#include <visp3/mbt/vpMbGenericTracker.h>

Inheritance diagram for vpMbGenericTracker:

Public Types
enum	vpTrackerType { EDGE_TRACKER = 1 << 0, KLT_TRACKER = 1 << 1, DEPTH_NORMAL_TRACKER = 1 << 2, DEPTH_DENSE_TRACKER = 1 << 3 }

enum	vpMbtOptimizationMethod { GAUSS_NEWTON_OPT = 0, LEVENBERG_MARQUARDT_OPT = 1 }

Public Member Functions
	vpMbGenericTracker ()

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

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

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

virtual	~vpMbGenericTracker ()

virtual double	computeCurrentProjectionError (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &_cMo, const vpCameraParameters &_cam)

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

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

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

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

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

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

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

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

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

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

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

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

virtual vpColVector	getError () const

virtual vpMbHiddenFaces< vpMbtPolygon > &	getFaces ()

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

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

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

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

virtual double	getGoodMovingEdgesRatioThreshold () const

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

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

virtual unsigned int	getKltMaskBorder () const

virtual int	getKltNbPoints () const

virtual vpKltOpencv	getKltOpencv () const

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

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

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

virtual double	getKltThresholdAcceptation () const

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

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

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

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

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

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

virtual vpMe	getMovingEdge () const

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

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

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

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

virtual unsigned int	getNbPolygon () const

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

virtual vpMbtPolygon *	getPolygon (const unsigned int index)

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

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

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

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

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

virtual vpColVector	getRobustWeights () const

virtual int	getTrackerType () const

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

virtual void	initClick (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, const std::string &initFile1, const std::string &initFile2, const bool displayHelp=false, const vpHomogeneousMatrix &T1=vpHomogeneousMatrix(), const vpHomogeneousMatrix &T2=vpHomogeneousMatrix())

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

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

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

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

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

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

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

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

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

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

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

virtual void	loadModel (const std::string &modelFile1, const std::string &modelFile2, const bool verbose=false, const vpHomogeneousMatrix &T1=vpHomogeneousMatrix(), const vpHomogeneousMatrix &T2=vpHomogeneousMatrix())

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

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

virtual void	reInitModel (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, const std::string &cad_name1, const std::string &cad_name2, const vpHomogeneousMatrix &c1Mo, const vpHomogeneousMatrix &c2Mo, const bool verbose=false, const vpHomogeneousMatrix &T1=vpHomogeneousMatrix(), const vpHomogeneousMatrix &T2=vpHomogeneousMatrix())

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

virtual void	resetTracker ()

virtual void	setAngleAppear (const double &a)

virtual void	setAngleAppear (const double &a1, const double &a2)

virtual void	setAngleAppear (const std::map< std::string, double > &mapOfAngles)

virtual void	setAngleDisappear (const double &a)

virtual void	setAngleDisappear (const double &a1, const double &a2)

virtual void	setAngleDisappear (const std::map< std::string, double > &mapOfAngles)

virtual void	setCameraParameters (const vpCameraParameters &camera)

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

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

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

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

virtual void	setClipping (const unsigned int &flags)

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

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

virtual void	setDepthDenseFilteringMaxDistance (const double maxDistance)

virtual void	setDepthDenseFilteringMethod (const int method)

virtual void	setDepthDenseFilteringMinDistance (const double minDistance)

virtual void	setDepthDenseFilteringOccupancyRatio (const double occupancyRatio)

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

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

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

virtual void	setDepthNormalPclPlaneEstimationMethod (const int method)

virtual void	setDepthNormalPclPlaneEstimationRansacMaxIter (const int maxIter)

virtual void	setDepthNormalPclPlaneEstimationRansacThreshold (const double thresold)

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

virtual void	setDisplayFeatures (const bool displayF)

virtual void	setFarClippingDistance (const double &dist)

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

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

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

virtual void	setGoodMovingEdgesRatioThreshold (const double threshold)

virtual void	setGoodNbRayCastingAttemptsRatio (const double &ratio)

virtual void	setNbRayCastingAttemptsForVisibility (const unsigned int &attempts)

virtual void	setKltMaskBorder (const unsigned int &e)

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

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

virtual void	setKltOpencv (const vpKltOpencv &t)

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

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

virtual void	setKltThresholdAcceptation (const double th)

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

virtual void	setMask (const vpImage< bool > &mask)

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

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

virtual void	setMovingEdge (const vpMe &me)

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

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

virtual void	setNearClippingDistance (const double &dist)

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

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

virtual void	setOgreShowConfigDialog (const bool showConfigDialog)

virtual void	setOgreVisibilityTest (const bool &v)

virtual void	setOptimizationMethod (const vpMbtOptimizationMethod &opt)

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

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

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

virtual void	setProjectionErrorComputation (const bool &flag)

virtual void	setProjectionErrorDisplay (const bool display)

virtual void	setProjectionErrorDisplayArrowLength (const unsigned int length)

virtual void	setProjectionErrorDisplayArrowThickness (const unsigned int thickness)

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

virtual void	setScanLineVisibilityTest (const bool &v)

virtual void	setTrackerType (const int type)

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

virtual void	setUseDepthDenseTracking (const std::string &name, const bool &useDepthDenseTracking)

virtual void	setUseDepthNormalTracking (const std::string &name, const bool &useDepthNormalTracking)

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

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

virtual void	testTracking ()

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

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

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

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

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

Inherited functionalities from vpMbTracker
virtual double	getAngleAppear () const

virtual double	getAngleDisappear () const

virtual void	getCameraParameters (vpCameraParameters &camera) const

virtual unsigned int	getClipping () const

virtual vpMatrix	getCovarianceMatrix () const

virtual double	getInitialMu () const

virtual double	getLambda () const

virtual unsigned int	getMaxIter () const

virtual double	getProjectionError () const

virtual vpColVector	getEstimatedDoF () const

virtual double	getFarClippingDistance () const

virtual double	getNearClippingDistance () const

virtual vpMbtOptimizationMethod	getOptimizationMethod () const

virtual void	getPose (vpHomogeneousMatrix &cMo_) const

virtual vpHomogeneousMatrix	getPose () const

virtual double	getStopCriteriaEpsilon () const

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

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	setCovarianceComputation (const bool &flag)

virtual void	setEstimatedDoF (const vpColVector &v)

virtual void	setInitialMu (const double mu)

virtual void	setLambda (const double gain)

virtual void	setMaxIter (const unsigned int max)

void	setProjectionErrorMovingEdge (const vpMe &me)

void	setProjectionErrorKernelSize (const unsigned int &size)

virtual void	setStopCriteriaEpsilon (const double eps)

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

void	setPoseSavingFilename (const std::string &filename)

Protected Member Functions
virtual void	computeProjectionError ()

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

virtual void	computeVVSInit ()

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

virtual void	computeVVSInteractionMatrixAndResidu ()

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

virtual void	computeVVSWeights ()

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

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

virtual void	initFaceFromCorners (vpMbtPolygon &polygon)

virtual void	initFaceFromLines (vpMbtPolygon &polygon)

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

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

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

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

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

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

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

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

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

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

void	addProjectionErrorPolygon (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

double	computeProjectionErrorImpl (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &_cMo, const vpCameraParameters &_cam, unsigned int &nbFeatures)

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

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

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

void	initProjectionErrorFaceFromCorners (vpMbtPolygon &polygon)

void	initProjectionErrorFaceFromLines (vpMbtPolygon &polygon)

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, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())

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

void	projectionErrorResetMovingEdges ()

void	projectionErrorVisibleFace (const vpImage< unsigned char > &_I, const vpHomogeneousMatrix &_cMo)

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

bool	samePoint (const vpPoint &P1, const vpPoint &P2) const

Protected Attributes
vpColVector	m_error

vpMatrix	m_L

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

std::map< vpTrackerType, double >	m_mapOfFeatureFactors

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

double	m_percentageGdPt

std::string	m_referenceCameraName

double	m_thresholdOutlier

vpColVector	m_w

vpColVector	m_weightedError

vpCameraParameters	cam

vpHomogeneousMatrix	cMo

vpMatrix	oJo

bool	isoJoIdentity

std::string	modelFileName

bool	modelInitialised

std::string	poseSavingFilename

bool	computeCovariance

vpMatrix	covarianceMatrix

bool	computeProjError

double	projectionError

bool	displayFeatures

vpMbtOptimizationMethod	m_optimizationMethod

vpMbHiddenFaces< vpMbtPolygon >	faces

double	angleAppears

double	angleDisappears

double	distNearClip

double	distFarClip

unsigned int	clippingFlag

bool	useOgre

bool	ogreShowConfigDialog

bool	useScanLine

unsigned int	nbPoints

unsigned int	nbLines

unsigned int	nbPolygonLines

unsigned int	nbPolygonPoints

unsigned int	nbCylinders

unsigned int	nbCircles

bool	useLodGeneral

bool	applyLodSettingInConfig

double	minLineLengthThresholdGeneral

double	minPolygonAreaThresholdGeneral

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

bool	m_computeInteraction

double	m_lambda

unsigned int	m_maxIter

double	m_stopCriteriaEpsilon

double	m_initialMu

std::vector< vpMbtDistanceLine * >	m_projectionErrorLines

std::vector< vpMbtDistanceCylinder * >	m_projectionErrorCylinders

std::vector< vpMbtDistanceCircle * >	m_projectionErrorCircles

vpMbHiddenFaces< vpMbtPolygon >	m_projectionErrorFaces

bool	m_projectionErrorOgreShowConfigDialog

vpMe	m_projectionErrorMe

unsigned int	m_projectionErrorKernelSize

vpMatrix	m_SobelX

vpMatrix	m_SobelY

bool	m_projectionErrorDisplay

unsigned int	m_projectionErrorDisplayLength

unsigned int	m_projectionErrorDisplayThickness

vpCameraParameters	m_projectionErrorCam

const vpImage< bool > *	m_mask

Detailed Description

Real-time 6D object pose tracking using its CAD model.

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.

This class allows tracking an object or a scene given its 3D model. More information in [39]. A lot of videos can be found on YouTube VispTeam channel.

The Tutorial: Markerless generic model-based tracking using a color camera is a good starting point to use this class. If you want to track an object with a stereo camera refer to Tutorial: Markerless generic model-based tracking using a stereo camera. If you want rather use a RGB-D camera and exploit the depth information, you may see Tutorial: Markerless generic model-based tracking using a RGB-D camera. There is also Tutorial: Object detection and localization that shows how to initialize the tracker from an initial pose provided by a detection algorithm.

Examples:: mbtGenericTracking.cpp, mbtGenericTracking2.cpp, mbtGenericTrackingDepth.cpp, mbtGenericTrackingDepthOnly.cpp, testGenericTracker.cpp, testGenericTrackerDepth.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, tutorial-mb-generic-tracker-apriltag-live-realsense2.cpp, tutorial-mb-generic-tracker-apriltag-live-webcam.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-rgbd-blender.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, tutorial-mb-generic-tracker-rgbd.cpp, tutorial-mb-generic-tracker-stereo-mono.cpp, tutorial-mb-generic-tracker-stereo.cpp, and tutorial-mb-generic-tracker.cpp.

Definition at line 80 of file vpMbGenericTracker.h.

Member Enumeration Documentation

enum vpMbTracker::vpMbtOptimizationMethod

inherited

Enumerator
GAUSS_NEWTON_OPT
LEVENBERG_MARQUARDT_OPT

Definition at line 113 of file vpMbTracker.h.

enum vpMbGenericTracker::vpTrackerType

Enumerator
EDGE_TRACKER	Model-based tracking using moving edges features.
KLT_TRACKER	Model-based tracking using KLT features.
DEPTH_NORMAL_TRACKER	Model-based tracking using depth normal features.
DEPTH_DENSE_TRACKER	Model-based tracking using depth dense features.

Definition at line 83 of file vpMbGenericTracker.h.

Constructor & Destructor Documentation

vpMbGenericTracker::vpMbGenericTracker ( )

Definition at line 43 of file vpMbGenericTracker.cpp.

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

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

Definition at line 63 of file vpMbGenericTracker.cpp.

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

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

explicit

Definition at line 99 of file vpMbGenericTracker.cpp.

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

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

Definition at line 137 of file vpMbGenericTracker.cpp.

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

vpMbGenericTracker::~vpMbGenericTracker ( )

virtual

Definition at line 168 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

Member Function Documentation

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

protectedinherited

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

protectedinherited

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

protectedinherited

Definition at line 1051 of file vpMbTracker.cpp.

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

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

protectedinherited

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

protectedinherited

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

protectedinherited

Definition at line 3031 of file vpMbTracker.cpp.

Referenced by vpMbTracker::initProjectionErrorCylinder().

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

protectedinherited

Definition at line 2959 of file vpMbTracker.cpp.

References vpMbtDistanceLine::addPolygon(), vpMbtDistanceLine::buildFrom(), vpMbTracker::cam, vpMbTracker::clippingFlag, vpMbTracker::distFarClip, vpMbTracker::distNearClip, vpPolygon3D::FAR_CLIPPING, vpMbtDistanceLine::getPolygon(), vpMbtDistanceLine::hiddenface, vpMbTracker::m_projectionErrorFaces, vpMbTracker::m_projectionErrorLines, vpMbTracker::m_projectionErrorMe, vpPolygon3D::NEAR_CLIPPING, vpPolygon3D::NO_CLIPPING, vpMbtDistanceLine::p1, vpMbtDistanceLine::p2, vpMbTracker::samePoint(), vpMbtDistanceLine::setCameraParameters(), vpPolygon3D::setClipping(), vpPolygon3D::setFarClippingDistance(), vpMbtDistanceLine::setIndex(), vpMbtDistanceLine::setMovingEdge(), vpMbtDistanceLine::setName(), vpPolygon3D::setNearClippingDistance(), vpMbtDistanceLine::useScanLine, and vpMbTracker::useScanLine.

Referenced by vpMbTracker::initProjectionErrorFaceFromCorners(), and vpMbTracker::initProjectionErrorFaceFromLines().

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

protectedinherited

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

protectedinherited

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

protectedinherited

Definition at line 2895 of file vpMbTracker.cpp.

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

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

protectedinherited

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

protectedvirtualinherited

Definition at line 2445 of file vpMbTracker.cpp.

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

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

double vpMbGenericTracker::computeCurrentProjectionError	(	const vpImage< unsigned char > &	I,
		const vpHomogeneousMatrix &	_cMo,
		const vpCameraParameters &	_cam
	)

virtual

Compute projection error given an input image and camera pose, parameters. This projection error uses locations sampled exactly where the model is projected using the camera pose and intrinsic parameters. You may want to use

See also: setProjectionErrorComputation; getProjectionError

to get a projection error computed at the ME locations after a call to track(). It works similarly to vpMbTracker::getProjectionError function:

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.

Parameters

I	: Input grayscale image.
_cMo	: Camera pose.
_cam	: Camera parameters.

Reimplemented from vpMbTracker.

Examples:: tutorial-mb-generic-tracker-apriltag-live-realsense2.cpp, tutorial-mb-generic-tracker-apriltag-live-webcam.cpp, tutorial-mb-generic-tracker-live.cpp, and tutorial-mb-generic-tracker-rgbd-realsense.cpp.

Definition at line 194 of file vpMbGenericTracker.cpp.

References vpMath::deg(), and m_mapOfTrackers.

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

protectedinherited

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

Exceptions

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

Warning: The JTR vector is resized.

Parameters

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

Definition at line 2476 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().

void vpMbGenericTracker::computeProjectionError ( )

protectedvirtual

Definition at line 220 of file vpMbGenericTracker.cpp.

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

Referenced by track().

double vpMbTracker::computeProjectionErrorImpl	(	const vpImage< unsigned char > &	I,
		const vpHomogeneousMatrix &	_cMo,
		const vpCameraParameters &	_cam,
		unsigned int &	nbFeatures
	)

protectedinherited

Definition at line 3126 of file vpMbTracker.cpp.

Referenced by vpMbTracker::computeCurrentProjectionError().

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

protectedvirtual

Definition at line 249 of file vpMbGenericTracker.cpp.

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

Referenced by getRobustWeights(), and track().

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

protectedvirtualinherited

Definition at line 2525 of file vpMbTracker.cpp.

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

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

void vpMbGenericTracker::computeVVSInit ( )

protectedvirtual

Implements vpMbTracker.

Definition at line 473 of file vpMbGenericTracker.cpp.

References vpException::fatalError.

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

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

protectedvirtual

Definition at line 478 of file vpMbGenericTracker.cpp.

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

void vpMbGenericTracker::computeVVSInteractionMatrixAndResidu ( )

protectedvirtual

Implements vpMbTracker.

Definition at line 498 of file vpMbGenericTracker.cpp.

References vpException::fatalError.

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

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

protectedvirtual

Definition at line 505 of file vpMbGenericTracker.cpp.

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

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

protectedvirtualinherited

void vpMbGenericTracker::computeVVSWeights ( )

protectedvirtual

Definition at line 530 of file vpMbGenericTracker.cpp.

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

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

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

protectedvirtualinherited

Definition at line 2610 of file vpMbTracker.cpp.

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

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

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

protectedinherited

Definition at line 2666 of file vpMbTracker.cpp.

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

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

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

virtual

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

Parameters

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

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

Implements vpMbTracker.

Examples:: testGenericTracker.cpp, testGenericTrackerDepth.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, tutorial-mb-generic-tracker-apriltag-live-realsense2.cpp, tutorial-mb-generic-tracker-apriltag-live-webcam.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-rgbd-blender.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, tutorial-mb-generic-tracker-rgbd.cpp, tutorial-mb-generic-tracker-stereo-mono.cpp, tutorial-mb-generic-tracker-stereo.cpp, and tutorial-mb-generic-tracker.cpp.

Definition at line 557 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_referenceCameraName.

Referenced by getRobustWeights().

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

virtual

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

Parameters

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

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

Implements vpMbTracker.

Definition at line 583 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_referenceCameraName.

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

virtual

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

Parameters

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

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

Definition at line 612 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

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

virtual

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

Parameters

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

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

Definition at line 645 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

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

virtual

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

Parameters

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

Definition at line 673 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

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

virtual

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

Parameters

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

Definition at line 706 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

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

protectedvirtualinherited

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

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

Parameters

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

Definition at line 2060 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::extractGroup().

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

protectedvirtualinherited

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

Parameters

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

Definition at line 2007 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::extractGroup().

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

protectedvirtualinherited

Extract a VRML object Group.

Parameters

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

Definition at line 1918 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::loadVRMLModel().

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

protectedvirtualinherited

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

Parameters

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

Definition at line 2145 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::extractGroup().

virtual double vpMbTracker::getAngleAppear ( ) const

inlinevirtualinherited

Return the angle used to test polygons appearance.

Definition at line 238 of file vpMbTracker.h.

virtual double vpMbTracker::getAngleDisappear ( ) const

inlinevirtualinherited

Return the angle used to test polygons disappearance.

Definition at line 241 of file vpMbTracker.h.

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

virtual

Get the camera names.

Returns: The vector of camera names.

Definition at line 733 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

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

virtual

Get all the camera parameters.

Parameters

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

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

Examples:: testGenericTracker.cpp, testGenericTrackerDepth.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, tutorial-mb-generic-tracker-apriltag-live-realsense2.cpp, tutorial-mb-generic-tracker-apriltag-live-webcam.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-rgbd-blender.cpp, tutorial-mb-generic-tracker-rgbd.cpp, tutorial-mb-generic-tracker-stereo-mono.cpp, tutorial-mb-generic-tracker-stereo.cpp, and tutorial-mb-generic-tracker.cpp.

Definition at line 753 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

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

virtual

Get all the camera parameters.

Parameters

mapOfCameraParameters : Map of camera parameters.

Definition at line 772 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

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

inlinevirtualinherited

Get the camera parameters.

Parameters

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

Reimplemented in vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.

Examples:: mbtEdgeKltTracking.cpp, mbtEdgeTracking.cpp, mbtKltTracking.cpp, testKeyPoint-2.cpp, testKeyPoint-4.cpp, tutorial-detection-object-mbt-deprecated.cpp, tutorial-detection-object-mbt2-deprecated.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 248 of file vpMbTracker.h.

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

virtual

Get the camera tracker types.

Returns: The map of camera tracker types.

See also: vpTrackerType

Definition at line 791 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

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

virtual

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

Parameters

clippingFlag1	: Clipping flags for the first camera.
clippingFlag2	: Clipping flags for the second camera.

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

Examples:: testGenericTracker.cpp, testGenericTrackerDepth.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, and tutorial-mb-generic-tracker-full.cpp.

Definition at line 813 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

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

virtual

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

Parameters

mapOfClippingFlags : Map of clipping flags.

Definition at line 832 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

virtual unsigned int vpMbTracker::getClipping ( ) const

inlinevirtualinherited

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

Returns: Clipping flags.

Examples:: mbtEdgeKltTracking.cpp, mbtEdgeTracking.cpp, mbtGenericTracking.cpp, mbtGenericTrackingDepth.cpp, mbtGenericTrackingDepthOnly.cpp, mbtKltTracking.cpp, testKeyPoint-2.cpp, testKeyPoint-4.cpp, tutorial-detection-object-mbt-deprecated.cpp, tutorial-detection-object-mbt2-deprecated.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 256 of file vpMbTracker.h.

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

virtual vpMatrix vpMbTracker::getCovarianceMatrix ( ) const

inlinevirtualinherited

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

See also: setCovarianceComputation()

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

Definition at line 265 of file vpMbTracker.h.

virtual vpColVector vpMbGenericTracker::getError ( ) const

inlinevirtual

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

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

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

See also: getRobustWeights()

Implements vpMbTracker.

Examples:: testGenericTracker.cpp, testGenericTrackerDepth.cpp, tutorial-mb-generic-tracker-rgbd-blender.cpp, and tutorial-mb-generic-tracker-rgbd-realsense.cpp.

Definition at line 136 of file vpMbGenericTracker.h.

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

Referenced by getRobustWeights().

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 2627 of file vpMbTracker.cpp.

References vpMbTracker::oJo.

vpMbHiddenFaces< vpMbtPolygon > & vpMbGenericTracker::getFaces ( )

virtual

Return a reference to the faces structure.

Returns: Reference to the face structure.

Reimplemented from vpMbTracker.

Definition at line 848 of file vpMbGenericTracker.cpp.

References vpMbTracker::faces, m_mapOfTrackers, and m_referenceCameraName.

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

virtual

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

Returns: Reference to the face structure.

Definition at line 864 of file vpMbGenericTracker.cpp.

References vpMbTracker::faces, and m_mapOfTrackers.

virtual double vpMbTracker::getFarClippingDistance ( ) const

inlinevirtualinherited

Get the far distance for clipping.

Returns: Far clipping value.

Definition at line 339 of file vpMbTracker.h.

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

virtual

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

Definition at line 879 of file vpMbGenericTracker.cpp.

References vpException::badValue, m_mapOfTrackers, and m_referenceCameraName.

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

virtual

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

Definition at line 909 of file vpMbGenericTracker.cpp.

References vpException::badValue, m_mapOfTrackers, and m_referenceCameraName.

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

virtual

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

Definition at line 894 of file vpMbGenericTracker.cpp.

References vpException::badValue, m_mapOfTrackers, and m_referenceCameraName.

double vpMbGenericTracker::getGoodMovingEdgesRatioThreshold ( ) const

virtual

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

See also: setGoodMovingEdgesRatioThreshold()

Definition at line 931 of file vpMbGenericTracker.cpp.

References m_percentageGdPt.

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

protectedinherited

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

Exceptions

vpException::dimensionError if the set is empty.

Parameters

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

Returns: Center of gravity of the set.

Definition at line 2190 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::extractCylinders().

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 284 of file vpMbTracker.h.

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

virtual

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

Warning: This function convert and copy the OpenCV KLT points into vpImagePoints.

Returns: the list of KLT points through vpKltOpencv.

Definition at line 942 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_referenceCameraName.

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

virtual

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

Warning: This function convert and copy the openCV KLT points into vpImagePoints.

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

Definition at line 963 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_referenceCameraName.

unsigned int vpMbGenericTracker::getKltMaskBorder ( ) const

virtual

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

Returns: The erosion for the reference camera.

Definition at line 981 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_referenceCameraName.

int vpMbGenericTracker::getKltNbPoints ( ) const

virtual

Get number of KLT points for the reference camera.

Returns: Number of KLT points for the reference camera.

Definition at line 999 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_referenceCameraName.

vpKltOpencv vpMbGenericTracker::getKltOpencv ( ) const

virtual

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

Returns: klt tracker.

Definition at line 1017 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_referenceCameraName.

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

virtual

Get the klt tracker at the current state.

Parameters

klt1	: Klt tracker for the first camera.
klt2	: Klt tracker for the second camera.

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

Definition at line 1040 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

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

virtual

Get the klt tracker at the current state.

Parameters

mapOfKlts : Map if klt trackers.

Definition at line 1059 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

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

virtual

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

Returns: the list of KLT points through vpKltOpencv.

Definition at line 1076 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_referenceCameraName.

double vpMbGenericTracker::getKltThresholdAcceptation ( ) const

virtual

Get the threshold for the acceptation of a point.

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

Definition at line 1096 of file vpMbGenericTracker.cpp.

References m_thresholdOutlier.

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 291 of file vpMbTracker.h.

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

virtual

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

Exceptions

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

Parameters

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

Note: Multi-scale moving edge tracking is not possible, scale level=0 must be used.

Definition at line 1111 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_referenceCameraName.

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

virtual

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

Exceptions

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

Parameters

cameraName	: Camera name for which we want to get the list of vpMbtDistanceCircle.
circlesList	: The list of the circles of the model.
level	: Level corresponding to the list to return.

Note: Multi-scale moving edge tracking is not possible, scale level=0 must be used.

Definition at line 1135 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

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

virtual

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

Exceptions

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

Parameters

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

Note: Multi-scale moving edge tracking is not possible, scale level=0 must be used.

Definition at line 1158 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_referenceCameraName.

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

virtual

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

Exceptions

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

Parameters

cameraName	: Camera name for which we want to get the list of vpMbtDistanceCylinder.
cylindersList	: The list of the cylinders of the model.
level	: Level corresponding to the list to return.

Note: Multi-scale moving edge tracking is not possible, scale level=0 must be used.

Definition at line 1182 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

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

virtual

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

Exceptions

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

Parameters

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

Note: Multi-scale moving edge tracking is not possible, scale level=0 must be used.

Definition at line 1205 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_referenceCameraName.

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

virtual

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

Exceptions

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

Parameters

cameraName	: Camera name for which we want to get the list of vpMbtDistanceLine.
linesList	: The list of the lines of the model.
level	: Level corresponding to the list to return.

Note: Multi-scale moving edge tracking is not possible, scale level=0 must be used.

Definition at line 1230 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

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 298 of file vpMbTracker.h.

vpMe vpMbGenericTracker::getMovingEdge ( ) const

virtual

Get the moving edge parameters for the reference camera.

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

Definition at line 1246 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_referenceCameraName.

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

virtual

Get the moving edge parameters.

Parameters

me1	: Moving edge parameters for the first camera.
me2	: Moving edge parameters for the second camera.

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

Definition at line 1267 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

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

virtual

Get the moving edge parameters for all the cameras

Parameters

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

Definition at line 1286 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

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

virtual

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

Parameters

level : Pyramid level to consider.

Exceptions

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

Returns: the number of good points for the reference camera.

Note: Multi-scale moving edge tracking is not possible, scale level=0 must be used.

Definition at line 1312 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_referenceCameraName.

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

virtual

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

Parameters

mapOfNbPoints	: Map of number of good points (vpMeSite) tracked for all the cameras.
level	: Pyramid level to consider.

Exceptions

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

Note: Multi-scale moving edge tracking is not possible, scale level=0 must be used.

Definition at line 1341 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

unsigned int vpMbGenericTracker::getNbPolygon ( ) const

inlinevirtual

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

Returns: Number of polygons for the reference camera.

Reimplemented from vpMbTracker.

Definition at line 1357 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_referenceCameraName.

Referenced by track().

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

virtual

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

Returns: Number of polygons for all the cameras.

Definition at line 1373 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

virtual double vpMbTracker::getNearClippingDistance ( ) const

inlinevirtualinherited

Get the near distance for clipping.

Returns: Near clipping value.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 375 of file vpMbTracker.h.

Referenced by vpMbEdgeKltTracker::getNearClippingDistance().

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 384 of file vpMbTracker.h.

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

virtual

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

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 for the reference camera or NULL in case of problem.

Reimplemented from vpMbTracker.

Definition at line 1394 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_referenceCameraName.

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

virtual

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

Exceptions

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

Parameters

cameraName	: Name of the camera to return the polygon.
index	: Index of the polygon to return.

Returns: Pointer to the polygon index for the specified camera or NULL in case of problem.

Definition at line 1416 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

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

virtual

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

Parameters

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

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

Note: This function will return the 2D polygons faces and 3D face points only for the reference camera.

Reimplemented from vpMbTracker.

Examples:: tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, tutorial-mb-generic-tracker-live.cpp, and tutorial-mb-generic-tracker-rgbd-realsense.cpp.

Definition at line 1443 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_referenceCameraName.

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

virtual

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

Parameters

mapOfPolygons	: Map of 2D polygon faces.
mapOfPoints	: Map of face 3D points.
orderPolygons	: If true, the resulting list is ordered from the nearest polygon faces to the farther.
useVisibility	: If true, only visible faces will be retrieved.
clipPolygon	: If true, the polygons will be clipped according to the clipping flags set in vpMbTracker.

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

Note: This function will return the 2D polygons faces and 3D face points only for all the cameras.

Definition at line 1475 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

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

virtual

Get the current pose between the object and the cameras.

Parameters

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

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

Examples:: testGenericTracker.cpp, testGenericTrackerDepth.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, tutorial-mb-generic-tracker-apriltag-live-realsense2.cpp, tutorial-mb-generic-tracker-apriltag-live-webcam.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-rgbd-blender.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, tutorial-mb-generic-tracker-rgbd.cpp, tutorial-mb-generic-tracker-stereo-mono.cpp, tutorial-mb-generic-tracker-stereo.cpp, and tutorial-mb-generic-tracker.cpp.

Definition at line 1501 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

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

virtual

Get the current pose between the object and the cameras.

Parameters

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

Definition at line 1520 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

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-deprecated.cpp, tutorial-detection-object-mbt2-deprecated.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 414 of file vpMbTracker.h.

virtual vpHomogeneousMatrix vpMbTracker::getPose ( ) const

inlinevirtualinherited

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

Returns: the current pose

Definition at line 423 of file vpMbTracker.h.

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

virtual double vpMbTracker::getProjectionError ( ) const

inlinevirtualinherited

Get the error angle between the gradient direction of the model features projected at the resulting pose and their normal. The error is expressed in degree between 0 and 90. 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, mbtGenericTrackingDepth.cpp, mbtGenericTrackingDepthOnly.cpp, tutorial-mb-generic-tracker-live.cpp, and tutorial-mb-generic-tracker-rgbd-realsense.cpp.

Definition at line 310 of file vpMbTracker.h.

virtual vpColVector vpMbGenericTracker::getRobustWeights ( ) const

inlinevirtual

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

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

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

See also: getError()

Implements vpMbTracker.

Definition at line 201 of file vpMbGenericTracker.h.

virtual double vpMbTracker::getStopCriteriaEpsilon ( ) const

inlinevirtualinherited

Definition at line 425 of file vpMbTracker.h.

int vpMbGenericTracker::getTrackerType ( ) const

virtual

The tracker type for the reference camera.

Examples:: tutorial-mb-generic-tracker-live.cpp, and tutorial-mb-generic-tracker-rgbd-realsense.cpp.

Definition at line 1535 of file vpMbGenericTracker.cpp.

References vpException::badValue, m_mapOfTrackers, and m_referenceCameraName.

Referenced by getRobustWeights().

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

virtual

Initialise the tracking.

Parameters

I	: Input image.

Implements vpMbTracker.

Definition at line 1547 of file vpMbGenericTracker.cpp.

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

Referenced by getRobustWeights(), and track().

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

protectedvirtual

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

Parameters

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

Implements vpMbTracker.

Definition at line 1557 of file vpMbGenericTracker.cpp.

References vpException::fatalError.

Referenced by getRobustWeights().

void vpMbGenericTracker::initClick	(	const vpImage< unsigned char > &	I1,
		const vpImage< unsigned char > &	I2,
		const std::string &	initFile1,
		const std::string &	initFile2,
		const bool	displayHelp = `false`,
		const vpHomogeneousMatrix &	T1 = `vpHomogeneousMatrix()`,
		const vpHomogeneousMatrix &	T2 = `vpHomogeneousMatrix()`
	)

virtual

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

The structure of this file is the following:

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

Parameters

I1	: Input image for the first camera.
I2	: Input image for the second camera.
initFile1	: File containing the coordinates of at least 4 3D points the user has to click in the image acquired by the first camera. This file should have .init extension (ie teabox.init).
initFile2	: File containing the coordinates of at least 4 3D points the user has to click in the image acquired by the second camera. This file should have .init extension.
displayHelp	: Optionnal display of an image that should have the same generic name as the init file (ie teabox.ppm). This image may be used to show where to click. This functionality is only available if visp_io module is used.
T1	: optional transformation matrix to transform 3D points in initFile1 expressed in the original object frame to the desired object frame.
T2	: optional transformation matrix to transform 3D points in initFile2 expressed in the original object frame to the desired object frame (T2==T1 if the init points are expressed in the same object frame which should be the case most of the time).

Exceptions

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

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

Examples:: tutorial-detection-object-mbt.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-rgbd-blender.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, tutorial-mb-generic-tracker-rgbd.cpp, tutorial-mb-generic-tracker-stereo-mono.cpp, tutorial-mb-generic-tracker-stereo.cpp, and tutorial-mb-generic-tracker.cpp.

Definition at line 1607 of file vpMbGenericTracker.cpp.

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

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

virtual

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

The structure of this file is the following:

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

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

Parameters

mapOfImages	: Map of images.
mapOfInitFiles	: Map of files containing the points where to click for each camera.
displayHelp	: Optionnal display of an image that should have the same generic name as the init file (ie teabox.ppm). This image may be used to show where to click. This functionality is only available if visp_io module is used.
mapOfT	: optional map of transformation matrices to transform 3D points in mapOfInitFiles expressed in the original object frame to the desired object frame (if the init points are expressed in the same object frame which should be the case most of the time, all the transformation matrices are identical).

Exceptions

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

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

Definition at line 1675 of file vpMbGenericTracker.cpp.

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

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

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 (.ppm, .pgm, .jpg, .jpeg, .png) 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.
T	: optional transformation matrix to transform 3D points expressed in the original object frame to the desired object frame.

Exceptions

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

Reimplemented in vpMbEdgeMultiTracker, vpMbKltMultiTracker, and vpMbEdgeKltMultiTracker.

Examples:: mbtEdgeKltTracking.cpp, mbtEdgeTracking.cpp, mbtKltTracking.cpp, testKeyPoint-2.cpp, testKeyPoint-4.cpp, tutorial-detection-object-mbt-deprecated.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 223 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::removeComment(), vpMbTracker::savePose(), and vpPose::VIRTUAL_VS.

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

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 vpMbEdgeMultiTracker, vpMbKltMultiTracker, and vpMbEdgeKltMultiTracker.

Definition at line 486 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.

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

protectedvirtual

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

Parameters

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

Implements vpMbTracker.

Definition at line 1736 of file vpMbGenericTracker.cpp.

References vpException::fatalError.

Referenced by getRobustWeights().

void vpMbGenericTracker::initFaceFromCorners ( vpMbtPolygon & polygon )

protectedvirtual

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

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

Parameters

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

Implements vpMbTracker.

Definition at line 1742 of file vpMbGenericTracker.cpp.

References vpException::fatalError.

Referenced by getRobustWeights().

void vpMbGenericTracker::initFaceFromLines ( vpMbtPolygon & polygon )

protectedvirtual

Implements vpMbTracker.

Definition at line 1747 of file vpMbGenericTracker.cpp.

References vpException::fatalError.

Referenced by getRobustWeights().

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

virtual

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

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

Parameters

I1	: Input image for the first camera.
I2	: Input image for the second camera.
initFile1	: Path to the file containing all the points for the first camera.
initFile2	: Path to the file containing all the points for the second camera.

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

Definition at line 1781 of file vpMbGenericTracker.cpp.

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

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

virtual

Definition at line 1812 of file vpMbGenericTracker.cpp.

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

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 628 of file vpMbTracker.cpp.

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

Referenced by getRobustWeights().

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 777 of file vpMbTracker.cpp.

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

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

virtual

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

Parameters

I1	: Input image for the first camera.
I2	: Input image for the second camera.
initFile1	: Init pose file for the first camera.
initFile2	: Init pose file for the second camera.

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

Examples:: testGenericTracker.cpp, testGenericTrackerDepth.cpp, tutorial-mb-generic-tracker-apriltag-live-realsense2.cpp, tutorial-mb-generic-tracker-apriltag-live-webcam.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-rgbd-blender.cpp, and tutorial-mb-generic-tracker-rgbd-realsense.cpp.

Definition at line 1874 of file vpMbGenericTracker.cpp.

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

Referenced by track().

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

virtual

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

Parameters

mapOfImages	: Map of images.
mapOfInitPoses	: Map of init pose files.

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

Definition at line 1919 of file vpMbGenericTracker.cpp.

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

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

virtual

Initialize the tracking thanks to the pose.

Parameters

I1	: Input image for the first camera.
I2	: Input image for the second camera.
c1Mo	: Pose matrix for the first camera.
c2Mo	: Pose matrix for the second camera.

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

Definition at line 1980 of file vpMbGenericTracker.cpp.

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

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

virtual

Initialize the tracking thanks to the pose.

Parameters

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

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

Definition at line 2011 of file vpMbGenericTracker.cpp.

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

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

virtualinherited

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

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

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

Parameters

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

Reimplemented in vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.

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

Definition at line 842 of file vpMbTracker.cpp.

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

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

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, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.

Definition at line 877 of file vpMbTracker.cpp.

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

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, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.

Definition at line 889 of file vpMbTracker.cpp.

References vpMbTracker::initFromPose().

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

protectedinherited

Definition at line 3061 of file vpMbTracker.cpp.

References vpMbTracker::addProjectionErrorCircle().

Referenced by vpMbTracker::loadCAOModel().

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

protectedinherited

Definition at line 3067 of file vpMbTracker.cpp.

References vpMbTracker::addProjectionErrorCylinder().

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

void vpMbTracker::initProjectionErrorFaceFromCorners ( vpMbtPolygon & polygon )

protectedinherited

Definition at line 3073 of file vpMbTracker.cpp.

References vpMbTracker::addProjectionErrorLine(), vpMbtPolygon::getIndex(), vpMbtPolygon::getName(), vpPolygon3D::getNbPoint(), and vpPolygon3D::p.

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

void vpMbTracker::initProjectionErrorFaceFromLines ( vpMbtPolygon & polygon )

protectedinherited

Definition at line 3083 of file vpMbTracker.cpp.

References vpMbTracker::addProjectionErrorLine(), vpMbtPolygon::getIndex(), vpMbtPolygon::getName(), vpPolygon3D::getNbPoint(), and vpPolygon3D::p.

Referenced by vpMbTracker::loadCAOModel().

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

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.
T	: optional transformation matrix (currently only for .cao) to transform 3D points expressed in the original object frame to the desired object frame.

Definition at line 1372 of file vpMbTracker.cpp.

References vpMbTracker::addPolygon(), vpMbTracker::addProjectionErrorPolygon(), 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(), vpMbTracker::initProjectionErrorCircle(), vpMbTracker::initProjectionErrorCylinder(), vpMbTracker::initProjectionErrorFaceFromCorners(), vpMbTracker::initProjectionErrorFaceFromLines(), vpException::ioError, vpIoTools::isAbsolutePathname(), vpMbTracker::m_projectionErrorFaces, vpMbTracker::minLineLengthThresholdGeneral, vpMbTracker::minPolygonAreaThresholdGeneral, vpMbTracker::nbCircles, vpMbTracker::nbCylinders, vpMbTracker::nbLines, vpMbTracker::nbPoints, vpMbTracker::nbPolygonLines, vpMbTracker::nbPolygonPoints, vpMbTracker::parseBoolean(), vpMbTracker::parseParameters(), vpIoTools::path(), vpMbTracker::removeComment(), vpPoint::setWorldCoordinates(), vpMbTracker::useLodGeneral, and vpTRACE.

Referenced by vpMbTracker::loadModel().

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

virtual

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

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

Exceptions

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

Parameters

configFile : full name of the xml file.

See also: vpXmlParser::cleanup()

Reimplemented from vpMbTracker.

Examples:: testGenericTracker.cpp, testGenericTrackerDepth.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-rgbd-blender.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, tutorial-mb-generic-tracker-rgbd.cpp, tutorial-mb-generic-tracker-stereo-mono.cpp, and tutorial-mb-generic-tracker-stereo.cpp.

Definition at line 2077 of file vpMbGenericTracker.cpp.

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

Referenced by getRobustWeights().

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

virtual

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

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

Parameters

configFile1	: Full name of the xml file for the first camera.
configFile2	: Full name of the xml file for the second camera.

See also: vpXmlParser::cleanup()

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

Definition at line 2110 of file vpMbGenericTracker.cpp.

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

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

virtual

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

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

Parameters

mapOfConfigFiles : Map of xml files.

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

Note: Configuration files must be supplied for all the cameras.

Definition at line 2148 of file vpMbGenericTracker.cpp.

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

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

virtual

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

Warning: When this class is called to load a vrml model, remember that you have to call Call SoDD::finish() before ending the program.
int main()
{
...
#if defined(VISP_HAVE_COIN3D) && (COIN_MAJOR_VERSION >= 2)
SoDB::finish();
#endif
}

Exceptions

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

Parameters

modelFile	: the file containing the 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.
T	: optional transformation matrix (currently only for .cao) to transform 3D points expressed in the original object frame to the desired object frame.

Note: All the trackers will use the same model in case of stereo / multiple cameras configuration.

Reimplemented from vpMbTracker.

Examples:: testGenericTracker.cpp, testGenericTrackerDepth.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, tutorial-mb-generic-tracker-apriltag-live-realsense2.cpp, tutorial-mb-generic-tracker-apriltag-live-webcam.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-rgbd-blender.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, tutorial-mb-generic-tracker-rgbd.cpp, tutorial-mb-generic-tracker-stereo-mono.cpp, tutorial-mb-generic-tracker-stereo.cpp, and tutorial-mb-generic-tracker.cpp.

Definition at line 2209 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

Referenced by track().

void vpMbGenericTracker::loadModel	(	const std::string &	modelFile1,
		const std::string &	modelFile2,
		const bool	verbose = `false`,
		const vpHomogeneousMatrix &	T1 = `vpHomogeneousMatrix()`,
		const vpHomogeneousMatrix &	T2 = `vpHomogeneousMatrix()`
	)

virtual

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

Warning: When this class is called to load a vrml model, remember that you have to call Call SoDD::finish() before ending the program.
int main()
{
...
#if defined(VISP_HAVE_COIN3D) && (COIN_MAJOR_VERSION >= 2)
SoDB::finish();
#endif
}

Exceptions

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

Parameters

modelFile1	: the file containing the 3D model description for the first camera. The extension of this file is either .wrl or .cao.
modelFile2	: the file containing the the 3D model description for the second camera. The extension of this file is either .wrl or .cao.
verbose	: verbose option to print additional information when loading CAO model files which include other CAO model files.
T1	: optional transformation matrix (currently only for .cao) to transform 3D points in modelFile1 expressed in the original object frame to the desired object frame.
T2	: optional transformation matrix (currently only for .cao) to transform 3D points in modelFile2 expressed in the original object frame to the desired object frame ( T2==T1 if the two models have the same object frame which should be the case most of the time).

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

Definition at line 2252 of file vpMbGenericTracker.cpp.

References vpException::fatalError, and m_mapOfTrackers.

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

virtual

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

Warning: When this class is called to load a vrml model, remember that you have to call Call SoDD::finish() before ending the program.
int main()
{
...
#if defined(VISP_HAVE_COIN3D) && (COIN_MAJOR_VERSION >= 2)
SoDB::finish();
#endif
}

Exceptions

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

Parameters

mapOfModelFiles	: map of files containing the 3D model description. The extension of this file is either .wrl or .cao.
verbose	: verbose option to print additional information when loading CAO model files which include other CAO model files.
mapOfT	: optional map of transformation matrices (currently only for .cao) to transform 3D points in mapOfModelFiles expressed in the original object frame to the desired object frame (if the models have the same object frame which should be the case most of the time, all the transformation matrices are identical).

Note: Each camera must have a model file.

Definition at line 2299 of file vpMbGenericTracker.cpp.

References vpTrackingException::initializationError, and m_mapOfTrackers.

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 >= 2)
SoDB::finish();
#endif
}; The cylinders extracted using this method do not use the Cylinder keyword of vrml since vrml exporter such as Blender or AC3D consider a cylinder as an IndexedFaceSet. To test whether an indexedFaceSet is a cylinder or not, the name of the geometry is read. If the name begins with "cyl" then the faceset is supposed to be a cylinder. For example, the line
geometry DEF cyl_cylinder1 IndexedFaceSet
defines a cylinder named cyl_cylinder1.

Exceptions

vpException::fatalError if the file cannot be open.

Parameters

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

Definition at line 1209 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::loadModel().

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

inlineprotectedinherited

Definition at line 860 of file vpMbTracker.h.

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

inlineprotectedinherited

Definition at line 847 of file vpMbTracker.h.

Referenced by vpMbTracker::loadCAOModel().

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

protectedinherited

Definition at line 1270 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::loadCAOModel().

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

protectedvirtual

Definition at line 2322 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

Referenced by getRobustWeights(), and track().

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

protectedvirtual

Definition at line 2333 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

void vpMbTracker::projectionErrorInitMovingEdge	(	const vpImage< unsigned char > &	I,
		const vpHomogeneousMatrix &	_cMo
	)

protectedinherited

Definition at line 3300 of file vpMbTracker.cpp.

Referenced by vpMbTracker::computeProjectionErrorImpl().

void vpMbTracker::projectionErrorResetMovingEdges ( )

protectedinherited

Definition at line 3260 of file vpMbTracker.cpp.

References vpMbTracker::m_projectionErrorCircles, vpMbTracker::m_projectionErrorCylinders, and vpMbTracker::m_projectionErrorLines.

Referenced by vpMbTracker::computeProjectionErrorImpl().

void vpMbTracker::projectionErrorVisibleFace	(	const vpImage< unsigned char > &	_I,
		const vpHomogeneousMatrix &	_cMo
	)

protectedinherited

Definition at line 3245 of file vpMbTracker.cpp.

References vpMbTracker::angleAppears, vpMbTracker::angleDisappears, vpMbTracker::m_projectionErrorCam, vpMbTracker::m_projectionErrorFaces, vpMbHiddenFaces< PolygonType >::setVisible(), vpMbHiddenFaces< PolygonType >::setVisibleOgre(), and vpMbTracker::useOgre.

Referenced by vpMbTracker::computeProjectionErrorImpl().

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

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.
T	: optional transformation matrix (currently only for .cao).

Definition at line 2357 of file vpMbGenericTracker.cpp.

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

Referenced by getRobustWeights().

void vpMbGenericTracker::reInitModel	(	const vpImage< unsigned char > &	I1,
		const vpImage< unsigned char > &	I2,
		const std::string &	cad_name1,
		const std::string &	cad_name2,
		const vpHomogeneousMatrix &	c1Mo,
		const vpHomogeneousMatrix &	c2Mo,
		const bool	verbose = `false`,
		const vpHomogeneousMatrix &	T1 = `vpHomogeneousMatrix()`,
		const vpHomogeneousMatrix &	T2 = `vpHomogeneousMatrix()`
	)

virtual

Re-initialize the model used by the tracker.

Parameters

I1	: The image containing the object to initialize for the first camera.
I2	: The image containing the object to initialize for the second camera.
cad_name1	: Path to the file containing the 3D model description for the first camera.
cad_name2	: Path to the file containing the 3D model description for the second camera.
c1Mo	: The new vpHomogeneousMatrix between the first camera and the new model.
c2Mo	: The new vpHomogeneousMatrix between the second camera and the new model.
verbose	: verbose option to print additional information when loading CAO model files which include other CAO model files.
T1	: optional transformation matrix (currently only for .cao) to transform 3D points in cad_name1 expressed in the original object frame to the desired object frame.
T2	: optional transformation matrix (currently only for .cao) to transform 3D points in cad_name2 expressed in the original object frame to the desired object frame ( T2==T1 if the two models have the same object frame which should be the case most of the time).

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

Definition at line 2400 of file vpMbGenericTracker.cpp.

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

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

virtual

Re-initialize the model used by the tracker.

Parameters

mapOfImages	: Map of images.
mapOfModelFiles	: Map of model files.
mapOfCameraPoses	: The new vpHomogeneousMatrix between the cameras and the current object position.
verbose	: Verbose option to print additional information when loading CAO model files which include other CAO model files.
mapOfT	: optional map of transformation matrices (currently only for .cao) to transform 3D points in mapOfModelFiles expressed in the original object frame to the desired object frame (if the models have the same object frame which should be the case most of the time, all the transformation matrices are identical).

Definition at line 2441 of file vpMbGenericTracker.cpp.

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

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

protectedinherited

Definition at line 1255 of file vpMbTracker.cpp.

References vpException::ioError.

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

void vpMbGenericTracker::resetTracker ( )

virtual

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

Implements vpMbTracker.

Definition at line 2505 of file vpMbGenericTracker.cpp.

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

Referenced by getRobustWeights().

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

inlineprotectedinherited

Definition at line 866 of file vpMbTracker.h.

bool vpMbTracker::samePoint	(	const vpPoint &	P1,
		const vpPoint &	P2
	)		const

protectedinherited

Check if two vpPoints are similar.

To be similar : $ (X_1 - X_2)^2 + (Y_1 - Y_2)^2 + (Z_1 - Z_2)^2 < epsilon $ .

Parameters

P1	: The first point to compare
P2	: The second point to compare

Definition at line 2765 of file vpMbTracker.cpp.

References vpPoint::get_oX(), vpPoint::get_oY(), and vpPoint::get_oZ().

Referenced by vpMbEdgeTracker::addCircle(), vpMbEdgeTracker::addCylinder(), vpMbEdgeTracker::addLine(), vpMbTracker::addProjectionErrorCircle(), vpMbTracker::addProjectionErrorCylinder(), and vpMbTracker::addProjectionErrorLine().

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 900 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::initClick().

void vpMbGenericTracker::setAngleAppear ( const double & a )

virtual

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

Parameters

a	: new angle in radian.

Reimplemented from vpMbTracker.

Examples:: testGenericTracker.cpp, testGenericTrackerDepth.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, tutorial-mb-generic-tracker-apriltag-live-realsense2.cpp, tutorial-mb-generic-tracker-apriltag-live-webcam.cpp, and tutorial-mb-generic-tracker-full.cpp.

Definition at line 2561 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and vpMbTracker::setAngleAppear().

void vpMbGenericTracker::setAngleAppear	(	const double &	a1,
		const double &	a2
	)

virtual

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

Parameters

a1	: new angle in radian for the first camera.
a2	: new angle in radian for the second camera.

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

Definition at line 2584 of file vpMbGenericTracker.cpp.

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

void vpMbGenericTracker::setAngleAppear ( const std::map< std::string, double > & mapOfAngles )

virtual

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

Parameters

mapOfAngles : Map of new angles in radian.

Definition at line 2614 of file vpMbGenericTracker.cpp.

References vpMbTracker::angleAppears, m_mapOfTrackers, and m_referenceCameraName.

void vpMbGenericTracker::setAngleDisappear ( const double & a )

virtual

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

Parameters

a	: new angle in radian.

Reimplemented from vpMbTracker.

Examples:: testGenericTracker.cpp, testGenericTrackerDepth.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, tutorial-mb-generic-tracker-apriltag-live-realsense2.cpp, tutorial-mb-generic-tracker-apriltag-live-webcam.cpp, and tutorial-mb-generic-tracker-full.cpp.

Definition at line 2639 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and vpMbTracker::setAngleDisappear().

void vpMbGenericTracker::setAngleDisappear	(	const double &	a1,
		const double &	a2
	)

virtual

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

Parameters

a1	: new angle in radian for the first camera.
a2	: new angle in radian for the second camera.

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

Definition at line 2662 of file vpMbGenericTracker.cpp.

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

void vpMbGenericTracker::setAngleDisappear ( const std::map< std::string, double > & mapOfAngles )

virtual

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

Parameters

mapOfAngles : Map of new angles in radian.

Definition at line 2692 of file vpMbGenericTracker.cpp.

References vpMbTracker::angleDisappears, m_mapOfTrackers, and m_referenceCameraName.

void vpMbGenericTracker::setCameraParameters ( const vpCameraParameters & camera )

virtual

Set the camera parameters.

Parameters

camera : the new camera parameters.

Reimplemented from vpMbTracker.

Examples:: testGenericTracker.cpp, testGenericTrackerDepth.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, tutorial-mb-generic-tracker-apriltag-live-realsense2.cpp, tutorial-mb-generic-tracker-apriltag-live-webcam.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, tutorial-mb-generic-tracker-stereo-mono.cpp, and tutorial-mb-generic-tracker.cpp.

Definition at line 2713 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and vpMbTracker::setCameraParameters().

Referenced by getRobustWeights(), and track().

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

virtual

Set the camera parameters.

Parameters

camera1	: the new camera parameters for the first camera.
camera2	: the new camera parameters for the second camera.

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

Definition at line 2732 of file vpMbGenericTracker.cpp.

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

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

virtual

Set the camera parameters.

Parameters

mapOfCameraParameters : map of new camera parameters.

Note: This function will set the camera parameters only for the supplied camera names.

Definition at line 2761 of file vpMbGenericTracker.cpp.

References vpMbTracker::cam, m_mapOfTrackers, and m_referenceCameraName.

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

virtual

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

Parameters

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

Examples:: testGenericTracker.cpp, tutorial-mb-generic-tracker-apriltag-live-realsense2.cpp, tutorial-mb-generic-tracker-rgbd-blender.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, tutorial-mb-generic-tracker-rgbd.cpp, and tutorial-mb-generic-tracker-stereo.cpp.

Definition at line 2786 of file vpMbGenericTracker.cpp.

References vpTrackingException::fatalError, and m_mapOfCameraTransformationMatrix.

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

virtual

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

Parameters

mapOfTransformationMatrix : map of camera transformation matrices.

Definition at line 2805 of file vpMbGenericTracker.cpp.

References m_mapOfCameraTransformationMatrix.

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

virtual

Specify which clipping to use.

See also: vpMbtPolygonClipping

Parameters

flags : New clipping flags.

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

Reimplemented from vpMbTracker.

Examples:: testGenericTracker.cpp, testGenericTrackerDepth.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, and tutorial-mb-generic-tracker-full.cpp.

Definition at line 2828 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and vpMbTracker::setClipping().

Referenced by getRobustWeights(), and track().

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

virtual

Specify which clipping to use.

See also: vpMbtPolygonClipping

Parameters

flags1	: New clipping flags for the first camera.
flags2	: New clipping flags for the second camera.

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

Definition at line 2849 of file vpMbGenericTracker.cpp.

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

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

virtual

Specify which clipping to use.

See also: vpMbtPolygonClipping

Parameters

mapOfClippingFlags : Map of new clipping flags.

Definition at line 2878 of file vpMbGenericTracker.cpp.

References vpMbTracker::clippingFlag, m_mapOfTrackers, and m_referenceCameraName.

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, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.

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

Definition at line 485 of file vpMbTracker.h.

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

void vpMbGenericTracker::setDepthDenseFilteringMaxDistance ( const double maxDistance )

virtual

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

Parameters

maxDistance : Maximum distance to the face.

See also: setDepthDenseFilteringMethod

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

Definition at line 2904 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

void vpMbGenericTracker::setDepthDenseFilteringMethod ( const int method )

virtual

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

Parameters

method : Depth dense filtering method.

See also: vpMbtFaceDepthDense::vpDepthDenseFilteringType

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

Definition at line 2921 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

void vpMbGenericTracker::setDepthDenseFilteringMinDistance ( const double minDistance )

virtual

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

Parameters

minDistance : Minimum distance to the face.

See also: setDepthDenseFilteringMethod

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

Definition at line 2939 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

void vpMbGenericTracker::setDepthDenseFilteringOccupancyRatio ( const double occupancyRatio )

virtual

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

Parameters

occupancyRatio : Occupancy ratio, between [0 ; 1].

See also: setDepthDenseFilteringMethod

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

Definition at line 2957 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

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

virtual

Set depth dense sampling step.

Parameters

stepX	: Sampling step in x-direction.
stepY	: Sampling step in y-direction.

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

Examples:: testGenericTracker.cpp, and testGenericTrackerDepth.cpp.

Definition at line 2974 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

Referenced by track().

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

virtual

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

Parameters

method : Centroid computation method.

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

Definition at line 2990 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

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

virtual

Set depth feature estimation method.

Parameters

method : Depth feature estimation method.

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

Examples:: testGenericTracker.cpp, and testGenericTrackerDepth.cpp.

Definition at line 3006 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

Referenced by track().

void vpMbGenericTracker::setDepthNormalPclPlaneEstimationMethod ( const int method )

virtual

Set depth PCL plane estimation method.

Parameters

method : Depth PCL plane estimation method.

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

Examples:: testGenericTracker.cpp, and testGenericTrackerDepth.cpp.

Definition at line 3023 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

Referenced by track().

void vpMbGenericTracker::setDepthNormalPclPlaneEstimationRansacMaxIter ( const int maxIter )

virtual

Set depth PCL RANSAC maximum number of iterations.

Parameters

maxIter : Depth PCL RANSAC maximum number of iterations.

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

Examples:: testGenericTracker.cpp, and testGenericTrackerDepth.cpp.

Definition at line 3039 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

Referenced by track().

void vpMbGenericTracker::setDepthNormalPclPlaneEstimationRansacThreshold ( const double thresold )

virtual

Set depth PCL RANSAC threshold.

Parameters

thresold : Depth PCL RANSAC threshold.

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

Examples:: testGenericTracker.cpp, and testGenericTrackerDepth.cpp.

Definition at line 3055 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

Referenced by track().

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

virtual

Set depth sampling step.

Parameters

stepX	: Sampling step in x-direction.
stepY	: Sampling step in y-direction.

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

Examples:: testGenericTracker.cpp, and testGenericTrackerDepth.cpp.

Definition at line 3072 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

Referenced by track().

void vpMbGenericTracker::setDisplayFeatures ( const bool displayF )

virtual

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

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

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

Parameters

displayF : set it to true to display the features.

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

Reimplemented from vpMbTracker.

Examples:: testGenericTracker.cpp, testGenericTrackerDepth.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, tutorial-mb-generic-tracker-apriltag-live-realsense2.cpp, tutorial-mb-generic-tracker-apriltag-live-webcam.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-rgbd-blender.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, tutorial-mb-generic-tracker-rgbd.cpp, tutorial-mb-generic-tracker-stereo-mono.cpp, tutorial-mb-generic-tracker-stereo.cpp, and tutorial-mb-generic-tracker.cpp.

Definition at line 3099 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and vpMbTracker::setDisplayFeatures().

void vpMbTracker::setEstimatedDoF ( const vpColVector & v )

virtualinherited

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

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

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

Definition at line 2650 of file vpMbTracker.cpp.

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

void vpMbGenericTracker::setFarClippingDistance ( const double & dist )

virtual

Set the far distance for clipping.

Parameters

dist	: Far clipping value.

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

Reimplemented from vpMbTracker.

Examples:: testGenericTracker.cpp, testGenericTrackerDepth.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, and tutorial-mb-generic-tracker-full.cpp.

Definition at line 3117 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and vpMbTracker::setFarClippingDistance().

Referenced by getRobustWeights(), and track().

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

virtual

Set the far distance for clipping.

Parameters

dist1	: Far clipping value for the first camera.
dist2	: Far clipping value for the second camera.

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

Definition at line 3136 of file vpMbGenericTracker.cpp.

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

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

virtual

Set the far distance for clipping.

Parameters

mapOfClippingDists : Map of far clipping values.

Definition at line 3162 of file vpMbGenericTracker.cpp.

References vpMbTracker::distFarClip, m_mapOfTrackers, and m_referenceCameraName.

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

virtual

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

Parameters

mapOfFeatureFactors : Map of feature factors.

Definition at line 3185 of file vpMbGenericTracker.cpp.

References m_mapOfFeatureFactors.

void vpMbGenericTracker::setGoodMovingEdgesRatioThreshold ( const double threshold )

virtual

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

Parameters

threshold : Value between 0 and 1 that corresponds to the ratio of good moving edges that is necessary to consider that the estimated pose is valid. Default value is 0.4.

See also: getGoodMovingEdgesRatioThreshold()

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

Definition at line 3211 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_percentageGdPt.

void vpMbGenericTracker::setGoodNbRayCastingAttemptsRatio ( const double & ratio )

virtual

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

See also: setNbRayCastingAttemptsForVisibility(const unsigned int &)

Parameters

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

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

Reimplemented from vpMbTracker.

Definition at line 3234 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

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 514 of file vpMbTracker.h.

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

virtual

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

Parameters

e	: The desired erosion.

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

Examples:: testGenericTracker.cpp, testGenericTrackerDepth.cpp, tutorial-mb-generic-tracker-apriltag-live-realsense2.cpp, tutorial-mb-generic-tracker-apriltag-live-webcam.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-stereo-mono.cpp, and tutorial-mb-generic-tracker.cpp.

Definition at line 3368 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

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

virtual

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

Parameters

e1	: The desired erosion for the first camera.
e2	: The desired erosion for the second camera.

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

Definition at line 3385 of file vpMbGenericTracker.cpp.

References vpTrackingException::fatalError, and m_mapOfTrackers.

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

virtual

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

Parameters

mapOfErosions : Map of desired erosions.

Definition at line 3405 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

void vpMbGenericTracker::setKltOpencv ( const vpKltOpencv & t )

virtual

Set the new value of the klt tracker.

Parameters

t	: Klt tracker containing the new values.

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

Examples:: testGenericTracker.cpp, tutorial-mb-generic-tracker-apriltag-live-realsense2.cpp, tutorial-mb-generic-tracker-apriltag-live-webcam.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-stereo-mono.cpp, and tutorial-mb-generic-tracker.cpp.

Definition at line 3272 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

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

virtual

Set the new value of the klt tracker.

Parameters

t1	: Klt tracker containing the new values for the first camera.
t2	: Klt tracker containing the new values for the second camera.

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

Definition at line 3289 of file vpMbGenericTracker.cpp.

References vpTrackingException::fatalError, and m_mapOfTrackers.

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

virtual

Set the new value of the klt tracker.

Parameters

mapOfKlts : Map of klt tracker containing the new values.

Definition at line 3308 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

void vpMbGenericTracker::setKltThresholdAcceptation ( const double th )

virtual

Set the threshold for the acceptation of a point.

Parameters

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

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

Definition at line 3327 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_thresholdOutlier.

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 521 of file vpMbTracker.h.

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

virtual

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

Parameters

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

See also: setMinLineLengthThresh(), setMinPolygonAreaThresh()

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

Reimplemented from vpMbTracker.

Definition at line 3351 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

Referenced by track().

void vpMbGenericTracker::setMask ( const vpImage< bool > & mask )

virtual

Set the visibility mask.

Parameters

mask	: visibility mask.

Reimplemented from vpMbTracker.

Examples:: testGenericTracker.cpp, and testGenericTrackerDepth.cpp.

Definition at line 3424 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and vpMbTracker::setMask().

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 530 of file vpMbTracker.h.

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

virtual

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

Parameters

minLineLengthThresh	: threshold for the minimum line length in pixel.
name	: name of the face we want to modify the LOD threshold.

See also: setLod(), setMinPolygonAreaThresh()

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

Reimplemented from vpMbTracker.

Definition at line 3447 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

Referenced by track().

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

virtual

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

Parameters

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

See also: setLod(), setMinLineLengthThresh()

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

Reimplemented from vpMbTracker.

Definition at line 3466 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

Referenced by track().

void vpMbGenericTracker::setMovingEdge ( const vpMe & me )

virtual

Set the moving edge parameters.

Parameters

me	: an instance of vpMe containing all the desired parameters.

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

Examples:: testGenericTracker.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, tutorial-mb-generic-tracker-apriltag-live-realsense2.cpp, tutorial-mb-generic-tracker-apriltag-live-webcam.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-stereo-mono.cpp, and tutorial-mb-generic-tracker.cpp.

Definition at line 3482 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

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

virtual

Set the moving edge parameters.

Parameters

me1	: an instance of vpMe containing all the desired parameters for the first camera.
me2	: an instance of vpMe containing all the desired parameters for the second camera.

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

Definition at line 3500 of file vpMbGenericTracker.cpp.

References vpTrackingException::fatalError, and m_mapOfTrackers.

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

virtual

Set the moving edge parameters.

Parameters

mapOfMe : Map of vpMe containing all the desired parameters.

Definition at line 3520 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

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

virtual

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

See also: setGoodNbRayCastingAttemptsRatio(const unsigned int &)

Parameters

attempts Number of rays to be sent.

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

Reimplemented from vpMbTracker.

Definition at line 3254 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

void vpMbGenericTracker::setNearClippingDistance ( const double & dist )

virtual

Set the near distance for clipping.

Parameters

dist	: Near clipping value.

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

Reimplemented from vpMbTracker.

Examples:: testGenericTracker.cpp, testGenericTrackerDepth.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, and tutorial-mb-generic-tracker-full.cpp.

Definition at line 3539 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and vpMbTracker::setNearClippingDistance().

Referenced by getRobustWeights(), and track().

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

virtual

Set the near distance for clipping.

Parameters

dist1	: Near clipping value for the first camera.
dist2	: Near clipping value for the second camera.

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

Definition at line 3558 of file vpMbGenericTracker.cpp.

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

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

virtual

Set the near distance for clipping.

Parameters

mapOfDists : Map of near clipping values.

Definition at line 3585 of file vpMbGenericTracker.cpp.

References vpMbTracker::distNearClip, m_mapOfTrackers, and m_referenceCameraName.

void vpMbGenericTracker::setOgreShowConfigDialog ( const bool showConfigDialog )

virtual

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

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

Parameters

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

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

Reimplemented from vpMbTracker.

Examples:: tutorial-mb-generic-tracker-full.cpp.

Definition at line 3613 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and vpMbTracker::setOgreShowConfigDialog().

void vpMbGenericTracker::setOgreVisibilityTest ( const bool & v )

virtual

Use Ogre3D for visibility tests

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

Parameters

v	: True to use it, False otherwise

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

Reimplemented from vpMbTracker.

Examples:: tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-live.cpp, and tutorial-mb-generic-tracker-rgbd-realsense.cpp.

Definition at line 3634 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and vpMbTracker::setOgreVisibilityTest().

Referenced by getRobustWeights().

void vpMbGenericTracker::setOptimizationMethod ( const vpMbtOptimizationMethod & opt )

virtual

Set the optimization method used during the tracking.

Parameters

opt	: Optimization method to use (see vpMbtOptimizationMethod).

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

Reimplemented from vpMbTracker.

Definition at line 3660 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and vpMbTracker::setOptimizationMethod().

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

virtual

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

Warning: This functionnality is not available when tracking cylinders with the KLT tracking.

Parameters

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

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

Implements vpMbTracker.

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

Definition at line 3683 of file vpMbGenericTracker.cpp.

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

Referenced by getRobustWeights().

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

virtual

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

Parameters

I1	: First image corresponding to the desired pose.
I2	: Second image corresponding to the desired pose.
c1Mo	: First pose to affect.
c2Mo	: Second pose to affect.

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

Definition at line 3713 of file vpMbGenericTracker.cpp.

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

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

virtual

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

Parameters

mapOfImages	: Map of images.
mapOfCameraPoses	: Map of pose to affect to the cameras.

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

Definition at line 3753 of file vpMbGenericTracker.cpp.

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

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

inlineinherited

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

Parameters

filename : The new filename.

Definition at line 641 of file vpMbTracker.h.

void vpMbGenericTracker::setProjectionErrorComputation ( const bool & flag )

virtual

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

Parameters

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

See also: getProjectionError()

Note: Available only if the edge features are used (e.g. Edge tracking or Edge + KLT tracking). Otherwise, the value of 90 degrees will be returned.

Reimplemented from vpMbTracker.

Examples:: tutorial-mb-generic-tracker-live.cpp, and tutorial-mb-generic-tracker-rgbd-realsense.cpp.

Definition at line 3821 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and vpMbTracker::setProjectionErrorComputation().

Referenced by getRobustWeights().

void vpMbGenericTracker::setProjectionErrorDisplay ( const bool display )

virtual

Display or not gradient and model orientation when computing the projection error.

Reimplemented from vpMbTracker.

Examples:: tutorial-mb-generic-tracker-live.cpp, and tutorial-mb-generic-tracker-rgbd-realsense.cpp.

Definition at line 3835 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and vpMbTracker::setProjectionErrorDisplay().

void vpMbGenericTracker::setProjectionErrorDisplayArrowLength ( const unsigned int length )

virtual

Arrow length used to display gradient and model orientation for projection error computation.

Reimplemented from vpMbTracker.

Definition at line 3849 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and vpMbTracker::setProjectionErrorDisplayArrowLength().

void vpMbGenericTracker::setProjectionErrorDisplayArrowThickness ( const unsigned int thickness )

virtual

Arrow thickness used to display gradient and model orientation for projection error computation.

Reimplemented from vpMbTracker.

Definition at line 3860 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and vpMbTracker::setProjectionErrorDisplayArrowThickness().

void vpMbTracker::setProjectionErrorKernelSize ( const unsigned int & size )

inherited

Set kernel size used for projection error computation.

Parameters

size	: Kernel size computed as kernel_size = size*2 + 1.

Definition at line 3463 of file vpMbTracker.cpp.

References vpArray2D< Type >::data, vpImageFilter::getSobelKernelX(), vpImageFilter::getSobelKernelY(), vpMbTracker::m_projectionErrorKernelSize, vpMbTracker::m_SobelX, vpMbTracker::m_SobelY, and vpArray2D< Type >::resize().

Referenced by vpMbTracker::loadConfigFile().

void vpMbTracker::setProjectionErrorMovingEdge ( const vpMe & me )

inherited

Set Moving-Edges parameters for projection error computation.

Parameters

me	: Moving-Edges parameters.

Definition at line 3437 of file vpMbTracker.cpp.

References vpMbTracker::m_projectionErrorCircles, vpMbTracker::m_projectionErrorCylinders, vpMbTracker::m_projectionErrorLines, vpMbTracker::m_projectionErrorMe, vpMbtDistanceCircle::setMovingEdge(), vpMbtDistanceLine::setMovingEdge(), and vpMbtDistanceCylinder::setMovingEdge().

Referenced by vpMbTracker::loadConfigFile().

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

virtual

Set the reference camera name.

Parameters

referenceCameraName : Name of the reference camera.

Definition at line 3876 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_referenceCameraName.

void vpMbGenericTracker::setScanLineVisibilityTest ( const bool & v )

virtual

Reimplemented from vpMbTracker.

Examples:: testGenericTracker.cpp, testGenericTrackerDepth.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-live.cpp, and tutorial-mb-generic-tracker-rgbd-realsense.cpp.

Definition at line 3886 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and vpMbTracker::setScanLineVisibilityTest().

Referenced by getRobustWeights().

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 557 of file vpMbTracker.h.

void vpMbGenericTracker::setTrackerType ( const int type )

virtual

Set the tracker type.

Parameters

type	: Type of features to used, see vpTrackerType (e.g. vpMbGenericTracker::EDGE_TRACKER or vpMbGenericTracker::EDGE_TRACKER \| vpMbGenericTracker::KLT_TRACKER).

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

Warning: This function has to be called before the loading of the CAD model.

Examples:: tutorial-mb-generic-tracker-apriltag-live-webcam.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-live.cpp, and tutorial-mb-generic-tracker.cpp.

Definition at line 3908 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

Referenced by getRobustWeights().

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

virtual

Set the tracker types.

Parameters

mapOfTrackerTypes : Map of feature types to used, see vpTrackerType (e.g. vpMbGenericTracker::EDGE_TRACKER or vpMbGenericTracker::EDGE_TRACKER | vpMbGenericTracker::KLT_TRACKER).

Warning: This function has to be called before the loading of the CAD model.

Definition at line 3926 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

void vpMbGenericTracker::setUseDepthDenseTracking	(	const std::string &	name,
		const bool &	useDepthDenseTracking
	)

virtual

Set if the polygon that has the given name has to be considered during the tracking phase.

Parameters

name	: name of the polygon.
useDepthDenseTracking	: True if it has to be considered, False otherwise.

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

Definition at line 3946 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

void vpMbGenericTracker::setUseDepthNormalTracking	(	const std::string &	name,
		const bool &	useDepthNormalTracking
	)

virtual

Set if the polygon that has the given name has to be considered during the tracking phase.

Parameters

name	: name of the polygon.
useDepthNormalTracking	: True if it has to be considered, False otherwise.

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

Definition at line 3964 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

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

virtual

Set if the polygon that has the given name has to be considered during the tracking phase.

Parameters

name	: name of the polygon.
useEdgeTracking	: True if it has to be considered, False otherwise.

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

Definition at line 3982 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

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

virtual

Set if the polygon that has the given name has to be considered during the tracking phase.

Parameters

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

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

Definition at line 4001 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

void vpMbGenericTracker::testTracking ( )

virtual

Test the quality of the tracking.

Exceptions

vpException if the test fail.

Implements vpMbTracker.

Definition at line 4011 of file vpMbGenericTracker.cpp.

References vpTrackingException::fatalError, m_mapOfTrackers, and m_percentageGdPt.

Referenced by getRobustWeights(), and track().

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

virtual

Realize the tracking of the object in the image.

Exceptions

vpException : if the tracking is supposed to have failed

Parameters

I	: The current image.

Note: This function will track only for the reference camera.

Implements vpMbTracker.

Examples:: testGenericTracker.cpp, testGenericTrackerDepth.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, tutorial-mb-generic-tracker-apriltag-live-realsense2.cpp, tutorial-mb-generic-tracker-apriltag-live-webcam.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-rgbd-blender.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, tutorial-mb-generic-tracker-rgbd.cpp, tutorial-mb-generic-tracker-stereo-mono.cpp, tutorial-mb-generic-tracker-stereo.cpp, and tutorial-mb-generic-tracker.cpp.

Definition at line 4043 of file vpMbGenericTracker.cpp.

References m_referenceCameraName.

Referenced by getRobustWeights(), and track().

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

virtual

Realize the tracking of the object in the image.

Exceptions

vpException : if the tracking is supposed to have failed

Parameters

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

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

Definition at line 4064 of file vpMbGenericTracker.cpp.

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

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

virtual

Realize the tracking of the object in the image.

Exceptions

vpException : if the tracking is supposed to have failed

Parameters

mapOfImages : Map of images.

Definition at line 4092 of file vpMbGenericTracker.cpp.

References track().

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

virtual

Realize the tracking of the object in the image.

Exceptions

vpException : if the tracking is supposed to have failed

Parameters

mapOfImages	: Map of images.
mapOfPointClouds	: Map of PCL pointclouds.

Definition at line 4109 of file vpMbGenericTracker.cpp.

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

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

virtual

Realize the tracking of the object in the image.

Exceptions

vpException : if the tracking is supposed to have failed

Parameters

mapOfImages	: Map of images.
mapOfPointClouds	: Map of pointclouds.
mapOfPointCloudWidths	: Map of pointcloud widths.
mapOfPointCloudHeights	: Map of pointcloud heights.

Definition at line 4171 of file vpMbGenericTracker.cpp.

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

inlineprotectedinherited

Definition at line 872 of file vpMbTracker.h.

Referenced by vpMbTracker::parseParameters().

Member Data Documentation

double vpMbTracker::angleAppears

protectedinherited

Angle used to detect a face appearance.

Definition at line 151 of file vpMbTracker.h.

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

double vpMbTracker::angleDisappears

protectedinherited

Angle used to detect a face disappearance.

Definition at line 153 of file vpMbTracker.h.

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

bool vpMbTracker::applyLodSettingInConfig

protectedinherited

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

Definition at line 181 of file vpMbTracker.h.

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

vpCameraParameters vpMbTracker::cam

protectedinherited

The camera parameters.

Definition at line 117 of file vpMbTracker.h.

unsigned int vpMbTracker::clippingFlag

protectedinherited

Flags specifying which clipping to used.

Definition at line 159 of file vpMbTracker.h.

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

vpHomogeneousMatrix vpMbTracker::cMo

protectedinherited

The current pose.

Definition at line 119 of file vpMbTracker.h.

bool vpMbTracker::computeCovariance

protectedinherited

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

Definition at line 134 of file vpMbTracker.h.

bool vpMbTracker::computeProjError

protectedinherited

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

Definition at line 139 of file vpMbTracker.h.

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

vpMatrix vpMbTracker::covarianceMatrix

protectedinherited

Covariance matrix.

Definition at line 136 of file vpMbTracker.h.

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

bool vpMbTracker::displayFeatures

protectedinherited

If true, the features are displayed.

Definition at line 144 of file vpMbTracker.h.

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

double vpMbTracker::distFarClip

protectedinherited

Distance for near clipping.

Definition at line 157 of file vpMbTracker.h.

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

double vpMbTracker::distNearClip

protectedinherited

Distance for near clipping.

Definition at line 155 of file vpMbTracker.h.

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

vpMbHiddenFaces<vpMbtPolygon> vpMbTracker::faces

protectedinherited

Set of faces describing the object.

Definition at line 149 of file vpMbTracker.h.

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

bool vpMbTracker::isoJoIdentity

protectedinherited

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

Definition at line 123 of file vpMbTracker.h.

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

bool vpMbTracker::m_computeInteraction

protectedinherited

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

Definition at line 191 of file vpMbTracker.h.

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

vpColVector vpMbGenericTracker::m_error

protected

(s - s*)

Definition at line 525 of file vpMbGenericTracker.h.

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

double vpMbTracker::m_initialMu

protectedinherited

Initial Mu for Levenberg Marquardt optimization loop.

Definition at line 199 of file vpMbTracker.h.

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

vpMatrix vpMbGenericTracker::m_L

protected

Interaction matrix.

Definition at line 527 of file vpMbGenericTracker.h.

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

double vpMbTracker::m_lambda

protectedinherited

Gain of the virtual visual servoing stage.

Definition at line 193 of file vpMbTracker.h.

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

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

protected

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

Definition at line 530 of file vpMbGenericTracker.h.

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

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

protected

Ponderation between each feature type in the VVS stage.

Definition at line 532 of file vpMbGenericTracker.h.

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

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

protected

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

Definition at line 535 of file vpMbGenericTracker.h.

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

const vpImage<bool>* vpMbTracker::m_mask

protectedinherited

Mask used to disable tracking on a part of image.

Definition at line 227 of file vpMbTracker.h.

Referenced by vpMbEdgeTracker::initMovingEdge(), vpMbKltTracker::preTracking(), vpMbTracker::projectionErrorInitMovingEdge(), vpMbKltTracker::reinit(), vpMbEdgeTracker::reInitLevel(), vpMbEdgeTracker::reinitMovingEdge(), vpMbDepthDenseTracker::segmentPointCloud(), vpMbDepthNormalTracker::segmentPointCloud(), vpMbKltTracker::setPose(), and vpMbEdgeTracker::trackMovingEdge().

unsigned int vpMbTracker::m_maxIter

protectedinherited

Maximum number of iterations of the virtual visual servoing stage.

Definition at line 195 of file vpMbTracker.h.

vpMbtOptimizationMethod vpMbTracker::m_optimizationMethod

protectedinherited

Optimization method used.

Definition at line 146 of file vpMbTracker.h.

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

double vpMbGenericTracker::m_percentageGdPt

protected

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

Definition at line 538 of file vpMbGenericTracker.h.

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

vpCameraParameters vpMbTracker::m_projectionErrorCam

protectedinherited

Camera parameters used for projection error computation.

Definition at line 225 of file vpMbTracker.h.

Referenced by vpMbTracker::computeProjectionErrorImpl(), and vpMbTracker::projectionErrorVisibleFace().

std::vector<vpMbtDistanceCircle *> vpMbTracker::m_projectionErrorCircles

protectedinherited

Distance circle primitive for projection error.

Definition at line 206 of file vpMbTracker.h.

Referenced by vpMbTracker::addProjectionErrorCircle(), vpMbTracker::computeProjectionErrorImpl(), vpMbTracker::projectionErrorInitMovingEdge(), vpMbTracker::projectionErrorResetMovingEdges(), vpMbTracker::setProjectionErrorMovingEdge(), and vpMbTracker::~vpMbTracker().

std::vector<vpMbtDistanceCylinder *> vpMbTracker::m_projectionErrorCylinders

protectedinherited

Distance cylinder primitives for projection error.

Definition at line 204 of file vpMbTracker.h.

Referenced by vpMbTracker::addProjectionErrorCylinder(), vpMbTracker::computeProjectionErrorImpl(), vpMbTracker::projectionErrorInitMovingEdge(), vpMbTracker::projectionErrorResetMovingEdges(), vpMbTracker::setProjectionErrorMovingEdge(), and vpMbTracker::~vpMbTracker().

bool vpMbTracker::m_projectionErrorDisplay

protectedinherited

Display gradient and model orientation for projection error computation.

Definition at line 219 of file vpMbTracker.h.

Referenced by vpMbEdgeTracker::computeProjectionError(), and vpMbTracker::computeProjectionErrorImpl().

unsigned int vpMbTracker::m_projectionErrorDisplayLength

protectedinherited

Length of the arrows used to show the gradient and model orientation.

Definition at line 221 of file vpMbTracker.h.

Referenced by vpMbEdgeTracker::computeProjectionError(), and vpMbTracker::computeProjectionErrorImpl().

unsigned int vpMbTracker::m_projectionErrorDisplayThickness

protectedinherited

Thickness of the arrows used to show the gradient and model orientation.

Definition at line 223 of file vpMbTracker.h.

Referenced by vpMbEdgeTracker::computeProjectionError(), and vpMbTracker::computeProjectionErrorImpl().

vpMbHiddenFaces<vpMbtPolygon> vpMbTracker::m_projectionErrorFaces

protectedinherited

Set of faces describing the object, used for projection error.

Definition at line 208 of file vpMbTracker.h.

Referenced by vpMbTracker::addProjectionErrorCircle(), vpMbTracker::addProjectionErrorCylinder(), vpMbTracker::addProjectionErrorLine(), vpMbTracker::addProjectionErrorPolygon(), vpMbTracker::computeProjectionErrorImpl(), vpMbTracker::extractFaces(), vpMbTracker::extractLines(), vpMbTracker::loadCAOModel(), vpMbTracker::projectionErrorVisibleFace(), and track().

unsigned int vpMbTracker::m_projectionErrorKernelSize

protectedinherited

Kernel size used to compute the gradient orientation.

Definition at line 213 of file vpMbTracker.h.

Referenced by vpMbTracker::loadConfigFile(), vpMbTracker::setProjectionErrorKernelSize(), and vpMbTracker::vpMbTracker().

std::vector<vpMbtDistanceLine *> vpMbTracker::m_projectionErrorLines

protectedinherited

Distance line primitives for projection error.

Definition at line 202 of file vpMbTracker.h.

Referenced by vpMbTracker::addProjectionErrorLine(), vpMbTracker::computeProjectionErrorImpl(), vpMbTracker::projectionErrorInitMovingEdge(), vpMbTracker::projectionErrorResetMovingEdges(), vpMbTracker::setProjectionErrorMovingEdge(), and vpMbTracker::~vpMbTracker().

vpMe vpMbTracker::m_projectionErrorMe

protectedinherited

Moving-Edges parameters for projection error.

Definition at line 211 of file vpMbTracker.h.

Referenced by vpMbTracker::addProjectionErrorCircle(), vpMbTracker::addProjectionErrorCylinder(), vpMbTracker::addProjectionErrorLine(), vpMbTracker::loadConfigFile(), and vpMbTracker::setProjectionErrorMovingEdge().

bool vpMbTracker::m_projectionErrorOgreShowConfigDialog

protectedinherited

Definition at line 209 of file vpMbTracker.h.

Referenced by vpMbTracker::computeProjectionErrorImpl().

std::string vpMbGenericTracker::m_referenceCameraName

protected

Name of the reference camera.

Definition at line 540 of file vpMbGenericTracker.h.

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

vpMatrix vpMbTracker::m_SobelX

protectedinherited

Sobel kernel in X.

Definition at line 215 of file vpMbTracker.h.

Referenced by vpMbEdgeTracker::computeProjectionError(), vpMbTracker::computeProjectionErrorImpl(), vpMbTracker::setProjectionErrorKernelSize(), and vpMbTracker::vpMbTracker().

vpMatrix vpMbTracker::m_SobelY

protectedinherited

Sobel kernel in Y.

Definition at line 217 of file vpMbTracker.h.

Referenced by vpMbEdgeTracker::computeProjectionError(), vpMbTracker::computeProjectionErrorImpl(), vpMbTracker::setProjectionErrorKernelSize(), and vpMbTracker::vpMbTracker().

double vpMbTracker::m_stopCriteriaEpsilon

protectedinherited

Epsilon threshold to stop the VVS optimization loop.

Definition at line 197 of file vpMbTracker.h.

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

double vpMbGenericTracker::m_thresholdOutlier

protected

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

Definition at line 543 of file vpMbGenericTracker.h.

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

vpColVector vpMbGenericTracker::m_w

protected

Robust weights.

Definition at line 545 of file vpMbGenericTracker.h.

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

vpColVector vpMbGenericTracker::m_weightedError

protected

Weighted error.

Definition at line 547 of file vpMbGenericTracker.h.

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

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 188 of file vpMbTracker.h.

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

double vpMbTracker::minLineLengthThresholdGeneral

protectedinherited

Minimum line length threshold for LOD mode (general setting)

Definition at line 183 of file vpMbTracker.h.

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

double vpMbTracker::minPolygonAreaThresholdGeneral

protectedinherited

Minimum polygon area threshold for LOD mode (general setting)

Definition at line 185 of file vpMbTracker.h.

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

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 126 of file vpMbTracker.h.

Referenced by vpMbTracker::loadModel().

bool vpMbTracker::modelInitialised

protectedinherited

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

Definition at line 129 of file vpMbTracker.h.

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

unsigned int vpMbTracker::nbCircles

protectedinherited

Number of circles in CAO model.

Definition at line 176 of file vpMbTracker.h.

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

unsigned int vpMbTracker::nbCylinders

protectedinherited

Number of cylinders in CAO model.

Definition at line 174 of file vpMbTracker.h.

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

unsigned int vpMbTracker::nbLines

protectedinherited

Number of lines in CAO model.

Definition at line 168 of file vpMbTracker.h.

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

unsigned int vpMbTracker::nbPoints

protectedinherited

Number of points in CAO model.

Definition at line 166 of file vpMbTracker.h.

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

unsigned int vpMbTracker::nbPolygonLines

protectedinherited

Number of polygon lines in CAO model.

Definition at line 170 of file vpMbTracker.h.

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

unsigned int vpMbTracker::nbPolygonPoints

protectedinherited

Number of polygon points in CAO model.

Definition at line 172 of file vpMbTracker.h.

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

bool vpMbTracker::ogreShowConfigDialog

protectedinherited

Definition at line 162 of file vpMbTracker.h.

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

vpMatrix vpMbTracker::oJo

protectedinherited

The Degrees of Freedom to estimate.

Definition at line 121 of file vpMbTracker.h.

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 132 of file vpMbTracker.h.

Referenced by vpMbTracker::initClick().

double vpMbTracker::projectionError

protectedinherited

Error angle between the gradient direction of the model features projected at the resulting pose and their normal.

Definition at line 142 of file vpMbTracker.h.

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

bool vpMbTracker::useLodGeneral

protectedinherited

True if LOD mode is enabled.

Definition at line 178 of file vpMbTracker.h.

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

bool vpMbTracker::useOgre

protectedinherited

Use Ogre3d for visibility tests.

Definition at line 161 of file vpMbTracker.h.

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

bool vpMbTracker::useScanLine

protectedinherited

Use Scanline for visibility tests.

Definition at line 164 of file vpMbTracker.h.

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

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