#include <vpMbKltTracker.h>

Inheritance diagram for vpMbKltTracker:

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

Public Member Functions
	vpMbKltTracker ()

virtual	~vpMbKltTracker ()

Inherited functionalities from vpMbKltTracker
void	addCircle (const vpPoint &P1, const vpPoint &P2, const vpPoint &P3, 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 std::list< vpMbtDistanceCircle * > &	getFeaturesCircle ()

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

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

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

std::vector< vpImagePoint >	getKltImagePoints () const

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

vpKltOpencv	getKltOpencv () const

unsigned int	getKltMaskBorder () const

int	getKltNbPoints () const

double	getKltThresholdAcceptation () const

virtual vpColVector	getError () const

virtual vpColVector	getRobustWeights () const

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

virtual void	loadConfigFile (const std::string &configFile, bool verbose=true)

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

void	resetTracker ()

void	setCameraParameters (const vpCameraParameters &cam)

void	setKltMaskBorder (const unsigned int &e)

virtual void	setKltOpencv (const vpKltOpencv &t)

void	setKltThresholdAcceptation (double th)

virtual void	setOgreVisibilityTest (const bool &v)

virtual void	setScanLineVisibilityTest (const bool &v)

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

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

virtual void	setProjectionErrorComputation (const bool &flag)

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

virtual void	testTracking ()

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

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

Deprecated functions
unsigned int	getMaskBorder () const

int	getNbKltPoints () const

double	getThresholdAcceptation () const

void	setMaskBorder (const unsigned int &e)

void	setThresholdAcceptation (double th)

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 void	getCameraParameters (vpCameraParameters &cam) const

virtual unsigned int	getClipping () const

virtual vpMatrix	getCovarianceMatrix () const

virtual double	getInitialMu () const

virtual double	getLambda () const

virtual unsigned int	getMaxIter () const

virtual double	getProjectionError () const

virtual vpColVector	getEstimatedDoF () const

virtual vpMbHiddenFaces< vpMbtPolygon > &	getFaces ()

virtual double	getFarClippingDistance () const

virtual unsigned int	getNbPolygon () const

virtual double	getNearClippingDistance () const

virtual vpMbtOptimizationMethod	getOptimizationMethod () const

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

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

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

virtual void	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< unsigned char > &I, const std::string &initFile)

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

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

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

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

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

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

virtual void	setAngleAppear (const double &a)

virtual void	setAngleDisappear (const double &a)

virtual void	setClipping (const unsigned int &flags)

virtual void	setCovarianceComputation (const bool &flag)

virtual void	setDisplayFeatures (bool displayF)

virtual void	setEstimatedDoF (const vpColVector &v)

virtual void	setFarClippingDistance (const double &dist)

virtual void	setInitialMu (double mu)

virtual void	setLambda (double gain)

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

virtual void	setMaxIter (unsigned int max)

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

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

virtual void	setNearClippingDistance (const double &dist)

virtual void	setOptimizationMethod (const vpMbtOptimizationMethod &opt)

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

virtual void	setGoodNbRayCastingAttemptsRatio (const double &ratio)

virtual void	setNbRayCastingAttemptsForVisibility (const unsigned int &attempts)

virtual void	setOgreShowConfigDialog (bool showConfigDialog)

void	setPoseSavingFilename (const std::string &filename)

Protected Member Functions
Protected Member Functions Inherited from vpMbKltTracker
void	computeVVS ()

virtual void	computeVVSInit ()

virtual void	computeVVSInteractionMatrixAndResidu ()

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

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

virtual void	initFaceFromCorners (vpMbtPolygon &polygon)

virtual void	initFaceFromLines (vpMbtPolygon &polygon)

virtual void	initCircle (const vpPoint &, const vpPoint &, const vpPoint &, 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)

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

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
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

bool	m_sodb_init_called

vpUniRand	m_rand

Detailed Description

Model based 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 (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.

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

#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpImage.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/mbt/vpMbKltTracker.h>
int main()
{
#if defined VISP_HAVE_OPENCV
  vpMbKltTracker tracker; // Create a model based tracker via KLT points.
  vpImage<unsigned char> I;
  vpHomogeneousMatrix cMo; // Pose computed using the tracker.
  vpCameraParameters cam;
  // Acquire an image
  vpImageIo::read(I, "cube.pgm");
#if defined VISP_HAVE_X11
  vpDisplayX display;
  display.init(I,100,100,"Mb Klt Tracker");
#endif
  tracker.loadConfigFile("cube.xml"); // Load the configuration of the tracker
  tracker.getCameraParameters(cam);   // Get the camera parameters used by the tracker (from the configuration file).
  tracker.loadModel("cube.cao");      // Load the 3d model in cao format. No 3rd party library is required
  // Initialise manually the pose by clicking on the image points associated to the 3d points contained in the
  // cube.init file.
  tracker.initClick(I, "cube.init");
  while(true){
    // Acquire a new image
    vpDisplay::display(I);
    tracker.track(I);     // Track the object on this image
    tracker.getPose(cMo); // Get the pose
    tracker.display(I, cMo, cam, vpColor::darkRed, 1); // Display the model at the computed pose.
    vpDisplay::flush(I);
  }
  return 0;
#endif
}

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

#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpImage.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/mbt/vpMbKltTracker.h>
int main()
{
#if defined VISP_HAVE_OPENCV
  vpMbKltTracker tracker; // Create a model based tracker via Klt Points.
  vpImage<unsigned char> I;
  vpHomogeneousMatrix cMo; // Pose used in entry (has to be defined), then computed using the tracker.
  //acquire an image
  vpImageIo::read(I, "cube.pgm"); // Example of acquisition
  tracker.loadConfigFile("cube.xml"); // Load the configuration of the tracker
  // load the 3d model, to read .wrl model coin is required, if coin is not installed .cao file can be used.
  tracker.loadModel("cube.cao");
  tracker.initFromPose(I, cMo); // initialize the tracker with the given pose.
  while(true){
    // acquire a new image
    tracker.track(I); // track the object on this image
    tracker.getPose(cMo); // get the pose
  }
  return 0;
#endif
}

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

#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpImage.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/mbt/vpMbKltTracker.h>
int main()
{
#if defined VISP_HAVE_OPENCV
  vpMbKltTracker tracker; // Create a model based tracker via Klt Points.
  vpImage<unsigned char> I;
  vpHomogeneousMatrix cMo; // Pose used to display the model.
  vpCameraParameters cam;
  // Acquire an image
  vpImageIo::read(I, "cube.pgm");
#if defined VISP_HAVE_X11
  vpDisplayX display;
  display.init(I,100,100,"Mb Klt Tracker");
#endif
  tracker.loadConfigFile("cube.xml"); // Load the configuration of the tracker
  tracker.getCameraParameters(cam); // Get the camera parameters used by the tracker (from the configuration file).
  // load the 3d model, to read .wrl model coin is required, if coin is not installed .cao file can be used.
  tracker.loadModel("cube.cao");
  while(true){
    // acquire a new image
    // Get the pose using any method
    vpDisplay::display(I);
    tracker.display(I, cMo, cam, vpColor::darkRed, 1, true); // Display the model at the computed pose.
    vpDisplay::flush(I);
  }
  return 0;
#endif
}

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

Definition at line 210 of file vpMbKltTracker.h.

Member Enumeration Documentation

enum vpMbTracker::vpMbtOptimizationMethod

inherited

Enumerator
GAUSS_NEWTON_OPT
LEVENBERG_MARQUARDT_OPT

Definition at line 107 of file vpMbTracker.h.

Constructor & Destructor Documentation

vpMbKltTracker::vpMbKltTracker ( )

Definition at line 111 of file vpMbKltTracker.cpp.

References vpMbTracker::faces, vpMbHiddenFaces< PolygonType >::getOgreContext(), vpMbTracker::m_lambda, vpMbTracker::m_maxIter, vpKltOpencv::setBlockSize(), vpKltOpencv::setHarrisFreeParameter(), vpKltOpencv::setMaxFeatures(), vpKltOpencv::setMinDistance(), vpKltOpencv::setPyramidLevels(), vpKltOpencv::setQuality(), vpKltOpencv::setTrackerId(), vpKltOpencv::setUseHarris(), vpAROgre::setWindowName(), vpKltOpencv::setWindowSize(), and tracker.

vpMbKltTracker::~vpMbKltTracker ( )

virtual

Basic destructor.

Definition at line 144 of file vpMbKltTracker.cpp.

References circles_disp, cur, kltCylinders, and kltPolygons.

Member Function Documentation

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

Add a circle to the list of circles.

Parameters

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

Definition at line 1414 of file vpMbKltTracker.cpp.

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

Referenced by initCircle().

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

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

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 1414 of file vpMbTracker.cpp.

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

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

protectedinherited

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

protectedinherited

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

protectedinherited

Definition at line 3396 of file vpMbTracker.cpp.

Referenced by vpMbTracker::initProjectionErrorCylinder().

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

protectedinherited

Definition at line 3324 of file vpMbTracker.cpp.

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

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

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

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 3260 of file vpMbTracker.cpp.

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

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

protectedinherited

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

protectedvirtualinherited

Definition at line 2848 of file vpMbTracker.cpp.

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

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

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 3474 of file vpMbTracker.cpp.

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

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 2879 of file vpMbTracker.cpp.

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

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

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

protectedinherited

Definition at line 3491 of file vpMbTracker.cpp.

Referenced by vpMbTracker::computeCurrentProjectionError().

void vpMbKltTracker::computeVVS ( )

protected

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 2890 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(), vpMbGenericTracker::computeVVS(), vpMbEdgeTracker::computeVVS(), and vpMbGenericTracker::track().

void vpMbKltTracker::computeVVSInit ( )

protectedvirtual

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 919 of file vpMbKltTracker.cpp.

References vpCameraParameters::get_px(), vpMbTracker::m_cam, m_error_klt, m_L_klt, m_nbInfos, m_robust_klt, m_w_klt, m_weightedError_klt, vpArray2D< Type >::resize(), vpColVector::resize(), and vpRobust::setMinMedianAbsoluteDeviation().

Referenced by computeVVS(), and vpMbGenericTracker::track().

void vpMbKltTracker::computeVVSInteractionMatrixAndResidu ( )

protectedvirtual

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

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

protectedvirtualinherited

Definition at line 2975 of file vpMbTracker.cpp.

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

Referenced by vpMbDepthNormalTracker::computeVVS(), computeVVS(), vpMbGenericTracker::getRobustWeights(), vpMbEdgeTracker::setGoodMovingEdgesRatioThreshold(), and vpMbGenericTracker::track().

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

protectedinherited

Definition at line 3031 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().

void vpMbKltTracker::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 at a given position using the given camera parameters

Parameters

I	: The image.
cMo	: Pose used to project the 3D model into the image.
cam	: The camera parameters.
col	: The desired color.
thickness	: The thickness of the lines.
displayFullModel	: Boolean to say if all the model has to be displayed, even the faces that are visible.

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

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

Definition at line 1144 of file vpMbKltTracker.cpp.

References vpDisplay::displayCross(), vpDisplay::displayEllipse(), vpMbTracker::displayFeatures, vpDisplay::displayLine(), vpMbHiddenFaces< PolygonType >::displayOgre(), vpDisplay::displayText(), vpMath::equal(), vpMbTracker::faces, vpImage< Type >::getHeight(), getModelForDisplay(), vpImage< Type >::getWidth(), m_featuresToBeDisplayedKlt, vpColor::red, and vpMbTracker::useOgre.

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

virtual

Display the 3D model at a given position using the given camera parameters

Parameters

I	: The color image.
cMo	: Pose used to project the 3D model into the image.
cam	: The camera parameters.
col	: The desired color.
thickness	: The thickness of the lines.
displayFullModel	: Boolean to say if all the model has to be displayed, even the faces that are not visible.

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 1196 of file vpMbKltTracker.cpp.

References vpDisplay::displayCross(), vpDisplay::displayEllipse(), vpMbTracker::displayFeatures, vpDisplay::displayLine(), vpMbHiddenFaces< PolygonType >::displayOgre(), vpDisplay::displayText(), vpMath::equal(), vpMbTracker::faces, vpImage< Type >::getHeight(), getModelForDisplay(), vpImage< Type >::getWidth(), m_featuresToBeDisplayedKlt, vpColor::red, and vpMbTracker::useOgre.

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 2463 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::extractGroup().

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

protectedvirtualinherited

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

Parameters

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

Definition at line 2410 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::extractGroup().

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

protectedvirtualinherited

Extract a VRML object Group.

Parameters

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

Definition at line 2321 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::loadVRMLModel().

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

protectedvirtualinherited

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

Parameters

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

Definition at line 2548 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::extractGroup().

virtual double vpMbTracker::getAngleAppear ( ) const

inlinevirtualinherited

Return the angle used to test polygons appearance.

Definition at line 238 of file vpMbTracker.h.

virtual double vpMbTracker::getAngleDisappear ( ) const

inlinevirtualinherited

Return the angle used to test polygons disappearance.

Definition at line 241 of file vpMbTracker.h.

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

inlinevirtualinherited

Get the camera parameters.

Parameters

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

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, and tutorial-mb-tracker.cpp.

Definition at line 248 of file vpMbTracker.h.

Referenced by vpMbGenericTracker::getCameraParameters().

virtual unsigned int vpMbTracker::getClipping ( ) const

inlinevirtualinherited

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

Returns: Clipping flags.

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

Definition at line 256 of file vpMbTracker.h.

virtual vpMatrix vpMbTracker::getCovarianceMatrix ( ) const

inlinevirtualinherited

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

See also: setCovarianceComputation()

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

Definition at line 265 of file vpMbTracker.h.

virtual vpColVector vpMbKltTracker::getError ( ) const

inlinevirtual

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

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

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

See also: getRobustWeights()

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 324 of file vpMbKltTracker.h.

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 2992 of file vpMbTracker.cpp.

References vpMbTracker::oJo.

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

inlinevirtualinherited

Return a reference to the faces structure.

Reimplemented in vpMbGenericTracker.

Definition at line 332 of file vpMbTracker.h.

Referenced by vpMbGenericTracker::getError().

virtual double vpMbTracker::getFarClippingDistance ( ) const

inlinevirtualinherited

Get the far distance for clipping.

Returns: Far clipping value.

Definition at line 339 of file vpMbTracker.h.

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

inlinevirtual

Return the address of the circle feature list.

Definition at line 274 of file vpMbKltTracker.h.

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

protectedvirtual

Definition at line 1237 of file vpMbKltTracker.cpp.

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

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

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

inlinevirtual

Return the address of the Klt feature list.

Definition at line 278 of file vpMbKltTracker.h.

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

inlinevirtual

Return the address of the cylinder feature list.

Definition at line 276 of file vpMbKltTracker.h.

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 2593 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::extractCylinders().

virtual double vpMbTracker::getInitialMu ( ) const

inlinevirtualinherited

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

Returns: the initial mu value.

Definition at line 284 of file vpMbTracker.h.

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

Get the current list of KLT points.

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

Returns: the list of KLT points through vpKltOpencv.

Definition at line 389 of file vpMbKltTracker.cpp.

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

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

Get the current list of KLT points and their id.

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

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

Definition at line 410 of file vpMbKltTracker.cpp.

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

unsigned int vpMbKltTracker::getKltMaskBorder ( ) const

inline

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

Returns: The erosion.

Definition at line 307 of file vpMbKltTracker.h.

int vpMbKltTracker::getKltNbPoints ( ) const

inline

Get the current number of klt points.

Returns: the number of features

Definition at line 314 of file vpMbKltTracker.h.

References vpKltOpencv::getNbFeatures().

vpKltOpencv vpMbKltTracker::getKltOpencv ( ) const

inline

Get the klt tracker at the current state.

Returns: klt tracker.

Definition at line 300 of file vpMbKltTracker.h.

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

inline

Get the current list of KLT points.

Returns: the list of KLT points through vpKltOpencv.

Definition at line 286 of file vpMbKltTracker.h.

References vpKltOpencv::getFeatures().

double vpMbKltTracker::getKltThresholdAcceptation ( ) const

inline

Get the threshold for the acceptation of a point.

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

Definition at line 322 of file vpMbKltTracker.h.

virtual double vpMbTracker::getLambda ( ) const

inlinevirtualinherited

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

Returns: the value for the gain.

Definition at line 291 of file vpMbTracker.h.

unsigned int vpMbKltTracker::getMaskBorder ( ) const

inline

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

Deprecated:: Use rather getkltMaskBorder()

Returns: The erosion.

Definition at line 426 of file vpMbKltTracker.h.

virtual unsigned int vpMbTracker::getMaxIter ( ) const

inlinevirtualinherited

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

Returns: the number of iteration

Definition at line 298 of file vpMbTracker.h.

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

virtual

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()>, <n_20>, <n_11>, <n_02> where <n_ij> are the second order centered moments of the ellipse normalized by its area (i.e., such that $n_{ij} = \mu_{ij}/a$ where $\mu_{ij}$ are the centered moments and a the area).

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

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 1277 of file vpMbKltTracker.cpp.

References circles_disp, vpMbTracker::clippingFlag, vpMbHiddenFaces< PolygonType >::computeClippedPolygons(), vpCameraParameters::computeFov(), vpMbHiddenFaces< PolygonType >::computeScanLineRender(), vpMbTracker::faces, vpMbtDistanceKltPoints::getModelForDisplay(), vpMbtDistanceCircle::getModelForDisplay(), vpMbtDistanceKltCylinder::getModelForDisplay(), kltCylinders, kltPolygons, vpMbTracker::m_cam, and vpMbTracker::useScanLine.

Referenced by display(), and vpMbGenericTracker::track().

int vpMbKltTracker::getNbKltPoints ( ) const

inline

Get the current number of klt points.

Deprecated:: Use rather getKltNbPoints()

Returns: the number of features

Definition at line 433 of file vpMbKltTracker.h.

References vpKltOpencv::getNbFeatures().

virtual unsigned int vpMbTracker::getNbPolygon ( ) const

inlinevirtualinherited

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

Returns: Number of polygons.

Reimplemented in vpMbGenericTracker.

Definition at line 368 of file vpMbTracker.h.

References vpMbHiddenFaces< PolygonType >::size().

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

virtual double vpMbTracker::getNearClippingDistance ( ) const

inlinevirtualinherited

Get the near distance for clipping.

Returns: Near clipping value.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 375 of file vpMbTracker.h.

Referenced by vpMbEdgeKltTracker::getNearClippingDistance().

virtual vpMbtOptimizationMethod vpMbTracker::getOptimizationMethod ( ) const

inlinevirtualinherited

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

Returns: Optimization method.

Definition at line 384 of file vpMbTracker.h.

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 395 of file vpMbTracker.h.

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

Referenced by vpMbGenericTracker::getNbFeaturesKlt().

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 2627 of file vpMbTracker.cpp.

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

Referenced by vpMbGenericTracker::getNbFeaturesKlt().

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, and tutorial-mb-tracker.cpp.

Definition at line 414 of file vpMbTracker.h.

virtual vpHomogeneousMatrix vpMbTracker::getPose ( ) const

inlinevirtualinherited

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

Returns: the current pose

Definition at line 423 of file vpMbTracker.h.

Referenced by vpMbGenericTracker::getNbFeaturesKlt(), and vpMbGenericTracker::getPose().

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

Definition at line 310 of file vpMbTracker.h.

virtual vpColVector vpMbKltTracker::getRobustWeights ( ) const

inlinevirtual

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

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

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

See also: getError()

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 326 of file vpMbKltTracker.h.

References vpMbTracker::getModelForDisplay(), vpMbTracker::loadConfigFile(), vpMbTracker::resetTracker(), and vpMbTracker::setCameraParameters().

virtual double vpMbTracker::getStopCriteriaEpsilon ( ) const

inlinevirtualinherited

Definition at line 425 of file vpMbTracker.h.

double vpMbKltTracker::getThresholdAcceptation ( ) const

inline

Get the threshold for the acceptation of a point.

Deprecated:: Use rather getKltThresholdAcceptation()

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

Definition at line 442 of file vpMbKltTracker.h.

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

protectedvirtual

Initialise the tracking.

Parameters

I	: Input image.

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 185 of file vpMbKltTracker.cpp.

References vpMbTracker::angleAppears, vpMbTracker::angleDisappears, vpMbTracker::faces, vpException::fatalError, vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpMbHiddenFaces< PolygonType >::initOgre(), vpMbHiddenFaces< PolygonType >::isOgreInitialised(), vpMbTracker::m_cam, vpMbTracker::m_cMo, vpMbTracker::modelInitialised, vpMbTracker::ogreShowConfigDialog, reinit(), vpMbHiddenFaces< PolygonType >::setBackgroundSizeOgre(), vpMbHiddenFaces< PolygonType >::setOgreShowConfigDialog(), vpMbHiddenFaces< PolygonType >::setVisible(), vpMbHiddenFaces< PolygonType >::setVisibleOgre(), and vpMbTracker::useOgre.

Referenced by vpMbEdgeKltTracker::init(), and setPose().

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

protectedvirtual

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

Parameters

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

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 1400 of file vpMbKltTracker.cpp.

References addCircle().

Referenced by vpMbGenericTracker::track().

void vpMbTracker::initClick	(	const vpImage< unsigned char > &	I,
		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	: Input grayscale 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 or teabox.png). 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.

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

Definition at line 593 of file vpMbTracker.cpp.

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

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 or teabox.png). 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 630 of file vpMbTracker.cpp.

References vpMbTracker::initClick().

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

virtualinherited

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

Parameters

I	: Input grayscale 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 817 of file vpMbTracker.cpp.

References vpMbTracker::initClick().

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 834 of file vpMbTracker.cpp.

References vpMbTracker::initClick().

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 236 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.

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

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

protectedvirtual

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

Parameters

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

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 1370 of file vpMbKltTracker.cpp.

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

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

void vpMbKltTracker::initFaceFromCorners ( vpMbtPolygon & polygon )

protectedvirtual

Initialise a new face from the coordinates given in parameter.

Parameters

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

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 707 of file vpMbKltTracker.cpp.

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

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

void vpMbKltTracker::initFaceFromLines ( vpMbtPolygon & polygon )

protectedvirtual

Initialise a new face from the coordinates given in parameter.

Parameters

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

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 722 of file vpMbKltTracker.cpp.

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

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

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 1012 of file vpMbTracker.cpp.

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

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 1041 of file vpMbTracker.cpp.

References vpMbTracker::initFromPoints().

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 1107 of file vpMbTracker.cpp.

References vpMbTracker::initFromPoints().

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 1121 of file vpMbTracker.cpp.

References vpMbTracker::initFromPoints().

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

protectedvirtualinherited

Definition at line 841 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.

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 1046 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.

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

virtualinherited

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

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

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

Parameters

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

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

Definition at line 1180 of file vpMbTracker.cpp.

Referenced by vpMbGenericTracker::getRobustWeights(), vpMbGenericTracker::initFromPose(), vpMbTracker::initFromPose(), vpMbDepthDenseTracker::reInitModel(), vpMbDepthNormalTracker::reInitModel(), reInitModel(), and vpMbEdgeTracker::reInitModel().

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 1203 of file vpMbTracker.cpp.

References vpMbTracker::initFromPose().

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

virtualinherited

Initialise the tracking thanks to the pose.

Parameters

I	: Input grayscale image
cMo	: Pose matrix.

Reimplemented in vpMbGenericTracker.

Definition at line 1214 of file vpMbTracker.cpp.

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

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 1226 of file vpMbTracker.cpp.

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

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

virtualinherited

Initialise the tracking thanks to the pose vector.

Parameters

I	: Input grayscale image
cPo	: Pose vector.

Definition at line 1239 of file vpMbTracker.cpp.

References vpMbTracker::initFromPose().

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 1251 of file vpMbTracker.cpp.

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

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

protectedvirtualinherited

Definition at line 1127 of file vpMbTracker.cpp.

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

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 3426 of file vpMbTracker.cpp.

References vpMbTracker::addProjectionErrorCircle().

Referenced by vpMbTracker::loadCAOModel().

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

protectedinherited

Definition at line 3432 of file vpMbTracker.cpp.

References vpMbTracker::addProjectionErrorCylinder().

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

void vpMbTracker::initProjectionErrorFaceFromCorners ( vpMbtPolygon & polygon )

protectedinherited

Definition at line 3438 of file vpMbTracker.cpp.

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

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

void vpMbTracker::initProjectionErrorFaceFromLines ( vpMbtPolygon & polygon )

protectedinherited

Definition at line 3448 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::loadCAOModel().

void vpMbTracker::loadCAOModel	(	const std::string &	modelFile,
		std::vector< std::string > &	vectorOfModelFilename,
		int &	startIdFace,
		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 1711 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().

void vpMbKltTracker::loadConfigFile	(	const std::string &	configFile,
		bool	verbose = `true`
	)

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.
verbose	: Set true to activate the verbose mode, false otherwise.

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 vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

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

Definition at line 1065 of file vpMbKltTracker.cpp.

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

virtualinherited

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

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

Reimplemented in vpMbGenericTracker.

Examples:: mbtEdgeKltTracking.cpp, mbtEdgeTracking.cpp, mbtGenericTracking.cpp, mbtGenericTracking2.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, and tutorial-mb-tracker.cpp.

Definition at line 1499 of file vpMbTracker.cpp.

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

Referenced by vpMbGenericTracker::getRobustWeights(), vpMbDepthDenseTracker::reInitModel(), vpMbDepthNormalTracker::reInitModel(), vpMbEdgeKltTracker::reInitModel(), reInitModel(), and vpMbEdgeTracker::reInitModel().

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: 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 1548 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::loadModel().

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

protectedinherited

Definition at line 1610 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::loadCAOModel().

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

protected

Realize the post tracking operations. Mostly visibility tests

Definition at line 775 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(), kltCylinders, kltPolygons, vpMbTracker::m_cam, vpMbTracker::m_cMo, percentGood, vpMbtDistanceKltPoints::polygon, vpMbtDistanceKltCylinder::removeOutliers(), vpMbtDistanceKltPoints::removeOutliers(), vpMbHiddenFaces< PolygonType >::setVisible(), vpMbHiddenFaces< PolygonType >::setVisibleOgre(), threshold_outlier, and vpMbTracker::useOgre.

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

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

protected

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

Parameters

I	: The input image.

Definition at line 738 of file vpMbKltTracker.cpp.

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

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

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

protectedinherited

Definition at line 3665 of file vpMbTracker.cpp.

Referenced by vpMbTracker::computeProjectionErrorImpl().

void vpMbTracker::projectionErrorResetMovingEdges ( )

protectedinherited

Definition at line 3625 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::computeProjectionErrorImpl().

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

protectedinherited

Definition at line 3610 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::computeProjectionErrorImpl().

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

protectedvirtual

Definition at line 215 of file vpMbKltTracker.cpp.

References c0Mo, vpPolygon3D::changeFrame(), vpMbHiddenFaces< PolygonType >::computeClippedPolygons(), vpCameraParameters::computeFov(), vpPolygon3D::computePolygonClipped(), vpMbHiddenFaces< PolygonType >::computeScanLineRender(), vpImageConvert::convert(), ctTc0, 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(), kltCylinders, kltPolygons, vpMbtDistanceKltCylinder::listIndicesCylinderBBox, vpMbTracker::m_cam, vpMbTracker::m_cMo, vpMbTracker::m_mask, maskBorder, vpMbtDistanceKltPoints::polygon, tracker, vpMbtDistanceKltCylinder::updateMask(), vpMbtDistanceKltPoints::updateMask(), and vpMbTracker::useScanLine.

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

void vpMbKltTracker::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 in vpMbEdgeKltTracker.

Definition at line 1454 of file vpMbKltTracker.cpp.

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

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

protectedinherited

Definition at line 1595 of file vpMbTracker.cpp.

References vpException::ioError.

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

void vpMbKltTracker::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.

Examples:: mbtKltTracking.cpp.

Definition at line 301 of file vpMbKltTracker.cpp.

References vpMbTracker::angleAppears, vpMbTracker::angleDisappears, circles_disp, vpMbTracker::clippingFlag, vpMbTracker::computeCovariance, cur, vpHomogeneousMatrix::eye(), vpMbTracker::faces, firstInitialisation, vpMbTracker::GAUSS_NEWTON_OPT, kltCylinders, kltPolygons, vpMbTracker::m_cMo, vpMbTracker::m_computeInteraction, vpMbTracker::m_lambda, vpMbTracker::m_maxIter, vpMbTracker::m_optimizationMethod, maskBorder, vpPolygon3D::NO_CLIPPING, percentGood, vpMath::rad(), vpMbHiddenFaces< PolygonType >::reset(), vpKltOpencv::setBlockSize(), vpKltOpencv::setHarrisFreeParameter(), vpKltOpencv::setMaxFeatures(), vpKltOpencv::setMinDistance(), vpKltOpencv::setPyramidLevels(), vpKltOpencv::setQuality(), vpKltOpencv::setTrackerId(), vpKltOpencv::setUseHarris(), vpKltOpencv::setWindowSize(), threshold_outlier, tracker, vpMbTracker::useOgre, and vpMbTracker::useScanLine.

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

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 3130 of file vpMbTracker.cpp.

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

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

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

inherited

Save the pose in the given filename

Parameters

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

Definition at line 1263 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::initClick().

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

inlinevirtualinherited

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 in vpMbGenericTracker.

Examples:: mbtEdgeKltTracking.cpp, mbtGenericTracking.cpp, mbtGenericTracking2.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 469 of file vpMbTracker.h.

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

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

inlinevirtualinherited

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

Parameters

a	: new angle in radian.

Reimplemented in vpMbGenericTracker.

Examples:: mbtEdgeKltTracking.cpp, mbtGenericTracking.cpp, mbtGenericTracking2.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 480 of file vpMbTracker.h.

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

void vpMbKltTracker::setCameraParameters ( const vpCameraParameters & cam )

virtual

Set the camera parameters.

Parameters

cam	: the new camera parameters.

Reimplemented from vpMbTracker.

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

Definition at line 448 of file vpMbKltTracker.cpp.

References kltCylinders, kltPolygons, vpMbTracker::m_cam, vpMbtDistanceKltCylinder::setCameraParameters(), and vpMbtDistanceKltPoints::setCameraParameters().

Referenced by loadConfigFile(), vpMbEdgeKltTracker::setCameraParameters(), and vpMbGenericTracker::track().

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

virtualinherited

Specify which clipping to use.

See also: vpMbtPolygonClipping

Parameters

flags : New clipping flags.

Reimplemented in vpMbEdgeTracker, vpMbGenericTracker, and vpMbEdgeKltTracker.

Examples:: mbtGenericTracking.cpp, mbtGenericTrackingDepth.cpp, mbtGenericTrackingDepthOnly.cpp, mbtKltTracking.cpp, tutorial-mb-klt-tracker.cpp, and tutorial-mb-tracker-full.cpp.

Definition at line 2841 of file vpMbTracker.cpp.

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

Referenced by vpMbGenericTracker::getRobustWeights(), vpMbDepthDenseTracker::loadConfigFile(), vpMbDepthNormalTracker::loadConfigFile(), loadConfigFile(), vpMbEdgeTracker::setCameraParameters(), vpMbGenericTracker::setClipping(), and vpMbEdgeTracker::setClipping().

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

inlinevirtualinherited

Set if the covariance matrix has to be computed.

Parameters

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

See also: getCovarianceMatrix()

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

Definition at line 499 of file vpMbTracker.h.

virtual void vpMbTracker::setDisplayFeatures ( bool displayF )

inlinevirtualinherited

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

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

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

Parameters

displayF : set it to true to display the features.

Reimplemented in vpMbGenericTracker.

Examples:: mbtEdgeKltTracking.cpp, mbtEdgeTracking.cpp, mbtGenericTracking.cpp, mbtGenericTracking2.cpp, mbtGenericTrackingDepth.cpp, mbtGenericTrackingDepthOnly.cpp, mbtKltTracking.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, and tutorial-mb-tracker.cpp.

Definition at line 517 of file vpMbTracker.h.

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

void vpMbTracker::setEstimatedDoF ( const vpColVector & v )

virtualinherited

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

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

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

Definition at line 3015 of file vpMbTracker.cpp.

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

void vpMbTracker::setFarClippingDistance ( const double & dist )

virtualinherited

Set the far distance for clipping.

Parameters

dist	: Far clipping value.

Reimplemented in vpMbEdgeTracker, vpMbGenericTracker, and vpMbEdgeKltTracker.

Examples:: mbtGenericTracking.cpp, mbtGenericTracking2.cpp, mbtGenericTrackingDepth.cpp, mbtGenericTrackingDepthOnly.cpp, mbtKltTracking.cpp, tutorial-mb-klt-tracker.cpp, and tutorial-mb-tracker-full.cpp.

Definition at line 2735 of file vpMbTracker.cpp.

References vpMbTracker::clippingFlag, vpMbTracker::distFarClip, vpMbTracker::distNearClip, vpMbTracker::faces, vpPolygon3D::FAR_CLIPPING, vpMbHiddenFaces< PolygonType >::getOgreContext(), vpPolygon3D::NEAR_CLIPPING, vpAROgre::setFarClippingDistance(), vpMbHiddenFaces< PolygonType >::size(), and vpTRACE.

Referenced by vpMbGenericTracker::getRobustWeights(), vpMbDepthDenseTracker::loadConfigFile(), vpMbDepthNormalTracker::loadConfigFile(), loadConfigFile(), vpMbEdgeTracker::setCameraParameters(), vpMbGenericTracker::setFarClippingDistance(), and vpMbEdgeTracker::setFarClippingDistance().

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

inlinevirtualinherited

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

See also: setNbRayCastingAttemptsForVisibility(const unsigned int &)

Parameters

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

Reimplemented in vpMbGenericTracker.

Definition at line 617 of file vpMbTracker.h.

References vpMbHiddenFaces< PolygonType >::setGoodNbRayCastingAttemptsRatio().

Referenced by vpMbGenericTracker::getRobustWeights().

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 528 of file vpMbTracker.h.

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

inline

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

Parameters

e	: The desired erosion.

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

Definition at line 347 of file vpMbKltTracker.h.

void vpMbKltTracker::setKltOpencv ( const vpKltOpencv & t )

virtual

Set the new value of the klt tracker.

Parameters

t	: Klt tracker containing the new values.

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

Definition at line 432 of file vpMbKltTracker.cpp.

References vpKltOpencv::getBlockSize(), vpKltOpencv::getHarrisFreeParameter(), vpKltOpencv::getMaxFeatures(), vpKltOpencv::getMinDistance(), vpKltOpencv::getPyramidLevels(), vpKltOpencv::getQuality(), vpKltOpencv::getWindowSize(), vpKltOpencv::setBlockSize(), vpKltOpencv::setHarrisFreeParameter(), vpKltOpencv::setMaxFeatures(), vpKltOpencv::setMinDistance(), vpKltOpencv::setPyramidLevels(), vpKltOpencv::setQuality(), vpKltOpencv::setWindowSize(), and tracker.

void vpMbKltTracker::setKltThresholdAcceptation ( double th )

inline

Set the threshold for the acceptation of a point.

Parameters

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

Definition at line 361 of file vpMbKltTracker.h.

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 535 of file vpMbTracker.h.

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

virtualinherited

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

Parameters

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

See also: setMinLineLengthThresh(), setMinPolygonAreaThresh()

Reimplemented in vpMbGenericTracker.

Definition at line 2765 of file vpMbTracker.cpp.

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

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

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

inlinevirtualinherited

Reimplemented in vpMbGenericTracker.

Definition at line 563 of file vpMbTracker.h.

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

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

inline

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

Parameters

e	: The desired erosion.

Examples:: tutorial-mb-hybrid-tracker.cpp.

Definition at line 448 of file vpMbKltTracker.h.

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 544 of file vpMbTracker.h.

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

virtualinherited

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

Parameters

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

See also: setLod(), setMinPolygonAreaThresh()

Reimplemented in vpMbGenericTracker.

Definition at line 2783 of file vpMbTracker.cpp.

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

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

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

virtualinherited

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

Parameters

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

See also: setLod(), setMinLineLengthThresh()

Reimplemented in vpMbGenericTracker.

Definition at line 2800 of file vpMbTracker.cpp.

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

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

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

inlinevirtualinherited

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

See also: setGoodNbRayCastingAttemptsRatio(const unsigned int &)

Parameters

attempts Number of rays to be sent.

Reimplemented in vpMbGenericTracker.

Definition at line 627 of file vpMbTracker.h.

References vpMbHiddenFaces< PolygonType >::setNbRayCastingAttemptsForVisibility().

Referenced by vpMbGenericTracker::getRobustWeights().

void vpMbTracker::setNearClippingDistance ( const double & dist )

virtualinherited

Set the near distance for clipping.

Parameters

dist	: Near clipping value.

Reimplemented in vpMbEdgeTracker, vpMbGenericTracker, and vpMbEdgeKltTracker.

Examples:: mbtGenericTracking.cpp, mbtGenericTracking2.cpp, mbtGenericTrackingDepth.cpp, mbtGenericTrackingDepthOnly.cpp, mbtKltTracking.cpp, tutorial-mb-klt-tracker.cpp, and tutorial-mb-tracker-full.cpp.

Definition at line 2814 of file vpMbTracker.cpp.

References vpMbTracker::clippingFlag, vpMbTracker::distFarClip, vpMbTracker::distNearClip, vpMbTracker::faces, vpPolygon3D::FAR_CLIPPING, vpMbHiddenFaces< PolygonType >::getOgreContext(), vpPolygon3D::NEAR_CLIPPING, vpAROgre::setNearClippingDistance(), vpMbHiddenFaces< PolygonType >::size(), and vpTRACE.

Referenced by vpMbGenericTracker::getRobustWeights(), vpMbDepthDenseTracker::loadConfigFile(), vpMbDepthNormalTracker::loadConfigFile(), loadConfigFile(), vpMbEdgeTracker::setCameraParameters(), vpMbGenericTracker::setNearClippingDistance(), and vpMbEdgeTracker::setNearClippingDistance().

virtual void vpMbTracker::setOgreShowConfigDialog ( bool showConfigDialog )

inlinevirtualinherited

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

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

Parameters

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

Reimplemented in vpMbGenericTracker.

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

Definition at line 643 of file vpMbTracker.h.

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

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

inlinevirtual

Use Ogre3D for visibility tests

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

Parameters

v	: True to use it, False otherwise

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

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

Definition at line 371 of file vpMbKltTracker.h.

References vpMbTracker::setOgreVisibilityTest().

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

inlinevirtualinherited

Set the optimization method used during the tracking.

Parameters

opt	: Optimization method to use.

Reimplemented in vpMbGenericTracker.

Definition at line 557 of file vpMbTracker.h.

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

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

virtual

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

Warning: This functionnality is not available when tracking cylinders.

Parameters

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

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

Examples:: mbtKltTracking.cpp.

Definition at line 682 of file vpMbKltTracker.cpp.

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

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

virtual

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

Warning: This functionnality is not available when tracking cylinders.

Parameters

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

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 696 of file vpMbKltTracker.cpp.

References setPose().

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

protectedvirtual

Definition at line 468 of file vpMbKltTracker.cpp.

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

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 655 of file vpMbTracker.h.

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

inlinevirtual

Set if the projection error criteria has to be computed.

Parameters

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

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 401 of file vpMbKltTracker.h.

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

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 589 of file vpMbTracker.h.

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

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 594 of file vpMbTracker.h.

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

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 599 of file vpMbTracker.h.

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

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

inherited

Set kernel size used for projection error computation.

Parameters

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

Definition at line 3826 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::loadConfigFile().

void vpMbTracker::setProjectionErrorMovingEdge ( const vpMe & me )

inherited

Set Moving-Edges parameters for projection error computation.

Parameters

me	: Moving-Edges parameters.

Definition at line 3800 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().

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

inlinevirtual

Use Scanline algorithm for visibility tests

Parameters

v	: True to use it, False otherwise

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

Examples:: mbtKltTracking.cpp.

Definition at line 384 of file vpMbKltTracker.h.

References vpMbTracker::setScanLineVisibilityTest().

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

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 571 of file vpMbTracker.h.

void vpMbKltTracker::setThresholdAcceptation ( double th )

inline

Set the threshold for the acceptation of a point.

Deprecated:: Use rather setKltThresholdAcceptation()

Parameters

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

Definition at line 461 of file vpMbKltTracker.h.

References vpMbTracker::computeVVSInit(), vpMbTracker::computeVVSInteractionMatrixAndResidu(), vpMbTracker::init(), vpMbTracker::initCircle(), vpMbTracker::initCylinder(), vpMbTracker::initFaceFromCorners(), vpMbTracker::initFaceFromLines(), and vpMbTracker::setPose().

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

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

Parameters

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

Definition at line 1511 of file vpMbKltTracker.cpp.

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

void vpMbKltTracker::testTracking ( )

virtual

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 vpMbEdgeKltTracker.

Definition at line 1334 of file vpMbKltTracker.cpp.

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

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

virtual

Realize the tracking of the object in the image

Exceptions

vpException : if the tracking is supposed to have failed

Parameters

I	: the input grayscale image

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

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

Definition at line 982 of file vpMbKltTracker.cpp.

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

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

virtual

Realize the tracking of the object in the image

Exceptions

vpException : if the tracking is supposed to have failed

Parameters

I_color : the input color image

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 1007 of file vpMbKltTracker.cpp.

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

Member Data Documentation

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(), init(), vpMbDepthDenseTracker::loadConfigFile(), vpMbDepthNormalTracker::loadConfigFile(), vpMbEdgeKltTracker::loadConfigFile(), vpMbGenericTracker::loadConfigFile(), loadConfigFile(), vpMbEdgeTracker::loadConfigFile(), postTracking(), vpMbTracker::projectionErrorVisibleFace(), vpMbDepthDenseTracker::resetTracker(), vpMbDepthNormalTracker::resetTracker(), vpMbGenericTracker::resetTracker(), resetTracker(), vpMbEdgeTracker::resetTracker(), vpMbGenericTracker::setAngleAppear(), setPose(), vpMbGenericTracker::track(), and vpMbEdgeTracker::visibleFace().

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(), init(), vpMbDepthDenseTracker::loadConfigFile(), vpMbDepthNormalTracker::loadConfigFile(), vpMbEdgeKltTracker::loadConfigFile(), vpMbGenericTracker::loadConfigFile(), loadConfigFile(), vpMbEdgeTracker::loadConfigFile(), postTracking(), vpMbTracker::projectionErrorVisibleFace(), vpMbDepthDenseTracker::resetTracker(), vpMbDepthNormalTracker::resetTracker(), vpMbGenericTracker::resetTracker(), resetTracker(), vpMbEdgeTracker::resetTracker(), vpMbGenericTracker::setAngleDisappear(), setPose(), vpMbGenericTracker::track(), and vpMbEdgeTracker::visibleFace().

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

vpHomogeneousMatrix vpMbKltTracker::c0Mo

protected

Initial pose.

Definition at line 220 of file vpMbKltTracker.h.

Referenced by vpMbEdgeKltTracker::computeVVS(), computeVVS(), reinit(), and setPose().

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

protected

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

Definition at line 242 of file vpMbKltTracker.h.

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

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(), getModelForDisplay(), vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), vpMbEdgeTracker::init(), vpMbDepthDenseTracker::loadConfigFile(), vpMbDepthNormalTracker::loadConfigFile(), vpMbEdgeKltTracker::loadConfigFile(), vpMbGenericTracker::loadConfigFile(), loadConfigFile(), vpMbEdgeTracker::loadConfigFile(), vpMbDepthDenseTracker::resetTracker(), vpMbDepthNormalTracker::resetTracker(), vpMbGenericTracker::resetTracker(), resetTracker(), vpMbEdgeTracker::resetTracker(), vpMbGenericTracker::setClipping(), vpMbEdgeTracker::setClipping(), vpMbTracker::setClipping(), vpMbEdgeTracker::setFarClippingDistance(), vpMbTracker::setFarClippingDistance(), vpMbEdgeTracker::setNearClippingDistance(), vpMbTracker::setNearClippingDistance(), and vpMbGenericTracker::track().

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(), vpMbGenericTracker::computeVVS(), vpMbEdgeTracker::computeVVS(), vpMbDepthDenseTracker::resetTracker(), vpMbDepthNormalTracker::resetTracker(), resetTracker(), vpMbGenericTracker::track(), and vpMbEdgeKltTracker::vpMbEdgeKltTracker().

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 vpMbGenericTracker::computeProjectionError(), vpMbEdgeKltTracker::postTracking(), vpMbGenericTracker::track(), and vpMbEdgeTracker::track().

vpMatrix vpMbTracker::covarianceMatrix

protectedinherited

Covariance matrix.

Definition at line 130 of file vpMbTracker.h.

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

vpHomogeneousMatrix vpMbKltTracker::ctTc0

protected

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

Definition at line 234 of file vpMbKltTracker.h.

Referenced by vpMbEdgeKltTracker::computeVVS(), computeVVS(), computeVVSInteractionMatrixAndResidu(), reinit(), and setPose().

cv::Mat vpMbKltTracker::cur

protected

Temporary OpenCV image for fast conversion.

Definition at line 215 of file vpMbKltTracker.h.

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

bool vpMbTracker::displayFeatures

protectedinherited

If true, the features are displayed.

Definition at line 138 of file vpMbTracker.h.

Referenced by vpMbDepthNormalTracker::display(), vpMbEdgeKltTracker::display(), display(), vpMbEdgeTracker::display(), vpMbEdgeKltTracker::postTracking(), vpMbEdgeKltTracker::track(), track(), vpMbGenericTracker::track(), and vpMbEdgeTracker::track().

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().

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().

vpMbHiddenFaces<vpMbtPolygon> vpMbTracker::faces

protectedinherited

Set of faces describing the object.

Definition at line 143 of file vpMbTracker.h.

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

bool vpMbKltTracker::firstInitialisation

protected

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

Definition at line 223 of file vpMbKltTracker.h.

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

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(), vpMbEdgeTracker::computeVVS(), and vpMbTracker::setEstimatedDoF().

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

protected

Definition at line 240 of file vpMbKltTracker.h.

Referenced by vpMbEdgeKltTracker::computeVVS(), computeVVSInteractionMatrixAndResidu(), getFeaturesForDisplayKlt(), getModelForDisplay(), initCylinder(), postTracking(), preTracking(), reinit(), vpMbEdgeKltTracker::reInitModel(), reInitModel(), resetTracker(), setCameraParameters(), setPose(), testTracking(), and ~vpMbKltTracker().

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

protected

Definition at line 238 of file vpMbKltTracker.h.

Referenced by vpMbEdgeKltTracker::computeVVS(), computeVVSInteractionMatrixAndResidu(), getFeaturesForDisplayKlt(), getModelForDisplay(), initFaceFromCorners(), initFaceFromLines(), postTracking(), preTracking(), reinit(), vpMbEdgeKltTracker::reInitModel(), reInitModel(), resetTracker(), setCameraParameters(), setPose(), setUseKltTracking(), testTracking(), and ~vpMbKltTracker().

vpCameraParameters vpMbTracker::m_cam

protectedinherited

The camera parameters.

Definition at line 111 of file vpMbTracker.h.

Referenced by addCircle(), vpMbEdgeTracker::addCircle(), vpMbEdgeTracker::addCylinder(), vpMbDepthDenseTracker::addFace(), vpMbDepthNormalTracker::addFace(), vpMbEdgeTracker::addLine(), vpMbTracker::addProjectionErrorCircle(), vpMbTracker::addProjectionErrorCylinder(), vpMbTracker::addProjectionErrorLine(), vpMbDepthDenseTracker::computeVisibility(), vpMbDepthNormalTracker::computeVisibility(), vpMbEdgeKltTracker::computeVVS(), vpMbEdgeTracker::computeVVSFirstPhase(), computeVVSInit(), vpMbEdgeTracker::computeVVSInit(), vpMbEdgeTracker::downScale(), vpMbDepthNormalTracker::getFeaturesForDisplayDepthNormal(), getModelForDisplay(), vpMbTracker::getPolygonFaces(), vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), init(), vpMbEdgeTracker::init(), vpMbTracker::initClick(), initCylinder(), initFaceFromCorners(), initFaceFromLines(), vpMbGenericTracker::initFromPoints(), vpMbTracker::initFromPoints(), vpMbGenericTracker::initFromPose(), vpMbDepthDenseTracker::loadConfigFile(), vpMbDepthNormalTracker::loadConfigFile(), vpMbEdgeKltTracker::loadConfigFile(), vpMbGenericTracker::loadConfigFile(), vpMbEdgeTracker::loadConfigFile(), vpMbEdgeKltTracker::postTracking(), postTracking(), reinit(), vpMbDepthDenseTracker::setCameraParameters(), vpMbDepthNormalTracker::setCameraParameters(), vpMbEdgeKltTracker::setCameraParameters(), setCameraParameters(), vpMbGenericTracker::setCameraParameters(), vpMbEdgeKltTracker::setPose(), setPose(), vpMbGenericTracker::track(), vpMbEdgeTracker::track(), vpMbEdgeTracker::upScale(), and vpMbEdgeTracker::visibleFace().

vpHomogeneousMatrix vpMbTracker::m_cMo

protectedinherited

The current pose.

Definition at line 113 of file vpMbTracker.h.

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(), vpMbEdgeTracker::computeVVS(), vpMbEdgeTracker::computeVVSFirstPhasePoseEstimation(), vpMbDepthDenseTracker::resetTracker(), vpMbDepthNormalTracker::resetTracker(), vpMbGenericTracker::resetTracker(), resetTracker(), and vpMbEdgeTracker::resetTracker().

vpColVector vpMbKltTracker::m_error_klt

protected

(s - s*)

Definition at line 250 of file vpMbKltTracker.h.

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

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

protected

Display features.

Definition at line 258 of file vpMbKltTracker.h.

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

vpImage<unsigned char> vpMbTracker::m_I

protectedinherited

Grayscale image buffer, used when passing color images.

Definition at line 223 of file vpMbTracker.h.

Referenced by vpMbGenericTracker::initClick(), vpMbTracker::initClick(), vpMbTracker::initFromPoints(), vpMbTracker::initFromPose(), vpMbEdgeKltTracker::postTracking(), vpMbDepthDenseTracker::setPose(), vpMbDepthNormalTracker::setPose(), vpMbEdgeKltTracker::setPose(), vpMbGenericTracker::setPose(), vpMbEdgeTracker::setPose(), setPose(), vpMbEdgeKltTracker::track(), track(), vpMbGenericTracker::track(), and vpMbEdgeTracker::track().

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(), vpMbGenericTracker::computeVVS(), vpMbEdgeTracker::computeVVS(), vpMbGenericTracker::resetTracker(), and vpMbGenericTracker::track().

vpMatrix vpMbKltTracker::m_L_klt

protected

Interaction matrix.

Definition at line 248 of file vpMbKltTracker.h.

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

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(), vpMbGenericTracker::resetTracker(), resetTracker(), vpMbEdgeTracker::resetTracker(), vpMbGenericTracker::track(), vpMbEdgeKltTracker::vpMbEdgeKltTracker(), and vpMbKltTracker().

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

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(), vpMbGenericTracker::computeVVS(), vpMbEdgeTracker::computeVVS(), vpMbDepthDenseTracker::resetTracker(), vpMbGenericTracker::resetTracker(), resetTracker(), vpMbEdgeKltTracker::track(), vpMbGenericTracker::track(), vpMbEdgeKltTracker::vpMbEdgeKltTracker(), and vpMbKltTracker().

unsigned int vpMbKltTracker::m_nbFaceUsed

protected

Definition at line 246 of file vpMbKltTracker.h.

Referenced by preTracking(), and track().

unsigned int vpMbKltTracker::m_nbInfos

protected

Definition at line 244 of file vpMbKltTracker.h.

Referenced by computeVVSInit(), preTracking(), vpMbEdgeKltTracker::track(), and track().

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(), vpMbGenericTracker::resetTracker(), resetTracker(), and vpMbEdgeTracker::resetTracker().

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().

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().

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().

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().

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().

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().

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().

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().

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().

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().

bool vpMbTracker::m_projectionErrorOgreShowConfigDialog

protectedinherited

Definition at line 203 of file vpMbTracker.h.

Referenced by vpMbTracker::computeProjectionErrorImpl().

vpUniRand vpMbTracker::m_rand

protectedinherited

Random number generator used in vpMbtDistanceLine::buildFrom()

Definition at line 227 of file vpMbTracker.h.

Referenced by vpMbDepthDenseTracker::addFace(), vpMbDepthNormalTracker::addFace(), vpMbEdgeTracker::addLine(), and vpMbTracker::addProjectionErrorLine().

vpRobust vpMbKltTracker::m_robust_klt

protected

Robust.

Definition at line 256 of file vpMbKltTracker.h.

Referenced by computeVVS(), and computeVVSInit().

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().

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().

bool vpMbTracker::m_sodb_init_called

protectedinherited

Flag that indicates that SoDB::init(); was called.

Definition at line 225 of file vpMbTracker.h.

Referenced by vpMbTracker::loadVRMLModel(), and vpMbTracker::~vpMbTracker().

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().

vpColVector vpMbKltTracker::m_w_klt

protected

Robust weights.

Definition at line 252 of file vpMbKltTracker.h.

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

vpColVector vpMbKltTracker::m_weightedError_klt

protected

Weighted error.

Definition at line 254 of file vpMbKltTracker.h.

Referenced by computeVVS(), and computeVVSInit().

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().

unsigned int vpMbKltTracker::maskBorder

protected

Erosion of the mask.

Definition at line 225 of file vpMbKltTracker.h.

Referenced by vpMbEdgeKltTracker::loadConfigFile(), loadConfigFile(), reinit(), and resetTracker().

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

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

std::string vpMbTracker::modelFileName

protectedinherited

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

Definition at line 120 of file vpMbTracker.h.

Referenced by vpMbTracker::loadModel().

bool vpMbTracker::modelInitialised

protectedinherited

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

Definition at line 123 of file vpMbTracker.h.

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

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().

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().

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().

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().

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().

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().

bool vpMbTracker::ogreShowConfigDialog

protectedinherited

Definition at line 156 of file vpMbTracker.h.

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

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(), vpMbGenericTracker::computeVVS(), vpMbEdgeTracker::computeVVS(), vpMbEdgeTracker::computeVVSFirstPhasePoseEstimation(), vpMbTracker::computeVVSPoseEstimation(), vpMbTracker::getEstimatedDoF(), vpMbTracker::setEstimatedDoF(), vpMbGenericTracker::track(), and vpMbTracker::vpMbTracker().

double vpMbKltTracker::percentGood

protected

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

Definition at line 231 of file vpMbKltTracker.h.

Referenced by postTracking(), and resetTracker().

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().

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 vpMbGenericTracker::computeProjectionError(), vpMbEdgeTracker::computeProjectionError(), and vpMbEdgeTracker::track().

double vpMbKltTracker::threshold_outlier

protected

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

Definition at line 228 of file vpMbKltTracker.h.

Referenced by postTracking(), and resetTracker().

vpKltOpencv vpMbKltTracker::tracker

protected

Points tracker.

Definition at line 236 of file vpMbKltTracker.h.

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

bool vpMbTracker::useLodGeneral

protectedinherited

True if LOD mode is enabled.

Definition at line 172 of file vpMbTracker.h.

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

bool vpMbTracker::useOgre

protectedinherited

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(), getModelForDisplay(), vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), vpMbEdgeTracker::init(), initCylinder(), initFaceFromCorners(), initFaceFromLines(), vpMbEdgeKltTracker::postTracking(), reinit(), vpMbDepthDenseTracker::resetTracker(), vpMbDepthNormalTracker::resetTracker(), vpMbGenericTracker::resetTracker(), resetTracker(), vpMbEdgeTracker::resetTracker(), vpMbEdgeKltTracker::setPose(), setPose(), vpMbGenericTracker::track(), and vpMbEdgeTracker::track().

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation