Visual Servoing Platform  version 3.1.0
Classes | Public Types | Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
vpMbGenericTracker Class Reference

#include <visp3/mbt/vpMbGenericTracker.h>

+ Inheritance diagram for vpMbGenericTracker:

Public Types

enum  vpTrackerType { EDGE_TRACKER = 1 << 0, KLT_TRACKER = 1 << 1, DEPTH_NORMAL_TRACKER = 1 << 2, DEPTH_DENSE_TRACKER = 1 << 3 }
 
enum  vpMbtOptimizationMethod { GAUSS_NEWTON_OPT = 0, LEVENBERG_MARQUARDT_OPT = 1 }
 

Public Member Functions

 vpMbGenericTracker ()
 
 vpMbGenericTracker (const unsigned int nbCameras, const int trackerType=EDGE_TRACKER)
 
 vpMbGenericTracker (const std::vector< int > &trackerTypes)
 
 vpMbGenericTracker (const std::vector< std::string > &cameraNames, const std::vector< int > &trackerTypes)
 
virtual ~vpMbGenericTracker ()
 
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 &cam1, vpCameraParameters &cam2) const
 
virtual void getCameraParameters (std::map< std::string, vpCameraParameters > &mapOfCameraParameters) const
 
virtual std::map< std::string, int > getCameraTrackerTypes () const
 
virtual void getClipping (unsigned int &clippingFlag1, unsigned int &clippingFlag2) const
 
virtual void getClipping (std::map< std::string, unsigned int > &mapOfClippingFlags) const
 
virtual vpColVector getError () const
 
virtual vpMbHiddenFaces< vpMbtPolygon > & getFaces ()
 
virtual vpMbHiddenFaces< vpMbtPolygon > & getFaces (const std::string &cameraName)
 
virtual std::list< vpMbtDistanceCircle * > & getFeaturesCircle ()
 
virtual std::list< vpMbtDistanceKltCylinder * > & getFeaturesKltCylinder ()
 
virtual std::list< vpMbtDistanceKltPoints * > & getFeaturesKlt ()
 
virtual double getGoodMovingEdgesRatioThreshold () const
 
virtual std::vector< vpImagePoint > getKltImagePoints () const
 
virtual std::map< int, vpImagePoint > getKltImagePointsWithId () const
 
virtual unsigned int getKltMaskBorder () const
 
virtual int getKltNbPoints () const
 
virtual vpKltOpencv getKltOpencv () const
 
virtual void getKltOpencv (vpKltOpencv &klt1, vpKltOpencv &klt2) const
 
virtual void getKltOpencv (std::map< std::string, vpKltOpencv > &mapOfKlts) const
 
virtual std::vector< cv::Point2f > getKltPoints () const
 
virtual double getKltThresholdAcceptation () const
 
virtual void getLcircle (const std::string &cameraName, std::list< vpMbtDistanceCircle *> &circlesList, const unsigned int level=0) const
 
virtual void getLcylinder (const std::string &cameraName, std::list< vpMbtDistanceCylinder *> &cylindersList, const unsigned int level=0) const
 
virtual void getLline (const std::string &cameraName, std::list< vpMbtDistanceLine *> &linesList, const unsigned int level=0) const
 
virtual vpMe getMovingEdge () const
 
virtual void getMovingEdge (vpMe &me1, vpMe &me2) const
 
virtual void getMovingEdge (std::map< std::string, vpMe > &mapOfMovingEdges) const
 
virtual unsigned int getNbPoints (const unsigned int level=0) const
 
virtual void getNbPoints (std::map< std::string, unsigned int > &mapOfNbPoints, const unsigned int level=0) const
 
virtual unsigned int getNbPolygon () const
 
virtual void getNbPolygon (std::map< std::string, unsigned int > &mapOfNbPolygons) const
 
virtual vpMbtPolygon * getPolygon (const unsigned int index)
 
virtual vpMbtPolygon * getPolygon (const std::string &cameraName, 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 getPolygonFaces (std::map< std::string, std::vector< vpPolygon > > &mapOfPolygons, std::map< std::string, std::vector< std::vector< vpPoint > > > &mapOfPoints, const bool orderPolygons=true, const bool useVisibility=true, const bool clipPolygon=false)
 
virtual void getPose (vpHomogeneousMatrix &c1Mo, vpHomogeneousMatrix &c2Mo) const
 
virtual void getPose (std::map< std::string, vpHomogeneousMatrix > &mapOfCameraPoses) const
 
virtual vpColVector getRobustWeights () const
 
virtual void init (const vpImage< unsigned char > &I)
 
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)
 
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 initFromPoints (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, const std::string &initFile1, const std::string &initFile2)
 
virtual void initFromPoints (const std::map< std::string, const vpImage< unsigned char > *> &mapOfImages, const std::map< std::string, std::string > &mapOfInitPoints)
 
virtual void initFromPose (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, const std::string &initFile1, const std::string &initFile2)
 
virtual void initFromPose (const std::map< std::string, const vpImage< unsigned char > *> &mapOfImages, const std::map< std::string, std::string > &mapOfInitPoses)
 
virtual void initFromPose (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, const vpHomogeneousMatrix &c1Mo, const vpHomogeneousMatrix &c2Mo)
 
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)
 
virtual void loadConfigFile (const std::map< std::string, std::string > &mapOfConfigFiles)
 
virtual void loadModel (const std::string &modelFile, const bool verbose=false)
 
virtual void loadModel (const std::string &modelFile1, const std::string &modelFile2, const bool verbose=false)
 
virtual void loadModel (const std::map< std::string, std::string > &mapOfModelFiles, 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_name1, const std::string &cad_name2, const vpHomogeneousMatrix &c1Mo, const vpHomogeneousMatrix &c2Mo, const bool verbose=false)
 
virtual void reInitModel (const std::map< std::string, const vpImage< unsigned char > *> &mapOfImages, const std::map< std::string, std::string > &mapOfModelFiles, const std::map< std::string, vpHomogeneousMatrix > &mapOfCameraPoses, const bool verbose=false)
 
virtual void resetTracker ()
 
virtual void setAngleAppear (const double &a)
 
virtual void setAngleAppear (const double &a1, const double &a2)
 
virtual void setAngleAppear (const std::map< std::string, double > &mapOfAngles)
 
virtual void setAngleDisappear (const double &a)
 
virtual void setAngleDisappear (const double &a1, const double &a2)
 
virtual void setAngleDisappear (const std::map< std::string, double > &mapOfAngles)
 
virtual void setCameraParameters (const vpCameraParameters &camera)
 
virtual void setCameraParameters (const vpCameraParameters &camera1, const vpCameraParameters &camera2)
 
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 unsigned int &flags1, const unsigned int &flags2)
 
virtual void setClipping (const std::map< std::string, unsigned int > &mapOfClippingFlags)
 
virtual void setDepthDenseFilteringMaxDistance (const double maxDistance)
 
virtual void setDepthDenseFilteringMethod (const int method)
 
virtual void setDepthDenseFilteringMinDistance (const double minDistance)
 
virtual void setDepthDenseFilteringOccupancyRatio (const double occupancyRatio)
 
virtual void setDepthDenseSamplingStep (const unsigned int stepX, const unsigned int stepY)
 
virtual void setDepthNormalFaceCentroidMethod (const vpMbtFaceDepthNormal::vpFaceCentroidType &method)
 
virtual void setDepthNormalFeatureEstimationMethod (const vpMbtFaceDepthNormal::vpFeatureEstimationType &method)
 
virtual void setDepthNormalPclPlaneEstimationMethod (const int method)
 
virtual void setDepthNormalPclPlaneEstimationRansacMaxIter (const int maxIter)
 
virtual void setDepthNormalPclPlaneEstimationRansacThreshold (const double thresold)
 
virtual void setDepthNormalSamplingStep (const unsigned int stepX, const unsigned int stepY)
 
virtual void setDisplayFeatures (const bool displayF)
 
virtual void setFarClippingDistance (const double &dist)
 
virtual void setFarClippingDistance (const double &dist1, const double &dist2)
 
virtual void setFarClippingDistance (const std::map< std::string, double > &mapOfClippingDists)
 
virtual void setFeatureFactors (const std::map< vpTrackerType, double > &mapOfFeatureFactors)
 
virtual void setGoodMovingEdgesRatioThreshold (const double threshold)
 
virtual void setGoodNbRayCastingAttemptsRatio (const double &ratio)
 
virtual void setNbRayCastingAttemptsForVisibility (const unsigned int &attempts)
 
virtual void setKltMaskBorder (const unsigned int &e)
 
virtual void setKltMaskBorder (const unsigned int &e1, const unsigned int &e2)
 
virtual void setKltMaskBorder (const std::map< std::string, unsigned int > &mapOfErosions)
 
virtual void setKltOpencv (const vpKltOpencv &t)
 
virtual void setKltOpencv (const vpKltOpencv &t1, const vpKltOpencv &t2)
 
virtual void setKltOpencv (const std::map< std::string, vpKltOpencv > &mapOfKlts)
 
virtual void setKltThresholdAcceptation (const double th)
 
virtual void setLod (const bool useLod, const std::string &name="")
 
virtual void setMinLineLengthThresh (const double minLineLengthThresh, const std::string &name="")
 
virtual void setMinPolygonAreaThresh (const double minPolygonAreaThresh, const std::string &name="")
 
virtual void setMovingEdge (const vpMe &me)
 
virtual void setMovingEdge (const vpMe &me1, const vpMe &me2)
 
virtual void setMovingEdge (const std::map< std::string, vpMe > &mapOfMe)
 
virtual void setNearClippingDistance (const double &dist)
 
virtual void setNearClippingDistance (const double &dist1, const double &dist2)
 
virtual void setNearClippingDistance (const std::map< std::string, double > &mapOfDists)
 
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 &cdMo)
 
virtual void setPose (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, const vpHomogeneousMatrix &c1Mo, const vpHomogeneousMatrix &c2Mo)
 
virtual void setPose (const std::map< std::string, const vpImage< unsigned char > *> &mapOfImages, const std::map< std::string, vpHomogeneousMatrix > &mapOfCameraPoses)
 
virtual void setProjectionErrorComputation (const bool &flag)
 
virtual void setReferenceCameraName (const std::string &referenceCameraName)
 
virtual void setScanLineVisibilityTest (const bool &v)
 
virtual void setTrackerType (const int type)
 
virtual void setTrackerType (const std::map< std::string, int > &mapOfTrackerTypes)
 
virtual void setUseEdgeTracking (const std::string &name, const bool &useEdgeTracking)
 
virtual void setUseKltTracking (const std::string &name, const bool &useKltTracking)
 
virtual void testTracking ()
 
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)
 
virtual void track (std::map< std::string, const vpImage< unsigned char > *> &mapOfImages, std::map< std::string, pcl::PointCloud< pcl::PointXYZ >::ConstPtr > &mapOfPointClouds)
 
virtual void track (std::map< std::string, const vpImage< unsigned char > *> &mapOfImages, std::map< std::string, const std::vector< vpColVector > *> &mapOfPointClouds, std::map< std::string, unsigned int > &mapOfPointCloudWidths, std::map< std::string, unsigned int > &mapOfPointCloudHeights)
 
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 double getFarClippingDistance () const
 
virtual double getNearClippingDistance () const
 
virtual vpMbtOptimizationMethod getOptimizationMethod () const
 
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 setCovarianceComputation (const bool &flag)
 
virtual void setEstimatedDoF (const vpColVector &v)
 
virtual void setInitialMu (const double mu)
 
virtual void setLambda (const double gain)
 
virtual void setMaxIter (const unsigned int max)
 
virtual void setStopCriteriaEpsilon (const double eps)
 
void savePose (const std::string &filename) const
 
void setPoseSavingFilename (const std::string &filename)
 

Protected Member Functions

virtual void computeProjectionError ()
 
virtual void computeVVS (std::map< std::string, const vpImage< unsigned char > *> &mapOfImages)
 
virtual void computeVVSInit ()
 
virtual void computeVVSInit (std::map< std::string, const vpImage< unsigned char > *> &mapOfImages)
 
virtual void computeVVSInteractionMatrixAndResidu ()
 
virtual void computeVVSInteractionMatrixAndResidu (std::map< std::string, const vpImage< unsigned char > *> &mapOfImages, std::map< std::string, vpVelocityTwistMatrix > &mapOfVelocityTwist)
 
virtual void computeVVSWeights ()
 
virtual void initCircle (const vpPoint &p1, const vpPoint &p2, const vpPoint &p3, const double radius, const int idFace=0, const std::string &name="")
 
virtual void initCylinder (const vpPoint &p1, const vpPoint &p2, const double radius, const int idFace=0, const std::string &name="")
 
virtual void initFaceFromCorners (vpMbtPolygon &polygon)
 
virtual void initFaceFromLines (vpMbtPolygon &polygon)
 
virtual void preTracking (std::map< std::string, const vpImage< unsigned char > *> &mapOfImages, std::map< std::string, pcl::PointCloud< pcl::PointXYZ >::ConstPtr > &mapOfPointClouds)
 
virtual void preTracking (std::map< std::string, const vpImage< unsigned char > *> &mapOfImages, std::map< std::string, const std::vector< vpColVector > *> &mapOfPointClouds, std::map< std::string, unsigned int > &mapOfPointCloudWidths, std::map< std::string, unsigned int > &mapOfPointCloudHeights)
 
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 Attributes

vpColVector m_error
 
vpMatrix m_L
 
std::map< std::string, vpHomogeneousMatrix > m_mapOfCameraTransformationMatrix
 
std::map< vpTrackerType, double > m_mapOfFeatureFactors
 
std::map< std::string, TrackerWrapper * > m_mapOfTrackers
 
double m_percentageGdPt
 
std::string m_referenceCameraName
 
double m_thresholdOutlier
 
vpColVector m_w
 
vpColVector m_weightedError
 
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
 

Detailed Description

Examples:
mbtGenericTracking.cpp, mbtGenericTracking2.cpp, mbtGenericTrackingDepth.cpp, tutorial-mb-generic-tracker-stereo-mono.cpp, and tutorial-mb-generic-tracker-stereo.cpp.

Definition at line 48 of file vpMbGenericTracker.h.

Member Enumeration Documentation

◆ vpMbtOptimizationMethod

enum vpMbTracker::vpMbtOptimizationMethod
inherited
Enumerator
GAUSS_NEWTON_OPT 
LEVENBERG_MARQUARDT_OPT 

Definition at line 109 of file vpMbTracker.h.

◆ vpTrackerType

enum vpMbGenericTracker::vpTrackerType
Enumerator
EDGE_TRACKER 

Model-based tracking using moving edges features.

KLT_TRACKER 

Model-based tracking using KLT features.

DEPTH_NORMAL_TRACKER 

Model-based tracking using depth normal features.

DEPTH_DENSE_TRACKER 

Model-based tracking using depth dense features.

Definition at line 51 of file vpMbGenericTracker.h.

Constructor & Destructor Documentation

◆ vpMbGenericTracker() [1/4]

vpMbGenericTracker::vpMbGenericTracker ( )

Definition at line 43 of file vpMbGenericTracker.cpp.

References DEPTH_DENSE_TRACKER, DEPTH_NORMAL_TRACKER, EDGE_TRACKER, KLT_TRACKER, m_mapOfCameraTransformationMatrix, m_mapOfFeatureFactors, and m_mapOfTrackers.

◆ vpMbGenericTracker() [2/4]

vpMbGenericTracker::vpMbGenericTracker ( const unsigned int  nbCameras,
const int  trackerType = EDGE_TRACKER 
)

Definition at line 63 of file vpMbGenericTracker.cpp.

References DEPTH_DENSE_TRACKER, DEPTH_NORMAL_TRACKER, EDGE_TRACKER, vpTrackingException::fatalError, KLT_TRACKER, m_mapOfCameraTransformationMatrix, m_mapOfFeatureFactors, m_mapOfTrackers, and m_referenceCameraName.

◆ vpMbGenericTracker() [3/4]

vpMbGenericTracker::vpMbGenericTracker ( const std::vector< int > &  trackerTypes)
explicit

Definition at line 99 of file vpMbGenericTracker.cpp.

References vpException::badValue, DEPTH_DENSE_TRACKER, DEPTH_NORMAL_TRACKER, EDGE_TRACKER, KLT_TRACKER, m_mapOfCameraTransformationMatrix, m_mapOfFeatureFactors, m_mapOfTrackers, and m_referenceCameraName.

◆ vpMbGenericTracker() [4/4]

vpMbGenericTracker::vpMbGenericTracker ( const std::vector< std::string > &  cameraNames,
const std::vector< int > &  trackerTypes 
)

Definition at line 137 of file vpMbGenericTracker.cpp.

References vpException::badValue, DEPTH_DENSE_TRACKER, DEPTH_NORMAL_TRACKER, EDGE_TRACKER, KLT_TRACKER, m_mapOfCameraTransformationMatrix, m_mapOfFeatureFactors, m_mapOfTrackers, and m_referenceCameraName.

◆ ~vpMbGenericTracker()

vpMbGenericTracker::~vpMbGenericTracker ( )
virtual

Definition at line 168 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

Member Function Documentation

◆ addPolygon() [1/4]

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

Definition at line 837 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::extractCylinders(), vpMbTracker::extractFaces(), vpMbTracker::extractLines(), vpMbTracker::loadCAOModel(), and vpMbEdgeTracker::setGoodMovingEdgesRatioThreshold().

◆ addPolygon() [2/4]

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

Definition at line 893 of file vpMbTracker.cpp.

References vpPolygon3D::addPoint(), vpMbHiddenFaces< PolygonType >::addPolygon(), vpMbTracker::clippingFlag, vpColVector::crossProd(), vpMbTracker::distFarClip, vpMbTracker::distNearClip, vpMbTracker::faces, vpPolygon3D::FAR_CLIPPING, vpPoint::get_oX(), vpPoint::get_oY(), vpPoint::get_oZ(), vpPlane::getA(), vpPlane::getB(), vpPlane::getC(), vpMbHiddenFaces< PolygonType >::getPolygon(), vpMbTracker::minLineLengthThresholdGeneral, vpPolygon3D::NEAR_CLIPPING, vpPolygon3D::NO_CLIPPING, vpPlane::object_frame, vpMath::rad(), vpMbtPolygon::setIndex(), vpMbtPolygon::setLod(), vpMbtPolygon::setMinLineLengthThresh(), vpMbtPolygon::setMinPolygonAreaThresh(), vpMbtPolygon::setName(), vpPolygon3D::setNbPoint(), vpPoint::setWorldCoordinates(), and vpMath::sqr().

◆ addPolygon() [3/4]

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() [4/4]

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

Definition at line 1012 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::setIsPolygonOriented(), vpMbtPolygon::setLod(), vpMbtPolygon::setMinLineLengthThresh(), vpMbtPolygon::setMinPolygonAreaThresh(), vpMbtPolygon::setName(), and vpPolygon3D::setNbPoint().

◆ 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(), computeVVS(), vpMbKltMultiTracker::computeVVS(), vpMbEdgeKltTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), vpMbKltTracker::computeVVS(), vpMbEdgeTracker::computeVVS(), vpMbEdgeKltTracker::testTracking(), and 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::incorrectMatrixSizeErrorif the sizes of the matrices do not allow the computation.
Warning
The JTR vector is resized.
Parameters
interaction: The interaction matrix (size Nx6).
error: The residu vector (size Nx1).
JTR: The resulting JTR column vector (size 6x1).

Definition at line 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 vpMbGenericTracker::computeProjectionError ( )
protectedvirtual

Definition at line 177 of file vpMbGenericTracker.cpp.

References vpMbTracker::computeProjError, vpMath::deg(), m_mapOfTrackers, vpMbTracker::projectionError, and vpMath::rad().

Referenced by track().

◆ computeVVS()

void vpMbGenericTracker::computeVVS ( std::map< std::string, const vpImage< unsigned char > *> &  mapOfImages)
protectedvirtual

Definition at line 206 of file vpMbGenericTracker.cpp.

References vpMatrix::AtA(), vpVelocityTwistMatrix::buildFrom(), vpMbTracker::cMo, vpMbTracker::computeCovariance, vpMbTracker::computeCovarianceMatrixVVS(), vpMbTracker::computeVVSCheckLevenbergMarquardt(), computeVVSInit(), computeVVSInteractionMatrixAndResidu(), vpMbTracker::computeVVSPoseEstimation(), computeVVSWeights(), DEPTH_DENSE_TRACKER, DEPTH_NORMAL_TRACKER, vpExponentialMap::direct(), EDGE_TRACKER, vpMatrix::eye(), vpException::fatalError, vpArray2D< Type >::getCols(), vpArray2D< Type >::getRows(), vpHomogeneousMatrix::inverse(), KLT_TRACKER, m_error, vpMbTracker::m_initialMu, m_L, m_mapOfCameraTransformationMatrix, m_mapOfFeatureFactors, m_mapOfTrackers, vpMbTracker::m_maxIter, vpMbTracker::m_stopCriteriaEpsilon, m_weightedError, vpTrackingException::notEnoughPointError, vpMbTracker::oJo, and vpMath::sqr().

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

◆ computeVVSInit() [1/2]

void vpMbGenericTracker::computeVVSInit ( )
protectedvirtual

Implements vpMbTracker.

Definition at line 428 of file vpMbGenericTracker.cpp.

References vpException::fatalError.

Referenced by computeVVS(), getRobustWeights(), and track().

◆ computeVVSInit() [2/2]

void vpMbGenericTracker::computeVVSInit ( std::map< std::string, const vpImage< unsigned char > *> &  mapOfImages)
protectedvirtual

Definition at line 433 of file vpMbGenericTracker.cpp.

References m_error, m_L, m_mapOfTrackers, m_w, m_weightedError, vpArray2D< Type >::resize(), and vpColVector::resize().

◆ computeVVSInteractionMatrixAndResidu() [1/2]

void vpMbGenericTracker::computeVVSInteractionMatrixAndResidu ( )
protectedvirtual

Implements vpMbTracker.

Definition at line 453 of file vpMbGenericTracker.cpp.

References vpException::fatalError.

Referenced by computeVVS(), getRobustWeights(), and track().

◆ computeVVSInteractionMatrixAndResidu() [2/2]

void vpMbGenericTracker::computeVVSInteractionMatrixAndResidu ( std::map< std::string, const vpImage< unsigned char > *> &  mapOfImages,
std::map< std::string, vpVelocityTwistMatrix > &  mapOfVelocityTwist 
)
protectedvirtual

Definition at line 460 of file vpMbGenericTracker.cpp.

References vpMbTracker::cMo, vpColVector::insert(), vpMatrix::insert(), m_error, m_L, m_mapOfCameraTransformationMatrix, and m_mapOfTrackers.

◆ 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

Definition at line 2476 of file vpMbTracker.cpp.

References vpMatrix::AtA(), vpVelocityTwistMatrix::buildFrom(), vpMbTracker::cMo, vpMbTracker::computeJTR(), vpMatrix::eye(), vpMbTracker::GAUSS_NEWTON_OPT, vpArray2D< Type >::getCols(), vpArray2D< Type >::getRows(), vpMbTracker::LEVENBERG_MARQUARDT_OPT, vpMbTracker::m_lambda, vpMbTracker::m_optimizationMethod, vpMbTracker::oJo, and vpMatrix::pseudoInverse().

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

◆ computeVVSWeights() [1/2]

void vpMbGenericTracker::computeVVSWeights ( )
protectedvirtual

Definition at line 485 of file vpMbGenericTracker.cpp.

References vpColVector::insert(), m_mapOfTrackers, and m_w.

Referenced by computeVVS(), getRobustWeights(), and track().

◆ 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(), getRobustWeights(), vpMbKltMultiTracker::getRobustWeights(), vpMbEdgeKltMultiTracker::setFactorMBT(), vpMbEdgeTracker::setGoodMovingEdgesRatioThreshold(), and 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() [1/6]

void vpMbGenericTracker::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).
Note
This function will display the model only for the reference camera.

Implements vpMbTracker.

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

Definition at line 512 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_referenceCameraName.

Referenced by getRobustWeights().

◆ display() [2/6]

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

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

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

Implements vpMbTracker.

Definition at line 538 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_referenceCameraName.

◆ display() [3/6]

void vpMbGenericTracker::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).
Note
This function assumes a stereo configuration of the generic tracker.

Definition at line 567 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ display() [4/6]

void vpMbGenericTracker::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).
Note
This function assumes a stereo configuration of the generic tracker.

Definition at line 600 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ display() [5/6]

void vpMbGenericTracker::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).

Definition at line 628 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ display() [6/6]

void vpMbGenericTracker::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).

Definition at line 661 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ 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.
polygonNameName 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.
polygonNameName 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.
polygonNameName 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.

◆ getCameraNames()

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

Get the camera names.

Returns
The vector of camera names.

Definition at line 688 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ getCameraParameters() [1/3]

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

Get all the camera parameters.

Parameters
cam1: Copy of the camera parameters for the first camera.
cam2: Copy of the camera parameters for the second camera.
Note
This function assumes a stereo configuration of the generic tracker.
Examples:
tutorial-mb-generic-tracker-stereo-mono.cpp, and tutorial-mb-generic-tracker-stereo.cpp.

Definition at line 708 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ getCameraParameters() [2/3]

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

Get all the camera parameters.

Parameters
mapOfCameraParameters: Map of camera parameters.

Definition at line 727 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ getCameraParameters() [3/3]

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.

◆ getCameraTrackerTypes()

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

Get the camera tracker types.

Returns
The map of camera tracker types.
See also
vpTrackerType

Definition at line 746 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ getClipping() [1/3]

void vpMbGenericTracker::getClipping ( unsigned int &  clippingFlag1,
unsigned int &  clippingFlag2 
) const
virtual

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

Parameters
clippingFlag1: Clipping flags for the first camera.
clippingFlag2: Clipping flags for the second camera.
Note
This function assumes a stereo configuration of the generic tracker.

Definition at line 768 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ getClipping() [2/3]

void vpMbGenericTracker::getClipping ( std::map< std::string, unsigned int > &  mapOfClippingFlags) const
virtual

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

Parameters
mapOfClippingFlags: Map of clipping flags.

Definition at line 787 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ getClipping() [3/3]

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 vpMbGenericTracker::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()

Implements vpMbTracker.

Definition at line 101 of file vpMbGenericTracker.h.

References vpMbTracker::getFaces(), vpMbTracker::getNbPolygon(), vpMbTracker::getPolygon(), vpMbTracker::getPolygonFaces(), and vpMbTracker::getPose().

Referenced by getRobustWeights().

◆ 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() [1/2]

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

Return a reference to the faces structure.

Returns
Reference to the face structure.

Reimplemented from vpMbTracker.

Definition at line 803 of file vpMbGenericTracker.cpp.

References vpMbTracker::faces, m_mapOfTrackers, and m_referenceCameraName.

◆ getFaces() [2/2]

vpMbHiddenFaces< vpMbtPolygon > & vpMbGenericTracker::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 819 of file vpMbGenericTracker.cpp.

References vpMbTracker::faces, and m_mapOfTrackers.

◆ 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()

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

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

Definition at line 834 of file vpMbGenericTracker.cpp.

References vpException::badValue, m_mapOfTrackers, and m_referenceCameraName.

◆ getFeaturesKlt()

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

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

Definition at line 864 of file vpMbGenericTracker.cpp.

References vpException::badValue, m_mapOfTrackers, and m_referenceCameraName.

◆ getFeaturesKltCylinder()

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

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

Definition at line 849 of file vpMbGenericTracker.cpp.

References vpException::badValue, m_mapOfTrackers, and m_referenceCameraName.

◆ getGoodMovingEdgesRatioThreshold()

double vpMbGenericTracker::getGoodMovingEdgesRatioThreshold ( ) const
virtual
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 886 of file vpMbGenericTracker.cpp.

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

Definition at line 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 > vpMbGenericTracker::getKltImagePoints ( ) const
virtual

Get the current list of KLT points for the reference camera.

Warning
This function convert and copy the OpenCV KLT points into vpImagePoints.
Returns
the list of KLT points through vpKltOpencv.

Definition at line 897 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_referenceCameraName.

◆ getKltImagePointsWithId()

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

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

Warning
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 918 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_referenceCameraName.

◆ getKltMaskBorder()

unsigned int vpMbGenericTracker::getKltMaskBorder ( ) const
virtual

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

Returns
The erosion for the reference camera.

Definition at line 936 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_referenceCameraName.

◆ getKltNbPoints()

int vpMbGenericTracker::getKltNbPoints ( ) const
virtual

Get number of KLT points for the reference camera.

Returns
Number of KLT points for the reference camera.

Definition at line 954 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_referenceCameraName.

◆ getKltOpencv() [1/3]

vpKltOpencv vpMbGenericTracker::getKltOpencv ( ) const
virtual

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

Returns
klt tracker.

Definition at line 972 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_referenceCameraName.

◆ getKltOpencv() [2/3]

void vpMbGenericTracker::getKltOpencv ( vpKltOpencv &  klt1,
vpKltOpencv &  klt2 
) const
virtual

Get the klt tracker at the current state.

Parameters
klt1: Klt tracker for the first camera.
klt2: Klt tracker for the second camera.
Note
This function assumes a stereo configuration of the generic tracker.

Definition at line 995 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ getKltOpencv() [3/3]

void vpMbGenericTracker::getKltOpencv ( std::map< std::string, vpKltOpencv > &  mapOfKlts) const
virtual

Get the klt tracker at the current state.

Parameters
mapOfKlts: Map if klt trackers.

Definition at line 1014 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ getKltPoints()

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

Get the current list of KLT points for the reference camera.

Returns
the list of KLT points through vpKltOpencv.

Definition at line 1031 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_referenceCameraName.

◆ getKltThresholdAcceptation()

double vpMbGenericTracker::getKltThresholdAcceptation ( ) const
virtual

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 1051 of file vpMbGenericTracker.cpp.

References m_thresholdOutlier.

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

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

Exceptions
vpException::dimensionErrorif the second parameter does not correspond to an used level.
Parameters
cameraName: Camera name for which we want to get the list of vpMbtDistanceCircle.
circlesList: The list of the circles of the model.
level: Level corresponding to the list to return.
Note
Multi-scale moving edge tracking is not possible, scale level=0 must be used.

Definition at line 1068 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ getLcylinder()

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

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

Exceptions
vpException::dimensionErrorif the second parameter does not correspond to an used level.
Parameters
cameraName: Camera name for which we want to get the list of vpMbtDistanceCylinder.
cylindersList: The list of the cylinders of the model.
level: Level corresponding to the list to return.
Note
Multi-scale moving edge tracking is not possible, scale level=0 must be used.

Definition at line 1093 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ getLline()

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

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

Exceptions
vpException::dimensionErrorif the second parameter does not correspond to an used level.
Parameters
cameraName: Camera name for which we want to get the list of vpMbtDistanceLine.
linesList: The list of the lines of the model.
level: Level corresponding to the list to return.
Note
Multi-scale moving edge tracking is not possible, scale level=0 must be used.

Definition at line 1118 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ 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() [1/3]

vpMe vpMbGenericTracker::getMovingEdge ( ) const
virtual

Get the moving edge parameters for the reference camera.

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

Definition at line 1134 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_referenceCameraName.

◆ getMovingEdge() [2/3]

void vpMbGenericTracker::getMovingEdge ( vpMe &  me1,
vpMe &  me2 
) const
virtual

Get the moving edge parameters.

Parameters
me1: Moving edge parameters for the first camera.
me2: Moving edge parameters for the second camera.
Note
This function assumes a stereo configuration of the generic tracker.

Definition at line 1155 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ getMovingEdge() [3/3]

void vpMbGenericTracker::getMovingEdge ( std::map< std::string, vpMe > &  mapOfMovingEdges) const
virtual

Get the moving edge parameters for all the cameras

Parameters
mapOfMovingEdges: Map of moving edge parameters for all the cameras.

Definition at line 1178 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ getNbPoints() [1/2]

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

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

Parameters
level: Pyramid level to consider.
Exceptions
vpException::dimensionErrorif level does not represent a used level.
Returns
the number of good points for the reference camera.
Note
Multi-scale moving edge tracking is not possible, scale level=0 must be used.

Definition at line 1204 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_referenceCameraName.

◆ getNbPoints() [2/2]

void vpMbGenericTracker::getNbPoints ( std::map< std::string, unsigned int > &  mapOfNbPoints,
const unsigned int  level = 0 
) const
virtual

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

Parameters
mapOfNbPoints: Map of number of good points (vpMeSite) tracked for all the cameras.
level: Pyramid level to consider.
Exceptions
vpException::dimensionErrorif level does not represent a used level.
Note
Multi-scale moving edge tracking is not possible, scale level=0 must be used.

Definition at line 1233 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ getNbPolygon() [1/2]

unsigned int vpMbGenericTracker::getNbPolygon ( ) const
inlinevirtual

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

Returns
Number of polygons for the reference camera.

Reimplemented from vpMbTracker.

Definition at line 1249 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_referenceCameraName.

Referenced by track().

◆ getNbPolygon() [2/2]

void vpMbGenericTracker::getNbPolygon ( std::map< std::string, unsigned int > &  mapOfNbPolygons) const
virtual

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

Returns
Number of polygons for all the cameras.

Definition at line 1265 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ getNearClippingDistance()

virtual double vpMbTracker::getNearClippingDistance ( ) const
inlinevirtualinherited

Get the near distance for clipping.

Returns
Near clipping value.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 342 of file vpMbTracker.h.

Referenced by vpMbEdgeKltTracker::getNearClippingDistance().

◆ 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() [1/2]

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

Return the polygon (face) "index" for the reference camera.

Exceptions
vpException::dimensionErrorif index does not represent a good polygon.
Parameters
index: Index of the polygon to return.
Returns
Pointer to the polygon index for the reference camera or NULL in case of problem.

Reimplemented from vpMbTracker.

Definition at line 1286 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_referenceCameraName.

◆ getPolygon() [2/2]

vpMbtPolygon * vpMbGenericTracker::getPolygon ( const std::string &  cameraName,
const unsigned int  index 
)
virtual

Return the polygon (face) "index" for the specified camera.

Exceptions
vpException::dimensionErrorif index does not represent a good polygon.
Parameters
cameraName: Name of the camera to return the polygon.
index: Index of the polygon to return.
Returns
Pointer to the polygon index for the specified camera or NULL in case of problem.

Definition at line 1308 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ getPolygonFaces() [1/2]

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

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

Parameters
orderPolygons: If true, the resulting list is ordered from the nearest polygon faces to the farther.
useVisibility: If true, only visible faces will be retrieved.
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.
Note
This function will return the 2D polygons faces and 3D face points only for the reference camera.

Reimplemented from vpMbTracker.

Definition at line 1335 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_referenceCameraName.

◆ getPolygonFaces() [2/2]

void vpMbGenericTracker::getPolygonFaces ( std::map< std::string, std::vector< vpPolygon > > &  mapOfPolygons,
std::map< std::string, std::vector< std::vector< vpPoint > > > &  mapOfPoints,
const bool  orderPolygons = true,
const bool  useVisibility = true,
const bool  clipPolygon = false 
)
virtual

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

Parameters
mapOfPolygons: Map of 2D polygon faces.
mapOfPoints: Map of face 3D points.
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.
Note
This function will return the 2D polygons faces and 3D face points only for all the cameras.

Definition at line 1367 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ getPose() [1/4]

void vpMbGenericTracker::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.
Note
This function assumes a stereo configuration of the generic tracker.
Examples:
tutorial-mb-generic-tracker-stereo-mono.cpp, and tutorial-mb-generic-tracker-stereo.cpp.

Definition at line 1393 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ getPose() [2/4]

void vpMbGenericTracker::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.

Definition at line 1412 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ getPose() [3/4]

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() [4/4]

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 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 vpMbGenericTracker::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()

Implements vpMbTracker.

Definition at line 163 of file vpMbGenericTracker.h.

References vpMbTracker::cam, vpMbTracker::cMo, computeVVS(), computeVVSInit(), vpMbTracker::computeVVSInit(), computeVVSInteractionMatrixAndResidu(), vpMbEdgeTracker::computeVVSInteractionMatrixAndResidu(), vpMbTracker::computeVVSInteractionMatrixAndResidu(), computeVVSWeights(), vpMbTracker::computeVVSWeights(), display(), getError(), init(), vpMbTracker::init(), initCircle(), vpMbTracker::initCircle(), vpMbTracker::initClick(), initCylinder(), vpMbTracker::initCylinder(), initFaceFromCorners(), vpMbTracker::initFaceFromCorners(), initFaceFromLines(), vpMbTracker::initFaceFromLines(), vpMbTracker::initFromPoints(), vpMbTracker::initFromPose(), loadConfigFile(), vpMbTracker::loadConfigFile(), vpMbTracker::loadModel(), m_error, m_L, m_w, m_weightedError, preTracking(), reInitModel(), resetTracker(), vpMbTracker::resetTracker(), vpMbTracker::setAngleAppear(), vpMbTracker::setAngleDisappear(), setCameraParameters(), vpMbTracker::setCameraParameters(), setClipping(), vpMbTracker::setClipping(), vpMbTracker::setDisplayFeatures(), setFarClippingDistance(), vpMbTracker::setFarClippingDistance(), vpMbTracker::setGoodNbRayCastingAttemptsRatio(), vpMbTracker::setLod(), vpMbTracker::setMinLineLengthThresh(), vpMbTracker::setMinPolygonAreaThresh(), vpMbTracker::setNbRayCastingAttemptsForVisibility(), setNearClippingDistance(), vpMbTracker::setNearClippingDistance(), vpMbTracker::setOgreShowConfigDialog(), setOgreVisibilityTest(), vpMbTracker::setOgreVisibilityTest(), vpMbTracker::setOptimizationMethod(), setPose(), vpMbTracker::setPose(), setProjectionErrorComputation(), vpMbTracker::setProjectionErrorComputation(), setScanLineVisibilityTest(), vpMbTracker::setScanLineVisibilityTest(), setTrackerType(), testTracking(), vpMbTracker::testTracking(), vpMbDepthDenseTracker::track(), vpMbDepthNormalTracker::track(), track(), and vpMbTracker::track().

◆ getStopCriteriaEpsilon()

virtual double vpMbTracker::getStopCriteriaEpsilon ( ) const
inlinevirtualinherited

Definition at line 392 of file vpMbTracker.h.

◆ init()

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

Initialise the tracking.

Parameters
I: Input image.

Implements vpMbTracker.

Definition at line 1424 of file vpMbGenericTracker.cpp.

References vpMbTracker::cMo, vpHomogeneousMatrix::init(), m_mapOfCameraTransformationMatrix, and m_mapOfTrackers.

Referenced by getRobustWeights(), and track().

◆ initCircle()

void vpMbGenericTracker::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: A point on the plane containing the circle.
p3: An other point on the plane containing the circle. With the center of the circle p1, p2 and p3 we have 3 points defining the plane that contains the circle.
radius: Radius of the circle.
idFace: Id of the face associated to the circle.
name: Name of the circle.

Implements vpMbTracker.

Definition at line 1434 of file vpMbGenericTracker.cpp.

References vpException::fatalError.

Referenced by getRobustWeights().

◆ initClick() [1/4]

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

Initialise the tracker by clicking in the reference 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
I1: Input image for the first camera.
I2: Input image for the second camera.
initFile1: File containing the coordinates of at least 4 3D points the user has to click in the image acquired by the first camera. This file should have .init extension (ie teabox.init).
initFile2: File containing the coordinates of at least 4 3D points the user has to click in the image acquired by the second camera. This file should have .init extension.
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.
Note
This function assumes a stereo configuration of the generic tracker.
Examples:
tutorial-mb-generic-tracker-stereo-mono.cpp, and tutorial-mb-generic-tracker-stereo.cpp.

Definition at line 1478 of file vpMbGenericTracker.cpp.

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

◆ initClick() [2/4]

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

Initialise the tracker by clicking in the reference 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 # /

The cameras that have not an init file will be automatically initialized but the camera transformation matrices have to be set before.

Parameters
mapOfImages: Map of images.
mapOfInitFiles: Map of files containing the points where to click for each camera.
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.
Note
Image and init file must be supplied for the reference camera. The images for all the cameras must be supplied to correctly initialize the trackers but some init files can be omitted. In this case, they will be initialized using the pose computed from the reference camera pose and using the known geometric transformation between each camera (see setCameraTransformationMatrix()).

Definition at line 1541 of file vpMbGenericTracker.cpp.

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

◆ initClick() [3/4]

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 getRobustWeights(), vpMbEdgeMultiTracker::getRobustWeights(), and vpMbKltMultiTracker::getRobustWeights().

◆ initClick() [4/4]

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

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

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

Implements vpMbTracker.

Definition at line 1597 of file vpMbGenericTracker.cpp.

References vpException::fatalError.

Referenced by getRobustWeights().

◆ initFaceFromCorners()

void vpMbGenericTracker::initFaceFromCorners ( vpMbtPolygon &  polygon)
protectedvirtual

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

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

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

Implements vpMbTracker.

Definition at line 1603 of file vpMbGenericTracker.cpp.

References vpException::fatalError.

Referenced by getRobustWeights().

◆ initFaceFromLines()

void vpMbGenericTracker::initFaceFromLines ( vpMbtPolygon &  polygon)
protectedvirtual

Implements vpMbTracker.

Definition at line 1608 of file vpMbGenericTracker.cpp.

References vpException::fatalError.

Referenced by getRobustWeights().

◆ initFromPoints() [1/4]

void vpMbGenericTracker::initFromPoints ( const vpImage< unsigned char > &  I1,
const vpImage< unsigned char > &  I2,
const std::string &  initFile1,
const std::string &  initFile2 
)
virtual

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
I1: Input image for the first camera.
I2: Input image for the second camera.
initFile1: Path to the file containing all the points for the first camera.
initFile2: Path to the file containing all the points for the second camera.
Note
This function assumes a stereo configuration of the generic tracker.

Definition at line 1642 of file vpMbGenericTracker.cpp.

References vpMbTracker::cam, vpMbTracker::cMo, vpTrackingException::initializationError, m_mapOfTrackers, and m_referenceCameraName.

◆ initFromPoints() [2/4]

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

Definition at line 1673 of file vpMbGenericTracker.cpp.

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

◆ initFromPoints() [3/4]

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 getRobustWeights().

◆ initFromPoints() [4/4]

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() [1/7]

void vpMbGenericTracker::initFromPose ( const vpImage< unsigned char > &  I1,
const vpImage< unsigned char > &  I2,
const std::string &  initFile1,
const std::string &  initFile2 
)
virtual

Initialise the tracking thanks to the pose in vpPoseVector format, and read in the file initFile.

Parameters
I1: Input image for the first camera.
I2: Input image for the second camera.
initFile1: Init pose file for the first camera.
initFile2: Init pose file for the second camera.
Note
This function assumes a stereo configuration of the generic tracker.

Definition at line 1735 of file vpMbGenericTracker.cpp.

References vpMbTracker::cam, vpMbTracker::cMo, vpTrackingException::initializationError, m_mapOfTrackers, and m_referenceCameraName.

Referenced by track().

◆ initFromPose() [2/7]

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

Initialise the tracking thanks to the pose in vpPoseVector format, and read in the file initFile.

Parameters
mapOfImages: Map of images.
mapOfInitPoses: Map of init pose files.
Note
Image and init pose file must be supplied for the reference camera. The images for all the cameras must be supplied to correctly initialize the trackers but some init pose files can be omitted. In this case, they will be initialized using the pose computed from the reference camera pose and using the known geometric transformation between each camera (see setCameraTransformationMatrix()).

Definition at line 1780 of file vpMbGenericTracker.cpp.

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

◆ initFromPose() [3/7]

void vpMbGenericTracker::initFromPose ( const vpImage< unsigned char > &  I1,
const vpImage< unsigned char > &  I2,
const vpHomogeneousMatrix &  c1Mo,
const vpHomogeneousMatrix &  c2Mo 
)
virtual

Initialize the tracking thanks to the pose.

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.
Note
This function assumes a stereo configuration of the generic tracker.

Definition at line 1841 of file vpMbGenericTracker.cpp.

References vpMbTracker::cMo, vpTrackingException::initializationError, and m_mapOfTrackers.

◆ initFromPose() [4/7]

void vpMbGenericTracker::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.
Note
Image and camera pose must be supplied for the reference camera. The images for all the cameras must be supplied to correctly initialize the trackers but some camera poses can be omitted. In this case, they will be initialized using the pose computed from the reference camera pose and using the known geometric transformation between each camera (see setCameraTransformationMatrix()).

Definition at line 1872 of file vpMbGenericTracker.cpp.

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

◆ initFromPose() [5/7]

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

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

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

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

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

Reimplemented in vpMbEdgeKltMultiTracker, vpMbKltMultiTracker, and vpMbEdgeMultiTracker.

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

Definition at line 765 of file vpMbTracker.cpp.

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

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

◆ initFromPose() [6/7]

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() [7/7]

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().

◆ 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//////////////////////////

Read the parameter value if present//////////////////////////

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

Read the parameter value if present//////////////////////////

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

Read the parameter value if present//////////////////////////

Read the cylinder declaration part//////////////////////////

Read the parameter value if present//////////////////////////

Read the circle declaration part//////////////////////////

Read the parameter value if present//////////////////////////

Definition at line 1318 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().

◆ loadConfigFile() [1/3]

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

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

Warning
To clean up memory allocated by the xml library, the user has to call vpXmlParser::cleanup() before the exit().
Exceptions
vpException::ioErrorif the file has not been properly parsed (file not found or wrong format for the data).
Parameters
configFile: full name of the xml file.
See also
vpXmlParser::cleanup()

Implements vpMbTracker.

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

Definition at line 1938 of file vpMbGenericTracker.cpp.

References vpMbTracker::angleAppears, vpMbTracker::angleDisappears, vpMbTracker::cam, vpMbTracker::clippingFlag, vpException::fatalError, m_mapOfTrackers, and m_referenceCameraName.

Referenced by getRobustWeights().

◆ loadConfigFile() [2/3]

void vpMbGenericTracker::loadConfigFile ( const std::string &  configFile1,
const std::string &  configFile2 
)
virtual

Load the xml configuration files. From the configuration file initialize the parameters corresponding to the objects: tracking parameters, camera intrinsic parameters.

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.
See also
vpXmlParser::cleanup()
Note
This function assumes a stereo configuration of the generic tracker.

Definition at line 1971 of file vpMbGenericTracker.cpp.

References vpMbTracker::angleAppears, vpMbTracker::angleDisappears, vpMbTracker::cam, vpMbTracker::clippingFlag, vpException::fatalError, m_mapOfTrackers, and m_referenceCameraName.

◆ loadConfigFile() [3/3]

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

Load the xml configuration files. From the configuration file initialize the parameters corresponding to the objects: tracking parameters, camera intrinsic parameters.

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()
Note
Configuration files must be supplied for all the cameras.

Definition at line 2009 of file vpMbGenericTracker.cpp.

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

◆ loadModel() [1/4]

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

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

Warning
When this class is called to load a vrml model, remember that you have to call Call SoDD::finish() before ending the program.
int main()
{
...
#if defined(VISP_HAVE_COIN3D) && (COIN_MAJOR_VERSION == 3)
SoDB::finish();
#endif
}
Exceptions
vpException::ioErrorif the file cannot be open, or if its extension is not wrl or cao.
Parameters
modelFile: the file containing the 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.
Note
All the trackers will use the same model in case of stereo / multiple cameras configuration.

Reimplemented from vpMbTracker.

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

Definition at line 2068 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

Referenced by track().

◆ loadModel() [2/4]

void vpMbGenericTracker::loadModel ( const std::string &  modelFile1,
const std::string &  modelFile2,
const bool  verbose = false 
)
virtual

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

Warning
When this class is called to load a vrml model, remember that you have to call Call SoDD::finish() before ending the program.
int main()
{
...
#if defined(VISP_HAVE_COIN3D) && (COIN_MAJOR_VERSION == 3)
SoDB::finish();
#endif
}
Exceptions
vpException::ioErrorif the file cannot be open, or if its extension is not wrl or cao.
Parameters
modelFile1: the file containing the 3D model description for the first camera. The extension of this file is either .wrl or .cao.
modelFile2: the file containing the the 3D model description for the second camera. 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.
Note
This function assumes a stereo configuration of the generic tracker.

Definition at line 2106 of file vpMbGenericTracker.cpp.

References vpException::fatalError, and m_mapOfTrackers.

◆ loadModel() [3/4]

void vpMbGenericTracker::loadModel ( const std::map< std::string, std::string > &  mapOfModelFiles,
const bool  verbose = false 
)
virtual

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

Warning
When this class is called to load a vrml model, remember that you have to call Call SoDD::finish() before ending the program.
int main()
{
...
#if defined(VISP_HAVE_COIN3D) && (COIN_MAJOR_VERSION == 3)
SoDB::finish();
#endif
}
Exceptions
vpException::ioErrorif the file cannot be open, or if its extension is not wrl or cao.
Parameters
mapOfModelFiles: map of files containing 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.
Note
Each camera must have a model file.

Definition at line 2148 of file vpMbGenericTracker.cpp.

References vpTrackingException::initializationError, and m_mapOfTrackers.

◆ loadModel() [4/4]

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

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

Warning
When this class is called to load a vrml model, remember that you have to call Call SoDD::finish() before ending the program.
int main()
{
...
#if defined(VISP_HAVE_COIN3D) && (COIN_MAJOR_VERSION == 3)
SoDB::finish();
#endif
}
Exceptions
vpException::ioErrorif the file cannot be open, or if its extension is not wrl or cao.
Parameters
modelFile: the file containing the the 3D model description. The extension of this file is either .wrl or .cao.
verbose: verbose option to print additional information when loading CAO model files which include other CAO model files.
Examples:
mbtEdgeKltTracking.cpp, mbtEdgeTracking.cpp, mbtGenericTracking.cpp, mbtGenericTracking2.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 1069 of file vpMbTracker.cpp.

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

◆ loadVRMLModel()

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

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

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

Definition at line 1157 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::loadModel().

◆ ltrim()

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

Definition at line 776 of file vpMbTracker.h.

◆ parseBoolean()

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

Definition at line 763 of file vpMbTracker.h.

Referenced by vpMbTracker::loadCAOModel().

◆ parseParameters()

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

Definition at line 1218 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::loadCAOModel().

◆ preTracking() [1/2]

void vpMbGenericTracker::preTracking ( std::map< std::string, const vpImage< unsigned char > *> &  mapOfImages,
std::map< std::string, pcl::PointCloud< pcl::PointXYZ >::ConstPtr > &  mapOfPointClouds 
)
protectedvirtual

Definition at line 2165 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

Referenced by getRobustWeights(), and track().

◆ preTracking() [2/2]

void vpMbGenericTracker::preTracking ( std::map< std::string, const vpImage< unsigned char > *> &  mapOfImages,
std::map< std::string, const std::vector< vpColVector > *> &  mapOfPointClouds,
std::map< std::string, unsigned int > &  mapOfPointCloudWidths,
std::map< std::string, unsigned int > &  mapOfPointCloudHeights 
)
protectedvirtual

Definition at line 2176 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ reInitModel() [1/3]

void vpMbGenericTracker::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.

Definition at line 2198 of file vpMbGenericTracker.cpp.

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

Referenced by getRobustWeights().

◆ reInitModel() [2/3]

void vpMbGenericTracker::reInitModel ( const vpImage< unsigned char > &  I1,
const vpImage< unsigned char > &  I2,
const std::string &  cad_name1,
const std::string &  cad_name2,
const vpHomogeneousMatrix &  c1Mo,
const vpHomogeneousMatrix &  c2Mo,
const bool  verbose = false 
)
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_name1: Path to the file containing the 3D model description for the first camera.
cad_name2: Path to the file containing the 3D model description for the second camera.
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.
Note
This function assumes a stereo configuration of the generic tracker.

Definition at line 2235 of file vpMbGenericTracker.cpp.

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

◆ reInitModel() [3/3]

void vpMbGenericTracker::reInitModel ( const std::map< std::string, const vpImage< unsigned char > *> &  mapOfImages,
const std::map< std::string, std::string > &  mapOfModelFiles,
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.
mapOfModelFiles: Map of model files.
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.

Definition at line 2271 of file vpMbGenericTracker.cpp.

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

◆ removeComment()

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

Definition at line 1203 of file vpMbTracker.cpp.

References vpException::ioError.

Referenced by vpMbTracker::loadCAOModel().

◆ resetTracker()

void vpMbGenericTracker::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.

Definition at line 2330 of file vpMbGenericTracker.cpp.

References vpMbTracker::angleAppears, vpMbTracker::angleDisappears, vpMbTracker::clippingFlag, vpMbTracker::cMo, DEPTH_DENSE_TRACKER, DEPTH_NORMAL_TRACKER, vpMbTracker::distFarClip, vpMbTracker::distNearClip, EDGE_TRACKER, vpHomogeneousMatrix::eye(), vpMbTracker::GAUSS_NEWTON_OPT, KLT_TRACKER, vpMbTracker::m_computeInteraction, vpMbTracker::m_initialMu, vpMbTracker::m_lambda, m_mapOfFeatureFactors, m_mapOfTrackers, vpMbTracker::m_maxIter, vpMbTracker::m_optimizationMethod, m_percentageGdPt, vpMbTracker::m_stopCriteriaEpsilon, m_thresholdOutlier, vpPolygon3D::NO_CLIPPING, vpMath::rad(), vpMbTracker::useOgre, and vpMbTracker::useScanLine.

Referenced by getRobustWeights().

◆ rtrim()

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

Definition at line 782 of file vpMbTracker.h.

◆ savePose()

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 823 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::initClick().

◆ setAngleAppear() [1/3]

void vpMbGenericTracker::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.

Definition at line 2386 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and vpMbTracker::setAngleAppear().

◆ setAngleAppear() [2/3]

void vpMbGenericTracker::setAngleAppear ( const double &  a1,
const double &  a2 
)
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
a1: new angle in radian for the first camera.
a2: new angle in radian for the second camera.
Note
This function assumes a stereo configuration of the generic tracker.

Definition at line 2409 of file vpMbGenericTracker.cpp.

References vpMbTracker::angleAppears, vpTrackingException::fatalError, m_mapOfTrackers, and m_referenceCameraName.

◆ setAngleAppear() [3/3]

void vpMbGenericTracker::setAngleAppear ( const std::map< std::string, double > &  mapOfAngles)
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
mapOfAngles: Map of new angles in radian.

Definition at line 2439 of file vpMbGenericTracker.cpp.

References vpMbTracker::angleAppears, m_mapOfTrackers, and m_referenceCameraName.

◆ setAngleDisappear() [1/3]

void vpMbGenericTracker::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.

Definition at line 2464 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and vpMbTracker::setAngleDisappear().

◆ setAngleDisappear() [2/3]

void vpMbGenericTracker::setAngleDisappear ( const double &  a1,
const double &  a2 
)
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
a1: new angle in radian for the first camera.
a2: new angle in radian for the second camera.
Note
This function assumes a stereo configuration of the generic tracker.

Definition at line 2487 of file vpMbGenericTracker.cpp.

References vpMbTracker::angleDisappears, vpTrackingException::fatalError, m_mapOfTrackers, and m_referenceCameraName.

◆ setAngleDisappear() [3/3]

void vpMbGenericTracker::setAngleDisappear ( const std::map< std::string, double > &  mapOfAngles)
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
mapOfAngles: Map of new angles in radian.

Definition at line 2517 of file vpMbGenericTracker.cpp.

References vpMbTracker::angleDisappears, m_mapOfTrackers, and m_referenceCameraName.

◆ setCameraParameters() [1/3]

void vpMbGenericTracker::setCameraParameters ( const vpCameraParameters &  camera)
virtual

Set the camera parameters.

Parameters
camera: the new camera parameters.

Reimplemented from vpMbTracker.

Examples:
tutorial-mb-generic-tracker-stereo-mono.cpp.

Definition at line 2538 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and vpMbTracker::setCameraParameters().

Referenced by getRobustWeights(), and track().

◆ setCameraParameters() [2/3]

void vpMbGenericTracker::setCameraParameters ( const vpCameraParameters &  camera1,
const vpCameraParameters &  camera2 
)
virtual

Set the camera parameters.

Parameters
camera1: the new camera parameters for the first camera.
camera2: the new camera parameters for the second camera.
Note
This function assumes a stereo configuration of the generic tracker.

Definition at line 2557 of file vpMbGenericTracker.cpp.

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

◆ setCameraParameters() [3/3]

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

Set the camera parameters.

Parameters
mapOfCameraParameters: map of new camera parameters.
Note
This function will set the camera parameters only for the supplied camera names.

Definition at line 2586 of file vpMbGenericTracker.cpp.

References vpMbTracker::cam, m_mapOfTrackers, and m_referenceCameraName.

◆ setCameraTransformationMatrix() [1/2]

void vpMbGenericTracker::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.
Examples:
tutorial-mb-generic-tracker-stereo.cpp.

Definition at line 2611 of file vpMbGenericTracker.cpp.

References vpTrackingException::fatalError, and m_mapOfCameraTransformationMatrix.

◆ setCameraTransformationMatrix() [2/2]

void vpMbGenericTracker::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.

Definition at line 2630 of file vpMbGenericTracker.cpp.

References m_mapOfCameraTransformationMatrix.

◆ setClipping() [1/3]

void vpMbGenericTracker::setClipping ( const unsigned int &  flags)
virtual

Specify which clipping to use.

See also
vpMbtPolygonClipping
Parameters
flags: New clipping flags.
Note
This function will set the new parameter for all the cameras.

Reimplemented from vpMbTracker.

Definition at line 2653 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and vpMbTracker::setClipping().

Referenced by getRobustWeights(), and track().

◆ setClipping() [2/3]

void vpMbGenericTracker::setClipping ( const unsigned int &  flags1,
const unsigned int &  flags2 
)
virtual

Specify which clipping to use.

See also
vpMbtPolygonClipping
Parameters
flags1: New clipping flags for the first camera.
flags2: New clipping flags for the second camera.
Note
This function assumes a stereo configuration of the generic tracker.

Definition at line 2674 of file vpMbGenericTracker.cpp.

References vpMbTracker::clippingFlag, vpTrackingException::fatalError, m_mapOfTrackers, and m_referenceCameraName.

◆ setClipping() [3/3]

void vpMbGenericTracker::setClipping ( const std::map< std::string, unsigned int > &  mapOfClippingFlags)
virtual

Specify which clipping to use.

See also
vpMbtPolygonClipping
Parameters
mapOfClippingFlags: Map of new clipping flags.

Definition at line 2889 of file vpMbGenericTracker.cpp.

References vpMbTracker::clippingFlag, m_mapOfTrackers, and m_referenceCameraName.

◆ setCovarianceComputation()

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

Set if the covariance matrix has to be computed.

Parameters
flag: True if the covariance has to be computed, false otherwise. If computed its value is available with getCovarianceMatrix()
See also
getCovarianceMatrix()

Reimplemented in vpMbEdgeKltMultiTracker, vpMbKltMultiTracker, and vpMbEdgeMultiTracker.

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

Definition at line 452 of file vpMbTracker.h.

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

◆ setDepthDenseFilteringMaxDistance()

void vpMbGenericTracker::setDepthDenseFilteringMaxDistance ( const double  maxDistance)
virtual

Set maximum distance to consider a face. You should use the maximum depth range of the sensor used.

Parameters
maxDistance: Maximum distance to the face.
See also
setDepthDenseFilteringMethod
Note
This function will set the new parameter for all the cameras.

Definition at line 2705 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ setDepthDenseFilteringMethod()

void vpMbGenericTracker::setDepthDenseFilteringMethod ( const int  method)
virtual

Set method to discard a face, e.g.if outside of the depth range.

Parameters
method: Depth dense filtering method.
See also
vpMbtFaceDepthDense::vpDepthDenseFilteringType
Note
This function will set the new parameter for all the cameras.

Definition at line 2722 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ setDepthDenseFilteringMinDistance()

void vpMbGenericTracker::setDepthDenseFilteringMinDistance ( const double  minDistance)
virtual

Set minimum distance to consider a face. You should use the minimum depth range of the sensor used.

Parameters
minDistance: Minimum distance to the face.
See also
setDepthDenseFilteringMethod
Note
This function will set the new parameter for all the cameras.

Definition at line 2740 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ setDepthDenseFilteringOccupancyRatio()

void vpMbGenericTracker::setDepthDenseFilteringOccupancyRatio ( const double  occupancyRatio)
virtual

Set depth occupancy ratio to consider a face, used to discard faces where the depth map is not well reconstructed.

Parameters
occupancyRatio: Occupancy ratio, between [0 ; 1].
See also
setDepthDenseFilteringMethod
Note
This function will set the new parameter for all the cameras.

Definition at line 2758 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ setDepthDenseSamplingStep()

void vpMbGenericTracker::setDepthDenseSamplingStep ( const unsigned int  stepX,
const unsigned int  stepY 
)
virtual

Set depth dense sampling step.

Parameters
stepX: Sampling step in x-direction.
stepY: Sampling step in y-direction.
Note
This function will set the new parameter for all the cameras.

Definition at line 2775 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

Referenced by track().

◆ setDepthNormalFaceCentroidMethod()

void vpMbGenericTracker::setDepthNormalFaceCentroidMethod ( const vpMbtFaceDepthNormal::vpFaceCentroidType &  method)
virtual

Set method to compute the centroid for display for depth tracker.

Parameters
method: Centroid computation method.
Note
This function will set the new parameter for all the cameras.

Definition at line 2791 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ setDepthNormalFeatureEstimationMethod()

void vpMbGenericTracker::setDepthNormalFeatureEstimationMethod ( const vpMbtFaceDepthNormal::vpFeatureEstimationType &  method)
virtual

Set depth feature estimation method.

Parameters
method: Depth feature estimation method.
Note
This function will set the new parameter for all the cameras.

Definition at line 2807 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

Referenced by track().

◆ setDepthNormalPclPlaneEstimationMethod()

void vpMbGenericTracker::setDepthNormalPclPlaneEstimationMethod ( const int  method)
virtual

Set depth PCL plane estimation method.

Parameters
method: Depth PCL plane estimation method.
Note
This function will set the new parameter for all the cameras.

Definition at line 2824 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

Referenced by track().

◆ setDepthNormalPclPlaneEstimationRansacMaxIter()

void vpMbGenericTracker::setDepthNormalPclPlaneEstimationRansacMaxIter ( const int  maxIter)
virtual

Set depth PCL RANSAC maximum number of iterations.

Parameters
maxIter: Depth PCL RANSAC maximum number of iterations.
Note
This function will set the new parameter for all the cameras.

Definition at line 2840 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

Referenced by track().

◆ setDepthNormalPclPlaneEstimationRansacThreshold()

void vpMbGenericTracker::setDepthNormalPclPlaneEstimationRansacThreshold ( const double  thresold)
virtual

Set depth PCL RANSAC threshold.

Parameters
thresold: Depth PCL RANSAC threshold.
Note
This function will set the new parameter for all the cameras.

Definition at line 2856 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

Referenced by track().

◆ setDepthNormalSamplingStep()

void vpMbGenericTracker::setDepthNormalSamplingStep ( const unsigned int  stepX,
const unsigned int  stepY 
)
virtual

Set depth sampling step.

Parameters
stepX: Sampling step in x-direction.
stepY: Sampling step in y-direction.
Note
This function will set the new parameter for all the cameras.

Definition at line 2873 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

Referenced by track().

◆ setDisplayFeatures()

void vpMbGenericTracker::setDisplayFeatures ( const bool  displayF)
virtual

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

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

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

Reimplemented from vpMbTracker.

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

Definition at line 2924 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and vpMbTracker::setDisplayFeatures().

◆ setEstimatedDoF()

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 2579 of file vpMbTracker.cpp.

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

◆ setFarClippingDistance() [1/3]

void vpMbGenericTracker::setFarClippingDistance ( const double &  dist)
virtual

Set the far distance for clipping.

Parameters
dist: Far clipping value.
Note
This function will set the new parameter for all the cameras.

Reimplemented from vpMbTracker.

Definition at line 2942 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and vpMbTracker::setFarClippingDistance().

Referenced by getRobustWeights(), and track().

◆ setFarClippingDistance() [2/3]

void vpMbGenericTracker::setFarClippingDistance ( const double &  dist1,
const double &  dist2 
)
virtual

Set the far distance for clipping.

Parameters
dist1: Far clipping value for the first camera.
dist2: Far clipping value for the second camera.
Note
This function assumes a stereo configuration of the generic tracker.

Definition at line 2961 of file vpMbGenericTracker.cpp.

References vpMbTracker::distFarClip, vpTrackingException::fatalError, m_mapOfTrackers, and m_referenceCameraName.

◆ setFarClippingDistance() [3/3]

void vpMbGenericTracker::setFarClippingDistance ( const std::map< std::string, double > &  mapOfClippingDists)
virtual

Set the far distance for clipping.

Parameters
mapOfClippingDists: Map of far clipping values.

Definition at line 2987 of file vpMbGenericTracker.cpp.

References vpMbTracker::distFarClip, m_mapOfTrackers, and m_referenceCameraName.

◆ setFeatureFactors()

void vpMbGenericTracker::setFeatureFactors ( const std::map< vpTrackerType, double > &  mapOfFeatureFactors)
virtual

Set the feature factors used in the VVS stage (ponderation between the feature types).

Parameters
mapOfFeatureFactors: Map of feature factors.

Definition at line 3010 of file vpMbGenericTracker.cpp.

References m_mapOfFeatureFactors.

◆ setGoodMovingEdgesRatioThreshold()

void vpMbGenericTracker::setGoodMovingEdgesRatioThreshold ( const double  threshold)
virtual

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

Parameters
threshold: Value between 0 and 1 that corresponds to the ratio of good moving edges that is necessary to consider that the estimated pose is valid. Default value is 0.4.
See also
getGoodMovingEdgesRatioThreshold()
Note
This function will set the new parameter for all the cameras.

Definition at line 3036 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_percentageGdPt.

◆ setGoodNbRayCastingAttemptsRatio()

void vpMbGenericTracker::setGoodNbRayCastingAttemptsRatio ( const double &  ratio)
virtual

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%).
Note
This function will set the new parameter for all the cameras.

Reimplemented from vpMbTracker.

Definition at line 3059 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ setInitialMu()

virtual void vpMbTracker::setInitialMu ( const double  mu)
inlinevirtualinherited

Set the initial value of mu for the Levenberg Marquardt optimization loop.

Parameters
mu: initial mu.

Definition at line 481 of file vpMbTracker.h.

◆ setKltMaskBorder() [1/3]

void vpMbGenericTracker::setKltMaskBorder ( const unsigned int &  e)
virtual

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

Parameters
e: The desired erosion.
Note
This function will set the new parameter for all the cameras.
Examples:
tutorial-mb-generic-tracker-stereo-mono.cpp.

Definition at line 3193 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ setKltMaskBorder() [2/3]

void vpMbGenericTracker::setKltMaskBorder ( const unsigned int &  e1,
const unsigned int &  e2 
)
virtual

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

Parameters
e1: The desired erosion for the first camera.
e2: The desired erosion for the second camera.
Note
This function assumes a stereo configuration of the generic tracker.

Definition at line 3210 of file vpMbGenericTracker.cpp.

References vpTrackingException::fatalError, and m_mapOfTrackers.

◆ setKltMaskBorder() [3/3]

void vpMbGenericTracker::setKltMaskBorder ( const std::map< std::string, unsigned int > &  mapOfErosions)
virtual

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

Parameters
mapOfErosions: Map of desired erosions.

Definition at line 3230 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ setKltOpencv() [1/3]

void vpMbGenericTracker::setKltOpencv ( const vpKltOpencv &  t)
virtual

Set the new value of the klt tracker.

Parameters
t: Klt tracker containing the new values.
Note
This function will set the new parameter for all the cameras.
Examples:
tutorial-mb-generic-tracker-stereo-mono.cpp.

Definition at line 3097 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ setKltOpencv() [2/3]

void vpMbGenericTracker::setKltOpencv ( const vpKltOpencv &  t1,
const vpKltOpencv &  t2 
)
virtual

Set the new value of the klt tracker.

Parameters
t1: Klt tracker containing the new values for the first camera.
t2: Klt tracker containing the new values for the second camera.
Note
This function assumes a stereo configuration of the generic tracker.

Definition at line 3114 of file vpMbGenericTracker.cpp.

References vpTrackingException::fatalError, and m_mapOfTrackers.

◆ setKltOpencv() [3/3]

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

Set the new value of the klt tracker.

Parameters
mapOfKlts: Map of klt tracker containing the new values.

Definition at line 3133 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ setKltThresholdAcceptation()

void vpMbGenericTracker::setKltThresholdAcceptation ( 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.
Note
This function will set the new parameter for all the cameras.

Definition at line 3152 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_thresholdOutlier.

◆ setLambda()

virtual void vpMbTracker::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.

Definition at line 488 of file vpMbTracker.h.

◆ setLod()

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

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

Parameters
useLod: true if the level of detail must be used, false otherwise. When true, two parameters can be set, see setMinLineLengthThresh() and setMinPolygonAreaThresh().
name: name of the face we want to modify the LOD parameter.
See also
setMinLineLengthThresh(), setMinPolygonAreaThresh()
Note
This function will set the new parameter for all the cameras.

Reimplemented from vpMbTracker.

Definition at line 3176 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

Referenced by track().

◆ setMaxIter()

virtual void vpMbTracker::setMaxIter ( const unsigned int  max)
inlinevirtualinherited

Set the maximum iteration of the virtual visual servoing stage.

Parameters
max: the desired number of iteration

Definition at line 497 of file vpMbTracker.h.

◆ setMinLineLengthThresh()

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

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

Parameters
minLineLengthThresh: threshold for the minimum line length in pixel.
name: name of the face we want to modify the LOD threshold.
See also
setLod(), setMinPolygonAreaThresh()
Note
This function will set the new parameter for all the cameras.

Reimplemented from vpMbTracker.

Definition at line 3255 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

Referenced by track().

◆ setMinPolygonAreaThresh()

void vpMbGenericTracker::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()
Note
This function will set the new parameter for all the cameras.

Reimplemented from vpMbTracker.

Definition at line 3274 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

Referenced by track().

◆ setMovingEdge() [1/3]

void vpMbGenericTracker::setMovingEdge ( const vpMe &  me)
virtual

Set the moving edge parameters.

Parameters
me: an instance of vpMe containing all the desired parameters.
Note
This function will set the new parameter for all the cameras.
Examples:
tutorial-mb-generic-tracker-stereo-mono.cpp.

Definition at line 3290 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ setMovingEdge() [2/3]

void vpMbGenericTracker::setMovingEdge ( const vpMe &  me1,
const vpMe &  me2 
)
virtual

Set the moving edge parameters.

Parameters
me1: an instance of vpMe containing all the desired parameters for the first camera.
me2: an instance of vpMe containing all the desired parameters for the second camera.
Note
This function assumes a stereo configuration of the generic tracker.

Definition at line 3308 of file vpMbGenericTracker.cpp.

References vpTrackingException::fatalError, and m_mapOfTrackers.

◆ setMovingEdge() [3/3]

void vpMbGenericTracker::setMovingEdge ( const std::map< std::string, vpMe > &  mapOfMe)
virtual

Set the moving edge parameters.

Parameters
mapOfMe: Map of vpMe containing all the desired parameters.

Definition at line 3328 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ setNbRayCastingAttemptsForVisibility()

void vpMbGenericTracker::setNbRayCastingAttemptsForVisibility ( const unsigned int &  attempts)
virtual

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

See also
setGoodNbRayCastingAttemptsRatio(const unsigned int &)
Parameters
attemptsNumber of rays to be sent.
Note
This function will set the new parameter for all the cameras.

Reimplemented from vpMbTracker.

Definition at line 3079 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ setNearClippingDistance() [1/3]

void vpMbGenericTracker::setNearClippingDistance ( const double &  dist)
virtual

Set the near distance for clipping.

Parameters
dist: Near clipping value.
Note
This function will set the new parameter for all the cameras.

Reimplemented from vpMbTracker.

Definition at line 3347 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and vpMbTracker::setNearClippingDistance().

Referenced by getRobustWeights(), and track().

◆ setNearClippingDistance() [2/3]

void vpMbGenericTracker::setNearClippingDistance ( const double &  dist1,
const double &  dist2 
)
virtual

Set the near distance for clipping.

Parameters
dist1: Near clipping value for the first camera.
dist2: Near clipping value for the second camera.
Note
This function assumes a stereo configuration of the generic tracker.

Definition at line 3366 of file vpMbGenericTracker.cpp.

References vpMbTracker::distNearClip, vpTrackingException::fatalError, m_mapOfTrackers, and m_referenceCameraName.

◆ setNearClippingDistance() [3/3]

void vpMbGenericTracker::setNearClippingDistance ( const std::map< std::string, double > &  mapOfDists)
virtual

Set the near distance for clipping.

Parameters
mapOfDists: Map of near clipping values.

Definition at line 3393 of file vpMbGenericTracker.cpp.

References vpMbTracker::distNearClip, m_mapOfTrackers, and m_referenceCameraName.

◆ setOgreShowConfigDialog()

void vpMbGenericTracker::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.
Note
This function will set the new parameter for all the cameras.

Reimplemented from vpMbTracker.

Definition at line 3421 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and vpMbTracker::setOgreShowConfigDialog().

◆ setOgreVisibilityTest()

void vpMbGenericTracker::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
Note
This function will set the new parameter for all the cameras.

Reimplemented from vpMbTracker.

Definition at line 3442 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and vpMbTracker::setOgreVisibilityTest().

Referenced by getRobustWeights().

◆ setOptimizationMethod()

void vpMbGenericTracker::setOptimizationMethod ( const vpMbtOptimizationMethod &  opt)
virtual

Set the optimization method used during the tracking.

Parameters
opt: Optimization method to use (see vpMbtOptimizationMethod).
Note
This function will set the new parameter for all the cameras.

Reimplemented from vpMbTracker.

Definition at line 3468 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and vpMbTracker::setOptimizationMethod().

◆ setPose() [1/3]

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

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

Warning
This functionnality is not available when tracking cylinders with the KLT tracking.
Parameters
I: image corresponding to the desired pose.
cdMo: Pose to affect.
Note
This function will set the new parameter for all the cameras.

Implements vpMbTracker.

Definition at line 3491 of file vpMbGenericTracker.cpp.

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

Referenced by getRobustWeights().

◆ setPose() [2/3]

void vpMbGenericTracker::setPose ( const vpImage< unsigned char > &  I1,
const vpImage< unsigned char > &  I2,
const vpHomogeneousMatrix &  c1Mo,
const vpHomogeneousMatrix &  c2Mo 
)
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.
Note
This function assumes a stereo configuration of the generic tracker.

Definition at line 3521 of file vpMbGenericTracker.cpp.

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

◆ setPose() [3/3]

void vpMbGenericTracker::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. The camera transformation matrices have to be set before.

Parameters
mapOfImages: Map of images.
mapOfCameraPoses: Map of pose to affect to the cameras.
Note
Image and camera pose must be supplied for the reference camera. The images for all the cameras must be supplied to correctly initialize the trackers but some camera poses can be omitted. In this case, they will be initialized using the pose computed from the reference camera pose and using the known geometric transformation between each camera (see setCameraTransformationMatrix()).

Definition at line 3561 of file vpMbGenericTracker.cpp.

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

◆ setPoseSavingFilename()

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 587 of file vpMbTracker.h.

◆ setProjectionErrorComputation()

void vpMbGenericTracker::setProjectionErrorComputation ( const bool &  flag)
virtual

Set if the projection error criteria has to be computed. This criteria could be used to detect the quality of the tracking. It computes an angle between 0 and 90 degrees that is available with getProjectionError(). Closer to 0 is the value, better is the tracking.

Parameters
flag: True if the projection error criteria has to be computed, false otherwise.
See also
getProjectionError()
Note
Available only if the edge features are used (e.g. Edge tracking or Edge + KLT tracking). Otherwise, the value of 90 degrees will be returned.

Reimplemented from vpMbTracker.

Definition at line 3629 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and vpMbTracker::setProjectionErrorComputation().

Referenced by getRobustWeights().

◆ setReferenceCameraName()

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

Set the reference camera name.

Parameters
referenceCameraName: Name of the reference camera.

Definition at line 3645 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_referenceCameraName.

◆ setScanLineVisibilityTest()

void vpMbGenericTracker::setScanLineVisibilityTest ( const bool &  v)
virtual

Reimplemented from vpMbTracker.

Definition at line 3655 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and vpMbTracker::setScanLineVisibilityTest().

Referenced by getRobustWeights().

◆ setStopCriteriaEpsilon()

virtual void vpMbTracker::setStopCriteriaEpsilon ( const double  eps)
inlinevirtualinherited

Set the minimal error (previous / current estimation) to determine if there is convergence or not.

Parameters
eps: Epsilon threshold.

Definition at line 518 of file vpMbTracker.h.

◆ setTrackerType() [1/2]

void vpMbGenericTracker::setTrackerType ( const int  type)
virtual

Set the tracker type.

Parameters
type: Type of features to used, see vpTrackerType (e.g. vpMbGenericTracker::EDGE_TRACKER or vpMbGenericTracker::EDGE_TRACKER | vpMbGenericTracker::KLT_TRACKER).
Note
This function will set the new parameter for all the cameras.
Warning
This function has to be called before the loading of the CAD model.

Definition at line 3677 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

Referenced by getRobustWeights().

◆ setTrackerType() [2/2]

void vpMbGenericTracker::setTrackerType ( const std::map< std::string, int > &  mapOfTrackerTypes)
virtual

Set the tracker types.

Parameters
mapOfTrackerTypes: Map of feature types to used, see vpTrackerType (e.g. vpMbGenericTracker::EDGE_TRACKER or vpMbGenericTracker::EDGE_TRACKER | vpMbGenericTracker::KLT_TRACKER).
Warning
This function has to be called before the loading of the CAD model.

Definition at line 3695 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ setUseEdgeTracking()

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

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

Parameters
name: name of the polygon(s).
useEdgeTracking: True if it has to be considered, False otherwise.
Note
This function will set the new parameter for all the cameras.

Definition at line 3715 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ setUseKltTracking()

void vpMbGenericTracker::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.
Note
This function will set the new parameter for all the cameras.

Definition at line 3734 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ testTracking()

void vpMbGenericTracker::testTracking ( )
virtual

Test the quality of the tracking.

Exceptions
vpExceptionif the test fail.

Implements vpMbTracker.

Definition at line 3744 of file vpMbGenericTracker.cpp.

References vpTrackingException::fatalError, m_mapOfTrackers, and m_percentageGdPt.

Referenced by getRobustWeights(), and track().

◆ track() [1/5]

void vpMbGenericTracker::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 current image.
Note
This function will track only for the reference camera.

Implements vpMbTracker.

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

Definition at line 3776 of file vpMbGenericTracker.cpp.

References m_referenceCameraName.

Referenced by getRobustWeights(), and track().

◆ track() [2/5]

void vpMbGenericTracker::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.
Note
This function assumes a stereo configuration of the generic tracker.

Definition at line 3797 of file vpMbGenericTracker.cpp.

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

◆ track() [3/5]

void vpMbGenericTracker::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.

Definition at line 3825 of file vpMbGenericTracker.cpp.

References track().

◆ track() [4/5]

void vpMbGenericTracker::track ( std::map< std::string, const vpImage< unsigned char > *> &  mapOfImages,
std::map< std::string, pcl::PointCloud< pcl::PointXYZ >::ConstPtr > &  mapOfPointClouds 
)
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.
mapOfPointClouds: Map of PCL pointclouds.

Definition at line 3842 of file vpMbGenericTracker.cpp.

References computeProjectionError(), computeVVS(), vpMbTracker::covarianceMatrix, DEPTH_DENSE_TRACKER, DEPTH_NORMAL_TRACKER, EDGE_TRACKER, vpException::fatalError, KLT_TRACKER, m_mapOfTrackers, preTracking(), and testTracking().

◆ track() [5/5]

void vpMbGenericTracker::track ( std::map< std::string, const vpImage< unsigned char > *> &  mapOfImages,
std::map< std::string, const std::vector< vpColVector > *> &  mapOfPointClouds,
std::map< std::string, unsigned int > &  mapOfPointCloudWidths,
std::map< std::string, unsigned int > &  mapOfPointCloudHeights 
)
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.
mapOfPointClouds: Map of pointclouds.
mapOfPointCloudWidths: Map of pointcloud widths.
mapOfPointCloudHeights: Map of pointcloud heights.

Definition at line 3904 of file vpMbGenericTracker.cpp.

References vpMbTracker::angleAppears, vpMbTracker::angleDisappears, vpMbTracker::applyLodSettingInConfig, vpMatrix::AtA(), vpException::badValue, vpVelocityTwistMatrix::buildFrom(), vpMbTracker::cam, vpMbTracker::clippingFlag, vpMbTracker::cMo, vpMbHiddenFaces< PolygonType >::computeClippedPolygons(), vpMbTracker::computeCovariance, vpMbTracker::computeCovarianceMatrixVVS(), vpCameraParameters::computeFov(), computeProjectionError(), vpMbEdgeTracker::computeProjectionError(), vpMbTracker::computeProjError, vpMbHiddenFaces< PolygonType >::computeScanLineRender(), vpMbDepthDenseTracker::computeVisibility(), vpMbDepthNormalTracker::computeVisibility(), computeVVS(), vpMbTracker::computeVVSCheckLevenbergMarquardt(), vpMbEdgeTracker::computeVVSFirstPhaseFactor(), vpMbDepthDenseTracker::computeVVSInit(), vpMbDepthNormalTracker::computeVVSInit(), computeVVSInit(), vpMbKltTracker::computeVVSInit(), vpMbEdgeTracker::computeVVSInit(), vpMbDepthDenseTracker::computeVVSInteractionMatrixAndResidu(), vpMbDepthNormalTracker::computeVVSInteractionMatrixAndResidu(), computeVVSInteractionMatrixAndResidu(), vpMbKltTracker::computeVVSInteractionMatrixAndResidu(), vpMbEdgeTracker::computeVVSInteractionMatrixAndResidu(), vpMbTracker::computeVVSPoseEstimation(), vpMbDepthDenseTracker::computeVVSWeights(), computeVVSWeights(), vpMbEdgeTracker::computeVVSWeights(), vpMbTracker::computeVVSWeights(), vpMbTracker::covarianceMatrix, vpMath::deg(), DEPTH_DENSE_TRACKER, DEPTH_NORMAL_TRACKER, vpExponentialMap::direct(), vpMbDepthNormalTracker::display(), vpMbDepthDenseTracker::display(), vpMbKltTracker::display(), vpMbEdgeTracker::display(), vpMbTracker::displayFeatures, vpMbEdgeTracker::displayFeaturesOnImage(), vpMbHiddenFaces< PolygonType >::displayOgre(), vpMbtDistanceKltCylinder::displayPrimitive(), vpMbtDistanceKltPoints::displayPrimitive(), EDGE_TRACKER, vpHomogeneousMatrix::eye(), vpMatrix::eye(), vpMbTracker::faces, vpException::fatalError, vpPolygon3D::FOV_CLIPPING, vpMbtXmlGenericParser::getAngleAppear(), vpMbtXmlGenericParser::getAngleDisappear(), vpMbtXmlGenericParser::getCameraParameters(), vpArray2D< Type >::getCols(), vpMbtXmlGenericParser::getDepthDenseSamplingStepX(), vpMbtXmlGenericParser::getDepthDenseSamplingStepY(), vpMbtXmlGenericParser::getDepthNormalFeatureEstimationMethod(), vpMbtXmlGenericParser::getDepthNormalPclPlaneEstimationMethod(), vpMbtXmlGenericParser::getDepthNormalPclPlaneEstimationRansacMaxIter(), vpMbtXmlGenericParser::getDepthNormalPclPlaneEstimationRansacThreshold(), vpMbtXmlGenericParser::getDepthNormalSamplingStepX(), vpMbtXmlGenericParser::getDepthNormalSamplingStepY(), vpMbtXmlGenericParser::getEdgeMe(), vpMbtXmlGenericParser::getFarClippingDistance(), vpMbtXmlGenericParser::getFovClipping(), vpImage< Type >::getHeight(), vpMbtXmlGenericParser::getKltBlockSize(), vpMbtXmlGenericParser::getKltHarrisParam(), vpMbtXmlGenericParser::getKltMaskBorder(), vpMbtXmlGenericParser::getKltMaxFeatures(), vpMbtXmlGenericParser::getKltMinDistance(), vpMbtXmlGenericParser::getKltPyramidLevels(), vpMbtXmlGenericParser::getKltQuality(), vpMbtXmlGenericParser::getKltWindowSize(), vpMbtXmlGenericParser::getLodMinLineLengthThreshold(), vpMbtXmlGenericParser::getLodMinPolygonAreaThreshold(), vpMbtXmlGenericParser::getLodState(), vpMbHiddenFaces< PolygonType >::getMbScanLineRenderer(), getNbPolygon(), vpMbtXmlGenericParser::getNearClippingDistance(), vpMbHiddenFaces< PolygonType >::getOgreContext(), vpArray2D< Type >::getRows(), vpImage< Type >::getWidth(), vpMbtDistanceKltCylinder::hasEnoughPoints(), vpMbtDistanceKltPoints::hasEnoughPoints(), vpMbtXmlGenericParser::hasFarClippingDistance(), vpMbtXmlGenericParser::hasNearClippingDistance(), init(), vpMbEdgeTracker::initCircle(), vpMbKltTracker::initCylinder(), vpMbEdgeTracker::initCylinder(), vpMbDepthDenseTracker::initFaceFromCorners(), vpMbDepthNormalTracker::initFaceFromCorners(), vpMbKltTracker::initFaceFromCorners(), vpMbEdgeTracker::initFaceFromCorners(), vpMbDepthDenseTracker::initFaceFromLines(), vpMbDepthNormalTracker::initFaceFromLines(), vpMbKltTracker::initFaceFromLines(), vpMbEdgeTracker::initFaceFromLines(), initFromPose(), vpMbEdgeTracker::initMovingEdge(), vpMbHiddenFaces< PolygonType >::initOgre(), vpColVector::insert(), vpMatrix::insert(), vpHomogeneousMatrix::inverse(), vpException::ioError, vpMbHiddenFaces< PolygonType >::isOgreInitialised(), vpMbtDistanceKltCylinder::isTracked(), vpMbtDistanceKltPoints::isTracked(), vpMbtPolygon::isVisible(), KLT_TRACKER, loadModel(), m_error, vpMbTracker::m_initialMu, m_L, vpMbTracker::m_lambda, m_mapOfTrackers, vpMbTracker::m_maxIter, vpMbTracker::m_stopCriteriaEpsilon, m_w, m_weightedError, vpMbTracker::minLineLengthThresholdGeneral, vpMbTracker::minPolygonAreaThresholdGeneral, vpMbTracker::modelInitialised, vpTrackingException::notEnoughPointError, vpMbTracker::ogreShowConfigDialog, vpMbTracker::oJo, vpMbtXmlGenericParser::parse(), vpMbtDistanceKltPoints::polygon, vpMbKltTracker::postTracking(), preTracking(), vpMbKltTracker::preTracking(), vpMath::rad(), vpMbKltTracker::reinit(), vpMbEdgeTracker::reinitMovingEdge(), vpMbHiddenFaces< PolygonType >::reset(), vpMbEdgeTracker::resetMovingEdge(), vpMbDepthDenseTracker::resetTracker(), vpMbDepthNormalTracker::resetTracker(), vpMbKltTracker::resetTracker(), vpMbEdgeTracker::resetTracker(), vpArray2D< Type >::resize(), vpColVector::resize(), vpMbDepthDenseTracker::segmentPointCloud(), vpMbDepthNormalTracker::segmentPointCloud(), vpMbtXmlGenericParser::setAngleAppear(), vpMbtXmlGenericParser::setAngleDisappear(), vpMbHiddenFaces< PolygonType >::setBackgroundSizeOgre(), vpMbDepthDenseTracker::setCameraParameters(), vpMbDepthNormalTracker::setCameraParameters(), setCameraParameters(), vpMbKltTracker::setCameraParameters(), vpMbtXmlGenericParser::setCameraParameters(), vpMbEdgeTracker::setCameraParameters(), setClipping(), vpMbEdgeTracker::setClipping(), setDepthDenseSamplingStep(), vpMbtXmlGenericParser::setDepthDenseSamplingStepX(), vpMbtXmlGenericParser::setDepthDenseSamplingStepY(), setDepthNormalFeatureEstimationMethod(), vpMbtXmlGenericParser::setDepthNormalFeatureEstimationMethod(), setDepthNormalPclPlaneEstimationMethod(), vpMbtXmlGenericParser::setDepthNormalPclPlaneEstimationMethod(), setDepthNormalPclPlaneEstimationRansacMaxIter(), vpMbtXmlGenericParser::setDepthNormalPclPlaneEstimationRansacMaxIter(), setDepthNormalPclPlaneEstimationRansacThreshold(), vpMbtXmlGenericParser::setDepthNormalPclPlaneEstimationRansacThreshold(), setDepthNormalSamplingStep(), vpMbtXmlGenericParser::setDepthNormalSamplingStepX(), vpMbtXmlGenericParser::setDepthNormalSamplingStepY(), vpMbtXmlGenericParser::setEdgeMe(), setFarClippingDistance(), vpMbEdgeTracker::setFarClippingDistance(), vpMbtXmlGenericParser::setKltBlockSize(), vpMbtXmlGenericParser::setKltHarrisParam(), vpMbtXmlGenericParser::setKltMaskBorder(), vpMbtXmlGenericParser::setKltMaxFeatures(), vpMbtXmlGenericParser::setKltMinDistance(), vpMbtXmlGenericParser::setKltPyramidLevels(), vpMbtXmlGenericParser::setKltQuality(), vpMbtXmlGenericParser::setKltWindowSize(), setLod(), setMinLineLengthThresh(), setMinPolygonAreaThresh(), vpMbEdgeTracker::setMovingEdge(), setNearClippingDistance(), vpMbEdgeTracker::setNearClippingDistance(), vpMbHiddenFaces< PolygonType >::setOgreShowConfigDialog(), vpMbTracker::setOgreVisibilityTest(), vpMbKltTracker::setPose(), vpMbTracker::setProjectionErrorComputation(), vpMbDepthDenseTracker::setScanLineVisibilityTest(), vpMbDepthNormalTracker::setScanLineVisibilityTest(), vpMbKltTracker::setScanLineVisibilityTest(), vpMbEdgeTracker::setScanLineVisibilityTest(), vpMbHiddenFaces< PolygonType >::setVisible(), vpMbHiddenFaces< PolygonType >::setVisibleOgre(), vpAROgre::setWindowName(), vpMath::sqr(), testTracking(), vpMbEdgeTracker::testTracking(), track(), vpMbEdgeTracker::trackMovingEdge(), vpMbEdgeTracker::updateMovingEdge(), vpMbEdgeTracker::updateMovingEdgeWeights(), vpMbTracker::useLodGeneral, vpMbTracker::useOgre, vpMbTracker::useScanLine, vpMbEdgeTracker::visibleFace(), and vpException::what().

◆ trim()

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

Definition at line 788 of file vpMbTracker.h.

Referenced by vpMbTracker::parseParameters().

Member Data Documentation

◆ angleAppears

double vpMbTracker::angleAppears
protectedinherited

Angle used to detect a face appearance.

Definition at line 147 of file vpMbTracker.h.

Referenced by vpMbDepthDenseTracker::computeVisibility(), vpMbDepthNormalTracker::computeVisibility(), vpMbDepthDenseTracker::display(), vpMbDepthNormalTracker::display(), vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), vpMbKltTracker::init(), vpMbDepthDenseTracker::loadConfigFile(), vpMbDepthNormalTracker::loadConfigFile(), loadConfigFile(), vpMbEdgeMultiTracker::loadConfigFile(), vpMbKltMultiTracker::loadConfigFile(), vpMbEdgeKltTracker::loadConfigFile(), vpMbKltTracker::loadConfigFile(), vpMbEdgeTracker::loadConfigFile(), vpMbKltTracker::postTracking(), vpMbDepthDenseTracker::resetTracker(), vpMbDepthNormalTracker::resetTracker(), resetTracker(), vpMbEdgeMultiTracker::resetTracker(), vpMbKltMultiTracker::resetTracker(), vpMbKltTracker::resetTracker(), vpMbEdgeTracker::resetTracker(), setAngleAppear(), vpMbKltTracker::setPose(), track(), vpMbEdgeTracker::visibleFace(), vpMbEdgeKltTracker::vpMbEdgeKltTracker(), vpMbEdgeTracker::vpMbEdgeTracker(), and vpMbKltTracker::vpMbKltTracker().

◆ angleDisappears

double vpMbTracker::angleDisappears
protectedinherited

Angle used to detect a face disappearance.

Definition at line 149 of file vpMbTracker.h.

Referenced by vpMbDepthDenseTracker::computeVisibility(), vpMbDepthNormalTracker::computeVisibility(), vpMbDepthDenseTracker::display(), vpMbDepthNormalTracker::display(), vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), vpMbKltTracker::init(), vpMbDepthDenseTracker::loadConfigFile(), vpMbDepthNormalTracker::loadConfigFile(), loadConfigFile(), vpMbEdgeMultiTracker::loadConfigFile(), vpMbKltMultiTracker::loadConfigFile(), vpMbEdgeKltTracker::loadConfigFile(), vpMbKltTracker::loadConfigFile(), vpMbEdgeTracker::loadConfigFile(), vpMbKltTracker::postTracking(), vpMbDepthDenseTracker::resetTracker(), vpMbDepthNormalTracker::resetTracker(), resetTracker(), vpMbEdgeMultiTracker::resetTracker(), vpMbKltMultiTracker::resetTracker(), vpMbKltTracker::resetTracker(), vpMbEdgeTracker::resetTracker(), setAngleDisappear(), vpMbKltTracker::setPose(), track(), vpMbEdgeTracker::visibleFace(), vpMbEdgeKltTracker::vpMbEdgeKltTracker(), vpMbEdgeTracker::vpMbEdgeTracker(), and vpMbKltTracker::vpMbKltTracker().

◆ applyLodSettingInConfig

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 177 of file vpMbTracker.h.

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

◆ cam

vpCameraParameters vpMbTracker::cam
protectedinherited

The camera parameters.

Definition at line 113 of file vpMbTracker.h.

Referenced by vpMbKltTracker::addCircle(), vpMbEdgeTracker::addCircle(), vpMbEdgeTracker::addCylinder(), vpMbDepthDenseTracker::addFace(), vpMbDepthNormalTracker::addFace(), vpMbEdgeTracker::addLine(), vpMbDepthDenseTracker::computeVisibility(), vpMbDepthNormalTracker::computeVisibility(), vpMbEdgeKltTracker::computeVVS(), vpMbEdgeTracker::computeVVSFirstPhase(), vpMbKltTracker::computeVVSInit(), vpMbEdgeTracker::computeVVSInit(), vpMbKltTracker::display(), vpMbEdgeTracker::downScale(), vpMbEdgeKltMultiTracker::getCameraParameters(), vpMbTracker::getPolygonFaces(), getRobustWeights(), vpMbKltTracker::getRobustWeights(), vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), vpMbKltTracker::init(), vpMbEdgeTracker::init(), vpMbEdgeMultiTracker::initClick(), vpMbKltMultiTracker::initClick(), vpMbTracker::initClick(), vpMbKltTracker::initCylinder(), vpMbKltTracker::initFaceFromCorners(), vpMbKltTracker::initFaceFromLines(), initFromPoints(), vpMbTracker::initFromPoints(), initFromPose(), vpMbDepthDenseTracker::loadConfigFile(), vpMbDepthNormalTracker::loadConfigFile(), loadConfigFile(), vpMbEdgeMultiTracker::loadConfigFile(), vpMbKltMultiTracker::loadConfigFile(), vpMbEdgeKltTracker::loadConfigFile(), vpMbEdgeTracker::loadConfigFile(), vpMbEdgeKltTracker::postTracking(), vpMbKltTracker::postTracking(), vpMbKltTracker::reinit(), vpMbDepthDenseTracker::setCameraParameters(), vpMbDepthNormalTracker::setCameraParameters(), setCameraParameters(), vpMbEdgeMultiTracker::setCameraParameters(), vpMbKltMultiTracker::setCameraParameters(), vpMbEdgeKltMultiTracker::setCameraParameters(), vpMbEdgeKltTracker::setCameraParameters(), vpMbKltTracker::setCameraParameters(), vpMbEdgeTracker::setCameraParameters(), vpMbEdgeKltTracker::setPose(), vpMbKltTracker::setPose(), track(), vpMbEdgeTracker::track(), vpMbEdgeTracker::upScale(), and vpMbEdgeTracker::visibleFace().

◆ clippingFlag

unsigned int vpMbTracker::clippingFlag
protectedinherited

Flags specifying which clipping to used.

Definition at line 155 of file vpMbTracker.h.

Referenced by vpMbDepthDenseTracker::addFace(), vpMbDepthNormalTracker::addFace(), vpMbEdgeTracker::addLine(), vpMbTracker::addPolygon(), vpMbKltTracker::display(), vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), vpMbEdgeTracker::init(), vpMbDepthDenseTracker::loadConfigFile(), vpMbDepthNormalTracker::loadConfigFile(), loadConfigFile(), vpMbEdgeMultiTracker::loadConfigFile(), vpMbKltMultiTracker::loadConfigFile(), vpMbEdgeKltTracker::loadConfigFile(), vpMbKltTracker::loadConfigFile(), vpMbEdgeTracker::loadConfigFile(), vpMbDepthDenseTracker::resetTracker(), vpMbDepthNormalTracker::resetTracker(), resetTracker(), vpMbEdgeMultiTracker::resetTracker(), vpMbKltMultiTracker::resetTracker(), vpMbKltTracker::resetTracker(), vpMbEdgeTracker::resetTracker(), setClipping(), vpMbEdgeTracker::setClipping(), vpMbTracker::setClipping(), vpMbEdgeTracker::setFarClippingDistance(), vpMbTracker::setFarClippingDistance(), vpMbEdgeTracker::setNearClippingDistance(), vpMbTracker::setNearClippingDistance(), and track().

◆ cMo

vpHomogeneousMatrix vpMbTracker::cMo
protectedinherited

The current pose.

Definition at line 115 of file vpMbTracker.h.

Referenced by vpMbDepthDenseTracker::computeVisibility(), vpMbDepthNormalTracker::computeVisibility(), vpMbDepthDenseTracker::computeVVS(), vpMbDepthNormalTracker::computeVVS(), computeVVS(), vpMbKltMultiTracker::computeVVS(), vpMbEdgeKltTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), vpMbKltTracker::computeVVS(), vpMbEdgeTracker::computeVVS(), vpMbTracker::computeVVSCheckLevenbergMarquardt(), vpMbEdgeTracker::computeVVSFirstPhase(), vpMbEdgeTracker::computeVVSFirstPhaseFactor(), vpMbEdgeMultiTracker::computeVVSFirstPhasePoseEstimation(), vpMbEdgeTracker::computeVVSFirstPhasePoseEstimation(), vpMbDepthDenseTracker::computeVVSInteractionMatrixAndResidu(), vpMbDepthNormalTracker::computeVVSInteractionMatrixAndResidu(), computeVVSInteractionMatrixAndResidu(), vpMbKltMultiTracker::computeVVSInteractionMatrixAndResidu(), vpMbEdgeMultiTracker::computeVVSInteractionMatrixAndResidu(), vpMbEdgeKltMultiTracker::computeVVSInteractionMatrixAndResidu(), vpMbEdgeTracker::computeVVSInteractionMatrixAndResidu(), vpMbTracker::computeVVSPoseEstimation(), vpMbTracker::getPolygonFaces(), getRobustWeights(), vpMbKltTracker::getRobustWeights(), vpMbEdgeTracker::getRobustWeights(), vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), init(), vpMbEdgeKltTracker::init(), vpMbKltTracker::init(), vpMbEdgeTracker::init(), initClick(), vpMbEdgeMultiTracker::initClick(), vpMbEdgeKltMultiTracker::initClick(), vpMbKltMultiTracker::initClick(), vpMbTracker::initClick(), initFromPoints(), vpMbTracker::initFromPoints(), initFromPose(), vpMbEdgeMultiTracker::initFromPose(), vpMbKltMultiTracker::initFromPose(), vpMbEdgeKltMultiTracker::initFromPose(), vpMbTracker::initFromPose(), vpMbEdgeKltMultiTracker::initMbtTracking(), vpMbKltMultiTracker::postTracking(), vpMbEdgeKltTracker::postTracking(), vpMbKltTracker::postTracking(), vpMbKltMultiTracker::reinit(), vpMbKltTracker::reinit(), vpMbEdgeTracker::reInitLevel(), vpMbDepthDenseTracker::reInitModel(), vpMbDepthNormalTracker::reInitModel(), reInitModel(), vpMbEdgeMultiTracker::reInitModel(), vpMbKltMultiTracker::reInitModel(), vpMbEdgeKltTracker::reInitModel(), vpMbKltTracker::reInitModel(), vpMbEdgeTracker::reInitModel(), vpMbDepthDenseTracker::resetTracker(), vpMbDepthNormalTracker::resetTracker(), resetTracker(), vpMbEdgeMultiTracker::resetTracker(), vpMbKltMultiTracker::resetTracker(), vpMbKltTracker::resetTracker(), vpMbEdgeTracker::resetTracker(), vpMbTracker::savePose(), vpMbDepthDenseTracker::segmentPointCloud(), vpMbDepthNormalTracker::segmentPointCloud(), vpMbDepthDenseTracker::setPose(), vpMbDepthNormalTracker::setPose(), setPose(), vpMbKltMultiTracker::setPose(), vpMbEdgeMultiTracker::setPose(), vpMbEdgeKltTracker::setPose(), vpMbEdgeKltMultiTracker::setPose(), vpMbKltTracker::setPose(), vpMbEdgeTracker::setPose(), vpMbKltMultiTracker::track(), track(), vpMbEdgeMultiTracker::track(), vpMbEdgeTracker::track(), vpMbEdgeKltTracker::trackFirstLoop(), vpMbEdgeTracker::trackMovingEdge(), and vpMbEdgeTracker::updateMovingEdge().

◆ computeCovariance

bool vpMbTracker::computeCovariance
protectedinherited

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

Definition at line 130 of file vpMbTracker.h.

Referenced by vpMbTracker::computeCovarianceMatrixVVS(), vpMbDepthDenseTracker::computeVVS(), vpMbDepthNormalTracker::computeVVS(), computeVVS(), vpMbKltMultiTracker::computeVVS(), vpMbEdgeKltTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), vpMbKltTracker::computeVVS(), vpMbEdgeTracker::computeVVS(), vpMbDepthDenseTracker::resetTracker(), vpMbDepthNormalTracker::resetTracker(), vpMbKltMultiTracker::resetTracker(), vpMbKltTracker::resetTracker(), track(), and vpMbEdgeKltTracker::vpMbEdgeKltTracker().

◆ computeProjError

bool vpMbTracker::computeProjError
protectedinherited

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

Definition at line 135 of file vpMbTracker.h.

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

◆ covarianceMatrix

vpMatrix vpMbTracker::covarianceMatrix
protectedinherited

Covariance matrix.

Definition at line 132 of file vpMbTracker.h.

Referenced by vpMbTracker::computeCovarianceMatrixVVS(), track(), vpMbEdgeMultiTracker::track(), and vpMbEdgeTracker::track().

◆ displayFeatures

bool vpMbTracker::displayFeatures
protectedinherited

If true, the features are displayed.

Definition at line 140 of file vpMbTracker.h.

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

◆ distFarClip

double vpMbTracker::distFarClip
protectedinherited

Distance for near clipping.

Definition at line 153 of file vpMbTracker.h.

Referenced by vpMbDepthDenseTracker::addFace(), vpMbDepthNormalTracker::addFace(), vpMbEdgeTracker::addLine(), vpMbTracker::addPolygon(), resetTracker(), setFarClippingDistance(), vpMbEdgeTracker::setFarClippingDistance(), vpMbTracker::setFarClippingDistance(), vpMbEdgeTracker::setNearClippingDistance(), and vpMbTracker::setNearClippingDistance().

◆ distNearClip

double vpMbTracker::distNearClip
protectedinherited

Distance for near clipping.

Definition at line 151 of file vpMbTracker.h.

Referenced by vpMbDepthDenseTracker::addFace(), vpMbDepthNormalTracker::addFace(), vpMbEdgeTracker::addLine(), vpMbTracker::addPolygon(), resetTracker(), vpMbEdgeTracker::setFarClippingDistance(), vpMbTracker::setFarClippingDistance(), setNearClippingDistance(), vpMbEdgeTracker::setNearClippingDistance(), and vpMbTracker::setNearClippingDistance().

◆ faces

vpMbHiddenFaces<vpMbtPolygon> vpMbTracker::faces
protectedinherited

Set of faces describing the object.

Definition at line 145 of file vpMbTracker.h.

Referenced by vpMbEdgeTracker::addCircle(), vpMbEdgeTracker::addCylinder(), vpMbDepthDenseTracker::addFace(), vpMbDepthNormalTracker::addFace(), vpMbEdgeTracker::addLine(), vpMbTracker::addPolygon(), vpMbDepthDenseTracker::computeVisibility(), vpMbDepthNormalTracker::computeVisibility(), vpMbEdgeKltTracker::display(), vpMbKltTracker::display(), vpMbEdgeTracker::display(), vpMbTracker::extractFaces(), vpMbTracker::extractLines(), getFaces(), vpMbKltMultiTracker::getFaces(), vpMbEdgeMultiTracker::getFaces(), vpMbEdgeKltMultiTracker::getFaces(), vpMbTracker::getPolygonFaces(), vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), vpMbKltTracker::init(), vpMbEdgeTracker::init(), vpMbKltTracker::initCylinder(), vpMbKltTracker::initFaceFromCorners(), vpMbKltTracker::initFaceFromLines(), vpMbTracker::loadCAOModel(), vpMbEdgeKltTracker::loadConfigFile(), vpMbKltTracker::loadConfigFile(), vpMbTracker::loadModel(), vpMbTracker::loadVRMLModel(), vpMbEdgeKltTracker::postTracking(), vpMbEdgeKltMultiTracker::postTracking(), vpMbKltTracker::postTracking(), vpMbKltTracker::reinit(), vpMbEdgeKltTracker::reInitModel(), vpMbKltTracker::reInitModel(), vpMbEdgeTracker::reInitModel(), vpMbDepthDenseTracker::resetTracker(), vpMbDepthNormalTracker::resetTracker(), vpMbKltTracker::resetTracker(), vpMbEdgeTracker::resetTracker(), vpMbTracker::setClipping(), vpMbTracker::setFarClippingDistance(), vpMbKltTracker::setKltMaskBorder(), vpMbTracker::setLod(), vpMbKltTracker::setMaskBorder(), vpMbTracker::setMinLineLengthThresh(), vpMbTracker::setMinPolygonAreaThresh(), vpMbTracker::setNearClippingDistance(), vpMbDepthDenseTracker::setOgreVisibilityTest(), vpMbDepthNormalTracker::setOgreVisibilityTest(), vpMbKltTracker::setOgreVisibilityTest(), vpMbEdgeTracker::setOgreVisibilityTest(), vpMbEdgeKltTracker::setPose(), vpMbKltTracker::setPose(), vpMbEdgeTracker::setUseEdgeTracking(), track(), vpMbEdgeTracker::track(), vpMbEdgeTracker::visibleFace(), vpMbDepthDenseTracker::vpMbDepthDenseTracker(), vpMbDepthNormalTracker::vpMbDepthNormalTracker(), vpMbEdgeKltTracker::vpMbEdgeKltTracker(), vpMbEdgeTracker::vpMbEdgeTracker(), and vpMbKltTracker::vpMbKltTracker().

◆ isoJoIdentity

bool vpMbTracker::isoJoIdentity
protectedinherited

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

Definition at line 119 of file vpMbTracker.h.

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

◆ m_computeInteraction

bool vpMbTracker::m_computeInteraction
protectedinherited

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

Definition at line 187 of file vpMbTracker.h.

Referenced by vpMbKltMultiTracker::computeVVS(), vpMbEdgeKltTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), vpMbKltTracker::computeVVS(), vpMbEdgeTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVSFirstPhasePoseEstimation(), vpMbEdgeTracker::computeVVSFirstPhasePoseEstimation(), vpMbDepthDenseTracker::resetTracker(), vpMbDepthNormalTracker::resetTracker(), resetTracker(), vpMbEdgeMultiTracker::resetTracker(), vpMbKltMultiTracker::resetTracker(), vpMbKltTracker::resetTracker(), and vpMbEdgeTracker::resetTracker().

◆ m_error

vpColVector vpMbGenericTracker::m_error
protected

(s - s*)

Definition at line 470 of file vpMbGenericTracker.h.

Referenced by computeVVS(), computeVVSInit(), computeVVSInteractionMatrixAndResidu(), getRobustWeights(), and track().

◆ m_initialMu

double vpMbTracker::m_initialMu
protectedinherited

Initial Mu for Levenberg Marquardt optimization loop.

Definition at line 195 of file vpMbTracker.h.

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

◆ m_L

vpMatrix vpMbGenericTracker::m_L
protected

Interaction matrix.

Definition at line 472 of file vpMbGenericTracker.h.

Referenced by computeVVS(), computeVVSInit(), computeVVSInteractionMatrixAndResidu(), getRobustWeights(), and track().

◆ m_lambda

double vpMbTracker::m_lambda
protectedinherited

Gain of the virtual visual servoing stage.

Definition at line 189 of file vpMbTracker.h.

Referenced by vpMbTracker::computeVVSPoseEstimation(), vpMbDepthDenseTracker::resetTracker(), vpMbDepthNormalTracker::resetTracker(), resetTracker(), vpMbEdgeMultiTracker::resetTracker(), vpMbKltMultiTracker::resetTracker(), vpMbKltTracker::resetTracker(), vpMbEdgeTracker::resetTracker(), track(), vpMbEdgeKltMultiTracker::vpMbEdgeKltMultiTracker(), vpMbEdgeKltTracker::vpMbEdgeKltTracker(), and vpMbKltTracker::vpMbKltTracker().

◆ m_mapOfCameraTransformationMatrix

std::map<std::string, vpHomogeneousMatrix> vpMbGenericTracker::m_mapOfCameraTransformationMatrix
protected

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

Definition at line 475 of file vpMbGenericTracker.h.

Referenced by computeVVS(), computeVVSInteractionMatrixAndResidu(), init(), initClick(), initFromPoints(), initFromPose(), reInitModel(), setCameraTransformationMatrix(), setPose(), and vpMbGenericTracker().

◆ m_mapOfFeatureFactors

std::map<vpTrackerType, double> vpMbGenericTracker::m_mapOfFeatureFactors
protected

Ponderation between each feature type in the VVS stage.

Definition at line 477 of file vpMbGenericTracker.h.

Referenced by computeVVS(), resetTracker(), setFeatureFactors(), and vpMbGenericTracker().

◆ m_mapOfTrackers

std::map<std::string, TrackerWrapper *> vpMbGenericTracker::m_mapOfTrackers
protected

Map of Model-based trackers, key is the name of the camera, value is the tracker

Definition at line 480 of file vpMbGenericTracker.h.

Referenced by computeProjectionError(), computeVVS(), computeVVSInit(), computeVVSInteractionMatrixAndResidu(), computeVVSWeights(), display(), getCameraNames(), getCameraParameters(), getCameraTrackerTypes(), getClipping(), getFaces(), getFeaturesCircle(), getFeaturesKlt(), getFeaturesKltCylinder(), getKltImagePoints(), getKltImagePointsWithId(), getKltMaskBorder(), getKltNbPoints(), getKltOpencv(), getKltPoints(), getLcircle(), getLcylinder(), getLline(), getMovingEdge(), getNbPoints(), getNbPolygon(), getPolygon(), getPolygonFaces(), getPose(), init(), initClick(), initFromPoints(), initFromPose(), loadConfigFile(), loadModel(), preTracking(), reInitModel(), resetTracker(), setAngleAppear(), setAngleDisappear(), setCameraParameters(), setClipping(), setDepthDenseFilteringMaxDistance(), setDepthDenseFilteringMethod(), setDepthDenseFilteringMinDistance(), setDepthDenseFilteringOccupancyRatio(), setDepthDenseSamplingStep(), setDepthNormalFaceCentroidMethod(), setDepthNormalFeatureEstimationMethod(), setDepthNormalPclPlaneEstimationMethod(), setDepthNormalPclPlaneEstimationRansacMaxIter(), setDepthNormalPclPlaneEstimationRansacThreshold(), setDepthNormalSamplingStep(), setDisplayFeatures(), setFarClippingDistance(), setGoodMovingEdgesRatioThreshold(), setGoodNbRayCastingAttemptsRatio(), setKltMaskBorder(), setKltOpencv(), setKltThresholdAcceptation(), setLod(), setMinLineLengthThresh(), setMinPolygonAreaThresh(), setMovingEdge(), setNbRayCastingAttemptsForVisibility(), setNearClippingDistance(), setOgreShowConfigDialog(), setOgreVisibilityTest(), setOptimizationMethod(), setPose(), setProjectionErrorComputation(), setReferenceCameraName(), setScanLineVisibilityTest(), setTrackerType(), setUseEdgeTracking(), setUseKltTracking(), testTracking(), track(), vpMbGenericTracker(), and ~vpMbGenericTracker().

◆ m_maxIter

unsigned int vpMbTracker::m_maxIter
protectedinherited

Maximum number of iterations of the virtual visual servoing stage.

Definition at line 191 of file vpMbTracker.h.

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

◆ m_optimizationMethod

vpMbtOptimizationMethod vpMbTracker::m_optimizationMethod
protectedinherited

Optimization method used.

Definition at line 142 of file vpMbTracker.h.

Referenced by vpMbTracker::computeVVSCheckLevenbergMarquardt(), vpMbTracker::computeVVSPoseEstimation(), vpMbDepthDenseTracker::resetTracker(), vpMbDepthNormalTracker::resetTracker(), resetTracker(), vpMbEdgeMultiTracker::resetTracker(), vpMbKltMultiTracker::resetTracker(), vpMbKltTracker::resetTracker(), vpMbEdgeTracker::resetTracker(), vpMbKltMultiTracker::setOptimizationMethod(), and vpMbEdgeMultiTracker::setOptimizationMethod().

◆ m_percentageGdPt

double vpMbGenericTracker::m_percentageGdPt
protected

Percentage of good points over total number of points below which tracking is supposed to have failed (only for Edge tracking).

Definition at line 483 of file vpMbGenericTracker.h.

Referenced by getGoodMovingEdgesRatioThreshold(), resetTracker(), setGoodMovingEdgesRatioThreshold(), and testTracking().

◆ m_referenceCameraName

std::string vpMbGenericTracker::m_referenceCameraName
protected

Name of the reference camera.

Definition at line 485 of file vpMbGenericTracker.h.

Referenced by display(), getFaces(), getFeaturesCircle(), getFeaturesKlt(), getFeaturesKltCylinder(), getKltImagePoints(), getKltImagePointsWithId(), getKltMaskBorder(), getKltNbPoints(), getKltOpencv(), getKltPoints(), getMovingEdge(), getNbPoints(), getNbPolygon(), getPolygon(), getPolygonFaces(), initClick(), initFromPoints(), initFromPose(), loadConfigFile(), reInitModel(), setAngleAppear(), setAngleDisappear(), setCameraParameters(), setClipping(), setFarClippingDistance(), setNearClippingDistance(), setPose(), setReferenceCameraName(), track(), and vpMbGenericTracker().

◆ m_stopCriteriaEpsilon

double vpMbTracker::m_stopCriteriaEpsilon
protectedinherited

Epsilon threshold to stop the VVS optimization loop.

Definition at line 193 of file vpMbTracker.h.

Referenced by vpMbDepthDenseTracker::computeVVS(), vpMbDepthNormalTracker::computeVVS(), computeVVS(), resetTracker(), and track().

◆ m_thresholdOutlier

double vpMbGenericTracker::m_thresholdOutlier
protected

Threshold below which the weight associated to a point to consider this one as an outlier (only for KLT tracking).

Definition at line 488 of file vpMbGenericTracker.h.

Referenced by getKltThresholdAcceptation(), resetTracker(), and setKltThresholdAcceptation().

◆ m_w

vpColVector vpMbGenericTracker::m_w
protected

Robust weights.

Definition at line 490 of file vpMbGenericTracker.h.

Referenced by computeVVSInit(), computeVVSWeights(), getRobustWeights(), and track().

◆ m_weightedError

vpColVector vpMbGenericTracker::m_weightedError
protected

Weighted error.

Definition at line 492 of file vpMbGenericTracker.h.

Referenced by computeVVS(), computeVVSInit(), getRobustWeights(), and track().

◆ mapOfParameterNames

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 184 of file vpMbTracker.h.

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

◆ minLineLengthThresholdGeneral

double vpMbTracker::minLineLengthThresholdGeneral
protectedinherited

Minimum line length threshold for LOD mode (general setting)

Definition at line 179 of file vpMbTracker.h.

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

◆ minPolygonAreaThresholdGeneral

double vpMbTracker::minPolygonAreaThresholdGeneral
protectedinherited

Minimum polygon area threshold for LOD mode (general setting)

Definition at line 181 of file vpMbTracker.h.

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

◆ modelFileName

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 122 of file vpMbTracker.h.

Referenced by vpMbTracker::loadModel().

◆ modelInitialised

bool vpMbTracker::modelInitialised
protectedinherited

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

Definition at line 125 of file vpMbTracker.h.

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

◆ nbCircles

unsigned int vpMbTracker::nbCircles
protectedinherited

Number of circles in CAO model.

Definition at line 172 of file vpMbTracker.h.

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

◆ nbCylinders

unsigned int vpMbTracker::nbCylinders
protectedinherited

Number of cylinders in CAO model.

Definition at line 170 of file vpMbTracker.h.

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

◆ nbLines

unsigned int vpMbTracker::nbLines
protectedinherited

Number of lines in CAO model.

Definition at line 164 of file vpMbTracker.h.

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

◆ nbPoints

unsigned int vpMbTracker::nbPoints
protectedinherited

Number of points in CAO model.

Definition at line 162 of file vpMbTracker.h.

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

◆ nbPolygonLines

unsigned int vpMbTracker::nbPolygonLines
protectedinherited

Number of polygon lines in CAO model.

Definition at line 166 of file vpMbTracker.h.

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

◆ nbPolygonPoints

unsigned int vpMbTracker::nbPolygonPoints
protectedinherited

Number of polygon points in CAO model.

Definition at line 168 of file vpMbTracker.h.

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

◆ ogreShowConfigDialog

bool vpMbTracker::ogreShowConfigDialog
protectedinherited

Definition at line 158 of file vpMbTracker.h.

Referenced by vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), vpMbKltTracker::init(), vpMbEdgeTracker::init(), and track().

◆ oJo

vpMatrix vpMbTracker::oJo
protectedinherited

The Degrees of Freedom to estimate.

Definition at line 117 of file vpMbTracker.h.

Referenced by vpMbDepthDenseTracker::computeVVS(), vpMbDepthNormalTracker::computeVVS(), computeVVS(), vpMbKltMultiTracker::computeVVS(), vpMbEdgeKltTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), vpMbKltTracker::computeVVS(), vpMbEdgeTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVSFirstPhasePoseEstimation(), vpMbEdgeTracker::computeVVSFirstPhasePoseEstimation(), vpMbTracker::computeVVSPoseEstimation(), vpMbTracker::getEstimatedDoF(), vpMbTracker::setEstimatedDoF(), track(), and vpMbTracker::vpMbTracker().

◆ poseSavingFilename

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 128 of file vpMbTracker.h.

Referenced by vpMbTracker::initClick().

◆ projectionError

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 138 of file vpMbTracker.h.

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

◆ useLodGeneral

bool vpMbTracker::useLodGeneral
protectedinherited

True if LOD mode is enabled.

Definition at line 174 of file vpMbTracker.h.

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

◆ useOgre

bool vpMbTracker::useOgre
protectedinherited

Use Ogre3d for visibility tests.

Definition at line 157 of file vpMbTracker.h.

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

◆ useScanLine

bool vpMbTracker::useScanLine
protectedinherited

Use Scanline for visibility tests.

Definition at line 160 of file vpMbTracker.h.

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