#include <visp3/mbt/vpMbEdgeKltTracker.h>

Inheritance diagram for vpMbEdgeKltTracker:

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

Public Member Functions
	vpMbEdgeKltTracker ()

virtual	~vpMbEdgeKltTracker ()

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 vpColVector	getError () const

virtual vpColVector	getRobustWeights () const

virtual double	getNearClippingDistance () const

void	loadConfigFile (const char *configFile)

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

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

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

void	resetTracker ()

virtual void	setCameraParameters (const vpCameraParameters &cam)

virtual void	setClipping (const unsigned int &flags)

virtual void	setFarClippingDistance (const double &dist)

virtual void	setNearClippingDistance (const double &dist)

virtual void	setOgreVisibilityTest (const bool &v)

virtual void	setScanLineVisibilityTest (const bool &v)

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

virtual void	setProjectionErrorComputation (const bool &flag)

virtual void	testTracking ()

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

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

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

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

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

std::vector< cv::Point2f >	getKltPoints () const

std::vector< vpImagePoint >	getKltImagePoints () const

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

vpKltOpencv	getKltOpencv () const

unsigned int	getKltMaskBorder () const

int	getKltNbPoints () const

double	getKltThresholdAcceptation () const

void	setKltMaskBorder (const unsigned int &e)

virtual void	setKltOpencv (const vpKltOpencv &t)

void	setKltThresholdAcceptation (const double th)

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

Deprecated functions
unsigned int	getMaskBorder () const

int	getNbKltPoints () const

double	getThresholdAcceptation () const

void	setMaskBorder (const unsigned int &e)

void	setThresholdAcceptation (const double th)

Inherited functionalities from vpMbTracker
virtual double	getAngleAppear () const

virtual double	getAngleDisappear () const

virtual void	getCameraParameters (vpCameraParameters &camera) const

virtual unsigned int	getClipping () const

virtual vpMatrix	getCovarianceMatrix () const

virtual double	getInitialMu () const

virtual double	getLambda () const

virtual unsigned int	getMaxIter () const

virtual double	getProjectionError () const

virtual vpColVector	getEstimatedDoF () const

virtual vpMbHiddenFaces< vpMbtPolygon > &	getFaces ()

virtual double	getFarClippingDistance () const

virtual unsigned int	getNbPolygon () 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 double	getStopCriteriaEpsilon () const

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

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

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

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

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

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

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

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

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

virtual void	setAngleAppear (const double &a)

virtual void	setAngleDisappear (const double &a)

virtual void	setCovarianceComputation (const bool &flag)

virtual void	setDisplayFeatures (const bool displayF)

virtual void	setEstimatedDoF (const vpColVector &v)

virtual void	setInitialMu (const double mu)

virtual void	setLambda (const double gain)

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

virtual void	setMaxIter (const unsigned int max)

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

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

virtual void	setOptimizationMethod (const vpMbtOptimizationMethod &opt)

virtual void	setStopCriteriaEpsilon (const double eps)

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

virtual void	setGoodNbRayCastingAttemptsRatio (const double &ratio)

virtual void	setNbRayCastingAttemptsForVisibility (const unsigned int &attempts)

virtual void	setOgreShowConfigDialog (const bool showConfigDialog)

void	setPoseSavingFilename (const std::string &filename)

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

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

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

virtual void	getMovingEdge (vpMe &p_me) const

virtual vpMe	getMovingEdge () const

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

std::vector< bool >	getScales () const

double	getGoodMovingEdgesRatioThreshold () const

void	setGoodMovingEdgesRatioThreshold (const double threshold)

void	setMovingEdge (const vpMe &me)

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

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

Protected Member Functions
virtual void	computeVVS (const vpImage< unsigned char > &I, const unsigned int &nbInfos, unsigned int &nbrow, const unsigned int lvl=0)

virtual void	computeVVSInit ()

virtual void	computeVVSInteractionMatrixAndResidu ()

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

virtual void	initCircle (const vpPoint &, const vpPoint &, const vpPoint &, const double r, const int idFace=0, const std::string &name="")

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

virtual void	initFaceFromCorners (vpMbtPolygon &polygon)

virtual void	initFaceFromLines (vpMbtPolygon &polygon)

unsigned int	initMbtTracking (const unsigned int level=0)

bool	postTracking (const vpImage< unsigned char > &I, vpColVector &w_mbt, vpColVector &w_klt, const unsigned int lvl=0)

void	postTrackingMbt (vpColVector &w, const unsigned int level=0)

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

void	trackSecondLoop (const vpImage< unsigned char > &I, vpMatrix &L, vpColVector &_error, vpHomogeneousMatrix &cMo, const unsigned int lvl=0)

Protected Member Functions Inherited from vpMbKltTracker
void	computeVVS ()

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

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)

virtual void	computeCovarianceMatrixVVS (const bool isoJoIdentity_, const vpColVector &w_true, const vpHomogeneousMatrix &cMoPrev, const vpMatrix &L_true, const vpMatrix &LVJ_true, const vpColVector &error)

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

virtual void	computeVVSCheckLevenbergMarquardt (const unsigned int iter, vpColVector &error, const vpColVector &m_error_prev, const vpHomogeneousMatrix &cMoPrev, double &mu, bool &reStartFromLastIncrement, vpColVector const w=NULL, const vpColVector const m_w_prev=NULL)

virtual void	computeVVSPoseEstimation (const bool isoJoIdentity_, const unsigned int iter, vpMatrix &L, vpMatrix &LTL, vpColVector &R, const vpColVector &error, vpColVector &error_prev, vpColVector &LTR, double &mu, vpColVector &v, const vpColVector const w=NULL, vpColVector const m_w_prev=NULL)

virtual void	computeVVSWeights (vpRobust &robust, const vpColVector &error, vpColVector &w)

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

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

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

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

void	addPolygon (vpMbtPolygon &p)

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

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

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

void	computeVVSFirstPhase (const vpImage< unsigned char > &I, const unsigned int iter, double &count, const unsigned int lvl=0)

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

void	computeVVSFirstPhasePoseEstimation (const unsigned int iter, bool &isoJoIdentity_)

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

virtual void	computeVVSWeights ()

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

void	downScale (const unsigned int _scale)

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

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

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

void	reInitLevel (const unsigned int _lvl)

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

void	removeCircle (const std::string &name)

void	removeCylinder (const std::string &name)

void	removeLine (const std::string &name)

void	resetMovingEdge ()

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

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

void	updateMovingEdgeWeights ()

void	upScale (const unsigned int _scale)

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

Protected Attributes
double	thresholdKLT

double	thresholdMBT

unsigned int	m_maxIterKlt

vpColVector	w_mbt

vpColVector	w_klt

vpColVector	m_error_hybrid

vpColVector	m_w_hybrid

cv::Mat	cur

vpHomogeneousMatrix	c0Mo

bool	firstInitialisation

unsigned int	maskBorder

double	threshold_outlier

double	percentGood

vpHomogeneousMatrix	ctTc0

vpKltOpencv	tracker

std::list< vpMbtDistanceKltPoints * >	kltPolygons

std::list< vpMbtDistanceKltCylinder * >	kltCylinders

std::list< vpMbtDistanceCircle * >	circles_disp

unsigned int	m_nbInfos

unsigned int	m_nbFaceUsed

vpMatrix	m_L_klt

vpColVector	m_error_klt

vpColVector	m_w_klt

vpColVector	m_weightedError_klt

vpRobust	m_robust_klt

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

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

bool	m_computeInteraction

double	m_lambda

unsigned int	m_maxIter

double	m_stopCriteriaEpsilon

double	m_initialMu

vpMe	me

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

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

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

unsigned int	nline

unsigned int	ncircle

unsigned int	ncylinder

unsigned int	nbvisiblepolygone

double	percentageGdPt

std::vector< bool >	scales

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

unsigned int	scaleLevel

unsigned int	nbFeaturesForProjErrorComputation

vpColVector	m_factor

vpRobust	m_robustLines

vpRobust	m_robustCylinders

vpRobust	m_robustCircles

vpColVector	m_wLines

vpColVector	m_wCylinders

vpColVector	m_wCircles

vpColVector	m_errorLines

vpColVector	m_errorCylinders

vpColVector	m_errorCircles

vpMatrix	m_L_edge

vpColVector	m_error_edge

vpColVector	m_w_edge

vpColVector	m_weightedError_edge

vpRobust	m_robust_edge

Detailed Description

Hybrid tracker based on moving-edges and keypoints tracked using KLT tracker.

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

The Tutorial: Markerless model-based tracking 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.

The following code shows the simplest way to use the tracker. The Tutorial: Markerless model-based tracking is also a good starting point to use this class.

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

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

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

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

#include <visp/vpCameraParameters.h>
#include <visp/vpDisplayX.h>
#include <visp/vpHomogeneousMatrix.h>
#include <visp/vpImage.h>
#include <visp/vpImageIo.h>
#include <visp/vpMbEdgeKltTracker.h>
int main()
{
#if defined VISP_HAVE_OPENCV
  vpMbEdgeKltTracker tracker; // Create an hybrid model based tracker.
  vpImage<unsigned char> I;
  vpHomogeneousMatrix cMo; // Pose used to display the model.
  vpCameraParameters cam;
  // Acquire an image
  vpImageIo::read(I, "cube.pgm");
#if defined VISP_HAVE_X11
  vpDisplayX display;
  display.init(I,100,100,"Mb Hybrid Tracker");
#endif
#if defined VISP_HAVE_XML2
  tracker.loadConfigFile("cube.xml"); // Load the configuration of the tracker
#endif
  tracker.getCameraParameters(cam); // Get the camera parameters used by the tracker (from the configuration file).
  // load the 3d model, to read .wrl model coin is required, if coin is not installed .cao file can be used.
  tracker.loadModel("cube.cao");
  while(true){
    // acquire a new image
    // Get the pose using any method
    vpDisplay::display(I);
    tracker.display(I, cMo, cam, vpColor::darkRed, 1, true); // Display the model at the computed pose.
    vpDisplay::flush(I);
  }
#endif
  // Cleanup memory allocated by xml library used to parse the xml config file in vpMbEdgeKltTracker::loadConfigFile()
 vpXmlParser::cleanup();
#endif
  return 0;
#endif
}

Examples:: mbtEdgeKltTracking.cpp, tutorial-mb-hybrid-tracker.cpp, tutorial-mb-tracker-full.cpp, and tutorial-mb-tracker.cpp.

Definition at line 232 of file vpMbEdgeKltTracker.h.

Member Enumeration Documentation

◆ vpMbtOptimizationMethod

enum vpMbTracker::vpMbtOptimizationMethod

inherited

Enumerator
GAUSS_NEWTON_OPT
LEVENBERG_MARQUARDT_OPT

Definition at line 109 of file vpMbTracker.h.

Constructor & Destructor Documentation

◆ vpMbEdgeKltTracker()

vpMbEdgeKltTracker::vpMbEdgeKltTracker ( )

Definition at line 49 of file vpMbEdgeKltTracker.cpp.

References vpMbTracker::angleAppears, vpMbTracker::angleDisappears, vpMbTracker::computeCovariance, vpMbTracker::faces, vpMbHiddenFaces< PolygonType >::getOgreContext(), vpMbTracker::m_lambda, vpMbTracker::m_maxIter, vpMath::rad(), and vpAROgre::setWindowName().

◆ ~vpMbEdgeKltTracker()

vpMbEdgeKltTracker::~vpMbEdgeKltTracker ( )

virtual

Basic constructor

Definition at line 69 of file vpMbEdgeKltTracker.cpp.

Member Function Documentation

◆ addCircle() [1/2]

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

inherited

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 1248 of file vpMbKltTracker.cpp.

References vpMbtDistanceCircle::buildFrom(), vpMbTracker::cam, vpMbKltTracker::circles_disp, vpMbtDistanceCircle::setCameraParameters(), and vpMbtDistanceCircle::setName().

Referenced by vpMbKltTracker::initCircle().

◆ addCircle() [2/2]

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

protectedinherited

Add a circle to the list of circles.

Parameters

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

Definition at line 1976 of file vpMbEdgeTracker.cpp.

Referenced by vpMbEdgeTracker::initCircle().

◆ addCylinder()

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

protectedinherited

Add a cylinder to the list of cylinders.

Parameters

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

Definition at line 2033 of file vpMbEdgeTracker.cpp.

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

Referenced by vpMbEdgeTracker::initCylinder(), and vpMbEdgeTracker::setGoodMovingEdgesRatioThreshold().

◆ addLine()

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

protectedinherited

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

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

Parameters

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

Definition at line 1895 of file vpMbEdgeTracker.cpp.

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

◆ addPolygon() [1/5]

void vpMbEdgeTracker::addPolygon ( vpMbtPolygon & p )

protectedinherited

Add a polygon to the list of polygons.

Parameters

p	: The polygon to add.

Definition at line 2119 of file vpMbEdgeTracker.cpp.

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

◆ addPolygon() [2/5]

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

◆ addPolygon() [3/5]

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

◆ addPolygon() [4/5]

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 974 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().

◆ addPolygon() [5/5]

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

◆ cleanPyramid()

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

protectedinherited

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

Parameters

_pyramid : The pyramid of image to clean.

Definition at line 2702 of file vpMbEdgeTracker.cpp.

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

◆ computeCovarianceMatrixVVS()

void vpMbTracker::computeCovarianceMatrixVVS	(	const bool	isoJoIdentity_,
		const vpColVector &	w_true,
		const vpHomogeneousMatrix &	cMoPrev,
		const vpMatrix &	L_true,
		const vpMatrix &	LVJ_true,
		const vpColVector &	error
	)

protectedvirtualinherited

Definition at line 2374 of file vpMbTracker.cpp.

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

Referenced by vpMbDepthDenseTracker::computeVVS(), vpMbDepthNormalTracker::computeVVS(), vpMbGenericTracker::computeVVS(), vpMbKltMultiTracker::computeVVS(), computeVVS(), vpMbEdgeMultiTracker::computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), vpMbKltTracker::computeVVS(), vpMbEdgeTracker::computeVVS(), testTracking(), and vpMbGenericTracker::track().

◆ computeJTR()

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 2405 of file vpMbTracker.cpp.

References vpCPUFeatures::checkSSE2(), vpArray2D< Type >::data, vpArray2D< Type >::getCols(), vpArray2D< Type >::getRows(), vpMatrixException::incorrectMatrixSizeError, and vpColVector::resize().

Referenced by vpMbEdgeMultiTracker::computeVVSFirstPhasePoseEstimation(), vpMbEdgeTracker::computeVVSFirstPhasePoseEstimation(), and vpMbTracker::computeVVSPoseEstimation().

◆ computeProjectionError()

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

protectedinherited

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

Parameters

_I	: Image in which the model appears.

Definition at line 868 of file vpMbEdgeTracker.cpp.

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

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

◆ computeVVS() [1/3]

void vpMbEdgeKltTracker::computeVVS	(	const vpImage< unsigned char > &	I,
		const unsigned int &	nbInfos,
		unsigned int &	nbrow,
		const unsigned int	lvl = `0`
	)

protectedvirtual

Realize the VVS loop for the tracking

Parameters

I	: current image.
nbInfos	: Size of the features (KLT).
nbrow	: Size of the features (Edge).
lvl	: level of the pyramid.

Definition at line 569 of file vpMbEdgeKltTracker.cpp.

References vpVelocityTwistMatrix::buildFrom(), vpMbKltTracker::c0Mo, vpMbTracker::cam, vpMbTracker::cMo, vpMbTracker::computeCovariance, vpMbTracker::computeCovarianceMatrixVVS(), vpMbtDistanceKltPoints::computeHomography(), vpMbtDistanceKltCylinder::computeInteractionMatrixAndResidu(), vpMbtDistanceKltPoints::computeInteractionMatrixAndResidu(), vpMbTracker::computeVVSCheckLevenbergMarquardt(), vpMbTracker::computeVVSPoseEstimation(), vpMbKltTracker::ctTc0, vpExponentialMap::direct(), vpTrackingException::fatalError, vpCameraParameters::get_px(), vpMbtDistanceKltCylinder::getCurrentNumberPoints(), vpMbtDistanceKltPoints::getCurrentNumberPoints(), vpArray2D< Type >::getRows(), vpMbtDistanceKltCylinder::hasEnoughPoints(), vpMbtDistanceKltPoints::hasEnoughPoints(), vpColVector::insert(), vpMatrix::insert(), vpHomogeneousMatrix::inverse(), vpMbTracker::isoJoIdentity, vpMbtDistanceKltCylinder::isTracked(), vpMbtDistanceKltPoints::isTracked(), vpMbtPolygon::isVisible(), vpMbKltTracker::kltCylinders, vpMbKltTracker::kltPolygons, vpMbTracker::m_computeInteraction, m_error_hybrid, vpMbTracker::m_initialMu, vpMbTracker::m_maxIter, m_w_hybrid, vpRobust::MEstimator(), vpTrackingException::notEnoughPointError, vpMbTracker::oJo, vpMbtDistanceKltPoints::polygon, vpRobust::resize(), vpArray2D< Type >::resize(), vpColVector::resize(), vpRobust::setThreshold(), vpMath::sqr(), thresholdKLT, thresholdMBT, trackFirstLoop(), trackSecondLoop(), vpRobust::TUKEY, w_klt, and w_mbt.

◆ computeVVS() [2/3]

void vpMbKltTracker::computeVVS ( )

protectedinherited

Realize the VVS loop for the tracking

Definition at line 747 of file vpMbKltTracker.cpp.

References vpVelocityTwistMatrix::buildFrom(), vpMbKltTracker::c0Mo, vpMbTracker::cMo, vpMbTracker::computeCovariance, vpMbTracker::computeCovarianceMatrixVVS(), vpMbTracker::computeVVSCheckLevenbergMarquardt(), vpMbKltTracker::computeVVSInit(), vpMbKltTracker::computeVVSInteractionMatrixAndResidu(), vpMbTracker::computeVVSPoseEstimation(), vpMbTracker::computeVVSWeights(), vpMbKltTracker::ctTc0, vpExponentialMap::direct(), vpArray2D< Type >::getRows(), vpHomogeneousMatrix::inverse(), vpMbTracker::isoJoIdentity, vpMbTracker::m_computeInteraction, vpMbKltTracker::m_error_klt, vpMbTracker::m_initialMu, vpMbKltTracker::m_L_klt, vpMbTracker::m_maxIter, vpMbKltTracker::m_robust_klt, vpMbKltTracker::m_w_klt, vpMbKltTracker::m_weightedError_klt, and vpMbTracker::oJo.

Referenced by vpMbKltMultiTracker::getRobustWeights(), track(), and vpMbKltTracker::track().

◆ computeVVS() [3/3]

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

protectedinherited

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

Exceptions

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

Parameters

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

Definition at line 170 of file vpMbEdgeTracker.cpp.

References vpVelocityTwistMatrix::buildFrom(), vpMbTracker::cMo, vpMbTracker::computeCovariance, vpMbTracker::computeCovarianceMatrixVVS(), vpMbTracker::computeVVSCheckLevenbergMarquardt(), vpMbEdgeTracker::computeVVSFirstPhase(), vpMbEdgeTracker::computeVVSFirstPhasePoseEstimation(), vpMbEdgeTracker::computeVVSInit(), vpMbEdgeTracker::computeVVSInteractionMatrixAndResidu(), vpMbTracker::computeVVSPoseEstimation(), vpMbEdgeTracker::computeVVSWeights(), vpExponentialMap::direct(), vpMatrix::eye(), vpArray2D< Type >::getRows(), vpHomogeneousMatrix::inverse(), vpMbTracker::isoJoIdentity, vpMbTracker::m_computeInteraction, vpMbEdgeTracker::m_error_edge, vpMbEdgeTracker::m_factor, vpMbTracker::m_initialMu, vpMbEdgeTracker::m_L_edge, vpMbTracker::m_maxIter, vpMbEdgeTracker::m_w_edge, vpMbEdgeTracker::m_weightedError_edge, vpMbTracker::oJo, vpMath::sqr(), and vpMbEdgeTracker::updateMovingEdgeWeights().

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

◆ computeVVSCheckLevenbergMarquardt()

void vpMbTracker::computeVVSCheckLevenbergMarquardt	(	const unsigned int	iter,
		vpColVector &	error,
		const vpColVector &	m_error_prev,
		const vpHomogeneousMatrix &	cMoPrev,
		double &	mu,
		bool &	reStartFromLastIncrement,
		vpColVector *const	w = `NULL`,
		const vpColVector *const	m_w_prev = `NULL`
	)

protectedvirtualinherited

Definition at line 2454 of file vpMbTracker.cpp.

References vpMbTracker::cMo, vpTrackingException::fatalError, vpArray2D< Type >::getRows(), vpMbTracker::LEVENBERG_MARQUARDT_OPT, vpMbTracker::m_optimizationMethod, and vpColVector::sumSquare().

Referenced by vpMbDepthDenseTracker::computeVVS(), vpMbDepthNormalTracker::computeVVS(), vpMbGenericTracker::computeVVS(), vpMbKltMultiTracker::computeVVS(), computeVVS(), vpMbEdgeMultiTracker::computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), vpMbKltTracker::computeVVS(), vpMbEdgeTracker::computeVVS(), and vpMbGenericTracker::track().

◆ computeVVSFirstPhase()

void vpMbEdgeTracker::computeVVSFirstPhase	(	const vpImage< unsigned char > &	I,
		const unsigned int	iter,
		double &	count,
		const unsigned int	lvl = `0`
	)

protectedinherited

Definition at line 293 of file vpMbEdgeTracker.cpp.

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

◆ computeVVSFirstPhaseFactor()

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

protectedinherited

Definition at line 559 of file vpMbEdgeTracker.cpp.

References vpMbEdgeTracker::circles, vpMbtDistanceLine::closeToImageBorder(), vpMbTracker::cMo, vpMbtDistanceCircle::computeInteractionMatrixError(), vpMbtDistanceLine::computeInteractionMatrixError(), vpMbtDistanceCylinder::computeInteractionMatrixError(), vpMbEdgeTracker::cylinders, vpMeSite::getState(), vpMbtDistanceLine::hiddenface, vpMbHiddenFaces< PolygonType >::isAppearing(), vpMbtDistanceLine::Lindex_polygon, vpMbEdgeTracker::lines, vpMbEdgeTracker::m_factor, vpMbtDistanceCircle::meEllipse, vpMbtDistanceLine::meline, vpMbtDistanceCylinder::meline1, vpMbtDistanceCylinder::meline2, vpMbtDistanceCircle::nbFeature, vpMbtDistanceLine::nbFeature, vpMbtDistanceCylinder::nbFeature, and vpMeSite::NO_SUPPRESSION.

Referenced by vpMbEdgeKltMultiTracker::initMbtTracking(), vpMbEdgeTracker::setGoodMovingEdgesRatioThreshold(), and vpMbGenericTracker::track().

◆ computeVVSFirstPhasePoseEstimation()

void vpMbEdgeTracker::computeVVSFirstPhasePoseEstimation	(	const unsigned int	iter,
		bool &	isoJoIdentity_
	)

protectedinherited

◆ computeVVSInit()

void vpMbEdgeKltTracker::computeVVSInit ( )

protectedvirtual

Reimplemented from vpMbEdgeTracker.

Definition at line 791 of file vpMbEdgeKltTracker.cpp.

References vpException::fatalError.

◆ computeVVSInteractionMatrixAndResidu() [1/2]

void vpMbEdgeKltTracker::computeVVSInteractionMatrixAndResidu ( )

protectedvirtual

Reimplemented from vpMbEdgeTracker.

Definition at line 796 of file vpMbEdgeKltTracker.cpp.

References vpException::fatalError.

◆ computeVVSInteractionMatrixAndResidu() [2/2]

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

protectedvirtualinherited

◆ computeVVSPoseEstimation()

void vpMbTracker::computeVVSPoseEstimation	(	const bool	isoJoIdentity_,
		const unsigned int	iter,
		vpMatrix &	L,
		vpMatrix &	LTL,
		vpColVector &	R,
		const vpColVector &	error,
		vpColVector &	error_prev,
		vpColVector &	LTR,
		double &	mu,
		vpColVector &	v,
		const vpColVector *const	w = `NULL`,
		vpColVector *const	m_w_prev = `NULL`
	)

protectedvirtualinherited

◆ computeVVSWeights() [1/2]

void vpMbEdgeTracker::computeVVSWeights ( )

protectedvirtualinherited

◆ computeVVSWeights() [2/2]

void vpMbTracker::computeVVSWeights	(	vpRobust &	robust,
		const vpColVector &	error,
		vpColVector &	w
	)

protectedvirtualinherited

Definition at line 2539 of file vpMbTracker.cpp.

References vpArray2D< Type >::getRows(), vpRobust::MEstimator(), and vpRobust::TUKEY.

Referenced by vpMbDepthNormalTracker::computeVVS(), vpMbKltTracker::computeVVS(), vpMbKltMultiTracker::computeVVSWeights(), vpMbEdgeKltMultiTracker::computeVVSWeights(), vpMbGenericTracker::getRobustWeights(), vpMbKltMultiTracker::getRobustWeights(), vpMbEdgeKltMultiTracker::setFactorMBT(), vpMbEdgeTracker::setGoodMovingEdgesRatioThreshold(), and vpMbGenericTracker::track().

◆ createCylinderBBox()

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

protectedinherited

Definition at line 2595 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().

◆ display() [1/2]

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

virtual

Display the 3D model at a given position using the given camera parameters

Parameters

I	: The image.
cMo_	: Pose used to project the 3D model into the image.
camera	: The camera parameters.
col	: The desired color.
thickness	: The thickness of the lines.
displayFullModel	: boolean to say if all the model has to be displayed, even the faces that are not visible.

Reimplemented from vpMbKltTracker.

Examples:: mbtEdgeKltTracking.cpp, and tutorial-mb-hybrid-tracker.cpp.

Definition at line 1106 of file vpMbEdgeKltTracker.cpp.

References vpMbEdgeTracker::circles, vpMbEdgeTracker::cylinders, vpMbTracker::displayFeatures, vpMbHiddenFaces< PolygonType >::displayOgre(), vpMbtDistanceKltCylinder::displayPrimitive(), vpMbtDistanceKltPoints::displayPrimitive(), vpMbTracker::faces, vpMbtDistanceKltCylinder::hasEnoughPoints(), vpMbtDistanceKltPoints::hasEnoughPoints(), vpMbtDistanceKltCylinder::isTracked(), vpMbtDistanceKltPoints::isTracked(), vpMbtPolygon::isVisible(), vpMbKltTracker::kltCylinders, vpMbKltTracker::kltPolygons, vpMbEdgeTracker::lines, vpMbtDistanceKltPoints::polygon, vpMbEdgeTracker::scaleLevel, vpMbEdgeTracker::scales, and vpMbTracker::useOgre.

◆ display() [2/2]

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

virtual

Display the 3D model at a given position using the given camera parameters

Parameters

I	: The color image.
cMo_	: Pose used to project the 3D model into the image.
camera	: The camera parameters.
col	: The desired color.
thickness	: The thickness of the lines.
displayFullModel	: boolean to say if all the model has to be displayed, even the faces that are not visible.

Reimplemented from vpMbKltTracker.

Definition at line 1162 of file vpMbEdgeKltTracker.cpp.

References vpMbEdgeTracker::circles, vpMbEdgeTracker::cylinders, vpMbTracker::displayFeatures, vpMbHiddenFaces< PolygonType >::displayOgre(), vpMbtDistanceKltCylinder::displayPrimitive(), vpMbtDistanceKltPoints::displayPrimitive(), vpMbTracker::faces, vpMbtDistanceKltCylinder::hasEnoughPoints(), vpMbtDistanceKltPoints::hasEnoughPoints(), vpMbtDistanceKltCylinder::isTracked(), vpMbtDistanceKltPoints::isTracked(), vpMbtPolygon::isVisible(), vpMbKltTracker::kltCylinders, vpMbKltTracker::kltPolygons, vpMbEdgeTracker::lines, vpMbtDistanceKltPoints::polygon, vpMbEdgeTracker::scaleLevel, vpMbEdgeTracker::scales, and vpMbTracker::useOgre.

◆ displayFeaturesOnImage()

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

protectedinherited

Definition at line 1394 of file vpMbEdgeTracker.cpp.

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

Referenced by vpMbEdgeKltMultiTracker::postTracking(), vpMbEdgeTracker::setGoodMovingEdgesRatioThreshold(), vpMbGenericTracker::track(), and vpMbEdgeTracker::track().

◆ downScale()

void vpMbEdgeTracker::downScale ( const unsigned int _scale )

protectedinherited

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

Parameters

_scale : Scale to use.

Definition at line 2788 of file vpMbEdgeTracker.cpp.

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

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

◆ extractCylinders()

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 1998 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().

◆ extractFaces()

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 1947 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::extractGroup().

◆ 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 1858 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::loadVRMLModel().

◆ extractLines()

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 2077 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::extractGroup().

◆ getAngleAppear()

virtual double vpMbTracker::getAngleAppear ( ) const

inlinevirtualinherited

Return the angle used to test polygons appearance.

Definition at line 205 of file vpMbTracker.h.

◆ getAngleDisappear()

virtual double vpMbTracker::getAngleDisappear ( ) const

inlinevirtualinherited

Return the angle used to test polygons disappearance.

Definition at line 208 of file vpMbTracker.h.

◆ getCameraParameters()

virtual void vpMbTracker::getCameraParameters ( vpCameraParameters & camera ) const

inlinevirtualinherited

Get the camera parameters.

Parameters

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

Reimplemented in vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.

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 215 of file vpMbTracker.h.

◆ getClipping()

virtual unsigned int vpMbTracker::getClipping ( ) const

inlinevirtualinherited

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

Returns: Clipping flags.

Examples:: mbtEdgeKltTracking.cpp, mbtEdgeTracking.cpp, mbtGenericTracking.cpp, mbtGenericTrackingDepth.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 223 of file vpMbTracker.h.

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

◆ getCovarianceMatrix()

virtual vpMatrix vpMbTracker::getCovarianceMatrix ( ) const

inlinevirtualinherited

Get the covariance matrix. This matrix is only computed if setCovarianceComputation() is turned on.

See also: setCovarianceComputation()

Examples:: mbtEdgeKltMultiTracking.cpp, mbtEdgeKltTracking.cpp, mbtEdgeMultiTracking.cpp, mbtEdgeTracking.cpp, mbtGenericTracking.cpp, mbtGenericTracking2.cpp, mbtGenericTrackingDepth.cpp, mbtKltMultiTracking.cpp, and mbtKltTracking.cpp.

Definition at line 232 of file vpMbTracker.h.

◆ getError()

virtual vpColVector vpMbEdgeKltTracker::getError ( ) const

inlinevirtual

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

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

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

See also: getRobustWeights()

Reimplemented from vpMbEdgeTracker.

Definition at line 259 of file vpMbEdgeKltTracker.h.

◆ getEstimatedDoF()

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 2556 of file vpMbTracker.cpp.

References vpMbTracker::oJo.

◆ getFaces()

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

inlinevirtualinherited

Return a reference to the faces structure.

Reimplemented in vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, vpMbKltMultiTracker, and vpMbGenericTracker.

Definition at line 299 of file vpMbTracker.h.

Referenced by vpMbGenericTracker::getError().

◆ getFarClippingDistance()

virtual double vpMbTracker::getFarClippingDistance ( ) const

inlinevirtualinherited

Get the far distance for clipping.

Returns: Far clipping value.

Definition at line 306 of file vpMbTracker.h.

◆ getFeaturesCircle()

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

inlinevirtualinherited

Return the address of the circle feature list.

Reimplemented in vpMbKltMultiTracker.

Definition at line 295 of file vpMbKltTracker.h.

References vpMbKltTracker::circles_disp.

◆ getFeaturesKlt()

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

inlinevirtualinherited

Return the address of the Klt feature list.

Reimplemented in vpMbKltMultiTracker.

Definition at line 299 of file vpMbKltTracker.h.

References vpMbKltTracker::kltPolygons.

◆ getFeaturesKltCylinder()

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

inlinevirtualinherited

Return the address of the cylinder feature list.

Reimplemented in vpMbKltMultiTracker.

Definition at line 297 of file vpMbKltTracker.h.

References vpMbKltTracker::kltCylinders.

◆ getGoodMovingEdgesRatioThreshold()

double vpMbEdgeTracker::getGoodMovingEdgesRatioThreshold ( ) const

inlineinherited

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

See also: setGoodMovingEdgesRatioThreshold()

Definition at line 391 of file vpMbEdgeTracker.h.

References vpMbEdgeTracker::percentageGdPt.

◆ getGravityCenter()

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 2119 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::extractCylinders().

◆ getInitialMu()

virtual double vpMbTracker::getInitialMu ( ) const

inlinevirtualinherited

Get the initial value of mu used in the Levenberg Marquardt optimization loop.

Returns: the initial mu value.

Definition at line 251 of file vpMbTracker.h.

◆ getKltImagePoints()

std::vector< vpImagePoint > vpMbKltTracker::getKltImagePoints ( ) const

inherited

Get the current list of KLT points.

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.

Definition at line 332 of file vpMbKltTracker.cpp.

References vpKltOpencv::getFeature(), vpKltOpencv::getNbFeatures(), and vpMbKltTracker::tracker.

◆ getKltImagePointsWithId()

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

inherited

Get the current list of KLT points and their id.

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.

Definition at line 353 of file vpMbKltTracker.cpp.

References vpKltOpencv::getFeature(), vpKltOpencv::getNbFeatures(), and vpMbKltTracker::tracker.

◆ getKltMaskBorder()

unsigned int vpMbKltTracker::getKltMaskBorder ( ) const

inlineinherited

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

Returns: The erosion.

Definition at line 328 of file vpMbKltTracker.h.

References vpMbKltTracker::maskBorder.

◆ getKltNbPoints()

int vpMbKltTracker::getKltNbPoints ( ) const

inlineinherited

Get the current number of klt points.

Returns: the number of features

Definition at line 335 of file vpMbKltTracker.h.

References vpKltOpencv::getNbFeatures().

◆ getKltOpencv()

vpKltOpencv vpMbKltTracker::getKltOpencv ( ) const

inlineinherited

Get the klt tracker at the current state.

Returns: klt tracker.

Definition at line 321 of file vpMbKltTracker.h.

References vpMbKltTracker::tracker.

◆ getKltPoints()

std::vector<cv::Point2f> vpMbKltTracker::getKltPoints ( ) const

inlineinherited

Get the current list of KLT points.

Returns: the list of KLT points through vpKltOpencv.

Definition at line 307 of file vpMbKltTracker.h.

References vpKltOpencv::getFeatures(), vpMbKltMultiTracker::getKltImagePoints(), vpMbKltMultiTracker::getKltImagePointsWithId(), and vpMbKltMultiTracker::getKltPoints().

◆ getKltThresholdAcceptation()

double vpMbKltTracker::getKltThresholdAcceptation ( ) 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 343 of file vpMbKltTracker.h.

References vpMbKltTracker::threshold_outlier.

◆ getLambda()

virtual double vpMbTracker::getLambda ( ) const

inlinevirtualinherited

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

Returns: the value for the gain.

Definition at line 258 of file vpMbTracker.h.

◆ getLcircle()

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

inherited

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

Exceptions

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

Parameters

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

Definition at line 2770 of file vpMbEdgeTracker.cpp.

References vpMbEdgeTracker::circles, vpException::dimensionError, and vpMbEdgeTracker::scales.

◆ getLcylinder()

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

inherited

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

Exceptions

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

Parameters

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

Definition at line 2748 of file vpMbEdgeTracker.cpp.

References vpMbEdgeTracker::cylinders, vpException::dimensionError, and vpMbEdgeTracker::scales.

◆ getLline()

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

inherited

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

Exceptions

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

Parameters

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

Definition at line 2726 of file vpMbEdgeTracker.cpp.

References vpException::dimensionError, vpMbEdgeTracker::lines, and vpMbEdgeTracker::scales.

◆ getMaskBorder()

unsigned int vpMbKltTracker::getMaskBorder ( ) const

inlineinherited

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

Deprecated:: Use rather getkltMaskBorder()

Returns: The erosion.

Definition at line 442 of file vpMbKltTracker.h.

References vpMbKltTracker::maskBorder.

◆ getMaxIter()

virtual unsigned int vpMbTracker::getMaxIter ( ) const

inlinevirtualinherited

Get the maximum number of iterations of the virtual visual servoing stage.

Returns: the number of iteration

Definition at line 265 of file vpMbTracker.h.

◆ getMovingEdge() [1/2]

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

inlinevirtualinherited

Get the moving edge parameters.

Parameters

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

Reimplemented in vpMbEdgeMultiTracker.

Definition at line 366 of file vpMbEdgeTracker.h.

References vpMbEdgeTracker::me.

◆ getMovingEdge() [2/2]

virtual vpMe vpMbEdgeTracker::getMovingEdge ( ) const

inlinevirtualinherited

Get the moving edge parameters.

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

Reimplemented in vpMbEdgeMultiTracker.

Definition at line 372 of file vpMbEdgeTracker.h.

References vpMbEdgeMultiTracker::getNbPoints(), and vpMbEdgeTracker::me.

◆ getNbKltPoints()

int vpMbKltTracker::getNbKltPoints ( ) const

inlineinherited

Get the current number of klt points.

Deprecated:: Use rather getKltNbPoints()

Returns: the number of features

Definition at line 449 of file vpMbKltTracker.h.

References vpKltOpencv::getNbFeatures().

Referenced by vpMbKltMultiTracker::getRobustWeights().

◆ getNbPoints()

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

virtualinherited

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

Exceptions

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

Returns: the number of good points.

Reimplemented in vpMbEdgeMultiTracker.

Definition at line 2444 of file vpMbEdgeTracker.cpp.

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

◆ getNbPolygon()

virtual unsigned int vpMbTracker::getNbPolygon ( ) const

inlinevirtualinherited

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

Returns: Number of polygons.

Reimplemented in vpMbKltMultiTracker, vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbGenericTracker.

Definition at line 335 of file vpMbTracker.h.

References vpMbHiddenFaces< PolygonType >::size().

Referenced by vpMbGenericTracker::getError(), loadConfigFile(), vpMbKltTracker::loadConfigFile(), and vpMbEdgeTracker::loadConfigFile().

◆ getNearClippingDistance()

virtual double vpMbEdgeKltTracker::getNearClippingDistance ( ) const

inlinevirtual

Get the near distance for clipping.

Returns: Near clipping value.

Reimplemented from vpMbTracker.

Definition at line 268 of file vpMbEdgeKltTracker.h.

References vpMbTracker::getNearClippingDistance(), vpMbEdgeTracker::loadConfigFile(), vpMbEdgeTracker::reInitModel(), vpMbEdgeTracker::resetTracker(), and vpMbEdgeTracker::setCameraParameters().

◆ getOptimizationMethod()

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 351 of file vpMbTracker.h.

◆ getPolygon()

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.

Reimplemented in vpMbGenericTracker.

Definition at line 362 of file vpMbTracker.h.

References vpException::dimensionError, and vpMbHiddenFaces< PolygonType >::size().

Referenced by vpMbGenericTracker::getError().

◆ getPolygonFaces()

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.

Reimplemented in vpMbGenericTracker.

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

Definition at line 2153 of file vpMbTracker.cpp.

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

Referenced by vpMbGenericTracker::getError().

◆ getPose() [1/2]

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 381 of file vpMbTracker.h.

◆ getPose() [2/2]

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 390 of file vpMbTracker.h.

Referenced by vpMbGenericTracker::getError(), vpMbEdgeMultiTracker::getNumberOfCameras(), vpMbEdgeKltMultiTracker::getNumberOfCameras(), vpMbKltMultiTracker::getNumberOfCameras(), vpMbEdgeKltMultiTracker::getPose(), and vpMbEdgeKltMultiTracker::initClick().

◆ getProjectionError()

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. This value is computed if setProjectionErrorComputation() is turned on.

Returns: the value for the error.

See also: setProjectionErrorComputation()

Examples:: mbtEdgeKltMultiTracking.cpp, mbtEdgeKltTracking.cpp, mbtEdgeMultiTracking.cpp, mbtEdgeTracking.cpp, mbtGenericTracking.cpp, mbtGenericTracking2.cpp, and mbtGenericTrackingDepth.cpp.

Definition at line 277 of file vpMbTracker.h.

◆ getRobustWeights()

virtual vpColVector vpMbEdgeKltTracker::getRobustWeights ( ) const

inlinevirtual

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

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

tracker.track(I);
vpColVector 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()

Reimplemented from vpMbEdgeTracker.

Definition at line 261 of file vpMbEdgeKltTracker.h.

◆ getScales()

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

inlineinherited

Return the scales levels used for the tracking.

Returns: The scales levels used for the tracking.

Definition at line 381 of file vpMbEdgeTracker.h.

References vpMbEdgeTracker::scales.

◆ getStopCriteriaEpsilon()

virtual double vpMbTracker::getStopCriteriaEpsilon ( ) const

inlinevirtualinherited

Definition at line 392 of file vpMbTracker.h.

◆ getThresholdAcceptation()

double vpMbKltTracker::getThresholdAcceptation ( ) const

inlineinherited

Get the threshold for the acceptation of a point.

Deprecated:: Use rather getKltThresholdAcceptation()

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

Definition at line 458 of file vpMbKltTracker.h.

References vpMbKltTracker::threshold_outlier.

◆ init()

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

protectedvirtual

Initialization of the tracker using a known initial pose. The 3D model must first have been loaded.

Parameters

I	: Input image.

Reimplemented from vpMbKltTracker.

Definition at line 77 of file vpMbEdgeKltTracker.cpp.

References vpMbEdgeTracker::cleanPyramid(), vpMbTracker::cMo, vpMbEdgeTracker::downScale(), vpMbKltTracker::init(), vpMbEdgeTracker::initMovingEdge(), vpMbEdgeTracker::initPyramid(), vpMbEdgeTracker::Ipyramid, vpMbEdgeTracker::resetMovingEdge(), vpMbEdgeTracker::scales, and vpMbEdgeTracker::upScale().

Referenced by reInitModel().

◆ initCircle()

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

protectedvirtual

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

Parameters

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

Reimplemented from vpMbEdgeTracker.

Definition at line 1072 of file vpMbEdgeKltTracker.cpp.

References vpMbEdgeTracker::initCircle().

◆ initClick() [1/2]

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

virtualinherited

Initialise the tracker by clicking in the image on the pixels that correspond to the 3D points whose coordinates are extracted from a file. In this file, comments starting with # character are allowed. Notice that 3D point coordinates are expressed in meter in the object frame with their X, Y and Z values.

The structure of this file is the following:

# 3D point coordinates
4                 # Number of points in the file (minimum is four)
0.01 0.01 0.01    # \
...               #  | 3D coordinates in the object frame (X, Y, Z)
0.01 -0.01 -0.01  # /

Parameters

I	: Input image where the user has to click.
initFile	: File containing the coordinates of at least 4 3D points the user has to click in the image. This file should have .init extension (ie teabox.init).
displayHelp	: Optionnal display of an image that should have the same generic name as the init file (ie teabox.ppm). This image may be used to show where to click. This functionality is only available if visp_io module is used.

Exceptions

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

Reimplemented in vpMbKltMultiTracker, vpMbEdgeKltMultiTracker, and vpMbEdgeMultiTracker.

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

Definition at line 193 of file vpMbTracker.cpp.

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

Referenced by vpMbGenericTracker::getRobustWeights(), vpMbEdgeMultiTracker::getRobustWeights(), and vpMbKltMultiTracker::getRobustWeights().

◆ initClick() [2/2]

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

virtualinherited

Initialise the tracker by clicking in the image on the pixels that correspond to the 3D points whose coordinates are given in points3D_list.

Parameters

I	: Input image where the user has to click.
points3D_list	: List of at least 4 3D points with coordinates expressed in meters in the object frame.
displayFile	: Path to the image used to display the help. This image may be used to show where to click. This functionality is only available if visp_io module is used.

Reimplemented in vpMbKltMultiTracker, vpMbEdgeKltMultiTracker, and vpMbEdgeMultiTracker.

Definition at line 445 of file vpMbTracker.cpp.

References vpPose::addPoint(), vpMouseButton::button1, vpMbTracker::cam, vpIoTools::checkFilename(), vpPose::clearPoint(), vpMbTracker::cMo, vpPose::computePose(), vpPose::computeResidual(), vpPixelMeterConversion::convertPoint(), vpPose::DEMENTHON, vpImage< Type >::display, vpMbTracker::display(), vpDisplay::display(), vpDisplay::displayCross(), vpDisplay::displayFrame(), vpDisplay::displayPoint(), vpDisplay::displayText(), vpDisplay::flush(), vpDisplay::getClick(), vpImage< Type >::getWidth(), vpDisplay::getWindowXPosition(), vpDisplay::getWindowYPosition(), vpColor::green, vpMbTracker::init(), vpPose::LAGRANGE, vpImageIo::read(), vpColor::red, and vpPose::VIRTUAL_VS.

◆ initCylinder()

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

protectedvirtual

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

Parameters

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

Reimplemented from vpMbEdgeTracker.

Definition at line 1088 of file vpMbEdgeKltTracker.cpp.

References vpMbKltTracker::initCylinder(), and vpMbEdgeTracker::initCylinder().

◆ initFaceFromCorners()

void vpMbEdgeKltTracker::initFaceFromCorners ( vpMbtPolygon & polygon )

protectedvirtual

Initialise a new face from the coordinates given in parameter.

Parameters

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

Reimplemented from vpMbEdgeTracker.

Definition at line 1045 of file vpMbEdgeKltTracker.cpp.

References vpMbKltTracker::initFaceFromCorners(), and vpMbEdgeTracker::initFaceFromCorners().

◆ initFaceFromLines()

void vpMbEdgeKltTracker::initFaceFromLines ( vpMbtPolygon & polygon )

protectedvirtual

Initialise a new face from the coordinates given in parameter.

Parameters

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

Reimplemented from vpMbEdgeTracker.

Definition at line 1056 of file vpMbEdgeKltTracker.cpp.

References vpMbKltTracker::initFaceFromLines(), and vpMbEdgeTracker::initFaceFromLines().

◆ initFromPoints() [1/2]

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

virtualinherited

Initialise the tracker by reading 3D point coordinates and the corresponding 2D image point coordinates from a file. Comments starting with # character are allowed. 3D point coordinates are expressed in meter in the object frame with X, Y and Z values. 2D point coordinates are expressied in pixel coordinates, with first the line and then the column of the pixel in the image. The structure of this file is the following.

# 3D point coordinates
4                 # Number of 3D points in the file (minimum is four)
0.01 0.01 0.01    #  \
...               #  | 3D coordinates in meters in the object frame
0.01 -0.01 -0.01  # /
# corresponding 2D point coordinates
4                 # Number of image points in the file (has to be the same
as the number of 3D points)
100 200           #  \
...               #  | 2D coordinates in pixel in the image
50 10              #  /

Parameters

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

Definition at line 575 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(), and vpPose::VIRTUAL_VS.

Referenced by vpMbGenericTracker::getRobustWeights().

◆ initFromPoints() [2/2]

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 712 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.

◆ initFromPose() [1/3]

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

virtualinherited

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

// The six value of the pose vector
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 in vpMbEdgeKltMultiTracker, vpMbKltMultiTracker, and vpMbEdgeMultiTracker.

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

Definition at line 765 of file vpMbTracker.cpp.

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

Referenced by vpMbGenericTracker::getRobustWeights(), vpMbEdgeMultiTracker::getRobustWeights(), vpMbKltMultiTracker::getRobustWeights(), vpMbTracker::initFromPose(), vpMbDepthDenseTracker::reInitModel(), vpMbDepthNormalTracker::reInitModel(), vpMbKltTracker::reInitModel(), and vpMbEdgeTracker::reInitModel().

◆ initFromPose() [2/3]

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

virtualinherited

Initialise the tracking thanks to the pose.

Parameters

I	: Input image
cMo_	: Pose matrix.

Reimplemented in vpMbEdgeKltMultiTracker, vpMbKltMultiTracker, and vpMbEdgeMultiTracker.

Definition at line 800 of file vpMbTracker.cpp.

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

◆ initFromPose() [3/3]

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

virtualinherited

Initialise the tracking thanks to the pose vector.

Parameters

I	: Input image
cPo	: Pose vector.

Reimplemented in vpMbEdgeKltMultiTracker, vpMbKltMultiTracker, and vpMbEdgeMultiTracker.

Definition at line 812 of file vpMbTracker.cpp.

References vpMbTracker::initFromPose().

◆ initMbtTracking() [1/2]

unsigned int vpMbEdgeKltTracker::initMbtTracking ( const unsigned int level = 0 )

protected

Definition at line 144 of file vpMbEdgeKltTracker.cpp.

References vpMbEdgeTracker::circles, vpMbEdgeTracker::cylinders, vpException::dimensionError, vpMbtDistanceCircle::initInteractionMatrixError(), vpMbtDistanceLine::initInteractionMatrixError(), vpMbtDistanceCylinder::initInteractionMatrixError(), vpMbtDistanceCircle::isTracked(), vpMbtDistanceLine::isTracked(), vpMbtDistanceCylinder::isTracked(), vpMbEdgeTracker::lines, vpMbtDistanceCircle::nbFeature, vpMbtDistanceCylinder::nbFeature, vpMbtDistanceLine::nbFeatureTotal, and vpMbEdgeTracker::scales.

Referenced by trackFirstLoop().

◆ initMbtTracking() [2/2]

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

protectedinherited

Definition at line 2215 of file vpMbEdgeTracker.cpp.

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

Referenced by vpMbEdgeTracker::computeVVSInit(), vpMbEdgeKltMultiTracker::setFactorMBT(), and testTracking().

◆ initMovingEdge()

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

protectedinherited

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

Parameters

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

Definition at line 1429 of file vpMbEdgeTracker.cpp.

Referenced by init(), vpMbEdgeTracker::init(), postTracking(), vpMbEdgeKltMultiTracker::postTracking(), vpMbEdgeTracker::setGoodMovingEdgesRatioThreshold(), setPose(), vpMbGenericTracker::track(), and vpMbEdgeTracker::track().

◆ initPyramid()

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

protectedinherited

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

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

Parameters

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

Definition at line 2657 of file vpMbEdgeTracker.cpp.

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

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

◆ loadCAOModel()

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 extremitiesof 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.

Read CAO Version (V1, V2, ...)//////////////////////////

Read the header part if present//////////////////////////

Read the point declaration part//////////////////////////

Read the segment declaration part//////////////////////////