Visual Servoing Platform  version 3.1.0

#include <visp3/mbt/vpMbKltTracker.h>

+ Inheritance diagram for vpMbKltTracker:

Public Types

enum  vpMbtOptimizationMethod { GAUSS_NEWTON_OPT = 0, LEVENBERG_MARQUARDT_OPT = 1 }
 

Public Member Functions

 vpMbKltTracker ()
 
virtual ~vpMbKltTracker ()
 
Inherited functionalities from vpMbKltTracker
void addCircle (const vpPoint &P1, const vpPoint &P2, const vpPoint &P3, const double r, const std::string &name="")
 
virtual void display (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, const unsigned int thickness=1, const bool displayFullModel=false)
 
virtual void display (const vpImage< vpRGBa > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, const unsigned int thickness=1, const bool displayFullModel=false)
 
virtual std::list< vpMbtDistanceCircle * > & getFeaturesCircle ()
 
virtual std::list< vpMbtDistanceKltCylinder * > & getFeaturesKltCylinder ()
 
virtual std::list< vpMbtDistanceKltPoints * > & getFeaturesKlt ()
 
std::vector< cv::Point2f > getKltPoints () const
 
std::vector< vpImagePointgetKltImagePoints () const
 
std::map< int, vpImagePointgetKltImagePointsWithId () const
 
vpKltOpencv getKltOpencv () const
 
unsigned int getKltMaskBorder () const
 
int getKltNbPoints () const
 
double getKltThresholdAcceptation () const
 
virtual vpColVector getError () const
 
virtual vpColVector getRobustWeights () const
 
virtual void loadConfigFile (const std::string &configFile)
 
void loadConfigFile (const char *configFile)
 
virtual void reInitModel (const vpImage< unsigned char > &I, const std::string &cad_name, const vpHomogeneousMatrix &cMo_, const bool verbose=false)
 
void reInitModel (const vpImage< unsigned char > &I, const char *cad_name, const vpHomogeneousMatrix &cMo, const bool verbose=false)
 
void resetTracker ()
 
void setCameraParameters (const vpCameraParameters &cam)
 
void setKltMaskBorder (const unsigned int &e)
 
virtual void setKltOpencv (const vpKltOpencv &t)
 
void setKltThresholdAcceptation (const double th)
 
virtual void setOgreVisibilityTest (const bool &v)
 
virtual void setScanLineVisibilityTest (const bool &v)
 
virtual void setPose (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cdMo)
 
virtual void setProjectionErrorComputation (const bool &flag)
 
void setUseKltTracking (const std::string &name, const bool &useKltTracking)
 
virtual void testTracking ()
 
virtual void track (const vpImage< unsigned char > &I)
 
Deprecated functions
unsigned int getMaskBorder () const
 
int getNbKltPoints () const
 
double getThresholdAcceptation () const
 
void setMaskBorder (const unsigned int &e)
 
void setThresholdAcceptation (const double th)
 
Inherited functionalities from vpMbTracker
virtual double getAngleAppear () const
 
virtual double getAngleDisappear () const
 
virtual void getCameraParameters (vpCameraParameters &camera) const
 
virtual unsigned int getClipping () const
 
virtual vpMatrix getCovarianceMatrix () const
 
virtual double getInitialMu () const
 
virtual double getLambda () const
 
virtual unsigned int getMaxIter () const
 
virtual double getProjectionError () const
 
virtual vpColVector getEstimatedDoF () const
 
virtual vpMbHiddenFaces< vpMbtPolygon > & getFaces ()
 
virtual double getFarClippingDistance () const
 
virtual unsigned int getNbPolygon () const
 
virtual double getNearClippingDistance () const
 
virtual vpMbtOptimizationMethod getOptimizationMethod () const
 
virtual vpMbtPolygongetPolygon (const unsigned int index)
 
virtual std::pair< std::vector< vpPolygon >, std::vector< std::vector< vpPoint > > > getPolygonFaces (const bool orderPolygons=true, const bool useVisibility=true, const bool clipPolygon=false)
 
virtual void getPose (vpHomogeneousMatrix &cMo_) const
 
virtual vpHomogeneousMatrix getPose () const
 
virtual double getStopCriteriaEpsilon () const
 
virtual void initClick (const vpImage< unsigned char > &I, const std::string &initFile, const bool displayHelp=false)
 
virtual void initClick (const vpImage< unsigned char > &I, const std::vector< vpPoint > &points3D_list, const std::string &displayFile="")
 
virtual void initFromPoints (const vpImage< unsigned char > &I, const std::string &initFile)
 
virtual void initFromPoints (const vpImage< unsigned char > &I, const std::vector< vpImagePoint > &points2D_list, const std::vector< vpPoint > &points3D_list)
 
virtual void initFromPose (const vpImage< unsigned char > &I, const std::string &initFile)
 
virtual void initFromPose (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo)
 
virtual void initFromPose (const vpImage< unsigned char > &I, const vpPoseVector &cPo)
 
virtual void loadModel (const char *modelFile, const bool verbose=false)
 
virtual void loadModel (const std::string &modelFile, const bool verbose=false)
 
virtual void setAngleAppear (const double &a)
 
virtual void setAngleDisappear (const double &a)
 
virtual void setClipping (const unsigned int &flags)
 
virtual void setCovarianceComputation (const bool &flag)
 
virtual void setDisplayFeatures (const bool displayF)
 
virtual void setEstimatedDoF (const vpColVector &v)
 
virtual void setFarClippingDistance (const double &dist)
 
virtual void setInitialMu (const double mu)
 
virtual void setLambda (const double gain)
 
virtual void setLod (const bool useLod, const std::string &name="")
 
virtual void setMaxIter (const unsigned int max)
 
virtual void setMinLineLengthThresh (const double minLineLengthThresh, const std::string &name="")
 
virtual void setMinPolygonAreaThresh (const double minPolygonAreaThresh, const std::string &name="")
 
virtual void setNearClippingDistance (const double &dist)
 
virtual void setOptimizationMethod (const vpMbtOptimizationMethod &opt)
 
virtual void setStopCriteriaEpsilon (const double eps)
 
void savePose (const std::string &filename) const
 
virtual void setGoodNbRayCastingAttemptsRatio (const double &ratio)
 
virtual void setNbRayCastingAttemptsForVisibility (const unsigned int &attempts)
 
virtual void setOgreShowConfigDialog (const bool showConfigDialog)
 
void setPoseSavingFilename (const std::string &filename)
 

Protected Member Functions

Protected Member Functions Inherited from vpMbKltTracker
void computeVVS ()
 
virtual void computeVVSInit ()
 
virtual void computeVVSInteractionMatrixAndResidu ()
 
virtual void init (const vpImage< unsigned char > &I)
 
virtual void initFaceFromCorners (vpMbtPolygon &polygon)
 
virtual void initFaceFromLines (vpMbtPolygon &polygon)
 
virtual void initCircle (const vpPoint &, const vpPoint &, const vpPoint &, const double, const int, const std::string &name="")
 
virtual void initCylinder (const vpPoint &, const vpPoint &, const double, const int, const std::string &name="")
 
void preTracking (const vpImage< unsigned char > &I)
 
bool postTracking (const vpImage< unsigned char > &I, vpColVector &w)
 
virtual void reinit (const vpImage< unsigned char > &I)
 
Protected Member Functions Inherited from vpMbTracker
void addPolygon (const std::vector< vpPoint > &corners, const int idFace=-1, const std::string &polygonName="", const bool useLod=false, const double minPolygonAreaThreshold=2500.0, const double minLineLengthThreshold=50.0)
 
void addPolygon (const vpPoint &p1, const vpPoint &p2, const vpPoint &p3, const double radius, const int idFace=-1, const std::string &polygonName="", const bool useLod=false, const double minPolygonAreaThreshold=2500.0)
 
void addPolygon (const vpPoint &p1, const vpPoint &p2, const int idFace=-1, const std::string &polygonName="", const bool useLod=false, const double minLineLengthThreshold=50)
 
void addPolygon (const std::vector< std::vector< vpPoint > > &listFaces, const int idFace=-1, const std::string &polygonName="", const bool useLod=false, const double minLineLengthThreshold=50)
 
void createCylinderBBox (const vpPoint &p1, const vpPoint &p2, const double &radius, std::vector< std::vector< vpPoint > > &listFaces)
 
virtual void computeCovarianceMatrixVVS (const bool isoJoIdentity_, const vpColVector &w_true, const vpHomogeneousMatrix &cMoPrev, const vpMatrix &L_true, const vpMatrix &LVJ_true, const vpColVector &error)
 
void computeJTR (const vpMatrix &J, const vpColVector &R, vpColVector &JTR) const
 
virtual void computeVVSCheckLevenbergMarquardt (const unsigned int iter, vpColVector &error, const vpColVector &m_error_prev, const vpHomogeneousMatrix &cMoPrev, double &mu, bool &reStartFromLastIncrement, vpColVector *const w=NULL, const vpColVector *const m_w_prev=NULL)
 
virtual void computeVVSPoseEstimation (const bool isoJoIdentity_, const unsigned int iter, vpMatrix &L, vpMatrix &LTL, vpColVector &R, const vpColVector &error, vpColVector &error_prev, vpColVector &LTR, double &mu, vpColVector &v, const vpColVector *const w=NULL, vpColVector *const m_w_prev=NULL)
 
virtual void computeVVSWeights (vpRobust &robust, const vpColVector &error, vpColVector &w)
 
virtual void extractGroup (SoVRMLGroup *sceneGraphVRML2, vpHomogeneousMatrix &transform, int &idFace)
 
virtual void extractFaces (SoVRMLIndexedFaceSet *face_set, vpHomogeneousMatrix &transform, int &idFace, const std::string &polygonName="")
 
virtual void extractLines (SoVRMLIndexedLineSet *line_set, int &idFace, const std::string &polygonName="")
 
virtual void extractCylinders (SoVRMLIndexedFaceSet *face_set, vpHomogeneousMatrix &transform, int &idFace, const std::string &polygonName="")
 
vpPoint getGravityCenter (const std::vector< vpPoint > &_pts) const
 
virtual void loadVRMLModel (const std::string &modelFile)
 
virtual void loadCAOModel (const std::string &modelFile, std::vector< std::string > &vectorOfModelFilename, int &startIdFace, const bool verbose=false, const bool parent=true)
 
void removeComment (std::ifstream &fileId)
 
bool parseBoolean (std::string &input)
 
std::map< std::string, std::string > parseParameters (std::string &endLine)
 
std::string & ltrim (std::string &s) const
 
std::string & rtrim (std::string &s) const
 
std::string & trim (std::string &s) const
 

Protected Attributes

cv::Mat cur
 
vpHomogeneousMatrix c0Mo
 
bool firstInitialisation
 
unsigned int maskBorder
 
double threshold_outlier
 
double percentGood
 
vpHomogeneousMatrix ctTc0
 
vpKltOpencv tracker
 
std::list< vpMbtDistanceKltPoints * > kltPolygons
 
std::list< vpMbtDistanceKltCylinder * > kltCylinders
 
std::list< vpMbtDistanceCircle * > circles_disp
 
unsigned int m_nbInfos
 
unsigned int m_nbFaceUsed
 
vpMatrix m_L_klt
 
vpColVector m_error_klt
 
vpColVector m_w_klt
 
vpColVector m_weightedError_klt
 
vpRobust m_robust_klt
 
vpCameraParameters cam
 
vpHomogeneousMatrix cMo
 
vpMatrix oJo
 
bool isoJoIdentity
 
std::string modelFileName
 
bool modelInitialised
 
std::string poseSavingFilename
 
bool computeCovariance
 
vpMatrix covarianceMatrix
 
bool computeProjError
 
double projectionError
 
bool displayFeatures
 
vpMbtOptimizationMethod m_optimizationMethod
 
vpMbHiddenFaces< vpMbtPolygonfaces
 
double angleAppears
 
double angleDisappears
 
double distNearClip
 
double distFarClip
 
unsigned int clippingFlag
 
bool useOgre
 
bool ogreShowConfigDialog
 
bool useScanLine
 
unsigned int nbPoints
 
unsigned int nbLines
 
unsigned int nbPolygonLines
 
unsigned int nbPolygonPoints
 
unsigned int nbCylinders
 
unsigned int nbCircles
 
bool useLodGeneral
 
bool applyLodSettingInConfig
 
double minLineLengthThresholdGeneral
 
double minPolygonAreaThresholdGeneral
 
std::map< std::string, std::string > mapOfParameterNames
 
bool m_computeInteraction
 
double m_lambda
 
unsigned int m_maxIter
 
double m_stopCriteriaEpsilon
 
double m_initialMu
 

Friends

class vpMbKltMultiTracker
 
class vpMbEdgeKltMultiTracker
 

Detailed Description

Model based tracker using only KLT.

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

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

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

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

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

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

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

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

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

Definition at line 230 of file vpMbKltTracker.h.

Member Enumeration Documentation

◆ vpMbtOptimizationMethod

Enumerator
GAUSS_NEWTON_OPT 
LEVENBERG_MARQUARDT_OPT 

Definition at line 109 of file vpMbTracker.h.

Constructor & Destructor Documentation

◆ vpMbKltTracker()

◆ ~vpMbKltTracker()

vpMbKltTracker::~vpMbKltTracker ( )
virtual

Basic destructor.

Definition at line 87 of file vpMbKltTracker.cpp.

References circles_disp, cur, kltCylinders, and kltPolygons.

Member Function Documentation

◆ addCircle()

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

Add a circle to the list of circles.

Parameters
P1: Center of the circle.
P2,P3: Two points on the plane containing the circle. With the center of the circle we have 3 points defining the plane that contains the circle.
r: Radius of the circle.
name: Name of the circle.

Definition at line 1248 of file vpMbKltTracker.cpp.

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

Referenced by initCircle().

◆ addPolygon() [1/4]

◆ addPolygon() [2/4]

◆ addPolygon() [3/4]

◆ addPolygon() [4/4]

◆ computeCovarianceMatrixVVS()

◆ 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().

◆ computeVVS()

◆ computeVVSCheckLevenbergMarquardt()

◆ computeVVSInit()

◆ computeVVSInteractionMatrixAndResidu()

◆ computeVVSPoseEstimation()

◆ computeVVSWeights()

◆ createCylinderBBox()

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

◆ display() [1/2]

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

◆ display() [2/2]

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

◆ 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.

◆ getCameraParameters()

◆ getClipping()

◆ getCovarianceMatrix()

virtual vpMatrix vpMbTracker::getCovarianceMatrix ( ) const
inlinevirtualinherited

◆ getError()

virtual vpColVector vpMbKltTracker::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.

Reimplemented in vpMbEdgeKltTracker, vpMbKltMultiTracker, and vpMbEdgeKltMultiTracker.

Definition at line 345 of file vpMbKltTracker.h.

References m_error_klt.

◆ getEstimatedDoF()

vpColVector vpMbTracker::getEstimatedDoF ( ) const
virtualinherited

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

Returns
1x6 vpColVector representing the estimated degrees of freedom.

Definition at line 2556 of file vpMbTracker.cpp.

References vpMbTracker::oJo.

◆ getFaces()

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

Return a reference to the faces structure.

Reimplemented in vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, vpMbKltMultiTracker, and vpMbGenericTracker.

Definition at line 299 of file vpMbTracker.h.

Referenced by vpMbGenericTracker::getError().

◆ getFarClippingDistance()

virtual double vpMbTracker::getFarClippingDistance ( ) const
inlinevirtualinherited

Get the far distance for clipping.

Returns
Far clipping value.

Definition at line 306 of file vpMbTracker.h.

◆ getFeaturesCircle()

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

Return the address of the circle feature list.

Reimplemented in vpMbKltMultiTracker.

Definition at line 295 of file vpMbKltTracker.h.

References circles_disp.

◆ getFeaturesKlt()

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

Return the address of the Klt feature list.

Reimplemented in vpMbKltMultiTracker.

Definition at line 299 of file vpMbKltTracker.h.

References kltPolygons.

◆ getFeaturesKltCylinder()

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

Return the address of the cylinder feature list.

Reimplemented in vpMbKltMultiTracker.

Definition at line 297 of file vpMbKltTracker.h.

References kltCylinders.

◆ 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 > vpMbKltTracker::getKltImagePoints ( ) const

Get the current list of KLT points.

Warning
Contrary to getKltPoints which returns a pointer on CvPoint2D32f. This function convert and copy the openCV KLT points into vpImagePoints.
Returns
the list of KLT points through vpKltOpencv.

Definition at line 332 of file vpMbKltTracker.cpp.

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

◆ getKltImagePointsWithId()

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

Get the current list of KLT points and their id.

Warning
Contrary to getKltPoints which returns a pointer on CvPoint2D32f. This function convert and copy the openCV KLT points into vpImagePoints.
Returns
the list of KLT points and their id through vpKltOpencv.

Definition at line 353 of file vpMbKltTracker.cpp.

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

◆ getKltMaskBorder()

unsigned int vpMbKltTracker::getKltMaskBorder ( ) const
inline

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

Returns
The erosion.

Definition at line 328 of file vpMbKltTracker.h.

References maskBorder.

◆ getKltNbPoints()

int vpMbKltTracker::getKltNbPoints ( ) const
inline

Get the current number of klt points.

Returns
the number of features

Definition at line 335 of file vpMbKltTracker.h.

References vpKltOpencv::getNbFeatures().

◆ getKltOpencv()

vpKltOpencv vpMbKltTracker::getKltOpencv ( ) const
inline

Get the klt tracker at the current state.

Returns
klt tracker.

Definition at line 321 of file vpMbKltTracker.h.

References tracker.

◆ getKltPoints()

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

Get the current list of KLT points.

Returns
the list of KLT points through vpKltOpencv.

Definition at line 307 of file vpMbKltTracker.h.

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

◆ getKltThresholdAcceptation()

double vpMbKltTracker::getKltThresholdAcceptation ( ) const
inline

Get the threshold for the acceptation of a point.

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

Definition at line 343 of file vpMbKltTracker.h.

References threshold_outlier.

◆ getLambda()

virtual double vpMbTracker::getLambda ( ) const
inlinevirtualinherited

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

Returns
the value for the gain.

Definition at line 258 of file vpMbTracker.h.

◆ getMaskBorder()

unsigned int vpMbKltTracker::getMaskBorder ( ) const
inline

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

Deprecated:
Use rather getkltMaskBorder()
Returns
The erosion.

Definition at line 442 of file vpMbKltTracker.h.

References maskBorder.

◆ getMaxIter()

virtual unsigned int vpMbTracker::getMaxIter ( ) const
inlinevirtualinherited

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

Returns
the number of iteration

Definition at line 265 of file vpMbTracker.h.

◆ getNbKltPoints()

int vpMbKltTracker::getNbKltPoints ( ) const
inline

Get the current number of klt points.

Deprecated:
Use rather getKltNbPoints()
Returns
the number of features

Definition at line 449 of file vpMbKltTracker.h.

References vpKltOpencv::getNbFeatures().

Referenced by vpMbKltMultiTracker::getRobustWeights().

◆ getNbPolygon()

virtual unsigned int vpMbTracker::getNbPolygon ( ) const
inlinevirtualinherited

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

Returns
Number of polygons.

Reimplemented in vpMbKltMultiTracker, vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbGenericTracker.

Definition at line 335 of file vpMbTracker.h.

References vpMbHiddenFaces< PolygonType >::size().

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

◆ 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()

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

Return the polygon (face) "index".

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

Reimplemented in vpMbGenericTracker.

Definition at line 362 of file vpMbTracker.h.

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

Referenced by vpMbGenericTracker::getError().

◆ getPolygonFaces()

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

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

Parameters
orderPolygons: If true, the resulting list is ordered from the nearest polygon faces to the farther.
useVisibility: If true, only visible faces will be retrieved.
clipPolygon: If true, the polygons will be clipped according to the clipping flags set in vpMbTracker.
Returns
A pair object containing the list of vpPolygon and the list of face corners.

Reimplemented in vpMbGenericTracker.

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

Definition at line 2153 of file vpMbTracker.cpp.

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

Referenced by vpMbGenericTracker::getError().

◆ getPose() [1/2]

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

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

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

Definition at line 381 of file vpMbTracker.h.

◆ getPose() [2/2]

virtual vpHomogeneousMatrix vpMbTracker::getPose ( ) const
inlinevirtualinherited

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

Returns
the current pose

Definition at line 390 of file vpMbTracker.h.

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

◆ getProjectionError()

virtual double vpMbTracker::getProjectionError ( ) const
inlinevirtualinherited

Get the error angle between the gradient direction of the model features projected at the resulting pose and their normal. The error is expressed in degree between 0 and 90. This value is computed if setProjectionErrorComputation() is turned on.

Returns
the value for the error.
See also
setProjectionErrorComputation()
Examples:
mbtEdgeKltMultiTracking.cpp, mbtEdgeKltTracking.cpp, mbtEdgeMultiTracking.cpp, mbtEdgeTracking.cpp, mbtGenericTracking.cpp, mbtGenericTracking2.cpp, and mbtGenericTrackingDepth.cpp.

Definition at line 277 of file vpMbTracker.h.

◆ getRobustWeights()

virtual vpColVector vpMbKltTracker::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 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.

Reimplemented in vpMbEdgeKltTracker, vpMbKltMultiTracker, and vpMbEdgeKltMultiTracker.

Definition at line 347 of file vpMbKltTracker.h.

References vpMbTracker::cam, vpMbTracker::cMo, vpMbTracker::loadConfigFile(), m_w_klt, vpMbEdgeKltMultiTracker::reInitModel(), vpMbTracker::resetTracker(), and vpMbTracker::setCameraParameters().

◆ getStopCriteriaEpsilon()

virtual double vpMbTracker::getStopCriteriaEpsilon ( ) const
inlinevirtualinherited

Definition at line 392 of file vpMbTracker.h.

◆ getThresholdAcceptation()

double vpMbKltTracker::getThresholdAcceptation ( ) const
inline

Get the threshold for the acceptation of a point.

Deprecated:
Use rather getKltThresholdAcceptation()
Returns
threshold_outlier : Threshold for the weight below which a point is rejected.

Definition at line 458 of file vpMbKltTracker.h.

References threshold_outlier.

◆ init()

◆ initCircle()

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

Add a circle to display (not for tracking) from its center, 3 points (including the center) defining the plane that contain the circle and its radius.

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

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker, and vpMbEdgeKltMultiTracker.

Definition at line 1234 of file vpMbKltTracker.cpp.

References addCircle().

◆ initClick() [1/2]

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

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

The structure of this file is the following:

# 3D point coordinates
4 # Number of points in the file (minimum is four)
0.01 0.01 0.01 # \
... # | 3D coordinates in the object frame (X, Y, Z)
0.01 -0.01 -0.01 # /
Parameters
I: Input image where the user has to click.
initFile: File containing the coordinates of at least 4 3D points the user has to click in the image. This file should have .init extension (ie teabox.init).
displayHelp: Optionnal display of an image that should have the same generic name as the init file (ie teabox.ppm). This image may be used to show where to click. This functionality is only available if visp_io module is used.
Exceptions
vpException::ioError: The file specified in initFile doesn't exist.

Reimplemented in vpMbKltMultiTracker, vpMbEdgeKltMultiTracker, and vpMbEdgeMultiTracker.

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

Definition at line 193 of file vpMbTracker.cpp.

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

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

◆ initClick() [2/2]

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

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

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

Reimplemented in vpMbKltMultiTracker, vpMbEdgeKltMultiTracker, and vpMbEdgeMultiTracker.

Definition at line 445 of file vpMbTracker.cpp.

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

◆ initCylinder()

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

Add a cylinder to display (not for tracking) from two points on the axis (defining the length of the cylinder) and its radius.

Parameters
p1: First point on the axis.
p2: Second point on the axis.
radius: Radius of the cylinder.
idFace: Identifier of the polygon representing the revolution axis of the cylinder.
name: The optional name of the cylinder.

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker, and vpMbEdgeKltMultiTracker.

Definition at line 1204 of file vpMbKltTracker.cpp.

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

Referenced by vpMbEdgeKltTracker::initCylinder(), and vpMbGenericTracker::track().

◆ initFaceFromCorners()

void vpMbKltTracker::initFaceFromCorners ( vpMbtPolygon polygon)
protectedvirtual

Initialise a new face from the coordinates given in parameter.

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

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker, and vpMbEdgeKltMultiTracker.

Definition at line 606 of file vpMbKltTracker.cpp.

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

Referenced by vpMbEdgeKltTracker::initFaceFromCorners(), and vpMbGenericTracker::track().

◆ initFaceFromLines()

void vpMbKltTracker::initFaceFromLines ( vpMbtPolygon polygon)
protectedvirtual

Initialise a new face from the coordinates given in parameter.

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

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker, and vpMbEdgeKltMultiTracker.

Definition at line 621 of file vpMbKltTracker.cpp.

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

Referenced by vpMbEdgeKltTracker::initFaceFromLines(), and vpMbGenericTracker::track().

◆ initFromPoints() [1/2]

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

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

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

Definition at line 575 of file vpMbTracker.cpp.

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

Referenced by vpMbGenericTracker::getRobustWeights().

◆ initFromPoints() [2/2]

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

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

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

Definition at line 712 of file vpMbTracker.cpp.

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

◆ initFromPose() [1/3]

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

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

// The six value of the pose vector
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 vpMbGenericTracker::getRobustWeights(), vpMbEdgeMultiTracker::getRobustWeights(), vpMbKltMultiTracker::getRobustWeights(), vpMbTracker::initFromPose(), vpMbDepthDenseTracker::reInitModel(), vpMbDepthNormalTracker::reInitModel(), reInitModel(), and vpMbEdgeTracker::reInitModel().

◆ initFromPose() [2/3]

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

Initialise the tracking thanks to the pose.

Parameters
I: Input image
cMo_: Pose matrix.

Reimplemented in vpMbEdgeKltMultiTracker, vpMbKltMultiTracker, and vpMbEdgeMultiTracker.

Definition at line 800 of file vpMbTracker.cpp.

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

◆ initFromPose() [3/3]

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

Initialise the tracking thanks to the pose vector.

Parameters
I: Input image
cPo: Pose vector.

Reimplemented in vpMbEdgeKltMultiTracker, vpMbKltMultiTracker, and vpMbEdgeMultiTracker.

Definition at line 812 of file vpMbTracker.cpp.

References vpMbTracker::initFromPose().

◆ 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() [1/2]

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

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

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

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker, vpMbEdgeKltMultiTracker, and vpMbKltMultiTracker.

Examples:
mbtKltTracking.cpp, and tutorial-mb-klt-tracker.cpp.

Definition at line 908 of file vpMbKltTracker.cpp.

Referenced by vpMbKltMultiTracker::getRobustWeights().

◆ loadConfigFile() [2/2]

void vpMbKltTracker::loadConfigFile ( const char *  configFile)

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

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

The XML configuration file has the following form:

<?xml version="1.0"?>
<conf>
<camera>
<width>640</width>
<height>480</height>
<u0>320</u0>
<v0>240</v0>
<px>686.24</px>
<py>686.24</py>
</camera>
<face>
<angle_appear>65</angle_appear>
<angle_disappear>85</angle_disappear>
<near_clipping>0.01</near_clipping>
<far_clipping>0.90</far_clipping>
<fov_clipping>1</fov_clipping>
</face>
<klt>
<mask_border>10</mask_border>
<max_features>10000</max_features>
<window_size>5</window_size>
<quality>0.02</quality>
<min_distance>10</min_distance>
<harris>0.02</harris>
<size_block>3</size_block>
<pyramid_lvl>3</pyramid_lvl>
</klt>
</conf>
See also
loadConfigFile(const std::string&), vpXmlParser::cleanup()

Definition at line 960 of file vpMbKltTracker.cpp.

References vpMbTracker::angleAppears, vpMbTracker::angleDisappears, vpMbTracker::applyLodSettingInConfig, vpMbTracker::clippingFlag, vpMath::deg(), vpMbTracker::faces, vpPolygon3D::FOV_CLIPPING, vpMbXmlParser::getAngleAppear(), vpMbXmlParser::getAngleDisappear(), vpMbtKltXmlParser::getBlockSize(), vpMbXmlParser::getCameraParameters(), vpMbXmlParser::getFarClippingDistance(), vpMbXmlParser::getFovClipping(), vpMbtKltXmlParser::getHarrisParam(), vpMbXmlParser::getLodState(), vpMbtKltXmlParser::getMaskBorder(), vpMbtKltXmlParser::getMaxFeatures(), vpMbHiddenFaces< PolygonType >::getMbScanLineRenderer(), vpMbtKltXmlParser::getMinDistance(), vpMbXmlParser::getMinLineLengthThreshold(), vpMbXmlParser::getMinPolygonAreaThreshold(), vpMbTracker::getNbPolygon(), vpMbXmlParser::getNearClippingDistance(), vpMbtKltXmlParser::getPyramidLevels(), vpMbtKltXmlParser::getQuality(), vpMbtKltXmlParser::getWindowSize(), vpMbXmlParser::hasFarClippingDistance(), vpMbXmlParser::hasNearClippingDistance(), vpException::ioError, maskBorder, vpMbTracker::minLineLengthThresholdGeneral, vpMbTracker::minPolygonAreaThresholdGeneral, vpMbtKltXmlParser::parse(), vpMath::rad(), vpMbXmlParser::setAngleAppear(), vpMbXmlParser::setAngleDisappear(), vpKltOpencv::setBlockSize(), vpMbtKltXmlParser::setBlockSize(), setCameraParameters(), vpMbTracker::setClipping(), vpMbTracker::setFarClippingDistance(), vpKltOpencv::setHarrisFreeParameter(), vpMbtKltXmlParser::setHarrisParam(), vpMbTracker::setLod(), vpMbtKltXmlParser::setMaskBorder(), vpKltOpencv::setMaxFeatures(), vpMbtKltXmlParser::setMaxFeatures(), vpKltOpencv::setMinDistance(), vpMbtKltXmlParser::setMinDistance(), vpMbTracker::setMinLineLengthThresh(), vpMbTracker::setMinPolygonAreaThresh(), vpMbTracker::setNearClippingDistance(), vpKltOpencv::setPyramidLevels(), vpMbtKltXmlParser::setPyramidLevels(), vpKltOpencv::setQuality(), vpMbtKltXmlParser::setQuality(), vpKltOpencv::setWindowSize(), vpMbtKltXmlParser::setWindowSize(), tracker, vpMbTracker::useLodGeneral, vpERROR_TRACE, and vpTRACE.

◆ loadModel() [1/2]

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 vpMbGenericTracker::getRobustWeights(), vpMbEdgeMultiTracker::getRobustWeights(), vpMbKltMultiTracker::getRobustWeights(), vpMbDepthDenseTracker::reInitModel(), vpMbDepthNormalTracker::reInitModel(), vpMbEdgeKltTracker::reInitModel(), reInitModel(), and vpMbEdgeTracker::reInitModel().

◆ loadModel() [2/2]

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

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

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

Reimplemented in vpMbEdgeKltMultiTracker, vpMbKltMultiTracker, vpMbEdgeMultiTracker, and vpMbGenericTracker.

Definition at line 1096 of file vpMbTracker.cpp.

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

◆ 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().

◆ postTracking()

◆ preTracking()

◆ reinit()

◆ reInitModel() [1/2]

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

Re-initialize the model used by the tracker.

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

Reimplemented in vpMbEdgeKltTracker, vpMbEdgeKltMultiTracker, and vpMbKltMultiTracker.

Definition at line 1285 of file vpMbKltTracker.cpp.

Referenced by vpMbKltMultiTracker::getRobustWeights().

◆ reInitModel() [2/2]

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

Re-initialize the model used by the tracker.

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

Definition at line 1300 of file vpMbKltTracker.cpp.

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

◆ removeComment()

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

Definition at line 1203 of file vpMbTracker.cpp.

References vpException::ioError.

Referenced by vpMbTracker::loadCAOModel().

◆ resetTracker()

◆ 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()

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

◆ setAngleDisappear()

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

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

Parameters
a: new angle in radian.

Reimplemented in vpMbEdgeKltMultiTracker, vpMbKltMultiTracker, vpMbEdgeMultiTracker, and vpMbGenericTracker.

Examples:
mbtEdgeKltTracking.cpp, mbtGenericTracking.cpp, mbtGenericTracking2.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 433 of file vpMbTracker.h.

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

◆ setCameraParameters()

void vpMbKltTracker::setCameraParameters ( const vpCameraParameters camera)
virtual

◆ setClipping()

◆ 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().

◆ setDisplayFeatures()

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

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

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

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

Reimplemented in vpMbEdgeKltMultiTracker, vpMbKltMultiTracker, vpMbEdgeMultiTracker, and vpMbGenericTracker.

Examples:
mbtEdgeKltTracking.cpp, mbtEdgeTracking.cpp, mbtGenericTracking.cpp, mbtGenericTracking2.cpp, mbtGenericTrackingDepth.cpp, mbtKltTracking.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, tutorial-mb-edge-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, tutorial-mb-klt-tracker.cpp, tutorial-mb-tracker-full.cpp, tutorial-mb-tracker-stereo-mono.cpp, tutorial-mb-tracker-stereo.cpp, and tutorial-mb-tracker.cpp.

Definition at line 470 of file vpMbTracker.h.

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

◆ setGoodNbRayCastingAttemptsRatio()

virtual void vpMbTracker::setGoodNbRayCastingAttemptsRatio ( const double &  ratio)
inlinevirtualinherited

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%).

Reimplemented in vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, vpMbKltMultiTracker, and vpMbGenericTracker.

Definition at line 549 of file vpMbTracker.h.

References vpMbHiddenFaces< PolygonType >::setGoodNbRayCastingAttemptsRatio().

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

◆ 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()

void vpMbKltTracker::setKltMaskBorder ( const unsigned int &  e)
inline

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

Parameters
e: The desired erosion.
Examples:
mbtEdgeKltTracking.cpp, mbtKltTracking.cpp, and tutorial-mb-klt-tracker.cpp.

Definition at line 365 of file vpMbKltTracker.h.

References vpMbTracker::faces, vpMbHiddenFaces< PolygonType >::getMbScanLineRenderer(), and vpMbKltMultiTracker::setKltOpencv().

Referenced by vpMbKltMultiTracker::getRobustWeights().

◆ setKltOpencv()

◆ setKltThresholdAcceptation()

void vpMbKltTracker::setKltThresholdAcceptation ( const double  th)
inline

Set the threshold for the acceptation of a point.

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

Definition at line 379 of file vpMbKltTracker.h.

Referenced by vpMbKltMultiTracker::getRobustWeights().

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

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

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

Reimplemented in vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, vpMbKltMultiTracker, and vpMbGenericTracker.

Definition at line 2291 of file vpMbTracker.cpp.

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

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

◆ setMaskBorder()

void vpMbKltTracker::setMaskBorder ( const unsigned int &  e)
inline

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

Parameters
e: The desired erosion.
Examples:
tutorial-mb-hybrid-tracker.cpp.

Definition at line 464 of file vpMbKltTracker.h.

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

Referenced by vpMbKltMultiTracker::getRobustWeights().

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

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

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

Reimplemented in vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, vpMbKltMultiTracker, and vpMbGenericTracker.

Definition at line 2309 of file vpMbTracker.cpp.

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

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

◆ setMinPolygonAreaThresh()

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

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

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

Reimplemented in vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, vpMbKltMultiTracker, and vpMbGenericTracker.

Definition at line 2326 of file vpMbTracker.cpp.

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

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

◆ setNbRayCastingAttemptsForVisibility()

virtual void vpMbTracker::setNbRayCastingAttemptsForVisibility ( const unsigned int &  attempts)
inlinevirtualinherited

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.

Reimplemented in vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, vpMbKltMultiTracker, and vpMbGenericTracker.

Definition at line 559 of file vpMbTracker.h.

References vpMbHiddenFaces< PolygonType >::setNbRayCastingAttemptsForVisibility().

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

◆ setNearClippingDistance()

◆ setOgreShowConfigDialog()

virtual void vpMbTracker::setOgreShowConfigDialog ( const bool  showConfigDialog)
inlinevirtualinherited

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

Warning
This method has only effect when Ogre is used and Ogre visibility test is enabled using setOgreVisibilityTest() with true parameter.
Parameters
showConfigDialog: if true, shows Ogre dialog window (used to set Ogre rendering options) when Ogre visibility is enabled. By default, this functionality is turned off.

Reimplemented in vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, vpMbKltMultiTracker, and vpMbGenericTracker.

Examples:
mbtEdgeKltTracking.cpp, mbtEdgeTracking.cpp, mbtGenericTracking.cpp, mbtGenericTracking2.cpp, mbtGenericTrackingDepth.cpp, mbtKltTracking.cpp, tutorial-mb-edge-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, tutorial-mb-klt-tracker.cpp, and tutorial-mb-tracker-full.cpp.

Definition at line 575 of file vpMbTracker.h.

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

◆ setOgreVisibilityTest()

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

Use Ogre3D for visibility tests

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

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker, vpMbEdgeKltTracker, and vpMbKltMultiTracker.

Examples:
mbtKltTracking.cpp, and tutorial-mb-klt-tracker.cpp.

Definition at line 389 of file vpMbKltTracker.h.

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

Referenced by vpMbKltMultiTracker::getRobustWeights().

◆ setOptimizationMethod()

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

Set the optimization method used during the tracking.

Parameters
opt: Optimization method to use.

Reimplemented in vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, vpMbKltMultiTracker, and vpMbGenericTracker.

Definition at line 510 of file vpMbTracker.h.

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

◆ setPose()

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

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker, vpMbEdgeKltTracker, and vpMbKltMultiTracker.

Examples:
mbtKltTracking.cpp.

Definition at line 420 of file vpMbKltTracker.cpp.

References vpMbTracker::angleAppears, vpMbTracker::angleDisappears, c0Mo, vpMbTracker::cam, vpPolygon3D::changeFrame(), vpPlane::changeFrame(), vpMbTracker::cMo, vpMbHiddenFaces< PolygonType >::computeClippedPolygons(), vpCameraParameters::computeFov(), vpPolygon3D::computePolygonClipped(), vpMbHiddenFaces< PolygonType >::computeScanLineRender(), vpImageConvert::convert(), ctTc0, cur, vpException::divideByZeroError, vpHomogeneousMatrix::extract(), vpHomogeneousMatrix::eye(), vpMbTracker::faces, vpCameraParameters::get_K(), vpCameraParameters::get_K_inverse(), vpMbtDistanceKltPoints::getCurrentNumberPoints(), vpMbtDistanceKltPoints::getCurrentPoints(), vpMbtDistanceKltPoints::getCurrentPointsInd(), vpPlane::getD(), vpImage< Type >::getHeight(), vpKltOpencv::getMaxFeatures(), vpPolygon3D::getNbPoint(), vpPlane::getNormal(), vpImage< Type >::getWidth(), vpMbtDistanceKltPoints::init(), init(), vpHomogeneousMatrix::inverse(), vpMbtPolygon::isVisible(), kltCylinders, kltPolygons, vpColVector::normalize(), vpPolygon3D::p, vpMbtDistanceKltPoints::polygon, vpKltOpencv::setInitialGuess(), vpMbHiddenFaces< PolygonType >::setVisible(), vpMbHiddenFaces< PolygonType >::setVisibleOgre(), tracker, vpMbTracker::useOgre, and vpMbTracker::useScanLine.

Referenced by vpMbKltMultiTracker::getRobustWeights(), vpMbEdgeKltTracker::setPose(), and vpMbGenericTracker::track().

◆ 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()

virtual void vpMbKltTracker::setProjectionErrorComputation ( const bool &  flag)
inlinevirtual

Set if the projection error criteria has to be computed.

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

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker, and vpMbEdgeKltTracker.

Definition at line 418 of file vpMbKltTracker.h.

References vpMbKltMultiTracker::setUseKltTracking(), vpMbTracker::testTracking(), and vpMbTracker::track().

◆ setScanLineVisibilityTest()

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

Use Scanline algorithm for visibility tests

Parameters
v: True to use it, False otherwise

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker, vpMbEdgeKltTracker, and vpMbKltMultiTracker.

Examples:
mbtKltTracking.cpp.

Definition at line 402 of file vpMbKltTracker.h.

References vpMbTracker::setScanLineVisibilityTest().

Referenced by vpMbKltMultiTracker::getRobustWeights(), vpMbEdgeKltTracker::setScanLineVisibilityTest(), and vpMbGenericTracker::track().

◆ 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.

◆ setThresholdAcceptation()

◆ setUseKltTracking()

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

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

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

Definition at line 1356 of file vpMbKltTracker.cpp.

References vpMbtPolygon::getName(), kltPolygons, vpMbtDistanceKltPoints::polygon, and vpMbtDistanceKltPoints::setTracked().

Referenced by vpMbKltMultiTracker::getRobustWeights().

◆ testTracking()

◆ track()

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

Realize the tracking of the object in the image

Exceptions
vpException: if the tracking is supposed to have failed
Parameters
I: the input image

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker, vpMbEdgeKltTracker, and vpMbKltMultiTracker.

Examples:
mbtKltTracking.cpp, and tutorial-mb-klt-tracker.cpp.

Definition at line 882 of file vpMbKltTracker.cpp.

References computeVVS(), m_nbFaceUsed, m_nbInfos, m_w_klt, vpTrackingException::notEnoughPointError, postTracking(), preTracking(), and reinit().

Referenced by vpMbKltMultiTracker::getRobustWeights().

◆ trim()

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

Definition at line 788 of file vpMbTracker.h.

Referenced by vpMbTracker::parseParameters().

Friends And Related Function Documentation

◆ vpMbEdgeKltMultiTracker

friend class vpMbEdgeKltMultiTracker
friend

Definition at line 233 of file vpMbKltTracker.h.

◆ vpMbKltMultiTracker

friend class vpMbKltMultiTracker
friend

Definition at line 232 of file vpMbKltTracker.h.

Member Data Documentation

◆ angleAppears

◆ angleDisappears

◆ 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(), loadConfigFile(), vpMbEdgeTracker::loadConfigFile(), and vpMbGenericTracker::track().

◆ c0Mo

◆ cam

vpCameraParameters vpMbTracker::cam
protectedinherited

The camera parameters.

Definition at line 113 of file vpMbTracker.h.

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

◆ circles_disp

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

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

Definition at line 265 of file vpMbKltTracker.h.

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

◆ clippingFlag

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

◆ computeCovariance

◆ computeProjError

bool vpMbTracker::computeProjError
protectedinherited

◆ covarianceMatrix

vpMatrix vpMbTracker::covarianceMatrix
protectedinherited

◆ ctTc0

◆ cur

cv::Mat vpMbKltTracker::cur
protected

Temporary OpenCV image for fast conversion.

Definition at line 238 of file vpMbKltTracker.h.

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

◆ displayFeatures

◆ distFarClip

◆ distNearClip

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

◆ firstInitialisation

bool vpMbKltTracker::firstInitialisation
protected

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

Definition at line 246 of file vpMbKltTracker.h.

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

◆ isoJoIdentity

bool vpMbTracker::isoJoIdentity
protectedinherited

◆ kltCylinders

◆ kltPolygons

◆ m_computeInteraction

◆ m_error_klt

◆ m_initialMu

◆ m_L_klt

◆ m_lambda

◆ m_maxIter

◆ m_nbFaceUsed

unsigned int vpMbKltTracker::m_nbFaceUsed
protected

◆ m_nbInfos

◆ m_optimizationMethod

◆ m_robust_klt

vpRobust vpMbKltTracker::m_robust_klt
protected

◆ m_stopCriteriaEpsilon

double vpMbTracker::m_stopCriteriaEpsilon
protectedinherited

◆ m_w_klt

◆ m_weightedError_klt

vpColVector vpMbKltTracker::m_weightedError_klt
protected

Weighted error.

Definition at line 277 of file vpMbKltTracker.h.

Referenced by computeVVS(), and computeVVSInit().

◆ 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().

◆ maskBorder

unsigned int vpMbKltTracker::maskBorder
protected

◆ 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(), loadConfigFile(), vpMbEdgeTracker::loadConfigFile(), and vpMbGenericTracker::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(), loadConfigFile(), vpMbEdgeTracker::loadConfigFile(), and vpMbGenericTracker::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

◆ 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

◆ oJo

◆ percentGood

double vpMbKltTracker::percentGood
protected

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

Definition at line 254 of file vpMbKltTracker.h.

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

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

◆ threshold_outlier

double vpMbKltTracker::threshold_outlier
protected

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

Definition at line 251 of file vpMbKltTracker.h.

Referenced by getKltThresholdAcceptation(), getThresholdAcceptation(), postTracking(), vpMbKltMultiTracker::resetTracker(), resetTracker(), and vpMbKltMultiTracker::setKltThresholdAcceptation().

◆ tracker

◆ useLodGeneral

bool vpMbTracker::useLodGeneral
protectedinherited

◆ useOgre

◆ useScanLine