#include <visp3/mbt/vpMbKltMultiTracker.h>

Inheritance diagram for vpMbKltMultiTracker:

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

Public Member Functions
	vpMbKltMultiTracker ()

	vpMbKltMultiTracker (unsigned int nbCameras)

	vpMbKltMultiTracker (const std::vector< std::string > &cameraNames)

virtual	~vpMbKltMultiTracker ()

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

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

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

virtual std::vector< std::vector< double > >	getModelForDisplay (unsigned int, unsigned int, const vpHomogeneousMatrix &, const vpCameraParameters &, bool=false)

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

virtual void	getCameraParameters (vpCameraParameters &camera) const

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

virtual void	getCameraParameters (const std::string &cameraName, vpCameraParameters &camera) const

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

virtual unsigned int	getClipping (const std::string &cameraName) const

virtual vpMbHiddenFaces< vpMbtPolygon > &	getFaces ()

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

virtual std::map< std::string, vpMbHiddenFaces< vpMbtPolygon > >	getFaces () const

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

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

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

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

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

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

virtual std::map< std::string, std::vector< vpImagePoint > >	getKltImagePoints () const

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

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

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

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

virtual unsigned int	getNbPolygon () const

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

unsigned int	getNumberOfCameras () const

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

virtual void	getPose (const std::string &cameraName, vpHomogeneousMatrix &cMo) const

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

virtual vpColVector	getError () const

virtual vpColVector	getRobustWeights () const

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

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

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

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

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

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

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	initFromPose (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, const vpHomogeneousMatrix &c1Mo, const vpHomogeneousMatrix &c2Mo, bool firstCameraIsReference=true)

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

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, bool firstCameraIsReference=true)

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

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

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

virtual void	reInitModel (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, const std::string &cad_name, const vpHomogeneousMatrix &c1Mo, const vpHomogeneousMatrix &c2Mo, bool verbose=false, bool firstCameraIsReference=true)

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

virtual void	resetTracker ()

virtual void	setAngleAppear (const double &a)

virtual void	setAngleDisappear (const double &a)

virtual void	setCameraParameters (const vpCameraParameters &camera)

virtual void	setCameraParameters (const vpCameraParameters &camera1, const vpCameraParameters &camera2, bool firstCameraIsReference=true)

virtual void	setCameraParameters (const std::string &cameraName, const vpCameraParameters &camera)

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 std::string &cameraName, const unsigned int &flags)

virtual void	setCovarianceComputation (const bool &flag)

virtual void	setDisplayFeatures (bool displayF)

virtual void	setFarClippingDistance (const double &dist)

virtual void	setFarClippingDistance (const std::string &cameraName, const double &dist)

void	setGoodNbRayCastingAttemptsRatio (const double &ratio)

void	setNbRayCastingAttemptsForVisibility (const unsigned int &attempts)

virtual void	setKltMaskBorder (const unsigned int &e)

virtual void	setKltOpencv (const vpKltOpencv &t)

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

virtual void	setKltThresholdAcceptation (double th)

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

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

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

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

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

virtual void	setNearClippingDistance (const double &dist)

virtual void	setNearClippingDistance (const std::string &cameraName, const double &dist)

virtual void	setOgreShowConfigDialog (bool showConfigDialog)

virtual void	setOgreVisibilityTest (const bool &v)

virtual void	setOptimizationMethod (const vpMbtOptimizationMethod &opt)

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

virtual void	setPose (const vpImage< vpRGBa > &I_color, const vpHomogeneousMatrix &cMo)

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

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

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

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

virtual void	setScanLineVisibilityTest (const bool &v)

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

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

virtual void	track (const vpImage< vpRGBa > &I_color)

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)

Deprecated functions
virtual std::map< std::string, int >	getNbKltPoints () const

virtual void	setMaskBorder (const unsigned int &e)

virtual void	setThresholdAcceptation (double th)

Inherited functionalities from vpMbKltTracker
unsigned int	getKltMaskBorder () const

double	getKltThresholdAcceptation () const

virtual void	setProjectionErrorComputation (const bool &flag)

virtual void	testTracking ()

Deprecated functions
unsigned int	getMaskBorder () const

double	getThresholdAcceptation () const

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

virtual double	getAngleAppear () const

virtual double	getAngleDisappear () 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 vpMbtPolygon *	getPolygon (unsigned int index)

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

virtual void	getPose (vpHomogeneousMatrix &cMo) const

virtual vpHomogeneousMatrix	getPose () const

virtual double	getStopCriteriaEpsilon () const

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

virtual void	initClick (const vpImage< vpRGBa > &I_color, 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< vpRGBa > &I_color, 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	initFromPoints (const vpImage< vpRGBa > &I_color, const std::vector< vpImagePoint > &points2D_list, const std::vector< vpPoint > &points3D_list)

virtual void	initFromPose (const vpImage< vpRGBa > &I_color, const std::string &initFile)

virtual void	initFromPose (const vpImage< vpRGBa > &I_color, const vpHomogeneousMatrix &cMo)

virtual void	initFromPose (const vpImage< vpRGBa > &I_color, const vpPoseVector &cPo)

virtual void	setEstimatedDoF (const vpColVector &v)

virtual void	setInitialMu (double mu)

virtual void	setLambda (double gain)

virtual void	setMaxIter (unsigned int max)

void	setProjectionErrorMovingEdge (const vpMe &me)

void	setProjectionErrorKernelSize (const unsigned int &size)

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

virtual void	setStopCriteriaEpsilon (const double eps)

virtual void	setProjectionErrorDisplay (bool display)

virtual void	setProjectionErrorDisplayArrowLength (unsigned int length)

virtual void	setProjectionErrorDisplayArrowThickness (unsigned int thickness)

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

void	setPoseSavingFilename (const std::string &filename)

Protected Member Functions
Protected Member Functions Inherited from vpMbKltMultiTracker
virtual void	computeVVS ()

virtual void	computeVVSInit ()

virtual void	computeVVSInteractionMatrixAndResidu ()

virtual void	computeVVSInteractionMatrixAndResidu (std::map< std::string, vpVelocityTwistMatrix > &mapOfVelocityTwist)

virtual void	computeVVSWeights ()

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

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

virtual void	reinit ()

Protected Member Functions Inherited from vpMbKltTracker
virtual void	setPose (const vpImage< unsigned char > const I, const vpImage< vpRGBa > const I_color, const vpHomogeneousMatrix &cdMo)

virtual std::vector< std::vector< double > >	getFeaturesForDisplayKlt ()

virtual void	initFaceFromCorners (vpMbtPolygon &polygon)

virtual void	initFaceFromLines (vpMbtPolygon &polygon)

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

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

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

bool	postTracking (const vpImage< unsigned char > &I, vpColVector &w)

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

Protected Member Functions Inherited from vpMbTracker
virtual void	initClick (const vpImage< unsigned char > const I, const vpImage< vpRGBa > const I_color, const std::string &initFile, bool displayHelp=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())

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

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

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

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

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

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

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

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

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

void	addProjectionErrorCylinder (const vpPoint &P1, const vpPoint &P2, 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, int idFace=-1, const std::string &polygonName="", bool useLod=false, double minPolygonAreaThreshold=2500.0, const double minLineLengthThreshold=50.0)

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

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

void	addProjectionErrorPolygon (const std::vector< std::vector< vpPoint > > &listFaces, int idFace=-1, const std::string &polygonName="", bool useLod=false, 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 (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_, 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, double radius, int idFace=0, const std::string &name="")

void	initProjectionErrorCylinder (const vpPoint &p1, const vpPoint &p2, double radius, 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, bool verbose=false, bool parent=true, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())

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

void	projectionErrorResetMovingEdges ()

void	projectionErrorVisibleFace (unsigned int width, unsigned int height, const vpHomogeneousMatrix &_cMo)

void	removeComment (std::ifstream &fileId)

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

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

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

std::map< std::string, vpMbKltTracker * >	m_mapOfKltTrackers

std::string	m_referenceCameraName

vpMatrix	m_L_kltMulti

vpColVector	m_error_kltMulti

vpColVector	m_w_kltMulti

vpColVector	m_weightedError_kltMulti

cv::Mat	cur

vpHomogeneousMatrix	c0Mo

bool	firstInitialisation

unsigned int	maskBorder

double	threshold_outlier

double	percentGood

vpHomogeneousMatrix	ctTc0

vpKltOpencv	tracker

std::list< vpMbtDistanceKltPoints * >	kltPolygons

std::list< vpMbtDistanceKltCylinder * >	kltCylinders

std::list< vpMbtDistanceCircle * >	circles_disp

unsigned int	m_nbInfos

unsigned int	m_nbFaceUsed

vpMatrix	m_L_klt

vpColVector	m_error_klt

vpColVector	m_w_klt

vpColVector	m_weightedError_klt

vpRobust	m_robust_klt

std::vector< std::vector< double > >	m_featuresToBeDisplayedKlt

vpCameraParameters	m_cam

vpHomogeneousMatrix	m_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

vpImage< unsigned char >	m_I

Detailed Description

Model based stereo (or more) tracker using only KLT.

Warning: This class is deprecated for user usage. You should rather use the high level vpMbGenericTracker class.; This class is only available if OpenCV is installed, and used.

The Tutorial: Markerless model-based tracking with stereo cameras (deprecated) is a good starting point to use this class.

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

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

Definition at line 75 of file vpMbKltMultiTracker.h.

Member Enumeration Documentation

◆ vpMbtOptimizationMethod

enum vpMbTracker::vpMbtOptimizationMethod

inherited

Enumerator
GAUSS_NEWTON_OPT
LEVENBERG_MARQUARDT_OPT

Definition at line 107 of file vpMbTracker.h.

Constructor & Destructor Documentation

◆ vpMbKltMultiTracker() [1/3]

vpMbKltMultiTracker::vpMbKltMultiTracker ( )

Basic constructor

Definition at line 57 of file vpMbKltMultiTracker.cpp.

References m_mapOfCameraTransformationMatrix, m_mapOfKltTrackers, and vpMbKltTracker::vpMbKltTracker().

◆ vpMbKltMultiTracker() [2/3]

vpMbKltMultiTracker::vpMbKltMultiTracker ( unsigned int nbCameras )

Construct a vpMbKltMultiTracker with the specified number of cameras.

Parameters

nbCameras : Number of cameras to use.

Definition at line 72 of file vpMbKltMultiTracker.cpp.

References vpTrackingException::fatalError, m_mapOfCameraTransformationMatrix, m_mapOfKltTrackers, m_referenceCameraName, and vpMbKltTracker::vpMbKltTracker().

◆ vpMbKltMultiTracker() [3/3]

vpMbKltMultiTracker::vpMbKltMultiTracker ( const std::vector< std::string > & cameraNames )

Construct a vpMbKltMultiTracker with the specified list of camera names.

Parameters

cameraNames : List of camera names.

Definition at line 114 of file vpMbKltMultiTracker.cpp.

References vpTrackingException::fatalError, m_mapOfKltTrackers, m_referenceCameraName, and vpMbKltTracker::vpMbKltTracker().

◆ ~vpMbKltMultiTracker()

vpMbKltMultiTracker::~vpMbKltMultiTracker ( )

virtual

Basic destructor useful to deallocate the memory.

Definition at line 133 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

Member Function Documentation

◆ addCircle()

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

virtual

Add a circle to the list of circles.

Parameters

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

Definition at line 149 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

Referenced by vpMbEdgeTracker::setGoodMovingEdgesRatioThreshold().

◆ addPolygon() [1/4]

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

protectedinherited

◆ addPolygon() [2/4]

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

protectedinherited

◆ addPolygon() [3/4]

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

protectedinherited

Definition at line 1369 of file vpMbTracker.cpp.

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

◆ addPolygon() [4/4]

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

protectedinherited

◆ addProjectionErrorCircle()

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

protectedinherited

◆ addProjectionErrorCylinder()

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

protectedinherited

Definition at line 3409 of file vpMbTracker.cpp.

Referenced by vpMbTracker::initProjectionErrorCylinder().

◆ addProjectionErrorLine()

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

protectedinherited

Definition at line 3337 of file vpMbTracker.cpp.

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

◆ addProjectionErrorPolygon() [1/4]

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

protectedinherited

◆ addProjectionErrorPolygon() [2/4]

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

protectedinherited

◆ addProjectionErrorPolygon() [3/4]

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

protectedinherited

Definition at line 3273 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().

◆ addProjectionErrorPolygon() [4/4]

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

protectedinherited

◆ computeCovarianceMatrixVVS()

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

protectedvirtualinherited

Definition at line 2823 of file vpMbTracker.cpp.

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

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

◆ computeCurrentProjectionError()

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

virtualinherited

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 in vpMbGenericTracker.

Examples:: mbtGenericTrackingDepthOnly.cpp.

Definition at line 3487 of file vpMbTracker.cpp.

References vpMbTracker::computeProjectionErrorImpl(), vpMath::deg(), vpException::fatalError, and vpMbTracker::modelInitialised.

◆ computeJTR()

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

protectedinherited

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

Exceptions

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

Warning: The JTR vector is resized.

Parameters

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

Definition at line 2854 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().

◆ computeProjectionErrorImpl()

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

protectedinherited

Definition at line 3504 of file vpMbTracker.cpp.

Referenced by vpMbTracker::computeCurrentProjectionError().

◆ computeVVS()

void vpMbKltMultiTracker::computeVVS ( )

protectedvirtual

Definition at line 158 of file vpMbKltMultiTracker.cpp.

References vpVelocityTwistMatrix::buildFrom(), vpMbKltTracker::c0Mo, vpMbTracker::computeCovariance, vpMbTracker::computeCovarianceMatrixVVS(), vpMbTracker::computeVVSCheckLevenbergMarquardt(), computeVVSInit(), vpMbKltTracker::computeVVSInit(), computeVVSInteractionMatrixAndResidu(), vpMbTracker::computeVVSPoseEstimation(), computeVVSWeights(), vpMbKltTracker::ctTc0, vpExponentialMap::direct(), vpArray2D< Type >::getRows(), vpHomogeneousMatrix::inverse(), vpMbTracker::isoJoIdentity, vpMbTracker::m_cMo, vpMbTracker::m_computeInteraction, m_error_kltMulti, vpMbTracker::m_initialMu, m_L_kltMulti, m_mapOfCameraTransformationMatrix, m_mapOfKltTrackers, vpMbTracker::m_maxIter, m_w_kltMulti, m_weightedError_kltMulti, and vpMbTracker::oJo.

Referenced by vpMbEdgeKltMultiTracker::setFactorMBT(), vpMbEdgeTracker::setGoodMovingEdgesRatioThreshold(), vpMbKltTracker::setThresholdAcceptation(), track(), and vpMbEdgeKltMultiTracker::track().

◆ computeVVSCheckLevenbergMarquardt()

void vpMbTracker::computeVVSCheckLevenbergMarquardt	(	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 2903 of file vpMbTracker.cpp.

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

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

◆ computeVVSInit()

void vpMbKltMultiTracker::computeVVSInit ( )

protectedvirtual

Reimplemented from vpMbKltTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 242 of file vpMbKltMultiTracker.cpp.

References m_error_kltMulti, m_L_kltMulti, vpMbKltTracker::m_nbInfos, m_w_kltMulti, m_weightedError_kltMulti, vpArray2D< Type >::resize(), and vpColVector::resize().

Referenced by computeVVS().

◆ computeVVSInteractionMatrixAndResidu() [1/2]

void vpMbKltMultiTracker::computeVVSInteractionMatrixAndResidu ( )

protectedvirtual

Reimplemented from vpMbKltTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 252 of file vpMbKltMultiTracker.cpp.

References vpException::fatalError.

Referenced by computeVVS(), and vpMbEdgeKltMultiTracker::setFactorMBT().

◆ computeVVSInteractionMatrixAndResidu() [2/2]

void vpMbKltMultiTracker::computeVVSInteractionMatrixAndResidu ( std::map< std::string, vpVelocityTwistMatrix > & mapOfVelocityTwist )

protectedvirtual

Definition at line 259 of file vpMbKltMultiTracker.cpp.

References vpMbKltTracker::computeVVSInteractionMatrixAndResidu(), vpMbKltTracker::ctTc0, vpArray2D< Type >::getRows(), vpColVector::insert(), vpMatrix::insert(), vpHomogeneousMatrix::inverse(), vpMbTracker::m_cMo, vpMbKltTracker::m_error_klt, m_error_kltMulti, vpMbKltTracker::m_L_klt, m_L_kltMulti, m_mapOfCameraTransformationMatrix, and m_mapOfKltTrackers.

◆ computeVVSPoseEstimation()

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

protectedvirtualinherited

◆ computeVVSWeights() [1/2]

void vpMbKltMultiTracker::computeVVSWeights ( )

protectedvirtual

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 288 of file vpMbKltMultiTracker.cpp.

References vpMbTracker::computeVVSWeights(), vpArray2D< Type >::getRows(), vpColVector::insert(), vpMbKltTracker::m_error_klt, m_mapOfKltTrackers, vpMbKltTracker::m_robust_klt, vpMbKltTracker::m_w_klt, and m_w_kltMulti.

Referenced by computeVVS().

◆ computeVVSWeights() [2/2]

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

protectedvirtualinherited

Definition at line 2988 of file vpMbTracker.cpp.

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

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

◆ createCylinderBBox()

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

protectedinherited

Definition at line 3044 of file vpMbTracker.cpp.

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

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

◆ display() [1/6]

void vpMbKltMultiTracker::display	(	const vpImage< unsigned char > &	I,
		const vpHomogeneousMatrix &	cMo,
		const vpCameraParameters &	cam,
		const vpColor &	col,
		unsigned int	thickness = `1`,
		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).

Reimplemented from vpMbKltTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Examples:: mbtKltMultiTracking.cpp.

Definition at line 312 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers, and m_referenceCameraName.

◆ display() [2/6]

void vpMbKltMultiTracker::display	(	const vpImage< vpRGBa > &	I,
		const vpHomogeneousMatrix &	cMo,
		const vpCameraParameters &	cam,
		const vpColor &	color,
		unsigned int	thickness = `1`,
		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.
color	: The desired color.
thickness	: The thickness of the lines.
displayFullModel	: If true, the full model is displayed (even the non visible faces).

Reimplemented from vpMbKltTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 335 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers, and m_referenceCameraName.

◆ display() [3/6]

void vpMbKltMultiTracker::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,
		unsigned int	thickness = `1`,
		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).

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 361 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

◆ display() [4/6]

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 392 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

◆ display() [5/6]

void vpMbKltMultiTracker::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,
		unsigned int	thickness = `1`,
		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).

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 420 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

◆ display() [6/6]

void vpMbKltMultiTracker::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,
		unsigned int	thickness = `1`,
		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).

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 453 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

◆ extractCylinders()

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

protectedvirtualinherited

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

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

Parameters

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

Definition at line 2438 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().

◆ extractFaces()

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

protectedvirtualinherited

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

Parameters

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

Definition at line 2385 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().

◆ 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 2296 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::loadVRMLModel().

◆ extractLines()

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

protectedvirtualinherited

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

Parameters

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

Definition at line 2523 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().

◆ getAngleAppear()

virtual double vpMbTracker::getAngleAppear ( ) const

inlinevirtualinherited

Return the angle used to test polygons appearance.

Definition at line 234 of file vpMbTracker.h.

◆ getAngleDisappear()

virtual double vpMbTracker::getAngleDisappear ( ) const

inlinevirtualinherited

Return the angle used to test polygons disappearance.

Definition at line 237 of file vpMbTracker.h.

◆ getCameraNames()

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

virtual

Get the camera names

Returns: The vector of camera names.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 480 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

◆ getCameraParameters() [1/4]

void vpMbKltMultiTracker::getCameraParameters ( vpCameraParameters & camera ) const

virtual

Get the camera parameters for the reference camera.

Parameters

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

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Examples:: mbtKltMultiTracking.cpp.

Definition at line 497 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers, and m_referenceCameraName.

◆ getCameraParameters() [2/4]

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

virtual

Get the camera parameters for the stereo cameras case.

Parameters

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 514 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

◆ getCameraParameters() [3/4]

void vpMbKltMultiTracker::getCameraParameters	(	const std::string &	cameraName,
		vpCameraParameters &	camera
	)		const

virtual

Get the camera parameters specified by its name.

Parameters

cameraName	: Name of the camera.
camera	: Copy of the camera parameters.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 534 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

◆ getCameraParameters() [4/4]

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

virtual

Get all the camera parameters.

Parameters

mapOfCameraParameters : Map of camera parameters.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 549 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

◆ getClipping() [1/2]

unsigned int vpMbKltMultiTracker::getClipping ( const std::string & cameraName ) const

virtual

Get the clipping used and defined in vpPolygon3D::vpMbtPolygonClippingType for the given camera name.

Parameters

cameraName : Name of the desired camera.

Returns: Clipping flags.

Reimplemented in vpMbEdgeKltMultiTracker.

Examples:: mbtKltMultiTracking.cpp.

Definition at line 569 of file vpMbKltMultiTracker.cpp.

References vpMbTracker::getClipping(), and m_mapOfKltTrackers.

◆ getClipping() [2/2]

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 252 of file vpMbTracker.h.

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

◆ getCovarianceMatrix()

virtual vpMatrix vpMbTracker::getCovarianceMatrix ( ) const

inlinevirtualinherited

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

See also: setCovarianceComputation()

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

Definition at line 261 of file vpMbTracker.h.

◆ getError()

virtual vpColVector vpMbKltMultiTracker::getError ( ) const

inlinevirtual

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

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

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

See also: getRobustWeights()

Reimplemented from vpMbKltTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 194 of file vpMbKltMultiTracker.h.

◆ getEstimatedDoF()

vpColVector vpMbTracker::getEstimatedDoF ( ) const

virtualinherited

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

Returns: 1x6 vpColVector representing the estimated degrees of freedom.

Definition at line 3005 of file vpMbTracker.cpp.

References vpMbTracker::oJo.

◆ getFaces() [1/3]

vpMbHiddenFaces< vpMbtPolygon > & vpMbKltMultiTracker::getFaces ( )

virtual

Return a reference to the faces structure.

Returns: Reference to the face structure.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 586 of file vpMbKltMultiTracker.cpp.

References vpMbTracker::faces, m_mapOfKltTrackers, and m_referenceCameraName.

Referenced by vpMbEdgeKltMultiTracker::getKltFaces().

◆ getFaces() [2/3]

vpMbHiddenFaces< vpMbtPolygon > & vpMbKltMultiTracker::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 602 of file vpMbKltMultiTracker.cpp.

References vpMbTracker::faces, and m_mapOfKltTrackers.

◆ getFaces() [3/3]

std::map< std::string, vpMbHiddenFaces< vpMbtPolygon > > vpMbKltMultiTracker::getFaces ( ) const

virtual

Return a map of faces structure for each camera.

Returns: Reference a map of the face structure for each camera.

Definition at line 618 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

◆ getFarClippingDistance()

virtual double vpMbTracker::getFarClippingDistance ( ) const

inlinevirtualinherited

Get the far distance for clipping.

Returns: Far clipping value.

Definition at line 335 of file vpMbTracker.h.

◆ getFeaturesCircle() [1/2]

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

virtual

Return the address of the circle feature list.

Returns: The address of the circle feature list.

Reimplemented from vpMbKltTracker.

Definition at line 634 of file vpMbKltMultiTracker.cpp.

References vpMbKltTracker::circles_disp, m_mapOfKltTrackers, and m_referenceCameraName.

◆ getFeaturesCircle() [2/2]

std::list< vpMbtDistanceCircle * > & vpMbKltMultiTracker::getFeaturesCircle ( const std::string & cameraName )

virtual

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

Parameters

cameraName : Camera name.

Returns: The address of the circle feature list.

Definition at line 653 of file vpMbKltMultiTracker.cpp.

References vpMbKltTracker::circles_disp, and m_mapOfKltTrackers.

◆ getFeaturesForDisplayKlt()

std::vector< std::vector< double > > vpMbKltTracker::getFeaturesForDisplayKlt ( )

protectedvirtualinherited

Definition at line 1181 of file vpMbKltTracker.cpp.

References vpMbtDistanceKltPoints::getFeaturesForDisplay(), vpMbtDistanceKltCylinder::getFeaturesForDisplay(), vpMbtDistanceKltCylinder::hasEnoughPoints(), vpMbtDistanceKltPoints::hasEnoughPoints(), vpMbtDistanceKltCylinder::isTracked(), vpMbtDistanceKltPoints::isTracked(), vpMbtPolygon::isVisible(), vpMbKltTracker::kltCylinders, vpMbKltTracker::kltPolygons, and vpMbtDistanceKltPoints::polygon.

Referenced by postTracking(), vpMbKltTracker::setThresholdAcceptation(), vpMbEdgeKltTracker::track(), and vpMbKltTracker::track().

◆ getFeaturesKlt() [1/2]

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

virtual

Return the address of the Klt feature list.

Returns: The address of the Klt feature list.

Reimplemented from vpMbKltTracker.

Definition at line 672 of file vpMbKltMultiTracker.cpp.

References vpMbKltTracker::kltPolygons, m_mapOfKltTrackers, and m_referenceCameraName.

◆ getFeaturesKlt() [2/2]

std::list< vpMbtDistanceKltPoints * > & vpMbKltMultiTracker::getFeaturesKlt ( const std::string & cameraName )

virtual

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

Parameters

cameraName : Camera name.

Returns: The address of the Klt feature list.

Definition at line 692 of file vpMbKltMultiTracker.cpp.

References vpMbKltTracker::kltPolygons, and m_mapOfKltTrackers.

◆ getFeaturesKltCylinder() [1/2]

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

virtual

Return the address of the cylinder feature list.

Returns: The address of the cylinder feature list.

Reimplemented from vpMbKltTracker.

Definition at line 710 of file vpMbKltMultiTracker.cpp.

References vpMbKltTracker::kltCylinders, m_mapOfKltTrackers, and m_referenceCameraName.

◆ getFeaturesKltCylinder() [2/2]

std::list< vpMbtDistanceKltCylinder * > & vpMbKltMultiTracker::getFeaturesKltCylinder ( const std::string & cameraName )

virtual

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

Parameters

cameraName : Camera name.

Returns: The address of the cylinder feature list.

Definition at line 729 of file vpMbKltMultiTracker.cpp.

References vpMbKltTracker::kltCylinders, and m_mapOfKltTrackers.

◆ getGravityCenter()

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

protectedinherited

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

Exceptions

vpException::dimensionError if the set is empty.

Parameters

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

Returns: Center of gravity of the set.

Definition at line 2568 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::extractCylinders().

◆ getInitialMu()

virtual double vpMbTracker::getInitialMu ( ) const

inlinevirtualinherited

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

Returns: the initial mu value.

Definition at line 280 of file vpMbTracker.h.

◆ getKltImagePoints()

std::map< std::string, std::vector< vpImagePoint > > vpMbKltMultiTracker::getKltImagePoints ( ) const

virtual

Get the current list of KLT points for each camera.

Warning: Contrary to getKltPoints which returns a pointer on CvPoint2D32f. This function convert and copy the openCV KLT points into vpImagePoints.

Returns: the list of KLT points through vpKltOpencv for each camera.

Definition at line 750 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

Referenced by vpMbKltTracker::getKltPoints().

◆ getKltImagePointsWithId()

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

virtual

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

Warning: Contrary to getKltPoints which returns a pointer on CvPoint2D32f. This function convert and copy the openCV KLT points into vpImagePoints.

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

Definition at line 771 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

Referenced by vpMbKltTracker::getKltPoints().

◆ getKltMaskBorder()

unsigned int vpMbKltTracker::getKltMaskBorder ( ) const

inlineinherited

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

Returns: The erosion.

Definition at line 316 of file vpMbKltTracker.h.

References vpMbKltTracker::maskBorder.

◆ getKltNbPoints()

std::map< std::string, int > vpMbKltMultiTracker::getKltNbPoints ( ) const

virtual

Get the current number of klt points for each camera.

Returns: The number of features

Definition at line 836 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

Referenced by getNbKltPoints().

◆ getKltOpencv()

std::map< std::string, vpKltOpencv > vpMbKltMultiTracker::getKltOpencv ( ) const

virtual

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

Returns: klt tracker.

Definition at line 788 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

◆ getKltPoints()

std::map< std::string, std::vector< cv::Point2f > > vpMbKltMultiTracker::getKltPoints ( ) const

virtual

Get the current list of KLT points.

Returns: The list of KLT points through vpKltOpencv.

Definition at line 806 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

Referenced by vpMbKltTracker::getKltPoints().

◆ getKltThresholdAcceptation()

double vpMbKltTracker::getKltThresholdAcceptation ( ) const

inlineinherited

Get the threshold for the acceptation of a point.

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

Definition at line 331 of file vpMbKltTracker.h.

References vpMbKltTracker::threshold_outlier.

◆ getLambda()

virtual double vpMbTracker::getLambda ( ) const

inlinevirtualinherited

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

Returns: the value for the gain.

Definition at line 287 of file vpMbTracker.h.

◆ getMaskBorder()

unsigned int vpMbKltTracker::getMaskBorder ( ) const

inlineinherited

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

Deprecated:: Use rather getkltMaskBorder()

Returns: The erosion.

Definition at line 435 of file vpMbKltTracker.h.

References vpMbKltTracker::maskBorder.

◆ getMaxIter()

virtual unsigned int vpMbTracker::getMaxIter ( ) const

inlinevirtualinherited

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

Returns: the number of iteration

Definition at line 294 of file vpMbTracker.h.

◆ getModelForDisplay()

virtual std::vector<std::vector<double> > vpMbKltMultiTracker::getModelForDisplay	(	unsigned int	width,
		unsigned int	height,
		const vpHomogeneousMatrix &	cMo,
		const vpCameraParameters &	cam,
		bool	displayFullModel = `false`
	)

inlinevirtual

Return a list of primitives parameters to display the model at a given pose and camera parameters.

Line parameters are: <primitive id (here 0 for line)>, <pt_start.i()>, <pt_start.j()>, <pt_end.i()>, <pt_end.j()>
Ellipse parameters are: <primitive id (here 1 for ellipse)>, <pt_center.i()>, <pt_center.j()>, <mu20>, <mu11>, <mu02>

Parameters

width	: Image width.
height	: Image height.
cMo	: Pose used to project the 3D model into the image.
cam	: The camera parameters.
displayFullModel	: If true, the line is displayed even if it is not

Reimplemented from vpMbKltTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 133 of file vpMbKltMultiTracker.h.

References vpMbTracker::getCameraParameters(), vpMbTracker::getClipping(), vpMbTracker::getFaces(), vpMbKltTracker::getFeaturesCircle(), vpMbKltTracker::getFeaturesKlt(), vpMbKltTracker::getFeaturesKltCylinder(), vpMbKltTracker::getKltImagePoints(), vpMbKltTracker::getKltImagePointsWithId(), vpMbKltTracker::getKltNbPoints(), vpMbKltTracker::getKltOpencv(), vpMbKltTracker::getKltPoints(), and vpMbTracker::getNbPolygon().

◆ getMultiNbPolygon()

std::map< std::string, unsigned int > vpMbKltMultiTracker::getMultiNbPolygon ( ) const

virtual

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

Returns: Number of polygons for the specified camera.

Definition at line 870 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

Referenced by vpMbEdgeKltMultiTracker::getKltMultiNbPolygon().

◆ getNbKltPoints()

std::map< std::string, int > vpMbKltMultiTracker::getNbKltPoints ( ) const

virtual

Get the current number of klt points for each camera.

Deprecated:: Use rather getKltNbPoints()

Returns: The number of features

Definition at line 2847 of file vpMbKltMultiTracker.cpp.

References getKltNbPoints().

◆ getNbPolygon()

unsigned int vpMbKltMultiTracker::getNbPolygon ( ) const

virtual

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

Returns: Number of polygons.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 853 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers, and m_referenceCameraName.

◆ getNearClippingDistance()

virtual double vpMbTracker::getNearClippingDistance ( ) const

inlinevirtualinherited

Get the near distance for clipping.

Returns: Near clipping value.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 371 of file vpMbTracker.h.

Referenced by vpMbEdgeKltTracker::getNearClippingDistance().

◆ getNumberOfCameras()

unsigned int vpMbKltMultiTracker::getNumberOfCameras ( ) const

inline

Get the number of cameras.

Returns: The number of cameras.

Definition at line 187 of file vpMbKltMultiTracker.h.

References vpMbTracker::getPose().

◆ getOptimizationMethod()

virtual vpMbtOptimizationMethod vpMbTracker::getOptimizationMethod ( ) const

inlinevirtualinherited

Get the optimization method used during the tracking. 0 = Gauss-Newton approach. 1 = Levenberg-Marquardt approach.

Returns: Optimization method.

Definition at line 380 of file vpMbTracker.h.

◆ getPolygon()

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

inlinevirtualinherited

Return the polygon (face) "index".

Exceptions

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

Parameters

index : Index of the polygon to return.

Returns: Pointer to the polygon index.

Reimplemented in vpMbGenericTracker.

Definition at line 391 of file vpMbTracker.h.

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

Referenced by vpMbGenericTracker::getError().

◆ getPolygonFaces()

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

virtualinherited

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

Parameters

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

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

Reimplemented in vpMbGenericTracker.

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

Definition at line 2602 of file vpMbTracker.cpp.

References vpMbTracker::faces, vpMbHiddenFaces< PolygonType >::getPolygon(), vpMbTracker::m_cam, and vpMbTracker::m_cMo.

Referenced by vpMbGenericTracker::getError().

◆ getPose() [1/5]

void vpMbKltMultiTracker::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.

Reimplemented in vpMbEdgeKltMultiTracker.

Examples:: mbtKltMultiTracking.cpp.

Definition at line 887 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

◆ getPose() [2/5]

void vpMbKltMultiTracker::getPose	(	const std::string &	cameraName,
		vpHomogeneousMatrix &	cMo_
	)		const

virtual

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

cameraName	: The name of the camera.
cMo_	: The camera pose for the specified camera.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 908 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

◆ getPose() [3/5]

void vpMbKltMultiTracker::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.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 923 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

◆ getPose() [4/5]

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

Reimplemented in vpMbGenericTracker.

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 410 of file vpMbTracker.h.

◆ getPose() [5/5]

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 419 of file vpMbTracker.h.

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

◆ getProjectionError()

virtual double vpMbTracker::getProjectionError ( ) const

inlinevirtualinherited

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

Returns: the value for the error.

See also: setProjectionErrorComputation()

Examples:: mbtEdgeKltMultiTracking.cpp, mbtEdgeKltTracking.cpp, mbtEdgeMultiTracking.cpp, mbtEdgeTracking.cpp, mbtGenericTracking.cpp, mbtGenericTracking2.cpp, mbtGenericTrackingDepth.cpp, mbtGenericTrackingDepthOnly.cpp, tutorial-mb-generic-tracker-live.cpp, and tutorial-mb-generic-tracker-rgbd-realsense.cpp.

Definition at line 306 of file vpMbTracker.h.

◆ getRobustWeights()

virtual vpColVector vpMbKltMultiTracker::getRobustWeights ( ) const

inlinevirtual

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

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

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

See also: getError()

Reimplemented from vpMbKltTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 196 of file vpMbKltMultiTracker.h.

◆ getStopCriteriaEpsilon()

virtual double vpMbTracker::getStopCriteriaEpsilon ( ) const

inlinevirtualinherited

Definition at line 421 of file vpMbTracker.h.

◆ getThresholdAcceptation()

double vpMbKltTracker::getThresholdAcceptation ( ) const

inlineinherited

Get the threshold for the acceptation of a point.

Deprecated:: Use rather getKltThresholdAcceptation()

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

Definition at line 451 of file vpMbKltTracker.h.

References vpMbKltTracker::threshold_outlier.

◆ init()

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

virtual

Initialise the tracking.

Parameters

I	: Input image.

Reimplemented from vpMbKltTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 936 of file vpMbKltMultiTracker.cpp.

◆ initCircle()

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

protectedvirtualinherited

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

Parameters

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

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker, and vpMbEdgeKltMultiTracker.

Definition at line 1341 of file vpMbKltTracker.cpp.

References vpMbKltTracker::addCircle().

Referenced by vpMbGenericTracker::track().

◆ initClick() [1/9]

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

virtual

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

Parameters

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

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Examples:: mbtKltMultiTracking.cpp.

Definition at line 949 of file vpMbKltMultiTracker.cpp.

References vpMbKltTracker::c0Mo, vpMbKltTracker::ctTc0, vpHomogeneousMatrix::eye(), vpTrackingException::initializationError, vpMbTracker::m_cMo, m_mapOfKltTrackers, and m_referenceCameraName.

Referenced by vpMbEdgeKltMultiTracker::initClick().

◆ initClick() [2/9]

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

virtual

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

The structure of this file is the following:

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

Parameters

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1005 of file vpMbKltMultiTracker.cpp.

References vpMbKltTracker::c0Mo, vpMbKltTracker::ctTc0, vpHomogeneousMatrix::eye(), vpTrackingException::initializationError, vpMbTracker::m_cMo, m_mapOfKltTrackers, and m_referenceCameraName.

◆ initClick() [3/9]

void vpMbKltMultiTracker::initClick	(	const vpImage< unsigned char > &	I1,
		const vpImage< unsigned char > &	I2,
		const std::string &	initFile1,
		const std::string &	initFile2,
		bool	displayHelp = `false`,
		bool	firstCameraIsReference = `true`
	)

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.
firstCameraIsReference	: If true, the first camera is the reference, otherwise it is the second one.

Exceptions

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1067 of file vpMbKltMultiTracker.cpp.

References vpMbKltTracker::c0Mo, vpMbKltTracker::ctTc0, vpHomogeneousMatrix::eye(), vpTrackingException::initializationError, vpMbTracker::m_cam, vpMbTracker::m_cMo, and m_mapOfKltTrackers.

◆ initClick() [4/9]

void vpMbKltMultiTracker::initClick	(	const std::map< std::string, const vpImage< unsigned char > *> &	mapOfImages,
		const std::string &	initFile,
		bool	displayHelp = `false`
	)

virtual

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

The structure of this file is the following:

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

Parameters

mapOfImages	: Map of images.
initFile	: File containing the points where to click for the reference camera.
displayHelp	: Optionnal display of an image that should have the same generic name as the init file (ie teabox.ppm). This image may be used to show where to click. This functionality is only available if visp_io module is used.

Exceptions

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1138 of file vpMbKltMultiTracker.cpp.

References vpMbKltTracker::c0Mo, vpMbKltTracker::ctTc0, vpHomogeneousMatrix::eye(), vpHomogeneousMatrix::init(), vpTrackingException::initializationError, vpMbTracker::m_cMo, m_mapOfCameraTransformationMatrix, m_mapOfKltTrackers, and m_referenceCameraName.

◆ initClick() [5/9]

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

virtual

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

The structure of this file is the following:

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

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

Parameters

mapOfImages	: Map of images.
mapOfInitFiles	: map of files containing the points where to click for each camera.
displayHelp	: Optional display of an image (ie teabox.ppm). This image may be used to show where to click.

Exceptions

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1215 of file vpMbKltMultiTracker.cpp.

References vpMbKltTracker::c0Mo, vpMbKltTracker::ctTc0, vpHomogeneousMatrix::eye(), vpTrackingException::initializationError, vpMbTracker::m_cMo, m_mapOfCameraTransformationMatrix, m_mapOfKltTrackers, and m_referenceCameraName.

◆ initClick() [6/9]

void vpMbTracker::initClick	(	const vpImage< vpRGBa > &	I_color,
		const std::string &	initFile,
		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_color	: Input color 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.

Definition at line 585 of file vpMbTracker.cpp.

References vpMbTracker::initClick().

◆ initClick() [7/9]

void vpMbTracker::initClick	(	const vpImage< vpRGBa > &	I_color,
		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_color	: Input color 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.

Definition at line 789 of file vpMbTracker.cpp.

References vpMbTracker::initClick().

◆ initClick() [8/9]

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

protectedvirtualinherited

Definition at line 191 of file vpMbTracker.cpp.

References vpPose::addPoint(), vpException::badValue, vpHomogeneousMatrix::buildFrom(), vpMouseButton::button1, vpIoTools::checkFilename(), vpPose::clearPoint(), vpPose::computePose(), vpPose::computeResidual(), vpImageConvert::convert(), 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::m_cam, vpMbTracker::m_cMo, vpMbTracker::m_I, vpMbTracker::poseSavingFilename, vpImageIo::read(), vpColor::red, vpMbTracker::removeComment(), vpMbTracker::savePose(), and vpPose::VIRTUAL_VS.

◆ initClick() [9/9]

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

protectedvirtualinherited

◆ initCylinder()

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

protectedvirtualinherited

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

Parameters

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

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker, and vpMbEdgeKltMultiTracker.

Definition at line 1311 of file vpMbKltTracker.cpp.

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

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

◆ initFaceFromCorners()

void vpMbKltTracker::initFaceFromCorners ( vpMbtPolygon & polygon )

protectedvirtualinherited

Initialise a new face from the coordinates given in parameter.

Parameters

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

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker, and vpMbEdgeKltMultiTracker.

Definition at line 648 of file vpMbKltTracker.cpp.

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

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

◆ initFaceFromLines()

void vpMbKltTracker::initFaceFromLines ( vpMbtPolygon & polygon )

protectedvirtualinherited

Initialise a new face from the coordinates given in parameter.

Parameters

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

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker, and vpMbEdgeKltMultiTracker.

Definition at line 663 of file vpMbKltTracker.cpp.

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

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

◆ initFromPoints() [1/6]

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 grayscale image
initFile	: Path to the file containing all the points.

Definition at line 967 of file vpMbTracker.cpp.

Referenced by vpMbGenericTracker::getRobustWeights(), and vpMbTracker::initFromPoints().

◆ initFromPoints() [2/6]

void vpMbTracker::initFromPoints	(	const vpImage< vpRGBa > &	I_color,
		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_color	: Input color image
initFile	: Path to the file containing all the points.

Definition at line 996 of file vpMbTracker.cpp.

References vpMbTracker::initFromPoints().

◆ initFromPoints() [3/6]

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 grayscale image
points2D_list	: List of image points.
points3D_list	: List of 3D points (object frame).

Definition at line 1062 of file vpMbTracker.cpp.

References vpMbTracker::initFromPoints().

◆ initFromPoints() [4/6]

void vpMbTracker::initFromPoints	(	const vpImage< vpRGBa > &	I_color,
		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_color	: Input color grayscale image
points2D_list	: List of image points.
points3D_list	: List of 3D points (object frame).

Definition at line 1076 of file vpMbTracker.cpp.

References vpMbTracker::initFromPoints().

◆ initFromPoints() [5/6]

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

protectedvirtualinherited

Definition at line 796 of file vpMbTracker.cpp.

References vpPose::addPoint(), vpException::badValue, vpPose::computePose(), vpPose::computeResidual(), vpImageConvert::convert(), vpPixelMeterConversion::convertPoint(), vpPose::DEMENTHON, vpMbTracker::init(), vpException::ioError, vpPose::LAGRANGE, vpMbTracker::m_cam, vpMbTracker::m_cMo, vpMbTracker::m_I, vpPoint::set_x(), vpPoint::set_y(), vpPoint::setWorldCoordinates(), and vpPose::VIRTUAL_VS.

◆ initFromPoints() [6/6]

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

protectedvirtualinherited

Definition at line 1001 of file vpMbTracker.cpp.

References vpPose::addPoint(), vpPose::computePose(), vpPose::computeResidual(), vpImageConvert::convert(), vpPixelMeterConversion::convertPoint(), vpPose::DEMENTHON, vpMbTracker::init(), vpPose::LAGRANGE, vpMbTracker::m_cam, vpMbTracker::m_cMo, vpMbTracker::m_I, vpPose::VIRTUAL_VS, and vpERROR_TRACE.

◆ initFromPose() [1/10]

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

virtual

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

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

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

Parameters

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

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Examples:: mbtKltMultiTracking.cpp.

Definition at line 1291 of file vpMbKltMultiTracker.cpp.

References vpHomogeneousMatrix::buildFrom(), vpMbKltTracker::c0Mo, vpMbKltTracker::ctTc0, vpHomogeneousMatrix::eye(), vpTrackingException::fatalError, vpTrackingException::initializationError, vpException::ioError, vpMbTracker::m_cMo, m_mapOfKltTrackers, and m_referenceCameraName.

Referenced by vpMbEdgeKltMultiTracker::initFromPose(), and initFromPose().

◆ initFromPose() [2/10]

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

virtual

Initialise the tracking thanks to the pose.

Parameters

I	: Input image
cMo	: Pose matrix.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1340 of file vpMbKltMultiTracker.cpp.

References vpMbKltTracker::c0Mo, vpMbKltTracker::ctTc0, vpHomogeneousMatrix::eye(), vpTrackingException::initializationError, vpMbTracker::m_cMo, m_mapOfKltTrackers, and m_referenceCameraName.

◆ initFromPose() [3/10]

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

virtual

Initialise the tracking thanks to the pose vector.

Parameters

I	: Input image
cPo	: Pose vector.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1361 of file vpMbKltMultiTracker.cpp.

References initFromPose().

◆ initFromPose() [4/10]

void vpMbKltMultiTracker::initFromPose	(	const vpImage< unsigned char > &	I1,
		const vpImage< unsigned char > &	I2,
		const vpHomogeneousMatrix &	c1Mo,
		const vpHomogeneousMatrix &	c2Mo,
		bool	firstCameraIsReference = `true`
	)

virtual

Initialize the tracking thanks to the pose for stereo cameras configuration.

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.
firstCameraIsReference	: If true, the first camera is the reference camera, otherwise it is the second one.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1377 of file vpMbKltMultiTracker.cpp.

References vpMbKltTracker::c0Mo, vpMbKltTracker::ctTc0, vpHomogeneousMatrix::eye(), vpTrackingException::initializationError, vpMbTracker::m_cMo, and m_mapOfKltTrackers.

◆ initFromPose() [5/10]

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

virtual

Initialize the tracking thanks to the pose. The camera transformation matrices have to be set before.

Parameters

mapOfImages	: Map of images.
cMo	: Pose matrix for the reference camera.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1411 of file vpMbKltMultiTracker.cpp.

References vpMbKltTracker::c0Mo, vpMbKltTracker::ctTc0, vpHomogeneousMatrix::eye(), vpTrackingException::initializationError, vpMbTracker::m_cMo, m_mapOfCameraTransformationMatrix, m_mapOfKltTrackers, and m_referenceCameraName.

◆ initFromPose() [6/10]

void vpMbKltMultiTracker::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.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1457 of file vpMbKltMultiTracker.cpp.

References vpMbKltTracker::c0Mo, vpMbKltTracker::ctTc0, vpHomogeneousMatrix::eye(), vpTrackingException::initializationError, vpMbTracker::m_cMo, m_mapOfCameraTransformationMatrix, m_mapOfKltTrackers, and m_referenceCameraName.

◆ initFromPose() [7/10]

void vpMbTracker::initFromPose	(	const vpImage< vpRGBa > &	I_color,
		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_color	: Input color image
initFile	: Path to the file containing the pose.

Definition at line 1158 of file vpMbTracker.cpp.

References vpMbTracker::initFromPose().

◆ initFromPose() [8/10]

void vpMbTracker::initFromPose	(	const vpImage< vpRGBa > &	I_color,
		const vpHomogeneousMatrix &	cMo
	)

virtualinherited

Initialise the tracking thanks to the pose.

Parameters

I_color	: Input color image
cMo	: Pose matrix.

Definition at line 1181 of file vpMbTracker.cpp.

References vpImageConvert::convert(), vpMbTracker::init(), vpMbTracker::m_cMo, and vpMbTracker::m_I.

◆ initFromPose() [9/10]

void vpMbTracker::initFromPose	(	const vpImage< vpRGBa > &	I_color,
		const vpPoseVector &	cPo
	)

virtualinherited

Initialise the tracking thanks to the pose vector.

Parameters

I_color	: Input color image
cPo	: Pose vector.

Definition at line 1206 of file vpMbTracker.cpp.

References vpImageConvert::convert(), vpMbTracker::initFromPose(), and vpMbTracker::m_I.

◆ initFromPose() [10/10]

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

protectedvirtualinherited

Definition at line 1082 of file vpMbTracker.cpp.

References vpHomogeneousMatrix::buildFrom(), vpImageConvert::convert(), vpMbTracker::init(), vpException::ioError, vpMbTracker::m_cMo, and vpMbTracker::m_I.

◆ initProjectionErrorCircle()

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

protectedinherited

Definition at line 3439 of file vpMbTracker.cpp.

References vpMbTracker::addProjectionErrorCircle().

Referenced by vpMbTracker::loadCAOModel().

◆ initProjectionErrorCylinder()

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

protectedinherited

Definition at line 3445 of file vpMbTracker.cpp.

References vpMbTracker::addProjectionErrorCylinder().

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

◆ initProjectionErrorFaceFromCorners()

void vpMbTracker::initProjectionErrorFaceFromCorners ( vpMbtPolygon & polygon )

protectedinherited

Definition at line 3451 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().

◆ initProjectionErrorFaceFromLines()

void vpMbTracker::initProjectionErrorFaceFromLines ( vpMbtPolygon & polygon )

protectedinherited

Definition at line 3461 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::loadCAOModel().

◆ loadCAOModel()

void vpMbTracker::loadCAOModel	(	const std::string &	modelFile,
		std::vector< std::string > &	vectorOfModelFilename,
		int &	startIdFace,
		bool	verbose = `false`,
		bool	parent = `true`,
		const vpHomogeneousMatrix &	odTo = `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.
odTo	: 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 1689 of file vpMbTracker.cpp.

References vpMbTracker::addPolygon(), vpMbTracker::addProjectionErrorPolygon(), vpMbTracker::applyLodSettingInConfig, vpException::badValue, vpHomogeneousMatrix::buildFrom(), 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, vpIoTools::parseBoolean(), vpMbTracker::parseParameters(), vpIoTools::path(), vpMath::rad(), vpMbTracker::removeComment(), vpPoint::setWorldCoordinates(), vpIoTools::splitChain(), vpIoTools::trim(), vpMbTracker::useLodGeneral, and vpTRACE.

Referenced by vpMbTracker::loadModel().

◆ loadConfigFile() [1/3]

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

virtual

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

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.

The XML configuration file has the following form:

<?xml version="1.0"?>
<conf>
  <camera>
    <width>640</width>
    <height>480</height>
    <u0>320</u0>
    <v0>240</v0>
    <px>686.24</px>
    <py>686.24</py>
  </camera>
  <face>
    <angle_appear>65</angle_appear>
    <angle_disappear>85</angle_disappear>
    <near_clipping>0.01</near_clipping>
    <far_clipping>0.90</far_clipping>
    <fov_clipping>1</fov_clipping>
  </face>
  <klt>
    <mask_border>10</mask_border>
    <max_features>10000</max_features>
    <window_size>5</window_size>
    <quality>0.02</quality>
    <min_distance>10</min_distance>
    <harris>0.02</harris>
    <size_block>3</size_block>
    <pyramid_lvl>3</pyramid_lvl>
  </klt>
</conf>

Reimplemented from vpMbKltTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Examples:: mbtKltMultiTracking.cpp.

Definition at line 1553 of file vpMbKltMultiTracker.cpp.

References vpMbTracker::angleAppears, vpMbTracker::angleDisappears, vpMbTracker::clippingFlag, vpTrackingException::initializationError, vpMbTracker::m_cam, m_mapOfKltTrackers, and m_referenceCameraName.

Referenced by vpMbEdgeKltMultiTracker::loadConfigFile().

◆ loadConfigFile() [2/3]

void vpMbKltMultiTracker::loadConfigFile	(	const std::string &	configFile1,
		const std::string &	configFile2,
		bool	firstCameraIsReference = `true`
	)

virtual

Load the xml configuration files for the stereo cameras case. An example of such a file is provided in loadConfigFile(const std::string &) documentation. From the configuration file initialize the parameters corresponding to the objects: KLT, camera.

Parameters

configFile1	: Full name of the xml file for the first camera.
configFile2	: Full name of the xml file for the second camera.
firstCameraIsReference	: If true, the first camera is the reference, otherwise it is the second one.

See also: loadConfigFile(const std::string &)

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1585 of file vpMbKltMultiTracker.cpp.

References vpMbTracker::angleAppears, vpMbTracker::angleDisappears, vpMbTracker::clippingFlag, vpTrackingException::initializationError, vpMbTracker::m_cam, and m_mapOfKltTrackers.

◆ loadConfigFile() [3/3]

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

virtual

Load the xml configuration files for all the cameras. An example of such a file is provided in loadConfigFile(const std::string &) documentation. From the configuration file initialize the parameters corresponding to the objects: KLT, camera.

Parameters

mapOfConfigFiles : Map of xml files.

See also: loadConfigFile(const std::string &)

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1629 of file vpMbKltMultiTracker.cpp.

References vpMbTracker::angleAppears, vpMbTracker::angleDisappears, vpMbTracker::clippingFlag, vpTrackingException::initializationError, vpMbTracker::m_cam, m_mapOfKltTrackers, and m_referenceCameraName.

◆ loadModel()

void vpMbKltMultiTracker::loadModel	(	const std::string &	modelFile,
		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 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.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Examples:: mbtKltMultiTracking.cpp.

Definition at line 1686 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers, and vpMbTracker::modelInitialised.

Referenced by vpMbEdgeKltMultiTracker::loadModel().

◆ loadVRMLModel()

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

protectedvirtualinherited

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

Warning: When this class is called, remember that you have to call Call SoDD::finish() before ending the program.
int main()
{
...
#if defined(VISP_HAVE_COIN3D) && (COIN_MAJOR_VERSION >= 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 1527 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::loadModel().

◆ parseParameters()

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

protectedinherited

Definition at line 1588 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::loadCAOModel().

◆ postTracking() [1/2]

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

protectedvirtual

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1715 of file vpMbKltMultiTracker.cpp.

References vpMbTracker::displayFeatures, vpMbKltTracker::getFeaturesForDisplayKlt(), vpMbTracker::m_cMo, vpMbKltTracker::m_featuresToBeDisplayedKlt, m_mapOfCameraTransformationMatrix, m_mapOfKltTrackers, vpMbKltTracker::m_nbInfos, m_referenceCameraName, vpMbKltTracker::m_w_klt, vpMbKltTracker::postTracking(), reinit(), and vpMbKltTracker::reinit().

Referenced by vpMbEdgeKltMultiTracker::postTracking(), vpMbEdgeKltMultiTracker::setFactorMBT(), and track().

◆ postTracking() [2/2]

bool vpMbKltTracker::postTracking	(	const vpImage< unsigned char > &	I,
		vpColVector &	w
	)

protectedinherited

Realize the post tracking operations. Mostly visibility tests

Definition at line 716 of file vpMbKltTracker.cpp.

References vpMbTracker::angleAppears, vpMbTracker::angleDisappears, vpMbTracker::faces, vpMbtDistanceKltCylinder::getCurrentNumberPoints(), vpMbtDistanceKltPoints::getCurrentNumberPoints(), vpImage< Type >::getHeight(), vpMbtDistanceKltCylinder::getInitialNumberPoint(), vpMbtDistanceKltPoints::getInitialNumberPoint(), vpPolygon3D::getNbPoint(), vpImage< Type >::getWidth(), vpMbtDistanceKltCylinder::hasEnoughPoints(), vpMbtDistanceKltPoints::hasEnoughPoints(), vpMbtDistanceKltCylinder::isTracked(), vpMbtDistanceKltPoints::isTracked(), vpMbtPolygon::isVisible(), vpMbKltTracker::kltCylinders, vpMbKltTracker::kltPolygons, vpMbTracker::m_cam, vpMbTracker::m_cMo, vpMbKltTracker::percentGood, vpMbtDistanceKltPoints::polygon, vpMbtDistanceKltCylinder::removeOutliers(), vpMbtDistanceKltPoints::removeOutliers(), vpMbHiddenFaces< PolygonType >::setVisible(), vpMbHiddenFaces< PolygonType >::setVisibleOgre(), vpMbKltTracker::threshold_outlier, and vpMbTracker::useOgre.

Referenced by getRobustWeights(), vpMbEdgeKltTracker::postTracking(), postTracking(), vpMbEdgeKltTracker::testTracking(), vpMbKltTracker::track(), and vpMbGenericTracker::track().

◆ preTracking() [1/2]

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

protectedvirtual

Definition at line 1697 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers, vpMbKltTracker::m_nbFaceUsed, vpMbKltTracker::m_nbInfos, and vpMbKltTracker::preTracking().

Referenced by vpMbKltTracker::setThresholdAcceptation(), track(), and vpMbEdgeKltMultiTracker::track().

◆ preTracking() [2/2]

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

protectedinherited

Achieve the tracking of the KLT features and associate the features to the faces.

Parameters

I	: The input image.

Definition at line 679 of file vpMbKltTracker.cpp.

References vpMbtDistanceKltPoints::computeNbDetectedCurrent(), vpMbtDistanceKltCylinder::computeNbDetectedCurrent(), vpImageConvert::convert(), vpMbKltTracker::cur, vpMbtDistanceKltCylinder::getCurrentNumberPoints(), vpMbtDistanceKltPoints::getCurrentNumberPoints(), vpPolygon3D::getNbPoint(), vpMbtDistanceKltCylinder::hasEnoughPoints(), vpMbtDistanceKltPoints::hasEnoughPoints(), vpMbtDistanceKltCylinder::isTracked(), vpMbtDistanceKltPoints::isTracked(), vpMbtPolygon::isVisible(), vpMbKltTracker::kltCylinders, vpMbKltTracker::kltPolygons, vpMbTracker::m_mask, vpMbKltTracker::m_nbFaceUsed, vpMbKltTracker::m_nbInfos, vpMbtDistanceKltPoints::polygon, vpKltOpencv::track(), and vpMbKltTracker::tracker.

Referenced by getRobustWeights(), preTracking(), vpMbEdgeKltTracker::track(), vpMbKltTracker::track(), and vpMbGenericTracker::track().

◆ projectionErrorInitMovingEdge()

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

protectedinherited

Definition at line 3678 of file vpMbTracker.cpp.

Referenced by vpMbTracker::computeProjectionErrorImpl().

◆ projectionErrorResetMovingEdges()

void vpMbTracker::projectionErrorResetMovingEdges ( )

protectedinherited

Definition at line 3638 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::computeProjectionErrorImpl().

◆ projectionErrorVisibleFace()

void vpMbTracker::projectionErrorVisibleFace	(	unsigned int	width,
		unsigned int	height,
		const vpHomogeneousMatrix &	_cMo
	)

protectedinherited

Definition at line 3623 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().

◆ reinit() [1/2]

void vpMbKltMultiTracker::reinit ( )

protectedvirtual

The parameter is not used.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1742 of file vpMbKltMultiTracker.cpp.

References vpMbKltTracker::c0Mo, vpMbKltTracker::ctTc0, vpHomogeneousMatrix::eye(), and vpMbTracker::m_cMo.

Referenced by postTracking(), vpMbEdgeKltMultiTracker::reinit(), and vpMbEdgeKltMultiTracker::setFactorMBT().

◆ reinit() [2/2]

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

protectedvirtualinherited

Definition at line 156 of file vpMbKltTracker.cpp.

References vpMbKltTracker::c0Mo, vpPolygon3D::changeFrame(), vpMbHiddenFaces< PolygonType >::computeClippedPolygons(), vpCameraParameters::computeFov(), vpPolygon3D::computePolygonClipped(), vpMbHiddenFaces< PolygonType >::computeScanLineRender(), vpImageConvert::convert(), vpMbKltTracker::ctTc0, vpMbKltTracker::cur, vpHomogeneousMatrix::eye(), vpMbTracker::faces, vpImage< Type >::getCols(), vpImage< Type >::getHeight(), vpMbHiddenFaces< PolygonType >::getMbScanLineRenderer(), vpPolygon3D::getNbPoint(), vpImage< Type >::getRows(), vpImage< Type >::getWidth(), vpMbtDistanceKltPoints::init(), vpMbtDistanceKltCylinder::init(), vpKltOpencv::initTracking(), vpMbtDistanceKltCylinder::isTracked(), vpMbtDistanceKltPoints::isTracked(), vpMbtPolygon::isVisible(), vpMbKltTracker::kltCylinders, vpMbKltTracker::kltPolygons, vpMbtDistanceKltCylinder::listIndicesCylinderBBox, vpMbTracker::m_cam, vpMbTracker::m_cMo, vpMbTracker::m_mask, vpMbKltTracker::maskBorder, vpMbtDistanceKltPoints::polygon, vpMbKltTracker::tracker, vpMbtDistanceKltCylinder::updateMask(), vpMbtDistanceKltPoints::updateMask(), and vpMbTracker::useScanLine.

Referenced by getRobustWeights(), vpMbKltTracker::init(), postTracking(), vpMbEdgeKltTracker::track(), vpMbKltTracker::track(), and vpMbGenericTracker::track().

◆ reInitModel() [1/3]

void vpMbKltMultiTracker::reInitModel	(	const vpImage< unsigned char > &	I,
		const std::string &	cad_name,
		const vpHomogeneousMatrix &	cMo,
		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) to transform 3D points expressed in the original object frame to the desired object frame.

Reimplemented from vpMbKltTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1760 of file vpMbKltMultiTracker.cpp.

References vpMbKltTracker::c0Mo, vpMbKltTracker::ctTc0, vpHomogeneousMatrix::eye(), vpTrackingException::fatalError, vpMbKltTracker::firstInitialisation, vpMbTracker::m_cMo, m_mapOfKltTrackers, m_referenceCameraName, and vpMbTracker::modelInitialised.

Referenced by vpMbEdgeKltMultiTracker::reInitModel().

◆ reInitModel() [2/3]

void vpMbKltMultiTracker::reInitModel	(	const vpImage< unsigned char > &	I1,
		const vpImage< unsigned char > &	I2,
		const std::string &	cad_name,
		const vpHomogeneousMatrix &	c1Mo,
		const vpHomogeneousMatrix &	c2Mo,
		bool	verbose = `false`,
		bool	firstCameraIsReference = `true`
	)

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_name	: Path to the file containing the 3D model description.
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.
firstCameraIsReference	: If true, the first camera is the reference camera, otherwise it is the second one.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1800 of file vpMbKltMultiTracker.cpp.

References vpMbKltTracker::c0Mo, vpMbKltTracker::ctTc0, vpHomogeneousMatrix::eye(), vpTrackingException::fatalError, vpMbTracker::m_cMo, and m_mapOfKltTrackers.

◆ reInitModel() [3/3]

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

virtual

Re-initialize the model used by the tracker.

Parameters

mapOfImages	: Map of images.
cad_name	: Path to the file containing the 3D model description.
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.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1841 of file vpMbKltMultiTracker.cpp.

References vpMbKltTracker::c0Mo, vpMbKltTracker::ctTc0, vpHomogeneousMatrix::eye(), vpTrackingException::fatalError, vpMbTracker::m_cMo, m_mapOfCameraTransformationMatrix, m_mapOfKltTrackers, m_referenceCameraName, and vpMbTracker::modelInitialised.

◆ removeComment()

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

protectedinherited

Definition at line 1573 of file vpMbTracker.cpp.

References vpException::ioError.

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

◆ resetTracker()

void vpMbKltMultiTracker::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.

Reimplemented in vpMbEdgeKltMultiTracker.

Examples:: mbtKltMultiTracking.cpp.

Definition at line 1895 of file vpMbKltMultiTracker.cpp.

References vpMbTracker::angleAppears, vpMbTracker::angleDisappears, vpMbTracker::clippingFlag, vpMbTracker::computeCovariance, vpMbKltTracker::ctTc0, vpHomogeneousMatrix::eye(), vpMbKltTracker::firstInitialisation, vpMbTracker::GAUSS_NEWTON_OPT, vpMbTracker::m_cMo, vpMbTracker::m_computeInteraction, vpMbTracker::m_lambda, m_mapOfKltTrackers, vpMbTracker::m_maxIter, vpMbTracker::m_optimizationMethod, vpMbKltTracker::maskBorder, vpPolygon3D::NO_CLIPPING, vpMbKltTracker::percentGood, vpMath::rad(), vpMbKltTracker::threshold_outlier, vpMbTracker::useOgre, and vpMbTracker::useScanLine.

Referenced by vpMbEdgeKltMultiTracker::resetTracker().

◆ samePoint()

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 3143 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().

◆ savePose()

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

inherited

Save the pose in the given filename

Parameters

filename : Path to the file used to save the pose.

Definition at line 1218 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::initClick().

◆ setAngleAppear()

void vpMbKltMultiTracker::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.

Reimplemented in vpMbEdgeKltMultiTracker.

Examples:: mbtKltMultiTracking.cpp.

Definition at line 1940 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers, and vpMbTracker::setAngleAppear().

Referenced by vpMbEdgeKltMultiTracker::setAngleAppear().

◆ setAngleDisappear()

void vpMbKltMultiTracker::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.

Reimplemented in vpMbEdgeKltMultiTracker.

Examples:: mbtKltMultiTracking.cpp.

Definition at line 1959 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers, and vpMbTracker::setAngleDisappear().

Referenced by vpMbEdgeKltMultiTracker::setAngleDisappear().

◆ setCameraParameters() [1/4]

void vpMbKltMultiTracker::setCameraParameters ( const vpCameraParameters & cam )

virtual

Set the camera parameters for the monocular case.

Parameters

cam	: The new camera parameters.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Examples:: mbtKltMultiTracking.cpp.

Definition at line 1974 of file vpMbKltMultiTracker.cpp.

References vpTrackingException::fatalError, vpMbTracker::m_cam, m_mapOfKltTrackers, and m_referenceCameraName.

Referenced by vpMbEdgeKltMultiTracker::setCameraParameters().

◆ setCameraParameters() [2/4]

void vpMbKltMultiTracker::setCameraParameters	(	const vpCameraParameters &	camera1,
		const vpCameraParameters &	camera2,
		bool	firstCameraIsReference = `true`
	)

virtual

Set the camera parameters for the stereo cameras case.

Parameters

camera1	: The new camera parameters for the first camera.
camera2	: The new camera parameters for the second camera.
firstCameraIsReference	: If true, the first camera is the reference, otherwise it is the second one.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2003 of file vpMbKltMultiTracker.cpp.

References vpTrackingException::fatalError, vpMbTracker::m_cam, and m_mapOfKltTrackers.

◆ setCameraParameters() [3/4]

void vpMbKltMultiTracker::setCameraParameters	(	const std::string &	cameraName,
		const vpCameraParameters &	cam
	)

virtual

Set the camera parameters for the specified camera.

Parameters

cameraName	: Camera name.
cam	: The new camera parameters.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2033 of file vpMbKltMultiTracker.cpp.

References vpTrackingException::fatalError, vpMbTracker::m_cam, m_mapOfKltTrackers, and m_referenceCameraName.

◆ setCameraParameters() [4/4]

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

virtual

Set the camera parameters for all the cameras.

Parameters

mapOfCameraParameters : Map of camera parameters.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2054 of file vpMbKltMultiTracker.cpp.

References vpTrackingException::fatalError, vpMbTracker::m_cam, m_mapOfKltTrackers, and m_referenceCameraName.

◆ setCameraTransformationMatrix() [1/2]

void vpMbKltMultiTracker::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.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2081 of file vpMbKltMultiTracker.cpp.

References vpTrackingException::fatalError, and m_mapOfCameraTransformationMatrix.

Referenced by vpMbEdgeKltMultiTracker::setCameraTransformationMatrix().

◆ setCameraTransformationMatrix() [2/2]

void vpMbKltMultiTracker::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.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2101 of file vpMbKltMultiTracker.cpp.

References vpTrackingException::initializationError, m_mapOfCameraTransformationMatrix, and m_mapOfKltTrackers.

◆ setClipping() [1/2]

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

virtual

Specify which clipping to use.

See also: vpMbtPolygonClipping

Parameters

flags : New clipping flags.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Examples:: mbtKltMultiTracking.cpp.

Definition at line 2125 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers, and vpMbTracker::setClipping().

Referenced by vpMbEdgeKltMultiTracker::setClipping().

◆ setClipping() [2/2]

void vpMbKltMultiTracker::setClipping	(	const std::string &	cameraName,
		const unsigned int &	flags
	)

virtual

Specify which clipping to use for the specified camera.

See also: vpMbtPolygonClipping

Parameters

cameraName	: Camera to set the clipping.
flags	: New clipping flags.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2143 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

◆ setCovarianceComputation()

void vpMbKltMultiTracker::setCovarianceComputation ( const bool & flag )

virtual

Set if the covariance matrix has to be computed.

Parameters

flag	: True if the covariance has to be computed, false otherwise

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Examples:: mbtKltMultiTracking.cpp.

Definition at line 2158 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers, and vpMbTracker::setCovarianceComputation().

Referenced by vpMbEdgeKltMultiTracker::setCovarianceComputation().

◆ setDisplayFeatures()

void vpMbKltMultiTracker::setDisplayFeatures ( bool displayF )

virtual

Enable to display the KLT features.

Parameters

displayF : set it to true to display the features.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Examples:: mbtKltMultiTracking.cpp.

Definition at line 2173 of file vpMbKltMultiTracker.cpp.

References vpMbTracker::displayFeatures, and m_mapOfKltTrackers.

Referenced by vpMbEdgeKltMultiTracker::setDisplayFeatures().

◆ setEstimatedDoF()

void vpMbTracker::setEstimatedDoF ( const vpColVector & v )

virtualinherited

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

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

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

Definition at line 3028 of file vpMbTracker.cpp.

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

◆ setFarClippingDistance() [1/2]

void vpMbKltMultiTracker::setFarClippingDistance ( const double & dist )

virtual

Set the far distance for clipping.

Parameters

dist	: Far clipping value.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Examples:: mbtKltMultiTracking.cpp.

Definition at line 2188 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers, and vpMbTracker::setFarClippingDistance().

Referenced by vpMbEdgeKltMultiTracker::setFarClippingDistance().

◆ setFarClippingDistance() [2/2]

void vpMbKltMultiTracker::setFarClippingDistance	(	const std::string &	cameraName,
		const double &	dist
	)

virtual

Set the far distance for clipping for the specified camera.

Parameters

cameraName	: Camera to set the far clipping.
dist	: Far clipping value.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2204 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

◆ setGoodNbRayCastingAttemptsRatio()

void vpMbKltMultiTracker::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%).

Reimplemented from vpMbTracker.

Definition at line 2224 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

Referenced by vpMbEdgeKltMultiTracker::setGoodNbRayCastingAttemptsRatio().

◆ setInitialMu()

virtual void vpMbTracker::setInitialMu ( double mu )

inlinevirtualinherited

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

Parameters

mu	: initial mu.

Definition at line 524 of file vpMbTracker.h.

◆ setKltMaskBorder()

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

virtual

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

Parameters

e	: The desired erosion.

Examples:: mbtEdgeKltMultiTracking.cpp, and mbtKltMultiTracking.cpp.

Definition at line 2328 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers, and vpMbKltTracker::maskBorder.

Referenced by setMaskBorder().

◆ setKltOpencv() [1/2]

void vpMbKltMultiTracker::setKltOpencv ( const vpKltOpencv & t )

virtual

Set the new value of the klt tracker.

Parameters

t	: Klt tracker containing the new values.

Reimplemented from vpMbKltTracker.

Examples:: mbtEdgeKltMultiTracking.cpp, and mbtKltMultiTracking.cpp.

Definition at line 2255 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

Referenced by vpMbKltTracker::setKltMaskBorder().

◆ setKltOpencv() [2/2]

void vpMbKltMultiTracker::setKltOpencv ( const std::map< std::string, vpKltOpencv > & mapOfOpenCVTrackers )

virtual

Set the new value of the klt tracker for the specified cameras.

Parameters

mapOfOpenCVTrackers : Map of Klt trackers containing the new values.

Definition at line 2268 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

◆ setKltThresholdAcceptation()

void vpMbKltMultiTracker::setKltThresholdAcceptation ( double th )

virtual

Set the threshold for the acceptation of a point.

Parameters

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

Definition at line 2729 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers, and vpMbKltTracker::threshold_outlier.

Referenced by setThresholdAcceptation().

◆ setLambda()

virtual void vpMbTracker::setLambda ( 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 531 of file vpMbTracker.h.

◆ setLod() [1/2]

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

virtual

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

Parameters

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

See also: setMinLineLengthThresh(), setMinPolygonAreaThresh()

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2292 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

Referenced by vpMbEdgeKltMultiTracker::setLod().

◆ setLod() [2/2]

void vpMbKltMultiTracker::setLod	(	bool	useLod,
		const std::string &	cameraName,
		const std::string &	name
	)

virtual

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

Parameters

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

See also: setMinLineLengthThresh(), setMinPolygonAreaThresh()

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2312 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

◆ setMask()

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

inlinevirtualinherited

Reimplemented in vpMbGenericTracker.

Definition at line 559 of file vpMbTracker.h.

Referenced by vpMbGenericTracker::getRobustWeights(), and vpMbGenericTracker::setMask().

◆ setMaskBorder()

void vpMbKltMultiTracker::setMaskBorder ( const unsigned int & e )

virtual

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

Deprecated:: Use rather setKltMaskBorder()

Parameters

e	: The desired erosion.

Definition at line 2855 of file vpMbKltMultiTracker.cpp.

References setKltMaskBorder().

◆ setMaxIter()

virtual void vpMbTracker::setMaxIter ( unsigned int max )

inlinevirtualinherited

Set the maximum iteration of the virtual visual servoing stage.

Parameters

max	: the desired number of iteration

Definition at line 540 of file vpMbTracker.h.

◆ setMinLineLengthThresh()

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

virtual

Useless for KLT tracker.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2341 of file vpMbKltMultiTracker.cpp.

◆ setMinPolygonAreaThresh() [1/2]

void vpMbKltMultiTracker::setMinPolygonAreaThresh	(	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()

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2354 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

Referenced by vpMbEdgeKltMultiTracker::setMinPolygonAreaThresh().

◆ setMinPolygonAreaThresh() [2/2]

void vpMbKltMultiTracker::setMinPolygonAreaThresh	(	double	minPolygonAreaThresh,
		const std::string &	cameraName,
		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.
cameraName	: name of the camera to consider.
name	: name of the face we want to modify the LOD threshold, if empty all the faces are considered.

See also: setLod(), setMinLineLengthThresh()

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2372 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

◆ setNbRayCastingAttemptsForVisibility()

void vpMbKltMultiTracker::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.

Reimplemented from vpMbTracker.

Definition at line 2241 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

Referenced by vpMbEdgeKltMultiTracker::setNbRayCastingAttemptsForVisibility().

◆ setNearClippingDistance() [1/2]

void vpMbKltMultiTracker::setNearClippingDistance ( const double & dist )

virtual

Set the near distance for clipping.

Parameters

dist	: Near clipping value.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Examples:: mbtKltMultiTracking.cpp.

Definition at line 2389 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers, and vpMbTracker::setNearClippingDistance().

Referenced by vpMbEdgeKltMultiTracker::setNearClippingDistance().

◆ setNearClippingDistance() [2/2]

void vpMbKltMultiTracker::setNearClippingDistance	(	const std::string &	cameraName,
		const double &	dist
	)

virtual

Set the near distance for clipping for the specified camera.

Parameters

cameraName	: Camera name to set the near clipping distance.
dist	: Near clipping value.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2448 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

◆ setOgreShowConfigDialog()

void vpMbKltMultiTracker::setOgreShowConfigDialog ( 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.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Examples:: mbtKltMultiTracking.cpp.

Definition at line 2409 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

Referenced by vpMbEdgeKltMultiTracker::setOgreShowConfigDialog().

◆ setOgreVisibilityTest()

void vpMbKltMultiTracker::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

Reimplemented from vpMbKltTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Examples:: mbtKltMultiTracking.cpp.

Definition at line 2425 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers, and vpMbTracker::useOgre.

◆ setOptimizationMethod()

void vpMbKltMultiTracker::setOptimizationMethod ( const vpMbtOptimizationMethod & opt )

virtual

Set the optimization method used during the tracking.

Parameters

opt	: Optimization method to use.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2463 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers, and vpMbTracker::m_optimizationMethod.

Referenced by vpMbEdgeKltMultiTracker::setOptimizationMethod().

◆ setPose() [1/6]

void vpMbKltMultiTracker::setPose	(	const vpImage< unsigned char > &	I,
		const vpHomogeneousMatrix &	cMo
	)

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

I	: grayscale image corresponding to the desired pose.
cMo	: Pose to affect.

Reimplemented from vpMbKltTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Examples:: mbtKltMultiTracking.cpp.

Definition at line 2480 of file vpMbKltMultiTracker.cpp.

References vpMbKltTracker::c0Mo, vpMbKltTracker::ctTc0, vpHomogeneousMatrix::eye(), vpTrackingException::fatalError, vpMbTracker::m_cMo, m_mapOfKltTrackers, and m_referenceCameraName.

Referenced by vpMbEdgeKltMultiTracker::setPose().

◆ setPose() [2/6]

void vpMbKltMultiTracker::setPose	(	const vpImage< vpRGBa > &	I_color,
		const vpHomogeneousMatrix &	cMo
	)

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

I_color	: color image corresponding to the desired pose.
cMo	: Pose to affect.

Reimplemented from vpMbKltTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2510 of file vpMbKltMultiTracker.cpp.

References vpMbKltTracker::c0Mo, vpImageConvert::convert(), vpMbKltTracker::ctTc0, vpHomogeneousMatrix::eye(), vpTrackingException::fatalError, vpMbTracker::m_cMo, vpMbTracker::m_I, m_mapOfKltTrackers, and m_referenceCameraName.

◆ setPose() [3/6]

void vpMbKltMultiTracker::setPose	(	const vpImage< unsigned char > &	I1,
		const vpImage< unsigned char > &	I2,
		const vpHomogeneousMatrix &	c1Mo,
		const vpHomogeneousMatrix &	c2Mo,
		bool	firstCameraIsReference = `true`
	)

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.
firstCameraIsReference	: if true, the first camera is the reference, otherwise it is the second one.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2545 of file vpMbKltMultiTracker.cpp.

References vpMbKltTracker::c0Mo, vpMbKltTracker::ctTc0, vpHomogeneousMatrix::eye(), vpTrackingException::fatalError, vpMbTracker::m_cMo, and m_mapOfKltTrackers.

◆ setPose() [4/6]

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

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.
cMo	: Pose to affect to the reference camera.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2580 of file vpMbKltMultiTracker.cpp.

References vpMbKltTracker::c0Mo, vpMbKltTracker::ctTc0, vpHomogeneousMatrix::eye(), vpTrackingException::fatalError, vpMbTracker::m_cMo, m_mapOfCameraTransformationMatrix, m_mapOfKltTrackers, and m_referenceCameraName.

◆ setPose() [5/6]

void vpMbKltMultiTracker::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. Cameras that do not have pose will be automatically handled but the pose for the reference has to be passed in parameter. The camera transformation matrices have to be set before.

Parameters

mapOfImages	: Map of images corresponding to the desired pose.
mapOfCameraPoses	: Map of poses to affect.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2635 of file vpMbKltMultiTracker.cpp.

References vpMbKltTracker::c0Mo, vpMbKltTracker::ctTc0, vpHomogeneousMatrix::eye(), vpTrackingException::fatalError, vpMbTracker::m_cMo, m_mapOfCameraTransformationMatrix, m_mapOfKltTrackers, and m_referenceCameraName.

◆ setPose() [6/6]

void vpMbKltTracker::setPose	(	const vpImage< unsigned char > *const	I,
		const vpImage< vpRGBa > *const	I_color,
		const vpHomogeneousMatrix &	cdMo
	)

protectedvirtualinherited

Definition at line 409 of file vpMbKltTracker.cpp.

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

◆ setPoseSavingFilename()

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

inlineinherited

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

Parameters

filename : The new filename.

Definition at line 651 of file vpMbTracker.h.

◆ setProjectionErrorComputation()

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

inlinevirtualinherited

Set if the projection error criteria has to be computed.

Parameters

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

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker, and vpMbEdgeKltTracker.

Definition at line 410 of file vpMbKltTracker.h.

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

◆ setProjectionErrorDisplay()

virtual void vpMbTracker::setProjectionErrorDisplay ( bool display )

inlinevirtualinherited

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

Reimplemented in vpMbGenericTracker.

Examples:: mbtGenericTrackingDepthOnly.cpp.

Definition at line 585 of file vpMbTracker.h.

Referenced by vpMbGenericTracker::getRobustWeights(), and vpMbGenericTracker::setProjectionErrorDisplay().

◆ setProjectionErrorDisplayArrowLength()

virtual void vpMbTracker::setProjectionErrorDisplayArrowLength ( unsigned int length )

inlinevirtualinherited

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

Reimplemented in vpMbGenericTracker.

Examples:: mbtGenericTrackingDepthOnly.cpp.

Definition at line 590 of file vpMbTracker.h.

Referenced by vpMbGenericTracker::getRobustWeights(), and vpMbGenericTracker::setProjectionErrorDisplayArrowLength().

◆ setProjectionErrorDisplayArrowThickness()

virtual void vpMbTracker::setProjectionErrorDisplayArrowThickness ( unsigned int thickness )

inlinevirtualinherited

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

Reimplemented in vpMbGenericTracker.

Examples:: mbtGenericTrackingDepthOnly.cpp.

Definition at line 595 of file vpMbTracker.h.

Referenced by vpMbGenericTracker::getRobustWeights(), and vpMbGenericTracker::setProjectionErrorDisplayArrowThickness().

◆ setProjectionErrorKernelSize()

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 3841 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().

◆ setProjectionErrorMovingEdge()

void vpMbTracker::setProjectionErrorMovingEdge ( const vpMe & me )

inherited

Set Moving-Edges parameters for projection error computation.

Parameters

me	: Moving-Edges parameters.

Definition at line 3815 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().

◆ setReferenceCameraName()

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

virtual

Set the reference camera name

Parameters

referenceCameraName : Name of the reference camera.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2696 of file vpMbKltMultiTracker.cpp.

References vpTrackingException::fatalError, m_mapOfKltTrackers, and m_referenceCameraName.

Referenced by vpMbEdgeKltMultiTracker::setReferenceCameraName().

◆ setScanLineVisibilityTest()

void vpMbKltMultiTracker::setScanLineVisibilityTest ( const bool & v )

virtual

Use Scanline algorithm for visibility tests

Parameters

v	: True to use it, False otherwise

Reimplemented from vpMbKltTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Examples:: mbtKltMultiTracking.cpp.

Definition at line 2713 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers, and vpMbTracker::setScanLineVisibilityTest().

Referenced by vpMbEdgeKltMultiTracker::setScanLineVisibilityTest().

◆ setStopCriteriaEpsilon()

virtual void vpMbTracker::setStopCriteriaEpsilon ( const double eps )

inlinevirtualinherited

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

Parameters

eps	: Epsilon threshold.

Definition at line 567 of file vpMbTracker.h.

◆ setThresholdAcceptation()

void vpMbKltMultiTracker::setThresholdAcceptation ( double th )

virtual

Set the threshold for the acceptation of a point.

Parameters

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2862 of file vpMbKltMultiTracker.cpp.

References setKltThresholdAcceptation().

Referenced by vpMbEdgeKltMultiTracker::setFactorMBT(), and vpMbEdgeKltMultiTracker::setThresholdAcceptation().

◆ setUseKltTracking()

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

virtual

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

Parameters

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

Definition at line 2746 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

Referenced by vpMbKltTracker::setProjectionErrorComputation().

◆ testTracking()

void vpMbKltTracker::testTracking ( )

virtualinherited

Test the quality of the tracking. The tracking is supposed to fail if less than 10 points are tracked.

Exceptions

vpTrackingException::fatalError if the test fails.

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker, and vpMbEdgeKltTracker.

Definition at line 1275 of file vpMbKltTracker.cpp.

References vpTrackingException::fatalError, vpMbtDistanceKltCylinder::getCurrentNumberPoints(), vpMbtDistanceKltPoints::getCurrentNumberPoints(), vpPolygon3D::getNbPoint(), vpMbtDistanceKltCylinder::hasEnoughPoints(), vpMbtDistanceKltPoints::hasEnoughPoints(), vpMbtDistanceKltCylinder::isTracked(), vpMbtDistanceKltPoints::isTracked(), vpMbtPolygon::isVisible(), vpMbKltTracker::kltCylinders, vpMbKltTracker::kltPolygons, and vpMbtDistanceKltPoints::polygon.

◆ track() [1/4]

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

virtual

Realize the tracking of the object in the image

Exceptions

vpException : if the tracking is supposed to have failed

Parameters

I	: the input grayscale image

Reimplemented from vpMbKltTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Examples:: mbtKltMultiTracking.cpp.

Definition at line 2761 of file vpMbKltMultiTracker.cpp.

References vpTrackingException::fatalError, vpMbTracker::m_cMo, m_mapOfKltTrackers, and m_referenceCameraName.

Referenced by track().

◆ track() [2/4]

void vpMbKltMultiTracker::track ( const vpImage< vpRGBa > & I_color )

virtual

Not supported interface, this class is deprecated.

Reimplemented from vpMbKltTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2780 of file vpMbKltMultiTracker.cpp.

◆ track() [3/4]

void vpMbKltMultiTracker::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.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2793 of file vpMbKltMultiTracker.cpp.

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

◆ track() [4/4]

void vpMbKltMultiTracker::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.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2817 of file vpMbKltMultiTracker.cpp.

References computeVVS(), vpTrackingException::fatalError, m_mapOfKltTrackers, vpMbKltTracker::m_nbFaceUsed, vpMbKltTracker::m_nbInfos, vpTrackingException::notEnoughPointError, postTracking(), and preTracking().

Member Data Documentation

◆ angleAppears

double vpMbTracker::angleAppears

protectedinherited

Angle used to detect a face appearance.

Definition at line 145 of file vpMbTracker.h.

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

◆ angleDisappears

double vpMbTracker::angleDisappears

protectedinherited

Angle used to detect a face disappearance.

Definition at line 147 of file vpMbTracker.h.

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

◆ applyLodSettingInConfig

bool vpMbTracker::applyLodSettingInConfig

protectedinherited

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

Definition at line 175 of file vpMbTracker.h.

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

◆ c0Mo

vpHomogeneousMatrix vpMbKltTracker::c0Mo

protectedinherited

Initial pose.

Definition at line 229 of file vpMbKltTracker.h.

Referenced by vpMbEdgeKltTracker::computeVVS(), computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), vpMbKltTracker::computeVVS(), vpMbEdgeKltMultiTracker::computeVVSInteractionMatrixAndResidu(), initClick(), initFromPose(), reinit(), vpMbKltTracker::reinit(), reInitModel(), setPose(), vpMbEdgeKltMultiTracker::setPose(), and vpMbKltTracker::setPose().

◆ circles_disp

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

protectedinherited

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

Definition at line 251 of file vpMbKltTracker.h.

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

◆ clippingFlag

unsigned int vpMbTracker::clippingFlag

protectedinherited

Flags specifying which clipping to used.

Definition at line 153 of file vpMbTracker.h.

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

◆ computeCovariance

bool vpMbTracker::computeCovariance

protectedinherited

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

Definition at line 128 of file vpMbTracker.h.

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

◆ computeProjError

bool vpMbTracker::computeProjError

protectedinherited

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

Definition at line 133 of file vpMbTracker.h.

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

◆ covarianceMatrix

vpMatrix vpMbTracker::covarianceMatrix

protectedinherited

Covariance matrix.

Definition at line 130 of file vpMbTracker.h.

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

◆ ctTc0

vpHomogeneousMatrix vpMbKltTracker::ctTc0

protectedinherited

The estimated displacement of the pose between the current instant and the initial position.

Definition at line 243 of file vpMbKltTracker.h.

Referenced by vpMbEdgeKltTracker::computeVVS(), computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), vpMbKltTracker::computeVVS(), computeVVSInteractionMatrixAndResidu(), vpMbEdgeKltMultiTracker::computeVVSInteractionMatrixAndResidu(), vpMbKltTracker::computeVVSInteractionMatrixAndResidu(), initClick(), initFromPose(), reinit(), vpMbKltTracker::reinit(), reInitModel(), resetTracker(), setPose(), vpMbEdgeKltMultiTracker::setPose(), and vpMbKltTracker::setPose().

◆ cur

cv::Mat vpMbKltTracker::cur

protectedinherited

Temporary OpenCV image for fast conversion.

Definition at line 224 of file vpMbKltTracker.h.

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

◆ displayFeatures

bool vpMbTracker::displayFeatures

protectedinherited

If true, the features are displayed.

Definition at line 138 of file vpMbTracker.h.

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

◆ distFarClip

double vpMbTracker::distFarClip

protectedinherited

Distance for near clipping.

Definition at line 151 of file vpMbTracker.h.

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

◆ distNearClip

double vpMbTracker::distNearClip

protectedinherited

Distance for near clipping.

Definition at line 149 of file vpMbTracker.h.

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

◆ faces

vpMbHiddenFaces<vpMbtPolygon> vpMbTracker::faces

protectedinherited

Set of faces describing the object.

Definition at line 143 of file vpMbTracker.h.

◆ firstInitialisation

bool vpMbKltTracker::firstInitialisation

protectedinherited

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

Definition at line 232 of file vpMbKltTracker.h.

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

◆ isoJoIdentity

bool vpMbTracker::isoJoIdentity

protectedinherited

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

Definition at line 117 of file vpMbTracker.h.

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

◆ kltCylinders

std::list<vpMbtDistanceKltCylinder *> vpMbKltTracker::kltCylinders

protectedinherited

Definition at line 249 of file vpMbKltTracker.h.

◆ kltPolygons

std::list<vpMbtDistanceKltPoints *> vpMbKltTracker::kltPolygons

protectedinherited

◆ m_cam

vpCameraParameters vpMbTracker::m_cam

protectedinherited

The camera parameters.

Definition at line 111 of file vpMbTracker.h.

◆ m_cMo

vpHomogeneousMatrix vpMbTracker::m_cMo

protectedinherited

The current pose.

Definition at line 113 of file vpMbTracker.h.

◆ m_computeInteraction

bool vpMbTracker::m_computeInteraction

protectedinherited

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

Definition at line 185 of file vpMbTracker.h.

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

◆ m_error_klt

vpColVector vpMbKltTracker::m_error_klt

protectedinherited

(s - s*)

Definition at line 259 of file vpMbKltTracker.h.

Referenced by vpMbKltTracker::computeVVS(), vpMbKltTracker::computeVVSInit(), computeVVSInteractionMatrixAndResidu(), vpMbEdgeKltMultiTracker::computeVVSInteractionMatrixAndResidu(), vpMbKltTracker::computeVVSInteractionMatrixAndResidu(), computeVVSWeights(), vpMbEdgeKltMultiTracker::computeVVSWeights(), and vpMbKltTracker::getError().

◆ m_error_kltMulti

vpColVector vpMbKltMultiTracker::m_error_kltMulti

protected

(s - s*)

Definition at line 90 of file vpMbKltMultiTracker.h.

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

◆ m_featuresToBeDisplayedKlt

std::vector<std::vector<double> > vpMbKltTracker::m_featuresToBeDisplayedKlt

protectedinherited

Display features.

Definition at line 267 of file vpMbKltTracker.h.

Referenced by vpMbEdgeKltTracker::display(), vpMbKltTracker::display(), postTracking(), vpMbEdgeKltTracker::track(), and vpMbKltTracker::track().

◆ m_I

vpImage<unsigned char> vpMbTracker::m_I

protectedinherited

Grayscale image buffer, used when passing color images.

Definition at line 223 of file vpMbTracker.h.

◆ m_initialMu

double vpMbTracker::m_initialMu

protectedinherited

Initial Mu for Levenberg Marquardt optimization loop.

Definition at line 193 of file vpMbTracker.h.

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

◆ m_L_klt

vpMatrix vpMbKltTracker::m_L_klt

protectedinherited

Interaction matrix.

Definition at line 257 of file vpMbKltTracker.h.

Referenced by vpMbKltTracker::computeVVS(), vpMbKltTracker::computeVVSInit(), computeVVSInteractionMatrixAndResidu(), vpMbEdgeKltMultiTracker::computeVVSInteractionMatrixAndResidu(), and vpMbKltTracker::computeVVSInteractionMatrixAndResidu().

◆ m_L_kltMulti

vpMatrix vpMbKltMultiTracker::m_L_kltMulti

protected

Interaction matrix.

Definition at line 88 of file vpMbKltMultiTracker.h.

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

◆ m_lambda

double vpMbTracker::m_lambda

protectedinherited

Gain of the virtual visual servoing stage.

Definition at line 187 of file vpMbTracker.h.

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

◆ m_mapOfCameraTransformationMatrix

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

protected

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

Definition at line 80 of file vpMbKltMultiTracker.h.

Referenced by computeVVS(), computeVVSInteractionMatrixAndResidu(), initClick(), initFromPose(), postTracking(), reInitModel(), setCameraTransformationMatrix(), setPose(), and vpMbKltMultiTracker().

◆ m_mapOfKltTrackers

std::map<std::string, vpMbKltTracker *> vpMbKltMultiTracker::m_mapOfKltTrackers

protected

Map of Model-based klt trackers.

Definition at line 83 of file vpMbKltMultiTracker.h.

◆ m_mask

const vpImage<bool>* vpMbTracker::m_mask

protectedinherited

Mask used to disable tracking on a part of image.

Definition at line 221 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().

◆ m_maxIter

unsigned int vpMbTracker::m_maxIter

protectedinherited

Maximum number of iterations of the virtual visual servoing stage.

Definition at line 189 of file vpMbTracker.h.

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

◆ m_nbFaceUsed

unsigned int vpMbKltTracker::m_nbFaceUsed

protectedinherited

Definition at line 255 of file vpMbKltTracker.h.

Referenced by preTracking(), vpMbKltTracker::preTracking(), track(), and vpMbKltTracker::track().

◆ m_nbInfos

unsigned int vpMbKltTracker::m_nbInfos

protectedinherited

Definition at line 253 of file vpMbKltTracker.h.

Referenced by vpMbEdgeKltMultiTracker::computeVVS(), computeVVSInit(), vpMbEdgeKltMultiTracker::computeVVSInit(), vpMbKltTracker::computeVVSInit(), vpMbEdgeKltMultiTracker::computeVVSInteractionMatrixAndResidu(), postTracking(), preTracking(), vpMbKltTracker::preTracking(), vpMbEdgeKltTracker::track(), track(), and vpMbKltTracker::track().

◆ m_optimizationMethod

vpMbtOptimizationMethod vpMbTracker::m_optimizationMethod

protectedinherited

Optimization method used.

Definition at line 140 of file vpMbTracker.h.

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

◆ m_projectionErrorCam

vpCameraParameters vpMbTracker::m_projectionErrorCam

protectedinherited

Camera parameters used for projection error computation.

Definition at line 219 of file vpMbTracker.h.

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

◆ m_projectionErrorCircles

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

protectedinherited

Distance circle primitive for projection error.

Definition at line 200 of file vpMbTracker.h.

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

◆ m_projectionErrorCylinders

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

protectedinherited

Distance cylinder primitives for projection error.

Definition at line 198 of file vpMbTracker.h.

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

◆ m_projectionErrorDisplay

bool vpMbTracker::m_projectionErrorDisplay

protectedinherited

Display gradient and model orientation for projection error computation.

Definition at line 213 of file vpMbTracker.h.

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

◆ m_projectionErrorDisplayLength

unsigned int vpMbTracker::m_projectionErrorDisplayLength

protectedinherited

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

Definition at line 215 of file vpMbTracker.h.

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

◆ m_projectionErrorDisplayThickness

unsigned int vpMbTracker::m_projectionErrorDisplayThickness

protectedinherited

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

Definition at line 217 of file vpMbTracker.h.

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

◆ m_projectionErrorFaces

vpMbHiddenFaces<vpMbtPolygon> vpMbTracker::m_projectionErrorFaces

protectedinherited

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

Definition at line 202 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 vpMbGenericTracker::track().

◆ m_projectionErrorKernelSize

unsigned int vpMbTracker::m_projectionErrorKernelSize

protectedinherited

Kernel size used to compute the gradient orientation.

Definition at line 207 of file vpMbTracker.h.

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

◆ m_projectionErrorLines

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

protectedinherited

Distance line primitives for projection error.

Definition at line 196 of file vpMbTracker.h.

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

◆ m_projectionErrorMe

vpMe vpMbTracker::m_projectionErrorMe

protectedinherited

Moving-Edges parameters for projection error.

Definition at line 205 of file vpMbTracker.h.

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

◆ m_projectionErrorOgreShowConfigDialog

bool vpMbTracker::m_projectionErrorOgreShowConfigDialog

protectedinherited

Definition at line 203 of file vpMbTracker.h.

Referenced by vpMbTracker::computeProjectionErrorImpl().

◆ m_referenceCameraName

std::string vpMbKltMultiTracker::m_referenceCameraName

protected

Name of the reference camera.

Definition at line 86 of file vpMbKltMultiTracker.h.

Referenced by display(), getCameraParameters(), getFaces(), getFeaturesCircle(), getFeaturesKlt(), getFeaturesKltCylinder(), getNbPolygon(), initClick(), initFromPose(), loadConfigFile(), postTracking(), reInitModel(), setCameraParameters(), setPose(), setReferenceCameraName(), track(), and vpMbKltMultiTracker().

◆ m_robust_klt

vpRobust vpMbKltTracker::m_robust_klt

protectedinherited

Robust.

Definition at line 265 of file vpMbKltTracker.h.

Referenced by vpMbKltTracker::computeVVS(), vpMbKltTracker::computeVVSInit(), computeVVSWeights(), and vpMbEdgeKltMultiTracker::computeVVSWeights().

◆ m_SobelX

vpMatrix vpMbTracker::m_SobelX

protectedinherited

Sobel kernel in X.

Definition at line 209 of file vpMbTracker.h.

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

◆ m_SobelY

vpMatrix vpMbTracker::m_SobelY

protectedinherited

Sobel kernel in Y.

Definition at line 211 of file vpMbTracker.h.

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

◆ m_stopCriteriaEpsilon

double vpMbTracker::m_stopCriteriaEpsilon

protectedinherited

Epsilon threshold to stop the VVS optimization loop.

Definition at line 191 of file vpMbTracker.h.

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

◆ m_w_klt

vpColVector vpMbKltTracker::m_w_klt

protectedinherited

Robust weights.

Definition at line 261 of file vpMbKltTracker.h.

Referenced by vpMbKltTracker::computeVVS(), vpMbKltTracker::computeVVSInit(), computeVVSWeights(), vpMbEdgeKltMultiTracker::computeVVSWeights(), vpMbKltTracker::getRobustWeights(), postTracking(), and vpMbKltTracker::track().

◆ m_w_kltMulti

vpColVector vpMbKltMultiTracker::m_w_kltMulti

protected

Robust weights.

Definition at line 92 of file vpMbKltMultiTracker.h.

Referenced by computeVVS(), computeVVSInit(), and computeVVSWeights().

◆ m_weightedError_klt

vpColVector vpMbKltTracker::m_weightedError_klt

protectedinherited

Weighted error.

Definition at line 263 of file vpMbKltTracker.h.

Referenced by vpMbKltTracker::computeVVS(), and vpMbKltTracker::computeVVSInit().

◆ m_weightedError_kltMulti

vpColVector vpMbKltMultiTracker::m_weightedError_kltMulti

protected

Weighted error.

Definition at line 94 of file vpMbKltMultiTracker.h.

Referenced by computeVVS(), and computeVVSInit().

◆ mapOfParameterNames

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

protectedinherited

Map with [map.first]=parameter_names and [map.second]=type (string, number or boolean)

Definition at line 182 of file vpMbTracker.h.

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

◆ maskBorder

unsigned int vpMbKltTracker::maskBorder

protectedinherited

Erosion of the mask.

Definition at line 234 of file vpMbKltTracker.h.

Referenced by vpMbKltTracker::getKltMaskBorder(), vpMbKltTracker::getMaskBorder(), vpMbEdgeKltTracker::loadConfigFile(), vpMbKltTracker::loadConfigFile(), vpMbKltTracker::reinit(), resetTracker(), vpMbKltTracker::resetTracker(), and setKltMaskBorder().

◆ minLineLengthThresholdGeneral

double vpMbTracker::minLineLengthThresholdGeneral

protectedinherited

Minimum line length threshold for LOD mode (general setting)

Definition at line 177 of file vpMbTracker.h.

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

◆ minPolygonAreaThresholdGeneral

double vpMbTracker::minPolygonAreaThresholdGeneral

protectedinherited

Minimum polygon area threshold for LOD mode (general setting)

Definition at line 179 of file vpMbTracker.h.

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

◆ modelFileName

std::string vpMbTracker::modelFileName

protectedinherited

The name of the file containing the model (it is used to create a file name.0.pos used to store the compute pose in the initClick method).

Definition at line 120 of file vpMbTracker.h.

Referenced by vpMbTracker::loadModel().

◆ modelInitialised

bool vpMbTracker::modelInitialised

protectedinherited

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

Definition at line 123 of file vpMbTracker.h.

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

◆ nbCircles

unsigned int vpMbTracker::nbCircles

protectedinherited

Number of circles in CAO model.

Definition at line 170 of file vpMbTracker.h.

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

◆ nbCylinders

unsigned int vpMbTracker::nbCylinders

protectedinherited

Number of cylinders in CAO model.

Definition at line 168 of file vpMbTracker.h.

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

◆ nbLines

unsigned int vpMbTracker::nbLines

protectedinherited

Number of lines in CAO model.

Definition at line 162 of file vpMbTracker.h.

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

◆ nbPoints

unsigned int vpMbTracker::nbPoints

protectedinherited

Number of points in CAO model.

Definition at line 160 of file vpMbTracker.h.

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

◆ nbPolygonLines

unsigned int vpMbTracker::nbPolygonLines

protectedinherited

Number of polygon lines in CAO model.

Definition at line 164 of file vpMbTracker.h.

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

◆ nbPolygonPoints

unsigned int vpMbTracker::nbPolygonPoints

protectedinherited

Number of polygon points in CAO model.

Definition at line 166 of file vpMbTracker.h.

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

◆ ogreShowConfigDialog

bool vpMbTracker::ogreShowConfigDialog

protectedinherited

Definition at line 156 of file vpMbTracker.h.

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

◆ oJo

vpMatrix vpMbTracker::oJo

protectedinherited

The Degrees of Freedom to estimate.

Definition at line 115 of file vpMbTracker.h.

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

◆ percentGood

double vpMbKltTracker::percentGood

protectedinherited

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

Definition at line 240 of file vpMbKltTracker.h.

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

◆ poseSavingFilename

std::string vpMbTracker::poseSavingFilename

protectedinherited

Filename used to save the initial pose computed using the initClick() method. It is also used to read a previous pose in the same method.

Definition at line 126 of file vpMbTracker.h.

Referenced by vpMbTracker::initClick().

◆ projectionError

double vpMbTracker::projectionError

protectedinherited

Error angle between the gradient direction of the model features projected at the resulting pose and their normal.

Definition at line 136 of file vpMbTracker.h.

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

◆ threshold_outlier

double vpMbKltTracker::threshold_outlier

protectedinherited

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

Definition at line 237 of file vpMbKltTracker.h.

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

◆ tracker

vpKltOpencv vpMbKltTracker::tracker

protectedinherited

Points tracker.

Definition at line 245 of file vpMbKltTracker.h.

Referenced by vpMbKltTracker::getKltImagePoints(), vpMbKltTracker::getKltImagePointsWithId(), vpMbKltTracker::getKltOpencv(), vpMbEdgeKltTracker::loadConfigFile(), vpMbKltTracker::loadConfigFile(), vpMbKltTracker::preTracking(), vpMbKltTracker::reinit(), vpMbKltTracker::resetTracker(), vpMbKltTracker::setKltOpencv(), vpMbKltTracker::setPose(), and vpMbKltTracker::vpMbKltTracker().

◆ useLodGeneral

bool vpMbTracker::useLodGeneral

protectedinherited

True if LOD mode is enabled.

Definition at line 172 of file vpMbTracker.h.

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

◆ useOgre

bool vpMbTracker::useOgre

protectedinherited

Use Ogre3d for visibility tests.

Definition at line 155 of file vpMbTracker.h.

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

◆ useScanLine

bool vpMbTracker::useScanLine

protectedinherited

Use Scanline for visibility tests.

Definition at line 158 of file vpMbTracker.h.

Referenced by vpMbDepthDenseTracker::addFace(), vpMbDepthNormalTracker::addFace(), vpMbEdgeTracker::addLine(), vpMbTracker::addProjectionErrorLine(), vpMbTracker::computeProjectionErrorImpl(), vpMbDepthDenseTracker::computeVisibility(), vpMbDepthNormalTracker::computeVisibility(), vpMbDepthDenseTracker::getModelForDisplay(), vpMbDepthNormalTracker::getModelForDisplay(), vpMbKltTracker::getModelForDisplay(), vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), vpMbEdgeTracker::init(), vpMbKltTracker::initCylinder(), vpMbKltTracker::initFaceFromCorners(), vpMbKltTracker::initFaceFromLines(), vpMbEdgeKltTracker::postTracking(), vpMbEdgeKltMultiTracker::postTracking(), vpMbKltTracker::reinit(), vpMbDepthDenseTracker::resetTracker(), vpMbDepthNormalTracker::resetTracker(), vpMbEdgeMultiTracker::resetTracker(), resetTracker(), vpMbGenericTracker::resetTracker(), vpMbKltTracker::resetTracker(), vpMbEdgeTracker::resetTracker(), vpMbEdgeKltTracker::setPose(), vpMbKltTracker::setPose(), vpMbEdgeMultiTracker::track(), vpMbGenericTracker::track(), and vpMbEdgeTracker::track().

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ vpMbtOptimizationMethod

Constructor & Destructor Documentation

◆ vpMbKltMultiTracker() [1/3]

◆ vpMbKltMultiTracker() [2/3]

◆ vpMbKltMultiTracker() [3/3]

◆ ~vpMbKltMultiTracker()

Member Function Documentation

◆ addCircle()

◆ addPolygon() [1/4]

◆ addPolygon() [2/4]

◆ addPolygon() [3/4]

◆ addPolygon() [4/4]

◆ addProjectionErrorCircle()

◆ addProjectionErrorCylinder()

◆ addProjectionErrorLine()

◆ addProjectionErrorPolygon() [1/4]

◆ addProjectionErrorPolygon() [2/4]

◆ addProjectionErrorPolygon() [3/4]

◆ addProjectionErrorPolygon() [4/4]

◆ computeCovarianceMatrixVVS()

◆ computeCurrentProjectionError()

◆ computeJTR()

◆ computeProjectionErrorImpl()

◆ computeVVS()

◆ computeVVSCheckLevenbergMarquardt()

◆ computeVVSInit()

◆ computeVVSInteractionMatrixAndResidu() [1/2]

◆ computeVVSInteractionMatrixAndResidu() [2/2]

◆ computeVVSPoseEstimation()

◆ computeVVSWeights() [1/2]

◆ computeVVSWeights() [2/2]

◆ createCylinderBBox()

◆ display() [1/6]

◆ display() [2/6]

◆ display() [3/6]

◆ display() [4/6]

◆ display() [5/6]

◆ display() [6/6]

◆ extractCylinders()

◆ extractFaces()

◆ extractGroup()

◆ extractLines()

◆ getAngleAppear()

◆ getAngleDisappear()

◆ getCameraNames()

◆ getCameraParameters() [1/4]

◆ getCameraParameters() [2/4]

◆ getCameraParameters() [3/4]

◆ getCameraParameters() [4/4]

◆ getClipping() [1/2]

◆ getClipping() [2/2]

◆ getCovarianceMatrix()

◆ getError()

◆ getEstimatedDoF()

◆ getFaces() [1/3]

◆ getFaces() [2/3]

◆ getFaces() [3/3]

◆ getFarClippingDistance()

◆ getFeaturesCircle() [1/2]

◆ getFeaturesCircle() [2/2]

◆ getFeaturesForDisplayKlt()

◆ getFeaturesKlt() [1/2]

◆ getFeaturesKlt() [2/2]

◆ getFeaturesKltCylinder() [1/2]

◆ getFeaturesKltCylinder() [2/2]

◆ getGravityCenter()

◆ getInitialMu()

◆ getKltImagePoints()

◆ getKltImagePointsWithId()

◆ getKltMaskBorder()

◆ getKltNbPoints()

◆ getKltOpencv()

◆ getKltPoints()

◆ getKltThresholdAcceptation()