#include <visp3/mbt/vpMbKltMultiTracker.h>

Inheritance diagram for vpMbKltMultiTracker:

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

Public Member Functions
	vpMbKltMultiTracker ()

	vpMbKltMultiTracker (const unsigned int nbCameras)

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

virtual	~vpMbKltMultiTracker ()

Inherited functionalities from vpMbKltMultiTracker
virtual void	addCircle (const vpPoint &P1, const vpPoint &P2, const vpPoint &P3, const double r, const std::string &name="")

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

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

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

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

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

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

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

virtual void	getCameraParameters (vpCameraParameters &camera) const

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

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

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

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

virtual vpMbHiddenFaces < vpMbtPolygon > &	getFaces ()

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

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

virtual std::list < vpMbtDistanceCircle * > &	getFeaturesCircle ()

virtual std::list < vpMbtDistanceCircle * > &	getFeaturesCircle (const std::string &cameraName)

virtual std::list < vpMbtDistanceKltPoints * > &	getFeaturesKlt ()

virtual std::list < vpMbtDistanceKltPoints * > &	getFeaturesKlt (const std::string &cameraName)

virtual std::list < vpMbtDistanceKltCylinder * > &	getFeaturesKltCylinder ()

virtual std::list < vpMbtDistanceKltCylinder * > &	getFeaturesKltCylinder (const std::string &cameraName)

virtual std::map< std::string, std::vector< vpImagePoint > >	getKltImagePoints () const

virtual std::map< std::string, std::map< int, vpImagePoint > >	getKltImagePointsWithId () const

virtual std::map< std::string, vpKltOpencv >	getKltOpencv () const

virtual std::map< std::string, std::vector< cv::Point2f > >	getKltPoints () const

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

virtual unsigned int	getNbPolygon () const

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

unsigned int	getNumberOfCameras () const

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

virtual void	resetTracker ()

virtual void	setAngleAppear (const double &a)

virtual void	setAngleDisappear (const double &a)

virtual void	setCameraParameters (const vpCameraParameters &camera)

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

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

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

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

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

virtual void	setClipping (const unsigned int &flags)

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

virtual void	setCovarianceComputation (const bool &flag)

virtual void	setDisplayFeatures (const bool displayF)

virtual void	setFarClippingDistance (const double &dist)

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

void	setGoodNbRayCastingAttemptsRatio (const double &ratio)

void	setNbRayCastingAttemptsForVisibility (const unsigned int &attempts)

virtual void	setKltOpencv (const vpKltOpencv &t)

virtual void	setKltOpencv (const std::map< std::string, vpKltOpencv > &mapOfOpenCVTrackers)

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

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

virtual void	setMaskBorder (const unsigned int &e)

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

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

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

virtual void	setNearClippingDistance (const double &dist)

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

virtual void	setOgreShowConfigDialog (const bool showConfigDialog)

virtual void	setOgreVisibilityTest (const bool &v)

virtual void	setOptimizationMethod (const vpMbtOptimizationMethod &opt)

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

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

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

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

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

virtual void	setScanLineVisibilityTest (const bool &v)

virtual void	setThresholdAcceptation (const double th)

virtual void	setUseKltTracking (const std::string &name, const bool &useKltTracking)

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

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

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

Inherited functionalities from vpMbKltTracker
virtual double	getLambda () const

unsigned int	getMaskBorder () const

virtual unsigned int	getMaxIter () const

double	getThresholdAcceptation () const

void	loadConfigFile (const char *configFile)

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

virtual void	setLambda (const double gain)

virtual void	setMaxIter (const unsigned int max)

virtual void	setProjectionErrorComputation (const bool &flag)

virtual void	testTracking ()

Inherited functionalities from vpMbTracker
virtual double	getAngleAppear () const

virtual double	getAngleDisappear () const

virtual unsigned int	getClipping () const

virtual vpMatrix	getCovarianceMatrix () const

virtual double	getProjectionError () const

virtual vpColVector	getEstimatedDoF () const

virtual vpColVector	getError () const

virtual double	getFarClippingDistance () const

virtual vpColVector	getRobustWeights () const

virtual double	getNearClippingDistance () const

virtual vpMbtOptimizationMethod	getOptimizationMethod () const

virtual vpMbtPolygon *	getPolygon (const unsigned int index)

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

virtual void	getPose (vpHomogeneousMatrix &cMo_) const

virtual vpHomogeneousMatrix	getPose () const

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

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

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

virtual void	setEstimatedDoF (const vpColVector &v)

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

void	setPoseSavingFilename (const std::string &filename)

Protected Member Functions
Protected Member Functions Inherited from vpMbKltMultiTracker
virtual void	computeVVS (std::map< std::string, unsigned int > &mapOfNbInfos, vpColVector &w)

virtual void	computeVVSWeights (const unsigned int iter, const unsigned int nbInfos, std::map< std::string, unsigned int > &mapOfNbInfos, vpColVector &R, vpColVector &w_true, vpColVector &w, std::map< std::string, vpRobust > &mapOfRobusts, double threshold)

virtual void	preTracking (std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, std::map< std::string, unsigned int > &mapOfNbInfos, std::map< std::string, unsigned int > &mapOfNbFaceUsed)

virtual void	postTracking (std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, std::map< std::string, unsigned int > &mapOfNbInfos, vpColVector &w_klt)

virtual void	reinit ()

Protected Member Functions Inherited from vpMbKltTracker
void	computeVVS (const unsigned int &nbInfos, vpColVector &w)

void	computeVVSCheckLevenbergMarquardtKlt (const unsigned int iter, const unsigned int nbInfos, const vpHomogeneousMatrix &cMoPrev, const vpColVector &error_prev, const vpHomogeneousMatrix &ctTc0_Prev, double &mu, bool &reStartFromLastIncrement)

void	computeVVSCovariance (const vpColVector &w_true, const vpHomogeneousMatrix &cMoPrev, const vpMatrix &L_true, const vpMatrix &LVJ_true)

void	computeVVSInteractionMatrixAndResidu (unsigned int shift, vpColVector &R, vpMatrix &L, vpHomography &H, std::list< vpMbtDistanceKltPoints * > &kltPolygons_, std::list< vpMbtDistanceKltCylinder * > &kltCylinders_, const vpHomogeneousMatrix &ctTc0_)

void	computeVVSPoseEstimation (const unsigned int iter, vpMatrix &L, const vpColVector &w, vpMatrix &L_true, vpMatrix &LVJ_true, double &normRes, double &normRes_1, vpColVector &w_true, vpColVector &R, vpMatrix &LTL, vpColVector &LTR, vpColVector &error_prev, vpColVector &v, double &mu, vpHomogeneousMatrix &cMoPrev, vpHomogeneousMatrix &ctTc0_Prev)

void	computeVVSWeights (const unsigned int iter, const unsigned int nbInfos, const vpColVector &R, vpColVector &w_true, vpColVector &w, vpRobust &robust)

virtual void	initFaceFromCorners (vpMbtPolygon &polygon)

virtual void	initFaceFromLines (vpMbtPolygon &polygon)

virtual void	initCircle (const vpPoint &, const vpPoint &, const vpPoint &, const double, const int, const std::string &name="")

virtual void	initCylinder (const vpPoint &, const vpPoint &, const double, const int, const std::string &name="")

void	preTracking (const vpImage< unsigned char > &I, unsigned int &nbInfos, unsigned int &nbFaceUsed)

bool	postTracking (const vpImage< unsigned char > &I, vpColVector &w)

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

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

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

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

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

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

void	computeJTR (const vpMatrix &J, const vpColVector &R, vpColVector &JTR) const

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

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

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

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

vpPoint	getGravityCenter (const std::vector< vpPoint > &_pts) const

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

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

void	removeComment (std::ifstream &fileId)

bool	parseBoolean (std::string &input)

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

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

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

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

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

std::map< std::string, vpMbKltTracker * >	m_mapOfKltTrackers

std::string	m_referenceCameraName

cv::Mat	cur

vpHomogeneousMatrix	c0Mo

bool	compute_interaction

bool	firstInitialisation

unsigned int	maskBorder

double	lambda

unsigned int	maxIter

double	threshold_outlier

double	percentGood

vpHomogeneousMatrix	ctTc0

vpKltOpencv	tracker

std::list < vpMbtDistanceKltPoints * >	kltPolygons

std::list < vpMbtDistanceKltCylinder * >	kltCylinders

std::list< vpMbtDistanceCircle * >	circles_disp

vpCameraParameters	cam

vpHomogeneousMatrix	cMo

vpMatrix	oJo

bool	isoJoIdentity

std::string	modelFileName

bool	modelInitialised

std::string	poseSavingFilename

bool	computeCovariance

vpMatrix	covarianceMatrix

bool	computeProjError

double	projectionError

bool	displayFeatures

vpColVector	m_w

vpColVector	m_error

vpMbtOptimizationMethod	m_optimizationMethod

vpMbHiddenFaces< vpMbtPolygon >	faces

double	angleAppears

double	angleDisappears

double	distNearClip

double	distFarClip

unsigned int	clippingFlag

bool	useOgre

bool	ogreShowConfigDialog

bool	useScanLine

unsigned int	nbPoints

unsigned int	nbLines

unsigned int	nbPolygonLines

unsigned int	nbPolygonPoints

unsigned int	nbCylinders

unsigned int	nbCircles

bool	useLodGeneral

bool	applyLodSettingInConfig

double	minLineLengthThresholdGeneral

double	minPolygonAreaThresholdGeneral

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

Detailed Description

Model based stereo (or more) tracker using only KLT.

Warning: This class is only available if OpenCV is installed, and used.

The Tutorial: Markerless model-based tracking with stereo cameras is a good starting point to use this class.

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

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

Definition at line 72 of file vpMbKltMultiTracker.h.

Member Enumeration Documentation

enum vpMbTracker::vpMbtOptimizationMethod

inherited

Enumerator
GAUSS_NEWTON_OPT
LEVENBERG_MARQUARDT_OPT

Definition at line 106 of file vpMbTracker.h.

Constructor & Destructor Documentation

vpMbKltMultiTracker::vpMbKltMultiTracker ( )

Basic constructor

Definition at line 57 of file vpMbKltMultiTracker.cpp.

References m_mapOfCameraTransformationMatrix, m_mapOfKltTrackers, and vpMbKltTracker::vpMbKltTracker().

vpMbKltMultiTracker::vpMbKltMultiTracker ( const unsigned int nbCameras )

Construct a vpMbKltMultiTracker with the specified number of cameras.

Parameters

nbCameras : Number of cameras to use.

Definition at line 70 of file vpMbKltMultiTracker.cpp.

References vpTrackingException::fatalError, m_mapOfCameraTransformationMatrix, m_mapOfKltTrackers, m_referenceCameraName, and vpMbKltTracker::vpMbKltTracker().

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

Construct a vpMbKltMultiTracker with the specified list of camera names.

Parameters

cameraNames : List of camera names.

Definition at line 110 of file vpMbKltMultiTracker.cpp.

References vpTrackingException::fatalError, m_mapOfKltTrackers, m_referenceCameraName, and vpMbKltTracker::vpMbKltTracker().

vpMbKltMultiTracker::~vpMbKltMultiTracker ( )

virtual

Basic destructor useful to deallocate the memory.

Definition at line 127 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

Member Function Documentation

void vpMbKltMultiTracker::addCircle	(	const vpPoint &	P1,
		const vpPoint &	P2,
		const vpPoint &	P3,
		const double	r,
		const std::string &	name = `""`
	)

virtual

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.
name	: Name of the circle.

Definition at line 144 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

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

protectedinherited

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

protectedinherited

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

protectedinherited

Definition at line 922 of file vpMbTracker.cpp.

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

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

protectedinherited

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

protectedinherited

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

Exceptions

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

Warning: The JTR vector is resized.

Parameters

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

Definition at line 2361 of file vpMbTracker.cpp.

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

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

void vpMbKltMultiTracker::computeVVS	(	std::map< std::string, unsigned int > &	mapOfNbInfos,
		vpColVector &	w
	)

protectedvirtual

Definition at line 152 of file vpMbKltMultiTracker.cpp.

References vpVelocityTwistMatrix::buildFrom(), vpMbTracker::cMo, vpMbKltTracker::computeVVSCheckLevenbergMarquardtKlt(), vpMbKltTracker::computeVVSCovariance(), vpMbKltTracker::computeVVSInteractionMatrixAndResidu(), vpMbKltTracker::computeVVSPoseEstimation(), computeVVSWeights(), vpMbKltTracker::ctTc0, vpHomogeneousMatrix::inverse(), m_mapOfCameraTransformationMatrix, m_mapOfKltTrackers, vpMbKltTracker::maxIter, vpArray2D< Type >::resize(), vpColVector::resize(), vpMatrix::stack(), and vpColVector::stack().

Referenced by track().

void vpMbKltTracker::computeVVS	(	const unsigned int &	nbInfos,
		vpColVector &	w
	)

protectedinherited

Realize the VVS loop for the tracking

Parameters

nbInfos	: Size of the features
w	: weight of the features after M-Estimation.

Definition at line 743 of file vpMbKltTracker.cpp.

References vpMbTracker::computeCovariance, vpMbKltTracker::computeVVSCheckLevenbergMarquardtKlt(), vpMbKltTracker::computeVVSCovariance(), vpMbKltTracker::computeVVSInteractionMatrixAndResidu(), vpMbKltTracker::computeVVSPoseEstimation(), vpMbKltTracker::computeVVSWeights(), vpMbKltTracker::ctTc0, vpMbKltTracker::kltCylinders, vpMbKltTracker::kltPolygons, vpMbKltTracker::maxIter, vpArray2D< Type >::resize(), and vpColVector::resize().

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

void vpMbKltTracker::computeVVSCheckLevenbergMarquardtKlt	(	const unsigned int	iter,
		const unsigned int	nbInfos,
		const vpHomogeneousMatrix &	cMoPrev,
		const vpColVector &	error_prev,
		const vpHomogeneousMatrix &	ctTc0_Prev,
		double &	mu,
		bool &	reStartFromLastIncrement
	)

protectedinherited

Definition at line 795 of file vpMbKltTracker.cpp.

References vpMbTracker::cMo, vpMbKltTracker::ctTc0, vpTrackingException::fatalError, vpMbTracker::LEVENBERG_MARQUARDT_OPT, vpMbTracker::m_error, vpMbTracker::m_optimizationMethod, and vpColVector::sumSquare().

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

void vpMbKltTracker::computeVVSCovariance	(	const vpColVector &	w_true,
		const vpHomogeneousMatrix &	cMoPrev,
		const vpMatrix &	L_true,
		const vpMatrix &	LVJ_true
	)

protectedinherited

Definition at line 814 of file vpMbKltTracker.cpp.

References vpMbTracker::computeCovariance, vpMatrix::computeCovarianceMatrixVVS(), vpMbTracker::covarianceMatrix, vpMatrix::diag(), vpMbTracker::isoJoIdentity, and vpMbTracker::m_error.

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

void vpMbKltTracker::computeVVSInteractionMatrixAndResidu	(	unsigned int	shift,
		vpColVector &	R,
		vpMatrix &	L,
		vpHomography &	H,
		std::list< vpMbtDistanceKltPoints * > &	kltPolygons_,
		std::list< vpMbtDistanceKltCylinder * > &	kltCylinders_,
		const vpHomogeneousMatrix &	ctTc0_
	)

protectedinherited

Definition at line 831 of file vpMbKltTracker.cpp.

References vpMbtDistanceKltPoints::computeHomography(), vpMbtDistanceKltPoints::computeInteractionMatrixAndResidu(), vpMbtDistanceKltCylinder::computeInteractionMatrixAndResidu(), vpTrackingException::fatalError, vpMbtDistanceKltPoints::getCurrentNumberPoints(), vpMbtDistanceKltCylinder::getCurrentNumberPoints(), vpPolygon3D::getNbPoint(), vpMbtDistanceKltPoints::hasEnoughPoints(), vpMbtDistanceKltCylinder::hasEnoughPoints(), vpMbtDistanceKltPoints::isTracked(), vpMbtDistanceKltCylinder::isTracked(), vpMbtPolygon::isVisible(), and vpMbtDistanceKltPoints::polygon.

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

void vpMbKltTracker::computeVVSPoseEstimation	(	const unsigned int	iter,
		vpMatrix &	L,
		const vpColVector &	w,
		vpMatrix &	L_true,
		vpMatrix &	LVJ_true,
		double &	normRes,
		double &	normRes_1,
		vpColVector &	w_true,
		vpColVector &	R,
		vpMatrix &	LTL,
		vpColVector &	LTR,
		vpColVector &	error_prev,
		vpColVector &	v,
		double &	mu,
		vpHomogeneousMatrix &	cMoPrev,
		vpHomogeneousMatrix &	ctTc0_Prev
	)

protectedinherited

void vpMbKltMultiTracker::computeVVSWeights	(	const unsigned int	iter,
		const unsigned int	nbInfos,
		std::map< std::string, unsigned int > &	mapOfNbInfos,
		vpColVector &	R,
		vpColVector &	w_true,
		vpColVector &	w,
		std::map< std::string, vpRobust > &	mapOfRobusts,
		double	threshold
	)

protectedvirtual

Definition at line 243 of file vpMbKltMultiTracker.cpp.

References vpCameraParameters::get_px(), m_mapOfKltTrackers, vpColVector::resize(), and vpRobust::TUKEY.

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

void vpMbKltTracker::computeVVSWeights	(	const unsigned int	iter,
		const unsigned int	nbInfos,
		const vpColVector &	R,
		vpColVector &	w_true,
		vpColVector &	w,
		vpRobust &	robust
	)

protectedinherited

Definition at line 966 of file vpMbKltTracker.cpp.

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

Referenced by vpMbKltTracker::computeVVS().

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

protectedinherited

Definition at line 2434 of file vpMbTracker.cpp.

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

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

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

virtual

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

Parameters

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

Reimplemented from vpMbKltTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 285 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers, and m_referenceCameraName.

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

virtual

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

Parameters

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

Reimplemented from vpMbKltTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 305 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers, and m_referenceCameraName.

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

virtual

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

Parameters

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 328 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

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

virtual

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

Parameters

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 356 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

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

virtual

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

Parameters

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 381 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

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

virtual

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

Parameters

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 411 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

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

protectedvirtualinherited

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

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

Parameters

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

Definition at line 1967 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::extractGroup().

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

protectedvirtualinherited

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

Parameters

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

Definition at line 1911 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::extractGroup().

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

protectedvirtualinherited

Extract a VRML object Group.

Parameters

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

Definition at line 1821 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::loadVRMLModel().

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

protectedvirtualinherited

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

Parameters

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

Definition at line 2044 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::extractGroup().

virtual double vpMbTracker::getAngleAppear ( ) const

inlinevirtualinherited

Return the angle used to test polygons appearance.

Definition at line 191 of file vpMbTracker.h.

virtual double vpMbTracker::getAngleDisappear ( ) const

inlinevirtualinherited

Return the angle used to test polygons disappearance.

Definition at line 194 of file vpMbTracker.h.

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

virtual

Get the camera names

Returns: The vector of camera names.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 436 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

void vpMbKltMultiTracker::getCameraParameters ( vpCameraParameters & camera ) const

virtual

Get the camera parameters for the reference camera.

Parameters

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

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 452 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers, and m_referenceCameraName.

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

virtual

Get the camera parameters for the stereo cameras case.

Parameters

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 468 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

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

virtual

Get the camera parameters specified by its name.

Parameters

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 487 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

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

virtual

Get all the camera parameters.

Parameters

mapOfCameraParameters : Map of camera parameters.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 501 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

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

virtual

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

Parameters

cameraName : Name of the desired camera.

Returns: Clipping flags.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 519 of file vpMbKltMultiTracker.cpp.

References vpMbTracker::getClipping(), and m_mapOfKltTrackers.

virtual unsigned int vpMbTracker::getClipping ( ) const

inlinevirtualinherited

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

Returns: Clipping flags.

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

Definition at line 208 of file vpMbTracker.h.

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

virtual vpMatrix vpMbTracker::getCovarianceMatrix ( ) const

inlinevirtualinherited

Get the covariance matrix.

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

Definition at line 213 of file vpMbTracker.h.

References vpTRACE.

virtual vpColVector vpMbTracker::getError ( ) const

inlinevirtualinherited

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

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

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

See Also: getRobustWeights()

Definition at line 243 of file vpMbTracker.h.

vpColVector vpMbTracker::getEstimatedDoF ( ) const

virtualinherited

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

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

Definition at line 2392 of file vpMbTracker.cpp.

References vpMbTracker::oJo.

vpMbHiddenFaces< vpMbtPolygon > & vpMbKltMultiTracker::getFaces ( )

virtual

Return a reference to the faces structure.

Returns: Reference to the face structure.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 535 of file vpMbKltMultiTracker.cpp.

References vpMbTracker::faces, m_mapOfKltTrackers, and m_referenceCameraName.

Referenced by vpMbEdgeKltMultiTracker::getKltFaces().

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

virtual

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

Returns: Reference to the face structure.

Definition at line 550 of file vpMbKltMultiTracker.cpp.

References vpMbTracker::faces, and m_mapOfKltTrackers.

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

virtual

Return a map of faces structure for each camera.

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

Definition at line 565 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

virtual double vpMbTracker::getFarClippingDistance ( ) const

inlinevirtualinherited

Get the far distance for clipping.

Returns: Far clipping value.

Definition at line 255 of file vpMbTracker.h.

std::list< vpMbtDistanceCircle * > & vpMbKltMultiTracker::getFeaturesCircle ( )

virtual

Return the address of the circle feature list.

Returns: The address of the circle feature list.

Reimplemented from vpMbKltTracker.

Definition at line 580 of file vpMbKltMultiTracker.cpp.

References vpMbKltTracker::circles_disp, m_mapOfKltTrackers, and m_referenceCameraName.

std::list< vpMbtDistanceCircle * > & vpMbKltMultiTracker::getFeaturesCircle ( const std::string & cameraName )

virtual

Return the address of the circle feature list for the given camera.

Parameters

cameraName : Camera name.

Returns: The address of the circle feature list.

Definition at line 598 of file vpMbKltMultiTracker.cpp.

References vpMbKltTracker::circles_disp, and m_mapOfKltTrackers.

std::list< vpMbtDistanceKltPoints * > & vpMbKltMultiTracker::getFeaturesKlt ( )

virtual

Return the address of the Klt feature list.

Returns: The address of the Klt feature list.

Reimplemented from vpMbKltTracker.

Definition at line 616 of file vpMbKltMultiTracker.cpp.

References vpMbKltTracker::kltPolygons, m_mapOfKltTrackers, and m_referenceCameraName.

std::list< vpMbtDistanceKltPoints * > & vpMbKltMultiTracker::getFeaturesKlt ( const std::string & cameraName )

virtual

Return the address of the Klt feature list for the given camera.

Parameters

cameraName : Camera name.

Returns: The address of the Klt feature list.

Definition at line 635 of file vpMbKltMultiTracker.cpp.

References vpMbKltTracker::kltPolygons, and m_mapOfKltTrackers.

std::list< vpMbtDistanceKltCylinder * > & vpMbKltMultiTracker::getFeaturesKltCylinder ( )

virtual

Return the address of the cylinder feature list.

Returns: The address of the cylinder feature list.

Reimplemented from vpMbKltTracker.

Definition at line 652 of file vpMbKltMultiTracker.cpp.

References vpMbKltTracker::kltCylinders, m_mapOfKltTrackers, and m_referenceCameraName.

std::list< vpMbtDistanceKltCylinder * > & vpMbKltMultiTracker::getFeaturesKltCylinder ( const std::string & cameraName )

virtual

Return the address of the cylinder feature list for the given camera.

Parameters

cameraName : Camera name.

Returns: The address of the cylinder feature list.

Definition at line 670 of file vpMbKltMultiTracker.cpp.

References vpMbKltTracker::kltCylinders, and m_mapOfKltTrackers.

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

protectedinherited

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

Exceptions

vpException::dimensionError if the set is empty.

Parameters

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

Returns: Center of gravity of the set.

Definition at line 2092 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::extractCylinders().

std::map< std::string, std::vector< vpImagePoint > > vpMbKltMultiTracker::getKltImagePoints ( ) const

virtual

Get the current list of KLT points for each camera.

Warning: Contrary to getKltPoints which returns a pointer on CvPoint2D32f. This function convert and copy the openCV KLT points into vpImagePoints.

Returns: the list of KLT points through vpKltOpencv for each camera.

Definition at line 690 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

std::map< std::string, std::map< int, vpImagePoint > > vpMbKltMultiTracker::getKltImagePointsWithId ( ) const

virtual

Get the current list of KLT points and their id for each camera.

Warning: Contrary to getKltPoints which returns a pointer on CvPoint2D32f. This function convert and copy the openCV KLT points into vpImagePoints.

Returns: the list of KLT points and their id through vpKltOpencv for each camera.

Definition at line 709 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

std::map< std::string, vpKltOpencv > vpMbKltMultiTracker::getKltOpencv ( ) const

virtual

Get the klt tracker at the current state for each camera.

Returns: klt tracker.

Definition at line 725 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

std::map< std::string, std::vector< cv::Point2f > > vpMbKltMultiTracker::getKltPoints ( ) const

virtual

Get the current list of KLT points.

Returns: The list of KLT points through vpKltOpencv.

Definition at line 742 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

virtual double vpMbKltTracker::getLambda ( ) const

inlinevirtualinherited

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

Returns: the value for the gain.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 313 of file vpMbKltTracker.h.

References vpMbEdgeKltMultiTracker::lambda.

unsigned int vpMbKltTracker::getMaskBorder ( ) const

inlineinherited

Get the erosion of the mask used on the Model faces.

Returns: The erosion.

Definition at line 320 of file vpMbKltTracker.h.

References vpMbKltTracker::maskBorder.

virtual unsigned int vpMbKltTracker::getMaxIter ( ) const

inlinevirtualinherited

Get the maximum iteration of the virtual visual servoing stage.

Returns: the number of iteration

Reimplemented in vpMbEdgeKltTracker.

Definition at line 327 of file vpMbKltTracker.h.

References vpMbEdgeKltMultiTracker::maxIter.

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

virtual

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

Returns: Number of polygons for the specified camera.

Definition at line 801 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

Referenced by vpMbEdgeKltMultiTracker::getKltMultiNbPolygon().

std::map< std::string, int > vpMbKltMultiTracker::getNbKltPoints ( ) const

virtual

Get the current number of klt points for each camera.

Returns: The number of features

Definition at line 770 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

unsigned int vpMbKltMultiTracker::getNbPolygon ( ) const

virtual

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

Returns: Number of polygons.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 786 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers, and m_referenceCameraName.

virtual double vpMbTracker::getNearClippingDistance ( ) const

inlinevirtualinherited

Get the near distance for clipping.

Returns: Near clipping value.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 295 of file vpMbTracker.h.

Referenced by vpMbEdgeKltTracker::getNearClippingDistance().

unsigned int vpMbKltMultiTracker::getNumberOfCameras ( ) const

inline

Get the number of cameras.

Returns: The number of cameras.

Definition at line 164 of file vpMbKltMultiTracker.h.

virtual vpMbtOptimizationMethod vpMbTracker::getOptimizationMethod ( ) const

inlinevirtualinherited

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

Returns: Optimization method.

Definition at line 304 of file vpMbTracker.h.

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

inlinevirtualinherited

Return the polygon (face) "index".

Exceptions

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

Parameters

index : Index of the polygon to return.

Returns: Pointer to the polygon index.

Definition at line 315 of file vpMbTracker.h.

References vpException::dimensionError.

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

virtualinherited

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

Parameters

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

Returns: A pair object containing the list of vpPolygon and the list of face corners.

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

Definition at line 2124 of file vpMbTracker.cpp.

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

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

virtual

Get the current pose between the object and the cameras.

Parameters

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 817 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

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

virtual

Get the current pose between the object and the camera. cMo is the matrix which can be used to express coordinates from the object frame to camera frame.

Parameters

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 838 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

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

virtual

Get the current pose between the object and the cameras.

Parameters

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 852 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

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

inlinevirtualinherited

Get the current pose between the object and the camera. cMo is the matrix which can be used to express coordinates from the object frame to camera frame.

Parameters

cMo_	: the pose

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

Definition at line 333 of file vpMbTracker.h.

virtual vpHomogeneousMatrix vpMbTracker::getPose ( ) const

inlinevirtualinherited

Get the current pose between the object and the camera. cMo is the matrix which can be used to express coordinates from the object frame to camera frame.

Returns: the current pose

Definition at line 342 of file vpMbTracker.h.

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

virtual double vpMbTracker::getProjectionError ( ) const

inlinevirtualinherited

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

Returns: the value for the error.

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

Definition at line 226 of file vpMbTracker.h.

virtual vpColVector vpMbTracker::getRobustWeights ( ) const

inlinevirtualinherited

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

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

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

See Also: getError()

Definition at line 277 of file vpMbTracker.h.

double vpMbKltTracker::getThresholdAcceptation ( ) const

inlineinherited

Get the threshold for the acceptation of a point.

Returns: threshold_outlier : Threshold for the weight below which a point is rejected.

Definition at line 341 of file vpMbKltTracker.h.

References vpMbKltTracker::threshold_outlier.

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

virtual

Initialise the tracking.

Parameters

I	: Input image.

Reimplemented from vpMbKltTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 864 of file vpMbKltMultiTracker.cpp.

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

protectedvirtualinherited

Add a circle to display (not for tracking) 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.
name	: The optional name of the circle.

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker, and vpMbEdgeKltMultiTracker.

Definition at line 1346 of file vpMbKltTracker.cpp.

References vpMbKltTracker::addCircle().

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

virtual

Initialise the tracking by clicking on the image points corresponding to the 3D points (object frame) in the list points3D_list.

Parameters

I	: Input image
points3D_list	: List of the 3D points (object frame).
displayFile	: Path to the image used to display the help. This functionality is only available if visp_io module is used.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 877 of file vpMbKltMultiTracker.cpp.

References vpMbKltTracker::c0Mo, vpMbTracker::cMo, vpMbKltTracker::ctTc0, vpHomogeneousMatrix::eye(), vpTrackingException::initializationError, m_mapOfKltTrackers, and m_referenceCameraName.

Referenced by vpMbEdgeKltMultiTracker::initClick().

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

virtual

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

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

Parameters

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

Exceptions

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

See Also: setPathNamePoseSaving()

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 921 of file vpMbKltMultiTracker.cpp.

References vpMbKltTracker::c0Mo, vpMbTracker::cMo, vpMbKltTracker::ctTc0, vpHomogeneousMatrix::eye(), vpTrackingException::initializationError, m_mapOfKltTrackers, and m_referenceCameraName.

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

virtual

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

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

Parameters

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

Exceptions

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

See Also: setPathNamePoseSaving()

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 967 of file vpMbKltMultiTracker.cpp.

References vpMbKltTracker::c0Mo, vpMbTracker::cam, vpMbTracker::cMo, vpMbKltTracker::ctTc0, vpHomogeneousMatrix::eye(), vpTrackingException::initializationError, and m_mapOfKltTrackers.

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

virtual

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

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

Parameters

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

Exceptions

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

See Also: setPathNamePoseSaving()

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1028 of file vpMbKltMultiTracker.cpp.

References vpMbKltTracker::c0Mo, vpMbTracker::cMo, vpMbKltTracker::ctTc0, vpHomogeneousMatrix::eye(), vpHomogeneousMatrix::init(), vpTrackingException::initializationError, m_mapOfCameraTransformationMatrix, m_mapOfKltTrackers, and m_referenceCameraName.

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

virtual

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

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

Parameters

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

Exceptions

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

See Also: setPathNamePoseSaving()

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1096 of file vpMbKltMultiTracker.cpp.

References vpMbKltTracker::c0Mo, vpMbTracker::cMo, vpMbKltTracker::ctTc0, vpHomogeneousMatrix::eye(), vpTrackingException::initializationError, m_mapOfCameraTransformationMatrix, m_mapOfKltTrackers, and m_referenceCameraName.

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

protectedvirtualinherited

Add a cylinder to display (not for tracking) 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	: Identifier of the polygon representing the revolution axis of the cylinder.
name	: The optional name of the cylinder.

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker, and vpMbEdgeKltMultiTracker.

Definition at line 1316 of file vpMbKltTracker.cpp.

References vpMbtDistanceKltCylinder::buildFrom(), vpMbTracker::cam, vpMbTracker::faces, vpMbtDistanceKltCylinder::hiddenface, vpMbKltTracker::kltCylinders, vpMbtDistanceKltCylinder::listIndicesCylinderBBox, vpMbtDistanceKltCylinder::setCameraParameters(), vpMbtDistanceKltCylinder::useScanLine, and vpMbTracker::useScanLine.

Referenced by vpMbEdgeKltTracker::initCylinder().

void vpMbKltTracker::initFaceFromCorners ( vpMbtPolygon & polygon )

protectedvirtualinherited

Initialise a new face from the coordinates given in parameter.

Parameters

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

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker, and vpMbEdgeKltMultiTracker.

Definition at line 592 of file vpMbKltTracker.cpp.

References vpMbTracker::cam, vpMbTracker::faces, vpMbtDistanceKltPoints::hiddenface, vpMbKltTracker::kltPolygons, vpMbtDistanceKltPoints::polygon, vpMbtDistanceKltPoints::setCameraParameters(), vpMbtDistanceKltPoints::useScanLine, and vpMbTracker::useScanLine.

Referenced by vpMbEdgeKltTracker::initFaceFromCorners().

void vpMbKltTracker::initFaceFromLines ( vpMbtPolygon & polygon )

protectedvirtualinherited

Initialise a new face from the coordinates given in parameter.

Parameters

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

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker, and vpMbEdgeKltMultiTracker.

Definition at line 607 of file vpMbKltTracker.cpp.

References vpMbTracker::cam, vpMbTracker::faces, vpMbtDistanceKltPoints::hiddenface, vpMbKltTracker::kltPolygons, vpMbtDistanceKltPoints::polygon, vpMbtDistanceKltPoints::setCameraParameters(), vpMbtDistanceKltPoints::useScanLine, and vpMbTracker::useScanLine.

Referenced by vpMbEdgeKltTracker::initFaceFromLines().

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

virtualinherited

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

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

Parameters

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

Definition at line 583 of file vpMbTracker.cpp.

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

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

virtualinherited

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

Parameters

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

Definition at line 668 of file vpMbTracker.cpp.

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

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

virtual

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

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

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

Parameters

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

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1167 of file vpMbKltMultiTracker.cpp.

References vpHomogeneousMatrix::buildFrom(), vpMbKltTracker::c0Mo, vpMbTracker::cMo, vpMbKltTracker::ctTc0, vpHomogeneousMatrix::eye(), vpTrackingException::fatalError, vpTrackingException::initializationError, vpException::ioError, m_mapOfKltTrackers, and m_referenceCameraName.

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

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

virtual

Initialise the tracking thanks to the pose.

Parameters

I	: Input image
cMo_	: Pose matrix.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1215 of file vpMbKltMultiTracker.cpp.

References vpMbKltTracker::c0Mo, vpMbTracker::cMo, vpMbKltTracker::ctTc0, vpHomogeneousMatrix::eye(), vpTrackingException::initializationError, m_mapOfKltTrackers, and m_referenceCameraName.

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

virtual

Initialise the tracking thanks to the pose vector.

Parameters

I	: Input image
cPo	: Pose vector.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1235 of file vpMbKltMultiTracker.cpp.

References initFromPose().

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

virtual

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

Parameters

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1249 of file vpMbKltMultiTracker.cpp.

References vpMbKltTracker::c0Mo, vpMbTracker::cMo, vpMbKltTracker::ctTc0, vpHomogeneousMatrix::eye(), vpTrackingException::initializationError, and m_mapOfKltTrackers.

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

virtual

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

Parameters

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1280 of file vpMbKltMultiTracker.cpp.

References vpMbKltTracker::c0Mo, vpMbTracker::cMo, vpMbKltTracker::ctTc0, vpHomogeneousMatrix::eye(), vpTrackingException::initializationError, m_mapOfCameraTransformationMatrix, m_mapOfKltTrackers, and m_referenceCameraName.

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

virtual

Initialize the tracking thanks to the pose.

Parameters

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1324 of file vpMbKltMultiTracker.cpp.

References vpMbKltTracker::c0Mo, vpMbTracker::cMo, vpMbKltTracker::ctTc0, vpHomogeneousMatrix::eye(), vpTrackingException::initializationError, m_mapOfCameraTransformationMatrix, m_mapOfKltTrackers, and m_referenceCameraName.

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 vpMbKltMultiTracker::loadConfigFile ( const std::string & configFile )

virtual

Load the xml configuration file. From the configuration file initialize the parameters corresponding to the objects: KLT, camera.

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

Exceptions

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

Parameters

configFile : full name of the xml file.

The XML configuration file has the following form:

<?xml version="1.0"?>
<conf>
  <camera>
    <width>640</width>
    <height>480</height>
    <u0>320</u0>
    <v0>240</v0>
    <px>686.24</px>
    <py>686.24</py>
  </camera>
  <face>
    <angle_appear>65</angle_appear>
    <angle_disappear>85</angle_disappear>
    <near_clipping>0.01</near_clipping>
    <far_clipping>0.90</far_clipping>
    <fov_clipping>1</fov_clipping>
  </face>
  <klt>
    <mask_border>10</mask_border>
    <max_features>10000</max_features>
    <window_size>5</window_size>
    <quality>0.02</quality>
    <min_distance>10</min_distance>
    <harris>0.02</harris>
    <size_block>3</size_block>
    <pyramid_lvl>3</pyramid_lvl>
  </klt>
</conf>

See Also: vpXmlParser::cleanup()

Reimplemented from vpMbKltTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1419 of file vpMbKltMultiTracker.cpp.

References vpMbTracker::angleAppears, vpMbTracker::angleDisappears, vpMbTracker::cam, vpMbTracker::clippingFlag, vpTrackingException::initializationError, m_mapOfKltTrackers, and m_referenceCameraName.

Referenced by vpMbEdgeKltMultiTracker::loadConfigFile().

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

virtual

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

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

Parameters

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

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1451 of file vpMbKltMultiTracker.cpp.

References vpMbTracker::angleAppears, vpMbTracker::angleDisappears, vpMbTracker::cam, vpMbTracker::clippingFlag, vpTrackingException::initializationError, and m_mapOfKltTrackers.

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

virtual

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

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

Parameters

mapOfConfigFiles : Map of xml files.

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1496 of file vpMbKltMultiTracker.cpp.

References vpMbTracker::angleAppears, vpMbTracker::angleDisappears, vpMbTracker::cam, vpMbTracker::clippingFlag, vpTrackingException::initializationError, m_mapOfKltTrackers, and m_referenceCameraName.

void vpMbKltTracker::loadConfigFile ( const char * configFile )

inherited

Load the xml configuration file. From the configuration file initialize the parameters corresponding to the objects: KLT, camera.

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

Exceptions

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

Parameters

configFile : full name of the xml file.

The XML configuration file has the following form:

<?xml version="1.0"?>
<conf>
  <camera>
    <width>640</width>
    <height>480</height>
    <u0>320</u0>
    <v0>240</v0>
    <px>686.24</px>
    <py>686.24</py>
  </camera>
  <face>
    <angle_appear>65</angle_appear>
    <angle_disappear>85</angle_disappear>
    <near_clipping>0.01</near_clipping>
    <far_clipping>0.90</far_clipping>
    <fov_clipping>1</fov_clipping>
  </face>
  <klt>
    <mask_border>10</mask_border>
    <max_features>10000</max_features>
    <window_size>5</window_size>
    <quality>0.02</quality>
    <min_distance>10</min_distance>
    <harris>0.02</harris>
    <size_block>3</size_block>
    <pyramid_lvl>3</pyramid_lvl>
  </klt>
</conf>

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

Definition at line 1075 of file vpMbKltTracker.cpp.

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

virtual

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

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

{

...

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

SoDB::finish();

#endif

}

Exceptions

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

Parameters

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

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1550 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers, and vpMbTracker::modelInitialised.

Referenced by vpMbEdgeKltMultiTracker::loadModel().

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

virtualinherited

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

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

{

...

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

SoDB::finish();

#endif

}

Exceptions

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

Parameters

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

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

Definition at line 1016 of file vpMbTracker.cpp.

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

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

protectedvirtualinherited

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

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

{

...

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

SoDB::finish();

#endif

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

defines a cylinder named cyl_cylinder1.

Exceptions

vpException::fatalError if the file cannot be open.

Parameters

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

Definition at line 1113 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::loadModel().

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

inlineprotectedinherited

Definition at line 655 of file vpMbTracker.h.

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

inlineprotectedinherited

Definition at line 643 of file vpMbTracker.h.

Referenced by vpMbTracker::loadCAOModel().

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

protectedinherited

Definition at line 1173 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::loadCAOModel().

void vpMbKltMultiTracker::postTracking	(	std::map< std::string, const vpImage< unsigned char > * > &	mapOfImages,
		std::map< std::string, unsigned int > &	mapOfNbInfos,
		vpColVector &	w_klt
	)

protectedvirtual

Definition at line 1578 of file vpMbKltMultiTracker.cpp.

References vpMbTracker::cMo, m_mapOfCameraTransformationMatrix, m_mapOfKltTrackers, m_referenceCameraName, and reinit().

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

bool vpMbKltTracker::postTracking	(	const vpImage< unsigned char > &	I,
		vpColVector &	w
	)

protectedinherited

Realize the post tracking operations. Mostly visibility tests

Definition at line 665 of file vpMbKltTracker.cpp.

References vpMbTracker::angleAppears, vpMbTracker::angleDisappears, vpMbTracker::cam, vpMbTracker::cMo, vpMbTracker::faces, vpMbtDistanceKltPoints::getCurrentNumberPoints(), vpMbtDistanceKltCylinder::getCurrentNumberPoints(), vpMbtDistanceKltPoints::getInitialNumberPoint(), vpMbtDistanceKltCylinder::getInitialNumberPoint(), vpPolygon3D::getNbPoint(), vpMbtDistanceKltPoints::hasEnoughPoints(), vpMbtDistanceKltCylinder::hasEnoughPoints(), vpMbtDistanceKltPoints::isTracked(), vpMbtDistanceKltCylinder::isTracked(), vpMbtPolygon::isVisible(), vpMbKltTracker::kltCylinders, vpMbKltTracker::kltPolygons, vpMbKltTracker::percentGood, vpMbtDistanceKltPoints::polygon, vpMbtDistanceKltPoints::removeOutliers(), vpMbtDistanceKltCylinder::removeOutliers(), vpMbHiddenFaces< PolygonType >::setVisible(), vpMbHiddenFaces< PolygonType >::setVisibleOgre(), vpMbKltTracker::threshold_outlier, and vpMbTracker::useOgre.

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

void vpMbKltMultiTracker::preTracking	(	std::map< std::string, const vpImage< unsigned char > * > &	mapOfImages,
		std::map< std::string, unsigned int > &	mapOfNbInfos,
		std::map< std::string, unsigned int > &	mapOfNbFaceUsed
	)

protectedvirtual

Definition at line 1559 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

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

void vpMbKltTracker::preTracking	(	const vpImage< unsigned char > &	I,
		unsigned int &	nbInfos,
		unsigned int &	nbFaceUsed
	)

protectedinherited

Achieve the tracking of the KLT features and associate the features to the faces.

Parameters

I	: The input image.
nbInfos	: Size of the features.
nbFaceUsed	: Number of face used for the tracking.

Definition at line 625 of file vpMbKltTracker.cpp.

References vpMbtDistanceKltPoints::computeNbDetectedCurrent(), vpMbtDistanceKltCylinder::computeNbDetectedCurrent(), vpImageConvert::convert(), vpMbKltTracker::cur, vpMbtDistanceKltPoints::getCurrentNumberPoints(), vpMbtDistanceKltCylinder::getCurrentNumberPoints(), vpPolygon3D::getNbPoint(), vpMbtDistanceKltPoints::hasEnoughPoints(), vpMbtDistanceKltCylinder::hasEnoughPoints(), vpMbtDistanceKltPoints::isTracked(), vpMbtDistanceKltCylinder::isTracked(), vpMbtPolygon::isVisible(), vpMbKltTracker::kltCylinders, vpMbKltTracker::kltPolygons, vpMbtDistanceKltPoints::polygon, vpKltOpencv::track(), and vpMbKltTracker::tracker.

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

void vpMbKltMultiTracker::reinit ( )

protectedvirtual

The parameter is not used.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1604 of file vpMbKltMultiTracker.cpp.

References vpMbKltTracker::c0Mo, vpMbTracker::cMo, vpMbKltTracker::ctTc0, and vpHomogeneousMatrix::eye().

Referenced by postTracking(), and vpMbEdgeKltMultiTracker::reinit().

void vpMbKltTracker::reinit ( const vpImage< unsigned char > & I )

protectedvirtualinherited

Definition at line 158 of file vpMbKltTracker.cpp.

References vpMbKltTracker::c0Mo, vpMbTracker::cam, vpPolygon3D::changeFrame(), vpMbTracker::cMo, vpMbHiddenFaces< PolygonType >::computeClippedPolygons(), vpCameraParameters::computeFov(), vpPolygon3D::computePolygonClipped(), vpMbHiddenFaces< PolygonType >::computeScanLineRender(), vpImageConvert::convert(), vpMbKltTracker::ctTc0, vpMbKltTracker::cur, vpHomogeneousMatrix::eye(), vpMbTracker::faces, vpImage< Type >::getCols(), vpImage< Type >::getHeight(), vpMbHiddenFaces< PolygonType >::getMbScanLineRenderer(), vpPolygon3D::getNbPoint(), vpImage< Type >::getRows(), vpImage< Type >::getWidth(), vpMbtDistanceKltPoints::init(), vpMbtDistanceKltCylinder::init(), vpKltOpencv::initTracking(), vpMbtDistanceKltPoints::isTracked(), vpMbtDistanceKltCylinder::isTracked(), vpMbtPolygon::isVisible(), vpMbHiddenFaces< PolygonType >::isVisible(), vpMbKltTracker::kltCylinders, vpMbKltTracker::kltPolygons, vpMbtDistanceKltCylinder::listIndicesCylinderBBox, vpMbKltTracker::maskBorder, vpMbtDistanceKltPoints::polygon, vpMbKltTracker::tracker, vpMbtDistanceKltPoints::updateMask(), vpMbtDistanceKltCylinder::updateMask(), and vpMbTracker::useScanLine.

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

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

virtual

Re-initialize the model used by the tracker.

Parameters

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

Reimplemented from vpMbKltTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1618 of file vpMbKltMultiTracker.cpp.

References vpMbKltTracker::c0Mo, vpMbTracker::cMo, vpMbKltTracker::ctTc0, vpHomogeneousMatrix::eye(), vpTrackingException::fatalError, vpMbKltTracker::firstInitialisation, m_mapOfKltTrackers, m_referenceCameraName, and vpMbTracker::modelInitialised.

Referenced by vpMbEdgeKltMultiTracker::reInitModel().

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

virtual

Re-initialize the model used by the tracker.

Parameters

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1655 of file vpMbKltMultiTracker.cpp.

References vpMbKltTracker::c0Mo, vpMbTracker::cMo, vpMbKltTracker::ctTc0, vpHomogeneousMatrix::eye(), vpTrackingException::fatalError, and m_mapOfKltTrackers.

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

virtual

Re-initialize the model used by the tracker.

Parameters

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1693 of file vpMbKltMultiTracker.cpp.

References vpMbKltTracker::c0Mo, vpMbTracker::cMo, vpMbKltTracker::ctTc0, vpHomogeneousMatrix::eye(), vpTrackingException::fatalError, m_mapOfCameraTransformationMatrix, m_mapOfKltTrackers, m_referenceCameraName, and vpMbTracker::modelInitialised.

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

inherited

Re-initialize the model used by the tracker.

Parameters

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

Definition at line 1411 of file vpMbKltTracker.cpp.

References vpMbKltTracker::circles_disp, vpMbTracker::cMo, vpMbKltTracker::cur, vpHomogeneousMatrix::eye(), vpMbTracker::faces, vpMbKltTracker::firstInitialisation, vpMbTracker::initFromPose(), vpMbKltTracker::kltCylinders, vpMbKltTracker::kltPolygons, vpMbTracker::loadModel(), and vpMbHiddenFaces< PolygonType >::reset().

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

protectedinherited

Definition at line 1160 of file vpMbTracker.cpp.

References vpException::ioError.

Referenced by vpMbTracker::loadCAOModel().

void vpMbKltMultiTracker::resetTracker ( )

virtual

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

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1743 of file vpMbKltMultiTracker.cpp.

References vpMbTracker::angleAppears, vpMbTracker::angleDisappears, vpMbTracker::clippingFlag, vpMbTracker::cMo, vpMbKltTracker::compute_interaction, vpMbTracker::computeCovariance, vpMbKltTracker::ctTc0, vpHomogeneousMatrix::eye(), vpMbKltTracker::firstInitialisation, vpMbTracker::GAUSS_NEWTON_OPT, vpMbKltTracker::lambda, m_mapOfKltTrackers, vpMbTracker::m_optimizationMethod, vpMbKltTracker::maskBorder, vpMbKltTracker::maxIter, vpPolygon3D::NO_CLIPPING, vpMbKltTracker::percentGood, vpMath::rad(), vpMbKltTracker::threshold_outlier, vpMbTracker::useOgre, and vpMbTracker::useScanLine.

Referenced by vpMbEdgeKltMultiTracker::resetTracker().

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

inlineprotectedinherited

Definition at line 660 of file vpMbTracker.h.

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

inherited

Save the pose in the given filename

Parameters

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

Definition at line 778 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::initClick().

void vpMbKltMultiTracker::setAngleAppear ( const double & a )

virtual

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

Parameters

a	: new angle in radian.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1787 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers, and vpMbTracker::setAngleAppear().

Referenced by vpMbEdgeKltMultiTracker::setAngleAppear().

void vpMbKltMultiTracker::setAngleDisappear ( const double & a )

virtual

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

Parameters

a	: new angle in radian.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1805 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers, and vpMbTracker::setAngleDisappear().

Referenced by vpMbEdgeKltMultiTracker::setAngleDisappear().

void vpMbKltMultiTracker::setCameraParameters ( const vpCameraParameters & camera )

virtual

Set the camera parameters for the monocular case.

Parameters

camera : The new camera parameters.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1819 of file vpMbKltMultiTracker.cpp.

References vpMbTracker::cam, vpTrackingException::fatalError, m_mapOfKltTrackers, and m_referenceCameraName.

Referenced by vpMbEdgeKltMultiTracker::setCameraParameters().

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

virtual

Set the camera parameters for the stereo cameras case.

Parameters

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1846 of file vpMbKltMultiTracker.cpp.

References vpMbTracker::cam, vpTrackingException::fatalError, and m_mapOfKltTrackers.

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

virtual

Set the camera parameters for the specified camera.

Parameters

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1875 of file vpMbKltMultiTracker.cpp.

References vpMbTracker::cam, vpTrackingException::fatalError, m_mapOfKltTrackers, and m_referenceCameraName.

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

virtual

Set the camera parameters for all the cameras.

Parameters

mapOfCameraParameters : Map of camera parameters.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1895 of file vpMbKltMultiTracker.cpp.

References vpMbTracker::cam, vpTrackingException::fatalError, m_mapOfKltTrackers, and m_referenceCameraName.

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

virtual

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

Parameters

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1919 of file vpMbKltMultiTracker.cpp.

References vpTrackingException::fatalError, and m_mapOfCameraTransformationMatrix.

Referenced by vpMbEdgeKltMultiTracker::setCameraTransformationMatrix().

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

virtual

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

Parameters

mapOfTransformationMatrix : map of camera transformation matrices.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1937 of file vpMbKltMultiTracker.cpp.

References vpTrackingException::initializationError, m_mapOfCameraTransformationMatrix, and m_mapOfKltTrackers.

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

virtual

Specify which clipping to use.

See Also: vpMbtPolygonClipping

Parameters

flags : New clipping flags.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1959 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers, and vpMbTracker::setClipping().

Referenced by vpMbEdgeKltMultiTracker::setClipping().

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

virtual

Specify which clipping to use for the specified camera.

See Also: vpMbtPolygonClipping

Parameters

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1976 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

void vpMbKltMultiTracker::setCovarianceComputation ( const bool & flag )

virtual

Set if the covariance matrix has to be computed.

Parameters

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

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1990 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers, and vpMbTracker::setCovarianceComputation().

Referenced by vpMbEdgeKltMultiTracker::setCovarianceComputation().

void vpMbKltMultiTracker::setDisplayFeatures ( const bool displayF )

virtual

Enable to display the KLT features.

Parameters

displayF : set it to true to display the features.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2004 of file vpMbKltMultiTracker.cpp.

References vpMbTracker::displayFeatures, and m_mapOfKltTrackers.

Referenced by vpMbEdgeKltMultiTracker::setDisplayFeatures().

void vpMbTracker::setEstimatedDoF ( const vpColVector & v )

virtualinherited

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

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

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

Definition at line 2414 of file vpMbTracker.cpp.

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

void vpMbKltMultiTracker::setFarClippingDistance ( const double & dist )

virtual

Set the far distance for clipping.

Parameters

dist	: Far clipping value.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2018 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers, and vpMbTracker::setFarClippingDistance().

Referenced by vpMbEdgeKltMultiTracker::setFarClippingDistance().

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

virtual

Set the far distance for clipping for the specified camera.

Parameters

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2033 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

void vpMbKltMultiTracker::setGoodNbRayCastingAttemptsRatio ( const double & ratio )

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

See Also: setNbRayCastingAttemptsForVisibility(const unsigned int &)

Parameters

ratio : Ratio of succesful attempts that has to be considered. Value has to be between 0.0 (0%) and 1.0 (100%).

Definition at line 2050 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

Referenced by vpMbEdgeKltMultiTracker::setGoodNbRayCastingAttemptsRatio().

void vpMbKltMultiTracker::setKltOpencv ( const vpKltOpencv & t )

virtual

Set the new value of the klt tracker.

Parameters

t	: Klt tracker containing the new values.

Reimplemented from vpMbKltTracker.

Definition at line 2078 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

void vpMbKltMultiTracker::setKltOpencv ( const std::map< std::string, vpKltOpencv > & mapOfOpenCVTrackers )

virtual

Set the new value of the klt tracker for the specified cameras.

Parameters

mapOfOpenCVTrackers : Map of Klt trackers containing the new values.

Definition at line 2090 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

virtual void vpMbKltTracker::setLambda ( const double gain )

inlinevirtualinherited

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

Parameters

gain	: the desired value for the gain.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 361 of file vpMbKltTracker.h.

References vpMbEdgeKltMultiTracker::lambda.

Referenced by vpMbEdgeKltTracker::setLambda().

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

virtual

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

Parameters

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

See Also: setMinLineLengthThresh(), setMinPolygonAreaThresh()

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2111 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

Referenced by vpMbEdgeKltMultiTracker::setLod().

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

virtual

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

Parameters

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

See Also: setMinLineLengthThresh(), setMinPolygonAreaThresh()

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2128 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

void vpMbKltMultiTracker::setMaskBorder ( const unsigned int & e )

virtual

Set the erosion of the mask used on the Model faces.

Parameters

e	: The desired erosion.

Definition at line 2143 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers, and vpMbKltTracker::maskBorder.

virtual void vpMbKltTracker::setMaxIter ( const unsigned int max )

inlinevirtualinherited

Set the maximum iteration of the virtual visual servoing stage.

Parameters

max	: the desired number of iteration

Reimplemented in vpMbEdgeKltTracker.

Definition at line 380 of file vpMbKltTracker.h.

References vpMbEdgeKltMultiTracker::maxIter.

Referenced by vpMbEdgeKltTracker::vpMbEdgeKltTracker().

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

virtual

Useless for KLT tracker.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2155 of file vpMbKltMultiTracker.cpp.

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

virtual

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

Parameters

minPolygonAreaThresh	: threshold for the minimum polygon area in pixel.
name	: name of the face we want to modify the LOD threshold.

See Also: setLod(), setMinLineLengthThresh()

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2167 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

Referenced by vpMbEdgeKltMultiTracker::setMinPolygonAreaThresh().

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

virtual

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

Parameters

minPolygonAreaThresh	: threshold for the minimum polygon area in pixel.
cameraName	: name of the camera to consider.
name	: name of the face we want to modify the LOD threshold, if empty all the faces are considered.

See Also: setLod(), setMinLineLengthThresh()

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2183 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

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

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

See Also: setGoodNbRayCastingAttemptsRatio(const unsigned int &)

Parameters

attempts Number of rays to be sent.

Definition at line 2065 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

Referenced by vpMbEdgeKltMultiTracker::setNbRayCastingAttemptsForVisibility().

void vpMbKltMultiTracker::setNearClippingDistance ( const double & dist )

virtual

Set the near distance for clipping.

Parameters

dist	: Near clipping value.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2199 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers, and vpMbTracker::setNearClippingDistance().

Referenced by vpMbEdgeKltMultiTracker::setNearClippingDistance().

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

virtual

Set the near distance for clipping for the specified camera.

Parameters

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2254 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

void vpMbKltMultiTracker::setOgreShowConfigDialog ( const bool showConfigDialog )

virtual

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

Warning: This method has only effect when Ogre is used and Ogre visibility test is enabled using setOgreVisibilityTest() with true parameter.

Parameters

showConfigDialog : if true, shows Ogre dialog window (used to set Ogre rendering options) when Ogre visibility is enabled. By default, this functionality is turned off.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2218 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

Referenced by vpMbEdgeKltMultiTracker::setOgreShowConfigDialog().

void vpMbKltMultiTracker::setOgreVisibilityTest ( const bool & v )

virtual

Use Ogre3D for visibility tests

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

Parameters

v	: True to use it, False otherwise

Reimplemented from vpMbKltTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2232 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers, and vpMbTracker::useOgre.

void vpMbKltMultiTracker::setOptimizationMethod ( const vpMbtOptimizationMethod & opt )

virtual

Set the optimization method used during the tracking.

Parameters

opt	: Optimization method to use.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2268 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers, and vpMbTracker::m_optimizationMethod.

Referenced by vpMbEdgeKltMultiTracker::setOptimizationMethod().

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

virtual

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

Parameters

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

Reimplemented from vpMbKltTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2284 of file vpMbKltMultiTracker.cpp.

References vpMbKltTracker::c0Mo, vpMbTracker::cMo, vpMbKltTracker::ctTc0, vpHomogeneousMatrix::eye(), vpTrackingException::fatalError, m_mapOfKltTrackers, and m_referenceCameraName.

Referenced by vpMbEdgeKltMultiTracker::setPose().

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

virtual

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

Parameters

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2316 of file vpMbKltMultiTracker.cpp.

References vpMbKltTracker::c0Mo, vpMbTracker::cMo, vpMbKltTracker::ctTc0, vpHomogeneousMatrix::eye(), vpTrackingException::fatalError, and m_mapOfKltTrackers.

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

virtual

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

Parameters

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2349 of file vpMbKltMultiTracker.cpp.

References vpMbKltTracker::c0Mo, vpMbTracker::cMo, vpMbKltTracker::ctTc0, vpHomogeneousMatrix::eye(), vpTrackingException::fatalError, m_mapOfCameraTransformationMatrix, m_mapOfKltTrackers, and m_referenceCameraName.

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

virtual

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

Parameters

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2401 of file vpMbKltMultiTracker.cpp.

References vpMbKltTracker::c0Mo, vpMbTracker::cMo, vpMbKltTracker::ctTc0, vpHomogeneousMatrix::eye(), vpTrackingException::fatalError, m_mapOfCameraTransformationMatrix, m_mapOfKltTrackers, and m_referenceCameraName.

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

inlineinherited

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

Parameters

filename : The new filename.

Definition at line 492 of file vpMbTracker.h.

virtual void vpMbKltTracker::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 from vpMbTracker.

Reimplemented in vpMbEdgeKltTracker, and vpMbEdgeKltMultiTracker.

Definition at line 415 of file vpMbKltTracker.h.

References vpCTRACE.

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

virtual

Set the reference camera name

Parameters

referenceCameraName : Name of the reference camera.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2457 of file vpMbKltMultiTracker.cpp.

References vpTrackingException::fatalError, m_mapOfKltTrackers, and m_referenceCameraName.

Referenced by vpMbEdgeKltMultiTracker::setReferenceCameraName().

void vpMbKltMultiTracker::setScanLineVisibilityTest ( const bool & v )

virtual

Use Scanline algorithm for visibility tests

Parameters

v	: True to use it, False otherwise

Reimplemented from vpMbKltTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2473 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers, and vpMbTracker::setScanLineVisibilityTest().

Referenced by vpMbEdgeKltMultiTracker::setScanLineVisibilityTest().

void vpMbKltMultiTracker::setThresholdAcceptation ( const double th )

virtual

Set the threshold for the acceptation of a point.

Parameters

th	: Threshold for the weight below which a point is rejected.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2488 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers, and vpMbKltTracker::threshold_outlier.

Referenced by vpMbEdgeKltMultiTracker::setThresholdAcceptation().

void vpMbKltMultiTracker::setUseKltTracking	(	const std::string &	name,
		const bool &	useKltTracking
	)

virtual

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

Parameters

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

Definition at line 2503 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

void vpMbKltTracker::testTracking ( )

virtualinherited

Test the quality of the tracking. The tracking is supposed to fail if less than 10 points are tracked.

Todo:: Find a efficient way to test the quality.

Exceptions

vpTrackingException::fatalError if the test fails.

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker, and vpMbEdgeKltMultiTracker.

Definition at line 1279 of file vpMbKltTracker.cpp.

References vpTrackingException::fatalError, vpMbtDistanceKltPoints::getCurrentNumberPoints(), vpMbtDistanceKltCylinder::getCurrentNumberPoints(), vpPolygon3D::getNbPoint(), vpMbtDistanceKltPoints::hasEnoughPoints(), vpMbtDistanceKltCylinder::hasEnoughPoints(), vpMbtDistanceKltPoints::isTracked(), vpMbtDistanceKltCylinder::isTracked(), vpMbtPolygon::isVisible(), vpMbKltTracker::kltCylinders, vpMbKltTracker::kltPolygons, and vpMbtDistanceKltPoints::polygon.

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

virtual

Realize the tracking of the object in the image

Exceptions

vpException : if the tracking is supposed to have failed

Parameters

I	: the input image

Reimplemented from vpMbKltTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2517 of file vpMbKltMultiTracker.cpp.

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

Referenced by track().

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

virtual

Realize the tracking of the object in the image

Exceptions

vpException : if the tracking is supposed to have failed

Parameters

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2540 of file vpMbKltMultiTracker.cpp.

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

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

virtual

Realize the tracking of the object in the image

Exceptions

vpException : if the tracking is supposed to have failed

Parameters

mapOfImages : Map of images.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2563 of file vpMbKltMultiTracker.cpp.

References computeVVS(), vpTrackingException::fatalError, m_mapOfKltTrackers, vpMbTracker::m_w, vpTrackingException::notEnoughPointError, postTracking(), preTracking(), and vpERROR_TRACE.

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

inlineprotectedinherited

Definition at line 665 of file vpMbTracker.h.

Referenced by vpMbTracker::parseParameters().

Member Data Documentation

double vpMbTracker::angleAppears

protectedinherited

Angle used to detect a face appearance.

Definition at line 146 of file vpMbTracker.h.

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

double vpMbTracker::angleDisappears

protectedinherited

Angle used to detect a face disappearance.

Definition at line 148 of file vpMbTracker.h.

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

bool vpMbTracker::applyLodSettingInConfig

protectedinherited

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

Definition at line 175 of file vpMbTracker.h.

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

vpHomogeneousMatrix vpMbKltTracker::c0Mo

protectedinherited

Initial pose.

Definition at line 239 of file vpMbKltTracker.h.

Referenced by vpMbEdgeKltTracker::computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), vpMbKltTracker::computeVVSPoseEstimation(), initClick(), initFromPose(), reinit(), vpMbKltTracker::reinit(), reInitModel(), setPose(), vpMbEdgeKltMultiTracker::setPose(), and vpMbKltTracker::setPose().

vpCameraParameters vpMbTracker::cam

protectedinherited

The camera parameters.

Definition at line 113 of file vpMbTracker.h.

std::list<vpMbtDistanceCircle*> vpMbKltTracker::circles_disp

protectedinherited

Vector of the circles used here only to display the full model.

Definition at line 263 of file vpMbKltTracker.h.

Referenced by vpMbKltTracker::addCircle(), vpMbKltTracker::display(), getFeaturesCircle(), vpMbKltTracker::getFeaturesCircle(), vpMbEdgeKltTracker::reInitModel(), vpMbKltTracker::reInitModel(), vpMbKltTracker::resetTracker(), and vpMbKltTracker::~vpMbKltTracker().

unsigned int vpMbTracker::clippingFlag

protectedinherited

vpHomogeneousMatrix vpMbTracker::cMo

protectedinherited

The current pose.

Definition at line 115 of file vpMbTracker.h.

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

bool vpMbKltTracker::compute_interaction

protectedinherited

If true, compute the interaction matrix at each iteration of the minimization. Otherwise, compute it only on the first iteration.

Definition at line 241 of file vpMbKltTracker.h.

Referenced by vpMbKltTracker::computeVVSPoseEstimation(), resetTracker(), and vpMbKltTracker::resetTracker().

bool vpMbTracker::computeCovariance

protectedinherited

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

Definition at line 127 of file vpMbTracker.h.

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

bool vpMbTracker::computeProjError

protectedinherited

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

Definition at line 131 of file vpMbTracker.h.

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

vpMatrix vpMbTracker::covarianceMatrix

protectedinherited

Covariance matrix.

Definition at line 129 of file vpMbTracker.h.

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

vpHomogeneousMatrix vpMbKltTracker::ctTc0

protectedinherited

The estimated displacement of the pose between the current instant and the initial position.

Definition at line 255 of file vpMbKltTracker.h.

Referenced by computeVVS(), vpMbEdgeKltTracker::computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), vpMbKltTracker::computeVVS(), vpMbKltTracker::computeVVSCheckLevenbergMarquardtKlt(), vpMbKltTracker::computeVVSPoseEstimation(), initClick(), initFromPose(), reinit(), vpMbKltTracker::reinit(), reInitModel(), resetTracker(), setPose(), vpMbEdgeKltMultiTracker::setPose(), and vpMbKltTracker::setPose().

cv::Mat vpMbKltTracker::cur

protectedinherited

Temporary OpenCV image for fast conversion.

Definition at line 234 of file vpMbKltTracker.h.

Referenced by vpMbKltTracker::preTracking(), vpMbKltTracker::reinit(), vpMbEdgeKltTracker::reInitModel(), vpMbKltTracker::reInitModel(), vpMbKltTracker::resetTracker(), vpMbKltTracker::setPose(), and vpMbKltTracker::~vpMbKltTracker().

bool vpMbTracker::displayFeatures

protectedinherited

If true, the features are displayed.

Definition at line 135 of file vpMbTracker.h.

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

double vpMbTracker::distFarClip

protectedinherited

Distance for near clipping.

Definition at line 152 of file vpMbTracker.h.

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

double vpMbTracker::distNearClip

protectedinherited

Distance for near clipping.

Definition at line 150 of file vpMbTracker.h.

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

vpMbHiddenFaces<vpMbtPolygon> vpMbTracker::faces

protectedinherited

Set of faces describing the object.

Definition at line 144 of file vpMbTracker.h.

bool vpMbKltTracker::firstInitialisation

protectedinherited

Flag to specify whether the init method is called the first or not (specific calls to realize in this case).

Definition at line 243 of file vpMbKltTracker.h.

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

bool vpMbTracker::isoJoIdentity

protectedinherited

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

Definition at line 119 of file vpMbTracker.h.

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

std::list<vpMbtDistanceKltCylinder*> vpMbKltTracker::kltCylinders

protectedinherited

Definition at line 261 of file vpMbKltTracker.h.

std::list<vpMbtDistanceKltPoints*> vpMbKltTracker::kltPolygons

protectedinherited

double vpMbKltTracker::lambda

protectedinherited

The gain of the virtual visual servoing stage.

Definition at line 247 of file vpMbKltTracker.h.

Referenced by vpMbKltTracker::computeVVSPoseEstimation(), resetTracker(), and vpMbKltTracker::resetTracker().

vpColVector vpMbTracker::m_error

protectedinherited

Error s-s*.

Definition at line 139 of file vpMbTracker.h.

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

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

protected

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

Definition at line 76 of file vpMbKltMultiTracker.h.

Referenced by computeVVS(), initClick(), initFromPose(), postTracking(), reInitModel(), setCameraTransformationMatrix(), setPose(), and vpMbKltMultiTracker().

std::map<std::string, vpMbKltTracker*> vpMbKltMultiTracker::m_mapOfKltTrackers

protected

Map of Model-based klt trackers.

Definition at line 79 of file vpMbKltMultiTracker.h.

vpMbtOptimizationMethod vpMbTracker::m_optimizationMethod

protectedinherited

Optimization method used.

Definition at line 141 of file vpMbTracker.h.

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

std::string vpMbKltMultiTracker::m_referenceCameraName

protected

Name of the reference camera.

Definition at line 82 of file vpMbKltMultiTracker.h.

Referenced by display(), getCameraParameters(), getFaces(), getFeaturesCircle(), getFeaturesKlt(), getFeaturesKltCylinder(), getNbPolygon(), initClick(), initFromPose(), loadConfigFile(), postTracking(), reInitModel(), setCameraParameters(), setPose(), setReferenceCameraName(), track(), and vpMbKltMultiTracker().

vpColVector vpMbTracker::m_w

protectedinherited

Weights used in the robust scheme.

Definition at line 137 of file vpMbTracker.h.

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

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

protectedinherited

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

Definition at line 181 of file vpMbTracker.h.

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

unsigned int vpMbKltTracker::maskBorder

protectedinherited

Erosion of the mask.

Definition at line 245 of file vpMbKltTracker.h.

Referenced by vpMbKltTracker::getMaskBorder(), vpMbEdgeKltTracker::loadConfigFile(), vpMbKltTracker::loadConfigFile(), vpMbKltTracker::reinit(), resetTracker(), vpMbKltTracker::resetTracker(), setMaskBorder(), and vpMbKltTracker::setMaskBorder().

unsigned int vpMbKltTracker::maxIter

protectedinherited

The maximum iteration of the virtual visual servoing stage.

Definition at line 249 of file vpMbKltTracker.h.

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

double vpMbTracker::minLineLengthThresholdGeneral

protectedinherited

Minimum line length threshold for LOD mode (general setting)

Definition at line 177 of file vpMbTracker.h.

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

double vpMbTracker::minPolygonAreaThresholdGeneral

protectedinherited

Minimum polygon area threshold for LOD mode (general setting)

Definition at line 179 of file vpMbTracker.h.

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

std::string vpMbTracker::modelFileName

protectedinherited

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

Definition at line 121 of file vpMbTracker.h.

Referenced by vpMbTracker::loadModel().

bool vpMbTracker::modelInitialised

protectedinherited

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

Definition at line 123 of file vpMbTracker.h.

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

unsigned int vpMbTracker::nbCircles

protectedinherited

Number of circles in CAO model.

Definition at line 171 of file vpMbTracker.h.

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

unsigned int vpMbTracker::nbCylinders

protectedinherited

Number of cylinders in CAO model.

Definition at line 169 of file vpMbTracker.h.

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

unsigned int 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().

bool vpMbTracker::ogreShowConfigDialog

protectedinherited

Definition at line 157 of file vpMbTracker.h.

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

vpMatrix vpMbTracker::oJo

protectedinherited

The Degrees of Freedom to estimate.

Definition at line 117 of file vpMbTracker.h.

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

double vpMbKltTracker::percentGood

protectedinherited

Percentage of good points, according to the initial number, that must have the tracker.

Definition at line 253 of file vpMbKltTracker.h.

Referenced by vpMbKltTracker::postTracking(), resetTracker(), and vpMbKltTracker::resetTracker().

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

double vpMbKltTracker::threshold_outlier

protectedinherited

Threshold below which the weight associated to a point to consider this one as an outlier.

Definition at line 251 of file vpMbKltTracker.h.

Referenced by vpMbKltTracker::getThresholdAcceptation(), vpMbKltTracker::postTracking(), resetTracker(), vpMbKltTracker::resetTracker(), setThresholdAcceptation(), and vpMbKltTracker::setThresholdAcceptation().

vpKltOpencv vpMbKltTracker::tracker

protectedinherited

Points tracker.

Definition at line 257 of file vpMbKltTracker.h.

Referenced by vpMbKltTracker::getKltImagePoints(), vpMbKltTracker::getKltImagePointsWithId(), vpMbKltTracker::getKltOpencv(), vpMbKltTracker::getKltPoints(), vpMbKltTracker::getNbKltPoints(), vpMbEdgeKltTracker::loadConfigFile(), vpMbKltTracker::loadConfigFile(), vpMbKltTracker::preTracking(), vpMbKltTracker::reinit(), vpMbKltTracker::resetTracker(), vpMbKltTracker::setKltOpencv(), vpMbKltTracker::setPose(), and vpMbKltTracker::vpMbKltTracker().

bool vpMbTracker::useLodGeneral

protectedinherited

True if LOD mode is enabled.

Definition at line 173 of file vpMbTracker.h.

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

bool vpMbTracker::useOgre

protectedinherited

Use Ogre3d for visibility tests.

Definition at line 156 of file vpMbTracker.h.

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

bool vpMbTracker::useScanLine

protectedinherited

Use Scanline for visibility tests.

Definition at line 159 of file vpMbTracker.h.

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

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