &cad_name, const vpHomogeneousMatrix &cMo_, const bool verbose=false)
 
void reInitModel (const vpImage< unsigned char > &I, const char *cad_name, const vpHomogeneousMatrix &cMo, const bool verbose=false)
 
void resetTracker ()
 
virtual void setCameraParameters (const vpCameraParameters &camera)
 
virtual void setClipping (const unsigned int &flags)
 
virtual void setFarClippingDistance (const double &dist)
 
virtual void setNearClippingDistance (const double &dist)
 
virtual void setOgreVisibilityTest (const bool &v)
 
virtual void setScanLineVisibilityTest (const bool &v)
 
void setGoodMovingEdgesRatioThreshold (const double threshold)
 
virtual void setLambda (const double gain)
 
void setMovingEdge (const vpMe &me)
 
virtual void setPose (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cdMo)
 
void setScales (const std::vector< bool > &_scales)
 
void setUseEdgeTracking (const std::string &name, const bool &useEdgeTracking)
 
void track (const vpImage< unsigned char > &I)
 
Inherited functionalities from vpMbTracker
virtual double getAngleAppear () const
 
virtual double getAngleDisappear () const
 
virtual void getCameraParameters (vpCameraParameters &camera) const
 
virtual unsigned int getClipping () const
 
virtual vpMatrix getCovarianceMatrix () const
 
virtual double getProjectionError () const
 
virtual vpColVector getEstimatedDoF () const
 
virtual vpColVector getError () const
 
virtual vpMbHiddenFaces
< vpMbtPolygon > & 
getFaces ()
 
virtual double getFarClippingDistance () const
 
virtual vpColVector getRobustWeights () const
 
virtual unsigned int getNbPolygon () const
 
virtual double getNearClippingDistance () const
 
virtual vpMbtOptimizationMethod getOptimizationMethod () const
 
virtual vpMbtPolygongetPolygon (const unsigned int index)
 
virtual std::pair< std::vector
< vpPolygon >, std::vector
< std::vector< vpPoint > > > 
getPolygonFaces (const bool orderPolygons=true, const bool useVisibility=true, const bool clipPolygon=false)
 
virtual void getPose (vpHomogeneousMatrix &cMo_) const
 
virtual vpHomogeneousMatrix getPose () const
 
virtual void initClick (const vpImage< unsigned char > &I, const std::string &initFile, const bool displayHelp=false)
 
virtual void initClick (const vpImage< unsigned char > &I, const std::vector< vpPoint > &points3D_list, const std::string &displayFile="")
 
virtual void initFromPoints (const vpImage< unsigned char > &I, const std::string &initFile)
 
virtual void initFromPoints (const vpImage< unsigned char > &I, const std::vector< vpImagePoint > &points2D_list, const std::vector< vpPoint > &points3D_list)
 
virtual void initFromPose (const vpImage< unsigned char > &I, const std::string &initFile)
 
virtual void initFromPose (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo)
 
virtual void initFromPose (const vpImage< unsigned char > &I, const vpPoseVector &cPo)
 
virtual void loadModel (const char *modelFile, const bool verbose=false)
 
virtual void loadModel (const std::string &modelFile, const bool verbose=false)
 
virtual void setAngleAppear (const double &a)
 
virtual void setAngleDisappear (const double &a)
 
virtual void setCovarianceComputation (const bool &flag)
 
virtual void setDisplayFeatures (const bool displayF)
 
virtual void setEstimatedDoF (const vpColVector &v)
 
virtual void setLod (const bool useLod, const std::string &name="")
 
virtual void setMinLineLengthThresh (const double minLineLengthThresh, const std::string &name="")
 
virtual void setMinPolygonAreaThresh (const double minPolygonAreaThresh, const std::string &name="")
 
virtual void setOptimizationMethod (const vpMbtOptimizationMethod &opt)
 
virtual void setProjectionErrorComputation (const bool &flag)
 
void savePose (const std::string &filename) const
 
void setGoodNbRayCastingAttemptsRatio (const double &ratio)
 
void setNbRayCastingAttemptsForVisibility (const unsigned int &attempts)
 
void setOgreShowConfigDialog (const bool showConfigDialog)
 
void setPoseSavingFilename (const std::string &filename)
 

Protected Member Functions

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)
 
void init (const vpImage< unsigned char > &I)
 
virtual void initCircle (const vpPoint &p1, const vpPoint &p2, const vpPoint &p3, const double radius, const int idFace=0, const std::string &name="")
 
virtual void initCylinder (const vpPoint &p1, const vpPoint &p2, const double radius, const int idFace=0, const std::string &name="")
 
virtual void initFaceFromCorners (vpMbtPolygon &polygon)
 
virtual void initFaceFromLines (vpMbtPolygon &polygon)
 
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

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< vpMbtPolygonfaces
 
double angleAppears
 
double angleDisappears
 
double distNearClip
 
double distFarClip
 
unsigned int clippingFlag
 
bool useOgre
 
bool ogreShowConfigDialog
 
bool useScanLine
 
unsigned int nbPoints
 
unsigned int nbLines
 
unsigned int nbPolygonLines
 
unsigned int nbPolygonPoints
 
unsigned int nbCylinders
 
unsigned int nbCircles
 
bool useLodGeneral
 
bool applyLodSettingInConfig
 
double minLineLengthThresholdGeneral
 
double minPolygonAreaThresholdGeneral
 
std::map< std::string,
std::string > 
mapOfParameterNames
 

Friends

class vpMbEdgeMultiTracker
 
class vpMbEdgeKltMultiTracker
 

Detailed Description

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

This class allows to track an object or a scene given its 3D model. A video can be found on YouTube https://www.youtube.com/watch?v=UK10KMMJFCI . The Tutorial: Markerless model-based tracking is also a good starting point to use this class.

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

The following code shows the simplest way to use the tracker.

#include <visp/vpMbEdgeTracker.h>
#include <visp/vpImage.h>
#include <visp/vpImageIo.h>
#include <visp/vpHomogeneousMatrix.h>
#include <visp/vpCameraParameters.h>
#include <visp/vpException.h>
#include <visp/vpDisplayX.h>
int main()
{
vpMbEdgeTracker tracker; // Create a model based tracker.
vpHomogeneousMatrix cMo; // Pose computed using the tracker.
// Acquire an image
vpImageIo::read(I, "cube.pgm");
#if defined VISP_HAVE_X11
display.init(I,100,100,"Mb Edge Tracker");
#endif
#if defined VISP_HAVE_XML2
tracker.loadConfigFile("cube.xml"); // Load the configuration of the tracker
#endif
tracker.getCameraParameters(cam); // Get the camera parameters used by the tracker (from the configuration file).
tracker.loadModel("cube.cao"); // Load the 3d model in cao format. No 3rd party library is required
tracker.initClick(I, "cube.init"); // Initialise manually the pose by clicking on the image points associated to the 3d points contained in the cube.init file.
while(true){
// Acquire a new image
tracker.track(I); // Track the object on this image
tracker.getPose(cMo); // Get the pose
tracker.display(I, cMo, cam, vpColor::darkRed, 1); // Display the model at the computed pose.
}
// Cleanup memory allocated by xml library used to parse the xml config file in vpMbEdgeTracker::loadConfigFile()
return 0;
}

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

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

The tracker can also be used without display, in that case the initial pose must be known (object always at the same initial pose for example) or computed using another method:

#include <visp/vpMbEdgeTracker.h>
#include <visp/vpImage.h>
#include <visp/vpHomogeneousMatrix.h>
#include <visp/vpCameraParameters.h>
#include <visp/vpImageIo.h>
int main()
{
vpMbEdgeTracker tracker; // Create a model based tracker.
vpHomogeneousMatrix cMo; // Pose used in entry (has to be defined), then computed using the tracker.
//acquire an image
vpImageIo::read(I, "cube.pgm"); // Example of acquisition
#if defined VISP_HAVE_XML2
tracker.loadConfigFile("cube.xml"); // Load the configuration of the tracker
#endif
tracker.loadModel("cube.cao"); // load the 3d model, to read .wrl model coin is required, if coin is not installed .cao file can be used.
tracker.initFromPose(I, cMo); // initialize the tracker with the given pose.
while(true){
// acquire a new image
tracker.track(I); // track the object on this image
tracker.getPose(cMo); // get the pose
}
// Cleanup memory allocated by xml library used to parse the xml config file in vpMbEdgeTracker::loadConfigFile()
return 0;
}

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

#include <visp/vpMbEdgeTracker.h>
#include <visp/vpImage.h>
#include <visp/vpImageIo.h>
#include <visp/vpHomogeneousMatrix.h>
#include <visp/vpCameraParameters.h>
#include <visp/vpDisplayX.h>
int main()
{
vpMbEdgeTracker tracker; // Create a model based tracker.
vpHomogeneousMatrix cMo; // Pose used to display the model.
// Acquire an image
vpImageIo::read(I, "cube.pgm");
#if defined VISP_HAVE_X11
display.init(I,100,100,"Mb Edge Tracker");
#endif
#if defined VISP_HAVE_XML2
tracker.loadConfigFile("cube.xml"); // Load the configuration of the tracker
#endif
tracker.getCameraParameters(cam); // Get the camera parameters used by the tracker (from the configuration file).
tracker.loadModel("cube.cao"); // load the 3d model, to read .wrl model coin is required, if coin is not installed .cao file can be used.
while(true){
// acquire a new image
// Get the pose using any method
tracker.display(I, cMo, cam, vpColor::darkRed, 1, true); // Display the model at the computed pose.
}
// Cleanup memory allocated by xml library used to parse the xml config file in vpMbEdgeTracker::loadConfigFile()
return 0;
}
Examples:
mbtEdgeTracking.cpp, testKeyPoint-2.cpp, testKeyPoint-4.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, tutorial-mb-edge-tracker.cpp, tutorial-mb-tracker-full.cpp, and tutorial-mb-tracker.cpp.

Definition at line 261 of file vpMbEdgeTracker.h.

Member Enumeration Documentation

Enumerator
GAUSS_NEWTON_OPT 
LEVENBERG_MARQUARDT_OPT 

Definition at line 106 of file vpMbTracker.h.

Constructor & Destructor Documentation

vpMbEdgeTracker::~vpMbEdgeTracker ( )
virtual

Basic destructor useful to deallocate the memory.

Definition at line 88 of file vpMbEdgeTracker.cpp.

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

Member Function Documentation

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

Add a circle to the list of circles.

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

Definition at line 2148 of file vpMbEdgeTracker.cpp.

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

Referenced by initCircle().

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

Add a cylinder to the list of cylinders.

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

Definition at line 2202 of file vpMbEdgeTracker.cpp.

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

Referenced by initCylinder().

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

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

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

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

Definition at line 2065 of file vpMbEdgeTracker.cpp.

References vpMbtDistanceLine::addPolygon(), vpMbtDistanceLine::buildFrom(), vpMbTracker::cam, vpMbTracker::clippingFlag, vpMbTracker::distFarClip, vpMbTracker::distNearClip, downScale(), vpMbTracker::faces, vpPolygon3D::FAR_CLIPPING, vpMbtDistanceLine::getPolygon(), vpMbtDistanceLine::hiddenface, lines, me, vpPolygon3D::NEAR_CLIPPING, nline, vpPolygon3D::NO_CLIPPING, vpMbtDistanceLine::p1, vpMbtDistanceLine::p2, samePoint(), scales, vpMbtDistanceLine::setCameraParameters(), vpPolygon3D::setClipping(), vpPolygon3D::setFarClippingDistance(), vpMbtDistanceLine::setIndex(), vpMbtDistanceLine::setMovingEdge(), vpMbtDistanceLine::setName(), vpPolygon3D::setNearClippingDistance(), upScale(), vpMbtDistanceLine::useScanLine, and vpMbTracker::useScanLine.

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

void vpMbEdgeTracker::addPolygon ( vpMbtPolygon p)
protected

Add a polygon to the list of polygons.

Parameters
p: The polygon to add.

Definition at line 2288 of file vpMbEdgeTracker.cpp.

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

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

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

Parameters
_pyramid: The pyramid of image to clean.

Definition at line 2846 of file vpMbEdgeTracker.cpp.

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

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

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

Exceptions
vpMatrixException::incorrectMatrixSizeErrorif the sizes of the matrices do not allow the computation.
Warning
The JTR vector is resized.
Parameters
interaction: The interaction matrix (size Nx6).
error: The residu vector (size Nx1).
JTR: The resulting JTR column vector (size 6x1).

Definition at line 2361 of file vpMbTracker.cpp.

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

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

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

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

Parameters
_I: Image in which the model appears.

Definition at line 1026 of file vpMbEdgeTracker.cpp.

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

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

void vpMbEdgeTracker::computeVVSFirstPhasePoseEstimation ( const unsigned int  nerror,
const unsigned int  iter,
const vpColVector factor,
vpColVector weighted_error,
vpMatrix L,
bool &  isoJoIdentity_ 
)
protected
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 
)
protected
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 
)
protected
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 
)
protected
void vpMbTracker::createCylinderBBox ( const vpPoint p1,
const vpPoint p2,
const double &  radius,
std::vector< std::vector< vpPoint > > &  listFaces 
)
protectedinherited
void vpMbEdgeTracker::display ( const vpImage< unsigned char > &  I,
const vpHomogeneousMatrix cMo_,
const vpCameraParameters camera,
const vpColor col,
const unsigned int  thickness = 1,
const bool  displayFullModel = false 
)
virtual

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

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

Implements vpMbTracker.

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

Definition at line 1506 of file vpMbEdgeTracker.cpp.

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

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

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

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

Implements vpMbTracker.

Definition at line 1545 of file vpMbEdgeTracker.cpp.

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

void vpMbEdgeTracker::downScale ( const unsigned int  _scale)
protected

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

Parameters
_scale: Scale to use.

Definition at line 2938 of file vpMbEdgeTracker.cpp.

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

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

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

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

Warning
This method extract cylinder described using an indexed face set not a cylinder set since software such as AC3D or blender export a cylinder using this data type. the object name is used, if it begins with "cyl" then this method is called otherwise the extractFaces() is used.
Parameters
face_set: Pointer to the cylinder in the vrml format.
transform: Transformation matrix applied to the cylinder.
idFace: Id of the face.
polygonNameName 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.
polygonNameName 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.
polygonNameName 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.

virtual unsigned int vpMbTracker::getClipping ( ) const
inlinevirtualinherited
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.

virtual vpMbHiddenFaces<vpMbtPolygon>& vpMbTracker::getFaces ( )
inlinevirtualinherited

Return a reference to the faces structure.

Reimplemented in vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.

Definition at line 248 of file vpMbTracker.h.

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

Definition at line 367 of file vpMbEdgeTracker.h.

References 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::dimensionErrorif the set is empty.
Parameters
pts: Set of point to extract the center of gravity.
Returns
Center of gravity of the set.

Definition at line 2092 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::extractCylinders().

virtual double vpMbEdgeTracker::getLambda ( ) const
inlinevirtual

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

Returns
the value for the gain.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 332 of file vpMbEdgeTracker.h.

References vpMbEdgeKltMultiTracker::lambda.

void vpMbEdgeTracker::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::dimensionErrorif 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 2919 of file vpMbEdgeTracker.cpp.

References circles, vpException::dimensionError, and scales.

void vpMbEdgeTracker::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::dimensionErrorif 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 2895 of file vpMbEdgeTracker.cpp.

References cylinders, vpException::dimensionError, and scales.

void vpMbEdgeTracker::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::dimensionErrorif 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 2871 of file vpMbEdgeTracker.cpp.

References vpException::dimensionError, lines, and scales.

virtual void vpMbEdgeTracker::getMovingEdge ( vpMe p_me) const
inlinevirtual

Get the moving edge parameters.

Parameters
p_me[out] : an instance of the moving edge parameters used by the tracker.

Reimplemented in vpMbEdgeMultiTracker.

Definition at line 343 of file vpMbEdgeTracker.h.

References me.

virtual vpMe vpMbEdgeTracker::getMovingEdge ( ) const
inlinevirtual

Get the moving edge parameters.

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

Reimplemented in vpMbEdgeMultiTracker.

Definition at line 349 of file vpMbEdgeTracker.h.

References me.

unsigned int vpMbEdgeTracker::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.

Exceptions
vpException::dimensionErrorif level does not represent a used level.
Returns
the number of good points.

Reimplemented in vpMbEdgeMultiTracker.

Definition at line 2609 of file vpMbEdgeTracker.cpp.

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

virtual unsigned int vpMbTracker::getNbPolygon ( ) const
inlinevirtualinherited

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

Returns
Number of polygons.

Reimplemented in vpMbEdgeKltMultiTracker, vpMbKltMultiTracker, and vpMbEdgeMultiTracker.

Definition at line 286 of file vpMbTracker.h.

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

virtual double vpMbTracker::getNearClippingDistance ( ) const
inlinevirtualinherited

Get the near distance for clipping.

Returns
Near clipping value.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 295 of file vpMbTracker.h.

Referenced by vpMbEdgeKltTracker::getNearClippingDistance().

virtual vpMbtOptimizationMethod vpMbTracker::getOptimizationMethod ( ) const
inlinevirtualinherited

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

Returns
Optimization method.

Definition at line 304 of file vpMbTracker.h.

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

Return the polygon (face) "index".

Exceptions
vpException::dimensionErrorif index does not represent a good polygon.
Parameters
index: Index of the polygon to return.
Returns
Pointer to the polygon index.

Definition at line 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().

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 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
inline

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 scales.

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

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

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

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker, and vpMbEdgeKltMultiTracker.

Definition at line 2439 of file vpMbEdgeTracker.cpp.

References addCircle().

Referenced by vpMbEdgeKltTracker::initCircle().

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

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

4 // Number of points in the file (minimum is four)
0.01 0.01 0.01 // \
... // | 3D coordinates in the object basis
0.01 -0.01 -0.01 // /
Parameters
I: Input image
initFile: File containing the points where to click
displayHelp: Optionnal display of an image ( 'initFile.ppm' ). This image may be used to show where to click. This functionality is only available if visp_io module is used.
Exceptions
vpException::ioError: The file specified in initFile doesn't exist.
See Also
setPathNamePoseSaving()

Reimplemented in vpMbEdgeKltMultiTracker, vpMbKltMultiTracker, and vpMbEdgeMultiTracker.

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

Definition at line 181 of file vpMbTracker.cpp.

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

void vpMbTracker::initClick ( const vpImage< unsigned char > &  I,
const std::vector< vpPoint > &  points3D_list,
const std::string &  displayFile = "" 
)
virtualinherited
void vpMbEdgeTracker::initCylinder ( const vpPoint p1,
const vpPoint p2,
const double  radius,
const int  idFace = 0,
const std::string &  name = "" 
)
protectedvirtual

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

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

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker, and vpMbEdgeKltMultiTracker.

Definition at line 2456 of file vpMbEdgeTracker.cpp.

References addCylinder().

Referenced by vpMbEdgeKltTracker::initCylinder().

void vpMbEdgeTracker::initFaceFromCorners ( vpMbtPolygon polygon)
protectedvirtual

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

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

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

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

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker, and vpMbEdgeKltMultiTracker.

Definition at line 2351 of file vpMbEdgeTracker.cpp.

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

Referenced by vpMbEdgeKltTracker::initFaceFromCorners().

void vpMbEdgeTracker::initFaceFromLines ( vpMbtPolygon polygon)
protectedvirtual

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

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

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

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

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker, and vpMbEdgeKltMultiTracker.

Definition at line 2373 of file vpMbEdgeTracker.cpp.

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

Referenced by vpMbEdgeKltTracker::initFaceFromLines().

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

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

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

Definition at line 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 vpMbTracker::initFromPose ( const vpImage< unsigned char > &  I,
const std::string &  initFile 
)
virtualinherited

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

// The six value of the pose vector
0.0000 // \
0.0000 // |
1.0000 // | Exemple of value for the pose vector where Z = 1 meter
0.0000 // |
0.0000 // |
0.0000 // /

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

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

Reimplemented in vpMbEdgeKltMultiTracker, vpMbKltMultiTracker, and vpMbEdgeMultiTracker.

Examples:
mbtEdgeKltTracking.cpp, mbtEdgeTracking.cpp, mbtKltTracking.cpp, testKeyPoint-2.cpp, and testKeyPoint-4.cpp.

Definition at line 721 of file vpMbTracker.cpp.

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

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

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

Initialise the tracking thanks to the pose.

Parameters
I: Input image
cMo_: Pose matrix.

Reimplemented in vpMbEdgeKltMultiTracker, vpMbKltMultiTracker, and vpMbEdgeMultiTracker.

Definition at line 755 of file vpMbTracker.cpp.

References vpMbTracker::cMo, and vpMbTracker::init().

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

Initialise the tracking thanks to the pose vector.

Parameters
I: Input image
cPo: Pose vector.

Reimplemented in vpMbEdgeKltMultiTracker, vpMbKltMultiTracker, and vpMbEdgeMultiTracker.

Definition at line 767 of file vpMbTracker.cpp.

References vpMbTracker::initFromPose().

void vpMbEdgeTracker::initMovingEdge ( const vpImage< unsigned char > &  I,
const vpHomogeneousMatrix _cMo 
)
protected
void vpMbEdgeTracker::initPyramid ( const vpImage< unsigned char > &  _I,
std::vector< const vpImage< unsigned char > * > &  _pyramid 
)
protected

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

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

Definition at line 2800 of file vpMbEdgeTracker.cpp.

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

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

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

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

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

Since ViSP 2.9.1, circles are supported.

The structure of the file is :

V1
# Number of points describing the object
8
0.01 0.01 0.01 // point with index 0 \
... // ... | coordinates of the points in the object frame (in m.)
0.01 0.01 0.01 // point with index 7 /
# Number of lines to track.
3
0 2 // line with index 0 \
1 4 // | Index of the points representing the extremities of the lines
1 5 // line with index 2 /
# Number of polygon (face) to track using the line previously described
1
3 0 1 2 // Face described as follow : nbLine indexLine1 indexLine2 ... indexLineN
# Number of polygon (face) to track using the points previously described
3
4 0 2 3 4 // Face described as follow : nbPoint IndexPoint1 IndexPoint2 ... IndexPointN
4 1 3 5 7
3 1 5 6
# Number of cylinder
1
6 7 0.05 // Index of the limits points on the axis (used to know the 'height' of the cylinder) and radius of the cyclinder (in m.)
# Number of circle
1
0.5 0 1 2 // radius, index center point, index 2 other points on the plane containing the circle
Parameters
modelFile: Full name of the main *.cao file containing the model.
vectorOfModelFilename: A vector of *.cao files.
startIdFace: Current Id of the face.
verbose: If true, will print additional information with CAO model files which include other CAO model files.
parent: This parameter is set to true when parsing a parent CAO model file, and false when parsing an included CAO model file.

Definition at line 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 vpMbEdgeTracker::loadConfigFile ( const std::string &  configFile)
virtual

Load the xml configuration file. An example of such a file is provided in loadConfigFile(const char*) documentation. From the configuration file initialize the parameters corresponding to the objects: moving-edges, camera and visibility angles.

Warning
To clean up memory allocated by the xml library, the user has to call vpXmlParser::cleanup() before the exit().
Parameters
configFile: full name of the xml file.
See Also
loadConfigFile(const char*), vpXmlParser::cleanup()

Implements vpMbTracker.

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

Definition at line 1385 of file vpMbEdgeTracker.cpp.

void vpMbEdgeTracker::loadConfigFile ( const char *  configFile)

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

Warning
To clean up memory allocated by the xml library, the user has to call vpXmlParser::cleanup() before the exit().
Exceptions
vpException::ioErrorif 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, me, vpMbTracker::minLineLengthThresholdGeneral, vpMbTracker::minPolygonAreaThresholdGeneral, vpMbtXmlParser::parse(), vpMath::rad(), vpMbXmlParser::setAngleAppear(), vpMbXmlParser::setAngleDisappear(), vpMbXmlParser::setCameraParameters(), setCameraParameters(), setClipping(), setFarClippingDistance(), vpMbTracker::setLod(), vpMbTracker::setMinLineLengthThresh(), vpMbTracker::setMinPolygonAreaThresh(), vpMbtXmlParser::setMovingEdge(), setMovingEdge(), setNearClippingDistance(), vpMbTracker::useLodGeneral, and vpTRACE.

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::ioErrorif the file cannot be open, or if its extension is not wrl or cao.
Parameters
modelFile: the file containing the the 3D model description. The extension of this file is either .wrl or .cao.
verbose: verbose option to print additional information when loading CAO model files which include other CAO model files.
Examples:
mbtEdgeKltTracking.cpp, mbtEdgeTracking.cpp, mbtKltTracking.cpp, testKeyPoint-2.cpp, testKeyPoint-4.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, tutorial-mb-edge-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, tutorial-mb-klt-tracker.cpp, tutorial-mb-tracker-full.cpp, 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 reInitModel().

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

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

Warning
When this class is called to load a vrml model, remember that you have to call Call SoDD::finish() before ending the program.
int main()
{
...
#if defined(VISP_HAVE_COIN3D) && (COIN_MAJOR_VERSION == 3)
SoDB::finish();
#endif
}
Exceptions
vpException::ioErrorif the file cannot be open, or if its extension is not wrl or cao.
Parameters
modelFile: the file containing the the 3D model description. The extension of this file is either .wrl or .cao.
verbose: verbose option to print additional information when loading CAO model files which include other CAO model files.

Reimplemented in vpMbEdgeKltMultiTracker, vpMbKltMultiTracker, and vpMbEdgeMultiTracker.

Definition at line 1047 of file vpMbTracker.cpp.

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

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

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

Warning
When this class is called, remember that you have to call Call SoDD::finish() before ending the program.
int main()
{
...
#if defined(VISP_HAVE_COIN3D) && (COIN_MAJOR_VERSION == 3)
SoDB::finish();
#endif
}
The cylinders extracted using this method do not use the Cylinder keyword of vrml since vrml exporter such as Blender or AC3D consider a cylinder as an IndexedFaceSet. To test whether an indexedFaceSet is a cylinder or not, the name of the geometry is read. If the name begins with "cyl" then the faceset is supposed to be a cylinder. For example, the line
geometry DEF cyl_cylinder1 IndexedFaceSet
defines a cylinder named cyl_cylinder1.
Exceptions
vpException::fatalErrorif 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)
protected

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

Parameters
_lvl: The level to re-initialize.

Definition at line 2984 of file vpMbEdgeTracker.cpp.

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

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

void vpMbEdgeTracker::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 in vpMbEdgeKltTracker, vpMbEdgeKltMultiTracker, and vpMbEdgeMultiTracker.

Definition at line 2535 of file vpMbEdgeTracker.cpp.

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

Re-initialize the model used by the tracker.

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

Definition at line 2551 of file vpMbEdgeTracker.cpp.

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

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

Reinitialize the lines if it is required.

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

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

Definition at line 1960 of file vpMbEdgeTracker.cpp.

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

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

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

Remove a circle by its name.

Parameters
name: The name of the circle to remove.

Definition at line 2265 of file vpMbEdgeTracker.cpp.

References circles, vpMbtDistanceCircle::getName(), and 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)
protected

Remove a cylinder by its name.

Parameters
name: The name of the cylinder to remove.

Definition at line 2242 of file vpMbEdgeTracker.cpp.

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

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

Remove a line using its name.

Parameters
name: The name of the line to remove.

Definition at line 2120 of file vpMbEdgeTracker.cpp.

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

void vpMbEdgeTracker::resetMovingEdge ( )
protected

Definition at line 1991 of file vpMbEdgeTracker.cpp.

References circles, cylinders, lines, and scales.

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

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
protected

Check if two vpPoints are similar.

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

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

Definition at line 2041 of file vpMbEdgeTracker.cpp.

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

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

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

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

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

Parameters
a: new angle in radian.

Reimplemented in vpMbEdgeKltMultiTracker, vpMbKltMultiTracker, and vpMbEdgeMultiTracker.

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

Definition at line 371 of file vpMbTracker.h.

Referenced by vpMbEdgeMultiTracker::setAngleAppear(), and vpMbKltMultiTracker::setAngleAppear().

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

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

Parameters
a: new angle in radian.

Reimplemented in vpMbEdgeKltMultiTracker, vpMbKltMultiTracker, and vpMbEdgeMultiTracker.

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

Definition at line 382 of file vpMbTracker.h.

Referenced by vpMbEdgeMultiTracker::setAngleDisappear(), and vpMbKltMultiTracker::setAngleDisappear().

virtual void vpMbEdgeTracker::setCameraParameters ( const vpCameraParameters camera)
inlinevirtual
void vpMbEdgeTracker::setClipping ( const unsigned int &  flags)
virtual
virtual void vpMbTracker::setCovarianceComputation ( const bool &  flag)
inlinevirtualinherited

Set if the covaraince matrix has to be computed.

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

Reimplemented in vpMbEdgeKltMultiTracker, vpMbKltMultiTracker, and vpMbEdgeMultiTracker.

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

Definition at line 398 of file vpMbTracker.h.

Referenced by vpMbEdgeMultiTracker::setCovarianceComputation(), and vpMbKltMultiTracker::setCovarianceComputation().

virtual void vpMbTracker::setDisplayFeatures ( const bool  displayF)
inlinevirtualinherited

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

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

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

Reimplemented in vpMbEdgeKltMultiTracker, vpMbKltMultiTracker, and vpMbEdgeMultiTracker.

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

Definition at line 411 of file vpMbTracker.h.

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 vpMbEdgeTracker::setGoodMovingEdgesRatioThreshold ( const double  threshold)
inline

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

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

Definition at line 451 of file vpMbEdgeTracker.h.

References percentageGdPt.

void vpMbTracker::setGoodNbRayCastingAttemptsRatio ( const double &  ratio)
inlineinherited

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

See Also
setNbRayCastingAttemptsForVisibility(const unsigned int &)
Parameters
ratio: Ratio of succesful attempts that has to be considered. Value has to be between 0.0 (0%) and 1.0 (100%).

Definition at line 453 of file vpMbTracker.h.

virtual void vpMbEdgeTracker::setLambda ( const double  gain)
inlinevirtual

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

Parameters
gain: the desired value for the gain.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 458 of file vpMbEdgeTracker.h.

References vpMbEdgeKltMultiTracker::lambda.

Referenced by vpMbEdgeKltTracker::setLambda().

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

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

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

Reimplemented in vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.

Definition at line 2259 of file vpMbTracker.cpp.

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

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

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

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

Parameters
minLineLengthThresh: threshold for the minimum line length in pixel.
name: name of the face we want to modify the LOD threshold.
See Also
setLod(), setMinPolygonAreaThresh()

Reimplemented in vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.

Definition at line 2278 of file vpMbTracker.cpp.

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

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

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

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

Parameters
minPolygonAreaThresh: threshold for the minimum polygon area in pixel.
name: name of the face we want to modify the LOD threshold.
See Also
setLod(), setMinLineLengthThresh()

Reimplemented in vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.

Definition at line 2297 of file vpMbTracker.cpp.

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

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

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

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

See Also
setGoodNbRayCastingAttemptsRatio(const unsigned int &)
Parameters
attemptsNumber of rays to be sent.

Definition at line 464 of file vpMbTracker.h.

void vpMbTracker::setOgreShowConfigDialog ( const bool  showConfigDialog)
inlineinherited

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

Warning
This method has only effect when Ogre is used and Ogre visibility test is enabled using setOgreVisibilityTest() with true parameter.
Parameters
showConfigDialog: if true, shows Ogre dialog window (used to set Ogre rendering options) when Ogre visibility is enabled. By default, this functionality is turned off.
Examples:
mbtEdgeKltTracking.cpp, mbtEdgeTracking.cpp, mbtKltTracking.cpp, tutorial-mb-edge-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, tutorial-mb-klt-tracker.cpp, and tutorial-mb-tracker-full.cpp.

Definition at line 479 of file vpMbTracker.h.

virtual void vpMbEdgeTracker::setOgreVisibilityTest ( const bool &  v)
inlinevirtual

Use Ogre3D for visibility tests

Warning
This function has to be called before the initialization of the tracker.
Parameters
v: True to use it, False otherwise

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltTracker, vpMbEdgeKltMultiTracker, and vpMbEdgeMultiTracker.

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

Definition at line 415 of file vpMbEdgeTracker.h.

References vpMbTracker::faces, vpMbHiddenFaces< PolygonType >::getOgreContext(), vpMbTracker::setOgreVisibilityTest(), and vpAROgre::setWindowName().

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

Set the optimization method used during the tracking.

Parameters
opt: Optimization method to use.

Reimplemented in vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.

Definition at line 430 of file vpMbTracker.h.

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

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

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

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker, vpMbEdgeKltMultiTracker, and vpMbEdgeMultiTracker.

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

Definition at line 1366 of file vpMbEdgeTracker.cpp.

References vpMbTracker::cMo, and init().

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

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

Parameters
filename: The new filename.

Definition at line 492 of file vpMbTracker.h.

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

Set if the projection error criteria has to be computed.

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

Reimplemented in vpMbKltTracker, vpMbEdgeKltTracker, vpMbEdgeKltMultiTracker, and vpMbEdgeMultiTracker.

Examples:
mbtEdgeTracking.cpp.

Definition at line 437 of file vpMbTracker.h.

Referenced by vpMbEdgeMultiTracker::setProjectionErrorComputation(), vpMbEdgeKltMultiTracker::setProjectionErrorComputation(), and vpMbEdgeKltTracker::setProjectionErrorComputation().

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

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

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

Warning
This method must be used before the tracker has been initialized ( before the call of the loadConfigFile() or loadModel() methods).
At least one level must be activated.
Parameters
scale: The vector describing the levels to use.

Definition at line 2679 of file vpMbEdgeTracker.cpp.

References cylinders, lines, scales, and vpERROR_TRACE.

Referenced by resetTracker(), and vpMbEdgeMultiTracker::setScales().

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

Use Scanline algorithm for visibility tests

Parameters
v: True to use it, False otherwise

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker, vpMbEdgeKltTracker, and vpMbEdgeMultiTracker.

Examples:
mbtEdgeTracking.cpp.

Definition at line 427 of file vpMbEdgeTracker.h.

References lines, scales, and vpMbTracker::setScanLineVisibilityTest().

Referenced by vpMbEdgeKltTracker::setScanLineVisibilityTest().

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

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

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

Definition at line 3025 of file vpMbEdgeTracker.cpp.

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

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

Definition at line 665 of file vpMbTracker.h.

Referenced by vpMbTracker::parseParameters().

void vpMbEdgeTracker::upScale ( const unsigned int  _scale)
protected

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

Parameters
_scale: Scale to use.

Definition at line 2960 of file vpMbEdgeTracker.cpp.

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

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

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

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

Warning
If in one iteration one face appears and one disappears, then the function will not detect the new face.
Parameters
_I: Image to test if a face is entirely in the image.
_cMo: The pose of the camera used to project the 3D model into the image.
newvisibleline: This parameter is set to true if a new face appeared.

Definition at line 2309 of file vpMbEdgeTracker.cpp.

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

Referenced by init(), and track().

Friends And Related Function Documentation

friend class vpMbEdgeKltMultiTracker
friend

Definition at line 264 of file vpMbEdgeTracker.h.

friend class vpMbEdgeMultiTracker
friend

Definition at line 263 of file vpMbEdgeTracker.h.

Member Data Documentation

bool vpMbTracker::applyLodSettingInConfig
protectedinherited

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

Definition at line 175 of file vpMbTracker.h.

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

vpHomogeneousMatrix vpMbTracker::cMo
protectedinherited

The current pose.

Definition at line 115 of file vpMbTracker.h.

Referenced by vpMbKltMultiTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVS(), vpMbEdgeKltTracker::computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), vpMbKltTracker::computeVVSCheckLevenbergMarquardtKlt(), computeVVSFirstPhase(), computeVVSFirstPhaseFactor(), computeVVSFirstPhasePoseEstimation(), vpMbKltTracker::computeVVSPoseEstimation(), computeVVSSecondPhase(), computeVVSSecondPhaseCheckLevenbergMarquardt(), computeVVSSecondPhasePoseEstimation(), vpMbTracker::getPolygonFaces(), vpMbEdgeKltTracker::init(), vpMbKltTracker::init(), init(), vpMbEdgeMultiTracker::initClick(), vpMbKltMultiTracker::initClick(), vpMbEdgeKltMultiTracker::initClick(), vpMbTracker::initClick(), vpMbTracker::initFromPoints(), vpMbEdgeMultiTracker::initFromPose(), vpMbKltMultiTracker::initFromPose(), vpMbEdgeKltMultiTracker::initFromPose(), vpMbTracker::initFromPose(), vpMbKltMultiTracker::postTracking(), vpMbEdgeKltTracker::postTracking(), vpMbKltTracker::postTracking(), vpMbKltMultiTracker::reinit(), vpMbKltTracker::reinit(), reInitLevel(), vpMbEdgeMultiTracker::reInitModel(), vpMbKltMultiTracker::reInitModel(), vpMbEdgeKltTracker::reInitModel(), vpMbKltTracker::reInitModel(), reInitModel(), vpMbEdgeMultiTracker::resetTracker(), vpMbKltMultiTracker::resetTracker(), vpMbKltTracker::resetTracker(), resetTracker(), vpMbTracker::savePose(), vpMbKltMultiTracker::setPose(), vpMbEdgeMultiTracker::setPose(), vpMbEdgeKltMultiTracker::setPose(), vpMbEdgeKltTracker::setPose(), vpMbKltTracker::setPose(), setPose(), vpMbKltMultiTracker::track(), vpMbEdgeMultiTracker::track(), track(), vpMbEdgeKltTracker::trackFirstLoop(), vpMbEdgeKltMultiTracker::trackFirstLoop(), trackMovingEdge(), and updateMovingEdge().

int vpMbEdgeTracker::compute_interaction
protected

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

Definition at line 272 of file vpMbEdgeTracker.h.

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

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 vpMbEdgeMultiTracker::computeProjectionError(), vpMbEdgeKltTracker::postTracking(), vpMbEdgeKltMultiTracker::postTracking(), vpMbEdgeMultiTracker::track(), vpMbEdgeKltMultiTracker::track(), and track().

double vpMbTracker::distFarClip
protectedinherited
double vpMbTracker::distNearClip
protectedinherited
vpMbHiddenFaces<vpMbtPolygon> vpMbTracker::faces
protectedinherited
std::vector< const vpImage<unsigned char>* > vpMbEdgeTracker::Ipyramid
protected

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

Definition at line 306 of file vpMbEdgeTracker.h.

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

bool vpMbTracker::isoJoIdentity
protectedinherited
double vpMbEdgeTracker::lambda
protected

The gain of the virtual visual servoing stage.

Definition at line 274 of file vpMbEdgeTracker.h.

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

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

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

Definition at line 181 of file vpMbTracker.h.

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

vpMe vpMbEdgeTracker::me
protected
double vpMbTracker::minLineLengthThresholdGeneral
protectedinherited

Minimum line length threshold for LOD mode (general setting)

Definition at line 177 of file vpMbTracker.h.

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

double vpMbTracker::minPolygonAreaThresholdGeneral
protectedinherited

Minimum polygon area threshold for LOD mode (general setting)

Definition at line 179 of file vpMbTracker.h.

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

std::string vpMbTracker::modelFileName
protectedinherited

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

Definition at line 121 of file vpMbTracker.h.

Referenced by vpMbTracker::loadModel().

bool vpMbTracker::modelInitialised
protectedinherited
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
protected

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

Definition at line 312 of file vpMbEdgeTracker.h.

Referenced by vpMbEdgeMultiTracker::computeProjectionError(), and 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
protected

Number of polygon (face) currently visible.

Definition at line 297 of file vpMbEdgeTracker.h.

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

unsigned int vpMbEdgeTracker::ncircle
protected

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

Definition at line 291 of file vpMbEdgeTracker.h.

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

unsigned int vpMbEdgeTracker::ncylinder
protected

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

Definition at line 294 of file vpMbEdgeTracker.h.

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

unsigned int vpMbEdgeTracker::nline
protected

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

Definition at line 288 of file vpMbEdgeTracker.h.

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

bool vpMbTracker::ogreShowConfigDialog
protectedinherited

Definition at line 157 of file vpMbTracker.h.

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

double vpMbEdgeTracker::percentageGdPt
protected

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 getGoodMovingEdgesRatioThreshold(), vpMbEdgeMultiTracker::resetTracker(), resetTracker(), vpMbEdgeMultiTracker::setGoodMovingEdgesRatioThreshold(), setGoodMovingEdgesRatioThreshold(), testTracking(), and vpMbEdgeMultiTracker::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 vpMbEdgeMultiTracker::computeProjectionError(), computeProjectionError(), vpMbEdgeMultiTracker::track(), vpMbEdgeKltMultiTracker::track(), and track().

unsigned int vpMbEdgeTracker::scaleLevel
protected

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

Definition at line 309 of file vpMbEdgeTracker.h.

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

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 loadConfigFile().