#include <visp3/mbt/vpMbTracker.h>

Inheritance diagram for vpMbTracker:

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

Public Member Functions
	vpMbTracker ()

virtual	~vpMbTracker ()

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 vpColVector	getError () const =0

virtual vpMbHiddenFaces< vpMbtPolygon > &	getFaces ()

virtual double	getFarClippingDistance () const

virtual vpColVector	getRobustWeights () const =0

virtual unsigned int	getNbPolygon () const

virtual double	getNearClippingDistance () const

virtual vpMbtOptimizationMethod	getOptimizationMethod () const

virtual vpMbtPolygon *	getPolygon (const unsigned int index)

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

virtual void	getPose (vpHomogeneousMatrix &cMo_) const

virtual vpHomogeneousMatrix	getPose () const

virtual 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	setCameraParameters (const vpCameraParameters &camera)

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)

virtual void	setProjectionErrorComputation (const bool &flag)

virtual void	setScanLineVisibilityTest (const bool &v)

virtual void	setOgreVisibilityTest (const bool &v)

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)

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)=0

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)=0

virtual void	init (const vpImage< unsigned char > &I)=0

virtual void	loadConfigFile (const std::string &configFile)=0

virtual void	resetTracker ()=0

virtual void	setPose (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cdMo)=0

virtual void	testTracking ()=0

virtual void	track (const vpImage< unsigned char > &I)=0

Protected Member Functions
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	computeVVSInit ()=0

virtual void	computeVVSInteractionMatrixAndResidu ()=0

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

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

virtual void	initFaceFromCorners (vpMbtPolygon &polygon)=0

virtual void	initFaceFromLines (vpMbtPolygon &polygon)=0

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
vpCameraParameters	cam

vpHomogeneousMatrix	cMo

vpMatrix	oJo

bool	isoJoIdentity

std::string	modelFileName

bool	modelInitialised

std::string	poseSavingFilename

bool	computeCovariance

vpMatrix	covarianceMatrix

bool	computeProjError

double	projectionError

bool	displayFeatures

vpMbtOptimizationMethod	m_optimizationMethod

vpMbHiddenFaces< vpMbtPolygon >	faces

double	angleAppears

double	angleDisappears

double	distNearClip

double	distFarClip

unsigned int	clippingFlag

bool	useOgre

bool	ogreShowConfigDialog

bool	useScanLine

unsigned int	nbPoints

unsigned int	nbLines

unsigned int	nbPolygonLines

unsigned int	nbPolygonPoints

unsigned int	nbCylinders

unsigned int	nbCircles

bool	useLodGeneral

bool	applyLodSettingInConfig

double	minLineLengthThresholdGeneral

double	minPolygonAreaThresholdGeneral

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

bool	m_computeInteraction

double	m_lambda

unsigned int	m_maxIter

double	m_stopCriteriaEpsilon

double	m_initialMu

Detailed Description

Main methods for a model-based tracker.

This class provides the main methods for a model based tracker. This pure virtual class must be used in inheritance for a tracker that compute the interaction matrix and the residu vector using a defined information (edge, points of interest, patch, ...)

This class intends to define a common basis for object tracking. This is realised by implementing the main functions:

init() : Initialisation of the tracker (it includes re-initialisation). This method is called at the end of the initClick() method.
initFaceFromCorners() : Initialisation of the lines that has to be tracked.
track() : Tracking on the current image
testTracking() : Test the tracking. This method throws exception if the tracking failed.
display() : Display the model and eventually other information.

Examples:: mbtGenericTracking.cpp, mbtGenericTracking2.cpp, mbtGenericTrackingDepth.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 106 of file vpMbTracker.h.

Member Enumeration Documentation

◆ vpMbtOptimizationMethod

enum vpMbTracker::vpMbtOptimizationMethod

Enumerator
GAUSS_NEWTON_OPT
LEVENBERG_MARQUARDT_OPT

Definition at line 109 of file vpMbTracker.h.

Constructor & Destructor Documentation

◆ vpMbTracker()

vpMbTracker::vpMbTracker ( )

Basic constructor. Set default values.

Definition at line 138 of file vpMbTracker.cpp.

References vpMatrix::eye(), mapOfParameterNames, and oJo.

◆ ~vpMbTracker()

vpMbTracker::~vpMbTracker ( )

virtual

Basic destructor that doest nothing.

Definition at line 160 of file vpMbTracker.cpp.

Member Function Documentation

◆ addPolygon() [1/4]

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

protected

◆ addPolygon() [2/4]

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

protected

◆ addPolygon() [3/4]

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

protected

Definition at line 974 of file vpMbTracker.cpp.

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

◆ addPolygon() [4/4]

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

protected

◆ computeCovarianceMatrixVVS()

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

protectedvirtual

Definition at line 2374 of file vpMbTracker.cpp.

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

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

◆ computeJTR()

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

protected

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

Exceptions

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

Warning: The JTR vector is resized.

Parameters

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

Definition at line 2405 of file vpMbTracker.cpp.

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

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

◆ computeVVSCheckLevenbergMarquardt()

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

protectedvirtual

Definition at line 2454 of file vpMbTracker.cpp.

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

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

◆ computeVVSInit()

virtual void vpMbTracker::computeVVSInit ( )

protectedpure virtual

Implemented in vpMbEdgeTracker, vpMbKltTracker, vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, vpMbEdgeKltTracker, vpMbKltMultiTracker, vpMbGenericTracker, vpMbDepthNormalTracker, and vpMbDepthDenseTracker.

Referenced by vpMbGenericTracker::getRobustWeights(), vpMbEdgeTracker::setGoodMovingEdgesRatioThreshold(), and vpMbKltTracker::setThresholdAcceptation().

◆ computeVVSInteractionMatrixAndResidu()

virtual void vpMbTracker::computeVVSInteractionMatrixAndResidu ( )

protectedpure virtual

Implemented in vpMbEdgeTracker, vpMbKltTracker, vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, vpMbEdgeKltTracker, vpMbKltMultiTracker, vpMbGenericTracker, vpMbDepthNormalTracker, and vpMbDepthDenseTracker.

Referenced by vpMbGenericTracker::getRobustWeights(), vpMbEdgeTracker::setGoodMovingEdgesRatioThreshold(), and vpMbKltTracker::setThresholdAcceptation().

◆ computeVVSPoseEstimation()

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

protectedvirtual

◆ computeVVSWeights()

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

protectedvirtual

Definition at line 2539 of file vpMbTracker.cpp.

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

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

◆ createCylinderBBox()

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

protected

Definition at line 2595 of file vpMbTracker.cpp.

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

Referenced by extractCylinders(), and loadCAOModel().

◆ display() [1/2]

virtual void vpMbTracker::display	(	const vpImage< unsigned char > &	I,
		const vpHomogeneousMatrix &	cMo,
		const vpCameraParameters &	cam,
		const vpColor &	col,
		const unsigned int	thickness = `1`,
		const bool	displayFullModel = `false`
	)

pure virtual

Display the 3D model at a given position using the given camera parameters on a grey level image.

Parameters

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

Implemented in vpMbEdgeTracker, vpMbKltTracker, vpMbEdgeKltTracker, vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, vpMbKltMultiTracker, vpMbGenericTracker, vpMbDepthDenseTracker, and vpMbDepthNormalTracker.

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

Referenced by initClick().

◆ display() [2/2]

virtual void vpMbTracker::display	(	const vpImage< vpRGBa > &	I,
		const vpHomogeneousMatrix &	cMo,
		const vpCameraParameters &	cam,
		const vpColor &	col,
		const unsigned int	thickness = `1`,
		const bool	displayFullModel = `false`
	)

pure virtual

Display the 3D model at a given position using the given camera parameters on a color (RGBa) image.

Parameters

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

Implemented in vpMbEdgeTracker, vpMbKltTracker, vpMbEdgeKltTracker, vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, vpMbKltMultiTracker, vpMbGenericTracker, vpMbDepthDenseTracker, and vpMbDepthNormalTracker.

◆ extractCylinders()

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

protectedvirtual

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

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

Parameters

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

Definition at line 1998 of file vpMbTracker.cpp.

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

Referenced by extractGroup().

◆ extractFaces()

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

protectedvirtual

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

Parameters

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

Definition at line 1947 of file vpMbTracker.cpp.

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

Referenced by extractGroup().

◆ extractGroup()

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

protectedvirtual

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 extractCylinders(), extractFaces(), and extractLines().

Referenced by loadVRMLModel().

◆ extractLines()

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

protectedvirtual

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

Parameters

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

Definition at line 2077 of file vpMbTracker.cpp.

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

Referenced by extractGroup().

◆ getAngleAppear()

virtual double vpMbTracker::getAngleAppear ( ) const

inlinevirtual

Return the angle used to test polygons appearance.

Definition at line 205 of file vpMbTracker.h.

◆ getAngleDisappear()

virtual double vpMbTracker::getAngleDisappear ( ) const

inlinevirtual

Return the angle used to test polygons disappearance.

Definition at line 208 of file vpMbTracker.h.

◆ getCameraParameters()

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

inlinevirtual

Get the camera parameters.

Parameters

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

Reimplemented in vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.

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

Definition at line 215 of file vpMbTracker.h.

◆ getClipping()

virtual unsigned int vpMbTracker::getClipping ( ) const

inlinevirtual

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

Returns: Clipping flags.

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

Definition at line 223 of file vpMbTracker.h.

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

◆ getCovarianceMatrix()

virtual vpMatrix vpMbTracker::getCovarianceMatrix ( ) const

inlinevirtual

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

See also: setCovarianceComputation()

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

Definition at line 232 of file vpMbTracker.h.

◆ getError()

virtual vpColVector vpMbTracker::getError ( ) const

pure virtual

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()

Implemented in vpMbEdgeTracker, vpMbKltTracker, vpMbEdgeKltTracker, vpMbKltMultiTracker, vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, vpMbGenericTracker, vpMbDepthNormalTracker, and vpMbDepthDenseTracker.

◆ getEstimatedDoF()

vpColVector vpMbTracker::getEstimatedDoF ( ) const

virtual

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 oJo.

◆ getFaces()

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

inlinevirtual

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

inlinevirtual

Get the far distance for clipping.

Returns: Far clipping value.

Definition at line 306 of file vpMbTracker.h.

◆ getGravityCenter()

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

protected

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

Exceptions

vpException::dimensionError if the set is empty.

Parameters

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

Returns: Center of gravity of the set.

Definition at line 2119 of file vpMbTracker.cpp.

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

Referenced by extractCylinders().

◆ getInitialMu()

virtual double vpMbTracker::getInitialMu ( ) const

inlinevirtual

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.

◆ getLambda()

virtual double vpMbTracker::getLambda ( ) const

inlinevirtual

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.

◆ getMaxIter()

virtual unsigned int vpMbTracker::getMaxIter ( ) const

inlinevirtual

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.

◆ getNbPolygon()

virtual unsigned int vpMbTracker::getNbPolygon ( ) const

inlinevirtual

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(), vpMbKltTracker::loadConfigFile(), and vpMbEdgeTracker::loadConfigFile().

◆ getNearClippingDistance()

virtual double vpMbTracker::getNearClippingDistance ( ) const

inlinevirtual

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

inlinevirtual

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 )

inlinevirtual

Return the polygon (face) "index".

Exceptions

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

Parameters

index : Index of the polygon to return.

Returns: Pointer to the polygon index.

Reimplemented in vpMbGenericTracker.

Definition at line 362 of file vpMbTracker.h.

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

Referenced by vpMbGenericTracker::getError().

◆ getPolygonFaces()

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

virtual

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

Parameters

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

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

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

Referenced by vpMbGenericTracker::getError().

◆ getPose() [1/2]

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

inlinevirtual

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

inlinevirtual

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

inlinevirtual

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 vpMbTracker::getRobustWeights ( ) const

pure virtual

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

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

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

See also: getError()

Implemented in vpMbEdgeTracker, vpMbKltTracker, vpMbEdgeKltTracker, vpMbKltMultiTracker, vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, vpMbGenericTracker, vpMbDepthNormalTracker, and vpMbDepthDenseTracker.

◆ getStopCriteriaEpsilon()

virtual double vpMbTracker::getStopCriteriaEpsilon ( ) const

inlinevirtual

Definition at line 392 of file vpMbTracker.h.

◆ init()

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

pure virtual

Initialise the tracking.

Parameters

I	: Input image.

Implemented in vpMbEdgeTracker, vpMbKltTracker, vpMbEdgeKltTracker, vpMbKltMultiTracker, vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, vpMbGenericTracker, vpMbDepthNormalTracker, and vpMbDepthDenseTracker.

Referenced by vpMbDepthDenseTracker::getRobustWeights(), vpMbDepthNormalTracker::getRobustWeights(), vpMbGenericTracker::getRobustWeights(), initClick(), initFromPoints(), initFromPose(), vpMbEdgeTracker::setGoodMovingEdgesRatioThreshold(), and vpMbKltTracker::setThresholdAcceptation().

◆ initCircle()

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

protectedpure virtual

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

Parameters

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

Implemented in vpMbEdgeTracker, vpMbKltTracker, vpMbEdgeKltTracker, vpMbGenericTracker, vpMbEdgeKltMultiTracker, vpMbDepthNormalTracker, and vpMbDepthDenseTracker.

Referenced by vpMbGenericTracker::getRobustWeights(), loadCAOModel(), vpMbEdgeTracker::setGoodMovingEdgesRatioThreshold(), and vpMbKltTracker::setThresholdAcceptation().

◆ initClick() [1/2]

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

virtual

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, cam, vpIoTools::checkFilename(), vpPose::clearPoint(), cMo, vpPose::computePose(), vpPose::computeResidual(), vpPixelMeterConversion::convertPoint(), vpPose::DEMENTHON, vpImage< Type >::display, display(), vpDisplay::display(), vpDisplay::displayCross(), vpDisplay::displayFrame(), vpDisplay::displayText(), vpHomogeneousMatrix::eye(), vpDisplay::flush(), vpDisplay::getClick(), vpImage< Type >::getWidth(), vpDisplay::getWindowXPosition(), vpDisplay::getWindowYPosition(), vpColor::green, init(), vpException::ioError, vpPose::LAGRANGE, poseSavingFilename, vpImageIo::read(), vpColor::red, 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 = `""`
	)

virtual

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

◆ initCylinder()

virtual void vpMbTracker::initCylinder	(	const vpPoint &	p1,
		const vpPoint &	p2,
		const double	radius,
		const int	idFace = `0`,
		const std::string &	name = `""`
	)

protectedpure virtual

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

Parameters

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

Implemented in vpMbEdgeTracker, vpMbKltTracker, vpMbEdgeKltTracker, vpMbGenericTracker, vpMbEdgeKltMultiTracker, vpMbDepthNormalTracker, and vpMbDepthDenseTracker.

Referenced by extractCylinders(), vpMbGenericTracker::getRobustWeights(), loadCAOModel(), vpMbEdgeTracker::setGoodMovingEdgesRatioThreshold(), and vpMbKltTracker::setThresholdAcceptation().

◆ initFaceFromCorners()

virtual void vpMbTracker::initFaceFromCorners ( vpMbtPolygon & polygon )

protectedpure virtual

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

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

Parameters

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

Implemented in vpMbEdgeTracker, vpMbKltTracker, vpMbEdgeKltTracker, vpMbGenericTracker, vpMbEdgeKltMultiTracker, vpMbDepthNormalTracker, and vpMbDepthDenseTracker.

Referenced by extractFaces(), extractLines(), vpMbGenericTracker::getRobustWeights(), loadCAOModel(), vpMbEdgeTracker::setGoodMovingEdgesRatioThreshold(), and vpMbKltTracker::setThresholdAcceptation().

◆ initFaceFromLines()

virtual void vpMbTracker::initFaceFromLines ( vpMbtPolygon & polygon )

protectedpure virtual

Implemented in vpMbEdgeTracker, vpMbKltTracker, vpMbEdgeKltTracker, vpMbGenericTracker, vpMbEdgeKltMultiTracker, vpMbDepthNormalTracker, and vpMbDepthDenseTracker.

Referenced by vpMbGenericTracker::getRobustWeights(), loadCAOModel(), vpMbEdgeTracker::setGoodMovingEdgesRatioThreshold(), and vpMbKltTracker::setThresholdAcceptation().

◆ initFromPoints() [1/2]

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

virtual

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

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

Parameters

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, cam, cMo, vpPose::computePose(), vpPose::computeResidual(), vpPixelMeterConversion::convertPoint(), vpPose::DEMENTHON, 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
	)

virtual

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

◆ initFromPose() [1/3]

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

virtual

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

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

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

Parameters

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

Reimplemented 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(), cMo, init(), and vpException::ioError.

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

◆ initFromPose() [2/3]

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

virtual

Initialise the tracking thanks to the pose.

Parameters

I	: Input image
cMo_	: Pose matrix.

Reimplemented in vpMbEdgeKltMultiTracker, vpMbKltMultiTracker, and vpMbEdgeMultiTracker.

Definition at line 800 of file vpMbTracker.cpp.

References cMo, and init().

◆ initFromPose() [3/3]

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

virtual

Initialise the tracking thanks to the pose vector.

Parameters

I	: Input image
cPo	: Pose vector.

Reimplemented in vpMbEdgeKltMultiTracker, vpMbKltMultiTracker, and vpMbEdgeMultiTracker.

Definition at line 812 of file vpMbTracker.cpp.

References initFromPose().

◆ loadCAOModel()

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

protectedvirtual

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//////////////////////////