Visual Servoing Platform  version 3.5.0 under development (2022-02-15)
vpMbTracker Class Referenceabstract

#include <visp3/mbt/vpMbTracker.h>

+ Inheritance diagram for vpMbTracker:

Public Types

enum  vpMbtOptimizationMethod { GAUSS_NEWTON_OPT = 0, LEVENBERG_MARQUARDT_OPT = 1 }
 

Public Member Functions

 vpMbTracker ()
 
virtual ~vpMbTracker ()
 
Inherited functionalities from vpMbTracker
virtual double 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 vpColVector getError () const =0
 
virtual vpMbHiddenFaces< vpMbtPolygon > & getFaces ()
 
virtual double getFarClippingDistance () const
 
virtual vpColVector getRobustWeights () const =0
 
virtual unsigned int getNbPolygon () const
 
virtual double getNearClippingDistance () const
 
virtual vpMbtOptimizationMethod getOptimizationMethod () const
 
virtual vpMbtPolygongetPolygon (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 setCameraParameters (const vpCameraParameters &cam)
 
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 setProjectionErrorComputation (const bool &flag)
 
virtual void setProjectionErrorDisplay (bool display)
 
virtual void setProjectionErrorDisplayArrowLength (unsigned int length)
 
virtual void setProjectionErrorDisplayArrowThickness (unsigned int thickness)
 
virtual void setScanLineVisibilityTest (const bool &v)
 
virtual void setOgreVisibilityTest (const bool &v)
 
void savePose (const std::string &filename) const
 
virtual void setGoodNbRayCastingAttemptsRatio (const double &ratio)
 
virtual void setNbRayCastingAttemptsForVisibility (const unsigned int &attempts)
 
virtual void setOgreShowConfigDialog (bool showConfigDialog)
 
void setPoseSavingFilename (const std::string &filename)
 
virtual void display (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, unsigned int thickness=1, bool displayFullModel=false)=0
 
virtual void display (const vpImage< vpRGBa > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, unsigned int thickness=1, bool displayFullModel=false)=0
 
virtual std::vector< std::vector< double > > getModelForDisplay (unsigned int width, unsigned int height, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, bool displayFullModel=false)=0
 
virtual void init (const vpImage< unsigned char > &I)=0
 
virtual void loadConfigFile (const std::string &configFile, bool verbose=true)
 
virtual void resetTracker ()=0
 
virtual void setPose (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cdMo)=0
 
virtual void setPose (const vpImage< vpRGBa > &I_color, const vpHomogeneousMatrix &cdMo)=0
 
virtual void testTracking ()=0
 
virtual void track (const vpImage< unsigned char > &I)=0
 
virtual void track (const vpImage< vpRGBa > &I)=0
 

Protected Member Functions

Protected Member Functions Inherited from vpMbTracker
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 computeVVSInit ()=0
 
virtual void computeVVSInteractionMatrixAndResidu ()=0
 
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
 
virtual void initCircle (const vpPoint &p1, const vpPoint &p2, const vpPoint &p3, double radius, int idFace=0, const std::string &name="")=0
 
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)
 
virtual void initCylinder (const vpPoint &p1, const vpPoint &p2, double radius, int idFace=0, const std::string &name="")=0
 
virtual void initFaceFromCorners (vpMbtPolygon &polygon)=0
 
virtual void initFaceFromLines (vpMbtPolygon &polygon)=0
 
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

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< vpMbtPolygonfaces
 
double angleAppears
 
double angleDisappears
 
double distNearClip
 
double distFarClip
 
unsigned int clippingFlag
 
bool useOgre
 
bool ogreShowConfigDialog
 
bool useScanLine
 
unsigned int nbPoints
 
unsigned int nbLines
 
unsigned int nbPolygonLines
 
unsigned int nbPolygonPoints
 
unsigned int nbCylinders
 
unsigned int nbCircles
 
bool useLodGeneral
 
bool applyLodSettingInConfig
 
double minLineLengthThresholdGeneral
 
double minPolygonAreaThresholdGeneral
 
std::map< std::string, std::string > mapOfParameterNames
 
bool m_computeInteraction
 
double m_lambda
 
unsigned int m_maxIter
 
double m_stopCriteriaEpsilon
 
double m_initialMu
 
std::vector< vpMbtDistanceLine * > m_projectionErrorLines
 
std::vector< vpMbtDistanceCylinder * > m_projectionErrorCylinders
 
std::vector< vpMbtDistanceCircle * > m_projectionErrorCircles
 
vpMbHiddenFaces< vpMbtPolygonm_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

Main methods for a model-based tracker.

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

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

  • init() : Initialisation of the tracker (it includes re-initialisation). This method is called at the end of the initClick() method.
  • initFaceFromCorners() : Initialisation of the lines that has to be tracked.
  • track() : Tracking on the current image
  • testTracking() : Test the tracking. This method throws exception if the tracking failed.
  • display() : Display the model and eventually other information.
Examples:
mbtGenericTracking.cpp, mbtGenericTracking2.cpp, mbtGenericTrackingDepth.cpp, mbtGenericTrackingDepthOnly.cpp, tutorial-mb-tracker-full.cpp, and tutorial-mb-tracker.cpp.

Definition at line 104 of file vpMbTracker.h.

Member Enumeration Documentation

◆ vpMbtOptimizationMethod

Enumerator
GAUSS_NEWTON_OPT 
LEVENBERG_MARQUARDT_OPT 

Definition at line 107 of file vpMbTracker.h.

Constructor & Destructor Documentation

◆ vpMbTracker()

vpMbTracker::vpMbTracker ( )

◆ ~vpMbTracker()

vpMbTracker::~vpMbTracker ( )
virtual

Member Function Documentation

◆ addPolygon() [1/4]

◆ addPolygon() [2/4]

◆ addPolygon() [3/4]

◆ addPolygon() [4/4]

◆ addProjectionErrorCircle()

◆ addProjectionErrorCylinder()

◆ addProjectionErrorLine()

◆ addProjectionErrorPolygon() [1/4]

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

◆ addProjectionErrorPolygon() [2/4]

◆ addProjectionErrorPolygon() [3/4]

◆ addProjectionErrorPolygon() [4/4]

◆ computeCovarianceMatrixVVS()

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

◆ computeCurrentProjectionError()

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

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

See also
setProjectionErrorComputation
getProjectionError

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

Get the error angle between the gradient direction of the model features projected at the resulting pose and their normal. The error is expressed in degree between 0 and 90.

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

Reimplemented in vpMbGenericTracker.

Examples:
mbtGenericTrackingDepthOnly.cpp.

Definition at line 3474 of file vpMbTracker.cpp.

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

◆ computeJTR()

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

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

Exceptions
vpMatrixException::incorrectMatrixSizeErrorif the sizes of the matrices do not allow the computation.
Warning
The JTR vector is resized.
Parameters
interaction: The interaction matrix (size Nx6).
error: The residu vector (size Nx1).
JTR: The resulting JTR column vector (size 6x1).

Definition at line 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 computeVVSPoseEstimation().

◆ computeProjectionErrorImpl()

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

◆ computeVVSCheckLevenbergMarquardt()

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

◆ computeVVSInit()

◆ computeVVSInteractionMatrixAndResidu()

◆ computeVVSPoseEstimation()

◆ computeVVSWeights()

◆ createCylinderBBox()

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

◆ display() [1/2]

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

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

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

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

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

Referenced by initClick().

◆ display() [2/2]

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

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

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

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

◆ extractCylinders()

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

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

Warning
This method extract cylinder described using an indexed face set not a cylinder set since software such as AC3D or blender export a cylinder using this data type. the object name is used, if it begins with "cyl" then this method is called otherwise the extractFaces() is used.
Parameters
face_set: Pointer to the cylinder in the vrml format.
transform: Transformation matrix applied to the cylinder.
idFace: Id of the face.
polygonNameName of the polygon.

Definition at line 2463 of file vpMbTracker.cpp.

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

Referenced by extractGroup().

◆ extractFaces()

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

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

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

Definition at line 2410 of file vpMbTracker.cpp.

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

Referenced by extractGroup().

◆ extractGroup()

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

Extract a VRML object Group.

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

Definition at line 2321 of file vpMbTracker.cpp.

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

Referenced by loadVRMLModel().

◆ extractLines()

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

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

Parameters
line_set: Pointer to the line in the vrml format.
idFace: Id of the face.
polygonNameName of the polygon.

Definition at line 2548 of file vpMbTracker.cpp.

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

Referenced by extractGroup().

◆ getAngleAppear()

virtual double vpMbTracker::getAngleAppear ( ) const
inlinevirtual

Return the angle used to test polygons appearance.

Definition at line 238 of file vpMbTracker.h.

◆ getAngleDisappear()

virtual double vpMbTracker::getAngleDisappear ( ) const
inlinevirtual

Return the angle used to test polygons disappearance.

Definition at line 241 of file vpMbTracker.h.

◆ getCameraParameters()

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

◆ getClipping()

◆ getCovarianceMatrix()

virtual vpMatrix vpMbTracker::getCovarianceMatrix ( ) const
inlinevirtual

◆ getError()

virtual vpColVector vpMbTracker::getError ( ) const
pure virtual

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

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

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

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

Examples:
mbtGenericTrackingDepth.cpp, and mbtGenericTrackingDepthOnly.cpp.

◆ getEstimatedDoF()

vpColVector vpMbTracker::getEstimatedDoF ( ) const
virtual

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

Returns
1x6 vpColVector representing the estimated degrees of freedom.

Definition at line 2992 of file vpMbTracker.cpp.

References oJo.

◆ getFaces()

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

Return a reference to the faces structure.

Reimplemented in vpMbGenericTracker.

Definition at line 332 of file vpMbTracker.h.

Referenced by vpMbGenericTracker::getError().

◆ getFarClippingDistance()

virtual double vpMbTracker::getFarClippingDistance ( ) const
inlinevirtual

Get the far distance for clipping.

Returns
Far clipping value.

Definition at line 339 of file vpMbTracker.h.

◆ getGravityCenter()

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

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

Exceptions
vpException::dimensionErrorif the set is empty.
Parameters
pts: Set of point to extract the center of gravity.
Returns
Center of gravity of the set.

Definition at line 2593 of file vpMbTracker.cpp.

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

Referenced by extractCylinders().

◆ getInitialMu()

virtual double vpMbTracker::getInitialMu ( ) const
inlinevirtual

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

Returns
the initial mu value.

Definition at line 284 of file vpMbTracker.h.

◆ getLambda()

virtual double vpMbTracker::getLambda ( ) const
inlinevirtual

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

Returns
the value for the gain.

Definition at line 291 of file vpMbTracker.h.

◆ getMaxIter()

virtual unsigned int vpMbTracker::getMaxIter ( ) const
inlinevirtual

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

Returns
the number of iteration

Definition at line 298 of file vpMbTracker.h.

◆ getModelForDisplay()

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

◆ getNbPolygon()

virtual unsigned int vpMbTracker::getNbPolygon ( ) const
inlinevirtual

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

Returns
Number of polygons.

Reimplemented in vpMbGenericTracker.

Definition at line 368 of file vpMbTracker.h.

References vpMbHiddenFaces< PolygonType >::size().

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

◆ getNearClippingDistance()

virtual double vpMbTracker::getNearClippingDistance ( ) const
inlinevirtual

Get the near distance for clipping.

Returns
Near clipping value.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 375 of file vpMbTracker.h.

Referenced by vpMbEdgeKltTracker::getNearClippingDistance().

◆ getOptimizationMethod()

virtual vpMbtOptimizationMethod vpMbTracker::getOptimizationMethod ( ) const
inlinevirtual

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

Returns
Optimization method.

Definition at line 384 of file vpMbTracker.h.

◆ getPolygon()

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

Return the polygon (face) "index".

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

Reimplemented in vpMbGenericTracker.

Definition at line 395 of file vpMbTracker.h.

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

Referenced by vpMbGenericTracker::getNbFeaturesKlt().

◆ getPolygonFaces()

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

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

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

Reimplemented in vpMbGenericTracker.

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

Definition at line 2627 of file vpMbTracker.cpp.

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

Referenced by vpMbGenericTracker::getNbFeaturesKlt().

◆ getPose() [1/2]

virtual void vpMbTracker::getPose ( vpHomogeneousMatrix cMo) const
inlinevirtual

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

Parameters
cMo: the pose

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.

◆ getPose() [2/2]

virtual vpHomogeneousMatrix vpMbTracker::getPose ( ) const
inlinevirtual

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

Returns
the current pose

Definition at line 423 of file vpMbTracker.h.

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

◆ getProjectionError()

virtual double vpMbTracker::getProjectionError ( ) const
inlinevirtual

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

Returns
the value for the error.
See also
setProjectionErrorComputation()
Examples:
mbtEdgeKltTracking.cpp, mbtEdgeTracking.cpp, mbtGenericTracking.cpp, mbtGenericTracking2.cpp, mbtGenericTrackingDepth.cpp, mbtGenericTrackingDepthOnly.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, and tutorial-mb-generic-tracker-rgbd-structure-core.cpp.

Definition at line 310 of file vpMbTracker.h.

◆ getRobustWeights()

virtual vpColVector vpMbTracker::getRobustWeights ( ) const
pure virtual

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

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

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

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

◆ getStopCriteriaEpsilon()

virtual double vpMbTracker::getStopCriteriaEpsilon ( ) const
inlinevirtual

Definition at line 425 of file vpMbTracker.h.

◆ init()

◆ initCircle()

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

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

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

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

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

◆ initClick() [1/6]

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

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

The structure of this file is the following:

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

◆ initClick() [2/6]

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

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

The structure of this file is the following:

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

◆ initClick() [3/6]

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

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

Parameters
I: Input 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 initClick().

◆ initClick() [4/6]

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

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

Parameters
I_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 initClick().

◆ initClick() [5/6]

◆ initClick() [6/6]

◆ initCylinder()

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

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

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

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

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

◆ initFaceFromCorners()

virtual void vpMbTracker::initFaceFromCorners ( vpMbtPolygon polygon)
protectedpure virtual

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

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

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

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

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

◆ initFaceFromLines()

◆ initFromPoints() [1/6]

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

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

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

Definition at line 1012 of file vpMbTracker.cpp.

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

◆ initFromPoints() [2/6]

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

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

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

Definition at line 1041 of file vpMbTracker.cpp.

References initFromPoints().

◆ initFromPoints() [3/6]

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

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

Parameters
I: Input 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 initFromPoints().

◆ initFromPoints() [4/6]

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

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

Parameters
I_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 initFromPoints().

◆ initFromPoints() [5/6]

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

◆ initFromPoints() [6/6]

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

◆ initFromPose() [1/7]

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

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

// The six value of the pose vector
0.0000 // \
0.0000 // |
1.0000 // | Exemple of value for the pose vector where Z = 1 meter
0.0000 // |
0.0000 // |
0.0000 // /

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

Parameters
I: Input 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(), initFromPose(), vpMbDepthDenseTracker::reInitModel(), vpMbDepthNormalTracker::reInitModel(), vpMbKltTracker::reInitModel(), and vpMbEdgeTracker::reInitModel().

◆ initFromPose() [2/7]

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

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

// The six value of the pose vector
0.0000 // \
0.0000 // |
1.0000 // | Exemple of value for the pose vector where Z = 1 meter
0.0000 // |
0.0000 // |
0.0000 // /

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

Parameters
I_color: Input color image
initFile: Path to the file containing the pose.

Definition at line 1203 of file vpMbTracker.cpp.

References initFromPose().

◆ initFromPose() [3/7]

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

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 init(), and m_cMo.

◆ initFromPose() [4/7]

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

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(), init(), m_cMo, and m_I.

◆ initFromPose() [5/7]

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

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 initFromPose().

◆ initFromPose() [6/7]

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

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(), initFromPose(), and m_I.

◆ initFromPose() [7/7]

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

◆ initProjectionErrorCircle()

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

Definition at line 3426 of file vpMbTracker.cpp.

References addProjectionErrorCircle().

Referenced by loadCAOModel().

◆ initProjectionErrorCylinder()

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

Definition at line 3432 of file vpMbTracker.cpp.

References addProjectionErrorCylinder().

Referenced by extractCylinders(), and loadCAOModel().

◆ initProjectionErrorFaceFromCorners()

void vpMbTracker::initProjectionErrorFaceFromCorners ( vpMbtPolygon polygon)
protected

◆ initProjectionErrorFaceFromLines()

void vpMbTracker::initProjectionErrorFaceFromLines ( vpMbtPolygon polygon)
protected

◆ 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() 
)
protectedvirtual

Load a 3D model contained in a *.cao file.

Since ViSP 2.9.1, lines starting with # character are considered as comments. It is also possible to add comment at the end of the lines. No specific character is requested before the comment. In the following example we use "//" but it could be an other character.

Since ViSP 2.9.1, circles are supported.

The structure of the file is :

V1
# Number of points describing the object
8
0.01 0.01 0.01 // point with index 0 \
... // ... | coordinates of the points in the object frame (in m.)
0.01 0.01 0.01 // point with index 7 /
# Number of lines to track.
3
0 2 // line with index 0 \
1 4 // | Index of the points representing the extremitiesof the lines
1 5 // line with index 2 /
# Number of polygon (face) to track using the line previously described
1
3 0 1 2 // Face described as follow : nbLine indexLine1 indexLine2 ... indexLineN
# Number of polygon (face) to track using the points previously described
3
4 0 2 3 4 // Face described as follow : nbPoint IndexPoint1 IndexPoint2 ... IndexPointN
4 1 3 5 7 3 1 5 6
# Number of cylinder
1
6 7 0.05 // Index of the limits points on the axis (used to know the 'height' of the cylinder) and radius of the cyclinder (in m.)
# Number of circle
1
0.5 0 1 2 // radius, index center point, index 2 other points on the plane containing the circle
Parameters
modelFile: Full name of the main *.cao file containing the model.
vectorOfModelFilename: A vector of *.cao files.
startIdFace: Current Id of the face.
verbose: If true, will print additional information with CAO model files which include other CAO model files.
parent: This parameter is set to true when parsing a parent CAO model file, and false when parsing an included CAO model file.
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 addPolygon(), addProjectionErrorPolygon(), applyLodSettingInConfig, vpException::badValue, vpHomogeneousMatrix::buildFrom(), vpIoTools::checkFilename(), createCylinderBBox(), vpIoTools::createFilePath(), faces, vpIoTools::getAbsolutePathname(), vpIoTools::getName(), vpIoTools::getParent(), vpMbHiddenFaces< PolygonType >::getPolygon(), initCircle(), initCylinder(), initFaceFromCorners(), initFaceFromLines(), initProjectionErrorCircle(), initProjectionErrorCylinder(), initProjectionErrorFaceFromCorners(), initProjectionErrorFaceFromLines(), vpException::ioError, vpIoTools::isAbsolutePathname(), m_projectionErrorFaces, minLineLengthThresholdGeneral, minPolygonAreaThresholdGeneral, nbCircles, nbCylinders, nbLines, nbPoints, nbPolygonLines, nbPolygonPoints, vpIoTools::parseBoolean(), parseParameters(), vpIoTools::path(), vpMath::rad(), removeComment(), vpPoint::setWorldCoordinates(), vpIoTools::splitChain(), vpIoTools::trim(), useLodGeneral, and vpTRACE.

Referenced by loadModel().

◆ loadConfigFile()

◆ loadModel()

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

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

Exceptions
vpException::ioErrorif the file cannot be open, or if its extension is not wrl or cao.
Parameters
modelFile: the file containing the the 3D model description. The extension of this file is either .wrl or .cao.
verbose: verbose option to print additional information when loading CAO model files which include other CAO model files.
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(), faces, vpException::ioError, loadCAOModel(), loadVRMLModel(), modelFileName, modelInitialised, nbCircles, nbCylinders, nbLines, nbPoints, nbPolygonLines, nbPolygonPoints, and vpMbHiddenFaces< PolygonType >::size().

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

◆ loadVRMLModel()

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

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

Referenced by loadModel().

◆ parseParameters()

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

Definition at line 1610 of file vpMbTracker.cpp.

References mapOfParameterNames, and vpIoTools::trim().

Referenced by loadCAOModel().

◆ projectionErrorInitMovingEdge()

◆ projectionErrorResetMovingEdges()

void vpMbTracker::projectionErrorResetMovingEdges ( )
protected

◆ projectionErrorVisibleFace()

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

◆ removeComment()

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

Definition at line 1595 of file vpMbTracker.cpp.

References vpException::ioError.

Referenced by initClick(), and loadCAOModel().

◆ resetTracker()

◆ samePoint()

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

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(), addProjectionErrorCircle(), addProjectionErrorCylinder(), and addProjectionErrorLine().

◆ savePose()

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

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 m_cMo.

Referenced by initClick().

◆ setAngleAppear()

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

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().

◆ setAngleDisappear()

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

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().

◆ setCameraParameters()

◆ setClipping()

◆ setCovarianceComputation()

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

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.

◆ setDisplayFeatures()

virtual void vpMbTracker::setDisplayFeatures ( bool  displayF)
inlinevirtual

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().

◆ setEstimatedDoF()

void vpMbTracker::setEstimatedDoF ( const vpColVector v)
virtual

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(), isoJoIdentity, and oJo.

◆ setFarClippingDistance()

◆ setGoodNbRayCastingAttemptsRatio()

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

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().

◆ setInitialMu()

virtual void vpMbTracker::setInitialMu ( double  mu)
inlinevirtual

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

Parameters
mu: initial mu.

Definition at line 528 of file vpMbTracker.h.

◆ setLambda()

virtual void vpMbTracker::setLambda ( double  gain)
inlinevirtual

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.

◆ setLod()

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

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

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

Reimplemented in vpMbGenericTracker.

Definition at line 2765 of file vpMbTracker.cpp.

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

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

◆ setMask()

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

Reimplemented in vpMbGenericTracker.

Definition at line 563 of file vpMbTracker.h.

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

◆ setMaxIter()

virtual void vpMbTracker::setMaxIter ( unsigned int  max)
inlinevirtual

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.

◆ setMinLineLengthThresh()

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

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

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

Reimplemented in vpMbGenericTracker.

Definition at line 2783 of file vpMbTracker.cpp.

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

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

◆ setMinPolygonAreaThresh()

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

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

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

Reimplemented in vpMbGenericTracker.

Definition at line 2800 of file vpMbTracker.cpp.

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

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

◆ setNbRayCastingAttemptsForVisibility()

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

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

See also
setGoodNbRayCastingAttemptsRatio(const unsigned int &)
Parameters
attemptsNumber of rays to be sent.

Reimplemented in vpMbGenericTracker.

Definition at line 627 of file vpMbTracker.h.

References vpMbHiddenFaces< PolygonType >::setNbRayCastingAttemptsForVisibility().

Referenced by vpMbGenericTracker::getRobustWeights().

◆ setNearClippingDistance()

◆ setOgreShowConfigDialog()

virtual void vpMbTracker::setOgreShowConfigDialog ( bool  showConfigDialog)
inlinevirtual

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().

◆ setOgreVisibilityTest()

◆ setOptimizationMethod()

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

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().

◆ setPose() [1/2]

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

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

Warning
This function has to be called after the initialisation of the tracker.
Parameters
I: grayscale image corresponding to the desired pose.
cdMo: Pose to affect.

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

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

◆ setPose() [2/2]

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

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

Warning
This function has to be called after the initialisation of the tracker.
Parameters
I_color: color image corresponding to the desired pose.
cdMo: Pose to affect.

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

◆ setPoseSavingFilename()

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

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.

◆ setProjectionErrorComputation()

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

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

Parameters
flag: True if the projection error criteria has to be computed, false otherwise.
See also
getProjectionError()

Reimplemented in vpMbGenericTracker, vpMbKltTracker, and vpMbEdgeKltTracker.

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

Definition at line 584 of file vpMbTracker.h.

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

◆ setProjectionErrorDisplay()

virtual void vpMbTracker::setProjectionErrorDisplay ( bool  display)
inlinevirtual

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().

◆ setProjectionErrorDisplayArrowLength()

virtual void vpMbTracker::setProjectionErrorDisplayArrowLength ( unsigned int  length)
inlinevirtual

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().

◆ setProjectionErrorDisplayArrowThickness()

virtual void vpMbTracker::setProjectionErrorDisplayArrowThickness ( unsigned int  thickness)
inlinevirtual

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().

◆ setProjectionErrorKernelSize()

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

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(), m_projectionErrorKernelSize, m_SobelX, m_SobelY, and vpArray2D< Type >::resize().

Referenced by loadConfigFile().

◆ setProjectionErrorMovingEdge()

void vpMbTracker::setProjectionErrorMovingEdge ( const vpMe me)

Set Moving-Edges parameters for projection error computation.

Parameters
me: Moving-Edges parameters.

Definition at line 3800 of file vpMbTracker.cpp.

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

Referenced by loadConfigFile().

◆ setScanLineVisibilityTest()

◆ setStopCriteriaEpsilon()

virtual void vpMbTracker::setStopCriteriaEpsilon ( const double  eps)
inlinevirtual

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.

◆ testTracking()

◆ track() [1/2]

◆ track() [2/2]

virtual void vpMbTracker::track ( const vpImage< vpRGBa > &  I)
pure virtual

Track the object in the given image

Parameters
I: The current image.

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

Member Data Documentation

◆ angleAppears

◆ angleDisappears

◆ applyLodSettingInConfig

bool vpMbTracker::applyLodSettingInConfig
protected

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

◆ clippingFlag

◆ computeCovariance

◆ computeProjError

bool vpMbTracker::computeProjError
protected

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().

◆ covarianceMatrix

vpMatrix vpMbTracker::covarianceMatrix
protected

Covariance matrix.

Definition at line 130 of file vpMbTracker.h.

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

◆ displayFeatures

◆ distFarClip

◆ distNearClip

◆ faces

vpMbHiddenFaces<vpMbtPolygon> vpMbTracker::faces
protected

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

◆ isoJoIdentity

bool vpMbTracker::isoJoIdentity
protected

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

Definition at line 117 of file vpMbTracker.h.

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

◆ m_cam

vpCameraParameters vpMbTracker::m_cam
protected

The camera parameters.

Definition at line 111 of file vpMbTracker.h.

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

◆ m_cMo

vpHomogeneousMatrix vpMbTracker::m_cMo
protected

The current pose.

Definition at line 113 of file vpMbTracker.h.

Referenced by vpMbDepthDenseTracker::computeVisibility(), vpMbDepthNormalTracker::computeVisibility(), vpMbDepthDenseTracker::computeVVS(), vpMbDepthNormalTracker::computeVVS(), vpMbEdgeKltTracker::computeVVS(), vpMbKltTracker::computeVVS(), vpMbGenericTracker::computeVVS(), vpMbEdgeTracker::computeVVS(), computeVVSCheckLevenbergMarquardt(), vpMbEdgeTracker::computeVVSFirstPhase(), vpMbEdgeTracker::computeVVSFirstPhaseFactor(), vpMbEdgeTracker::computeVVSFirstPhasePoseEstimation(), vpMbDepthDenseTracker::computeVVSInteractionMatrixAndResidu(), vpMbDepthNormalTracker::computeVVSInteractionMatrixAndResidu(), vpMbGenericTracker::computeVVSInteractionMatrixAndResidu(), vpMbEdgeTracker::computeVVSInteractionMatrixAndResidu(), computeVVSPoseEstimation(), vpMbDepthNormalTracker::getFeaturesForDisplayDepthNormal(), getPolygonFaces(), vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), vpMbGenericTracker::init(), vpMbEdgeKltTracker::init(), vpMbKltTracker::init(), vpMbEdgeTracker::init(), vpMbGenericTracker::initClick(), initClick(), vpMbGenericTracker::initFromPoints(), initFromPoints(), vpMbGenericTracker::initFromPose(), initFromPose(), vpMbEdgeKltTracker::postTracking(), vpMbKltTracker::postTracking(), vpMbKltTracker::reinit(), vpMbEdgeTracker::reInitLevel(), vpMbDepthDenseTracker::reInitModel(), vpMbDepthNormalTracker::reInitModel(), vpMbEdgeKltTracker::reInitModel(), vpMbGenericTracker::reInitModel(), vpMbKltTracker::reInitModel(), vpMbEdgeTracker::reInitModel(), vpMbDepthDenseTracker::resetTracker(), vpMbDepthNormalTracker::resetTracker(), vpMbGenericTracker::resetTracker(), vpMbKltTracker::resetTracker(), vpMbEdgeTracker::resetTracker(), savePose(), vpMbDepthDenseTracker::segmentPointCloud(), vpMbDepthNormalTracker::segmentPointCloud(), vpMbDepthDenseTracker::setPose(), vpMbDepthNormalTracker::setPose(), vpMbEdgeKltTracker::setPose(), vpMbGenericTracker::setPose(), vpMbEdgeTracker::setPose(), vpMbKltTracker::setPose(), vpMbGenericTracker::track(), vpMbEdgeTracker::track(), vpMbEdgeKltTracker::trackFirstLoop(), vpMbEdgeTracker::trackMovingEdge(), and vpMbEdgeTracker::updateMovingEdge().

◆ m_computeInteraction

bool vpMbTracker::m_computeInteraction
protected

◆ m_I

◆ m_initialMu

◆ m_lambda

◆ m_mask

◆ m_maxIter

◆ m_optimizationMethod

◆ m_projectionErrorCam

vpCameraParameters vpMbTracker::m_projectionErrorCam
protected

Camera parameters used for projection error computation.

Definition at line 219 of file vpMbTracker.h.

Referenced by computeProjectionErrorImpl(), and projectionErrorVisibleFace().

◆ m_projectionErrorCircles

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

◆ m_projectionErrorCylinders

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

◆ m_projectionErrorDisplay

bool vpMbTracker::m_projectionErrorDisplay
protected

Display gradient and model orientation for projection error computation.

Definition at line 213 of file vpMbTracker.h.

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

◆ m_projectionErrorDisplayLength

unsigned int vpMbTracker::m_projectionErrorDisplayLength
protected

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 computeProjectionErrorImpl().

◆ m_projectionErrorDisplayThickness

unsigned int vpMbTracker::m_projectionErrorDisplayThickness
protected

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 computeProjectionErrorImpl().

◆ m_projectionErrorFaces

◆ m_projectionErrorKernelSize

unsigned int vpMbTracker::m_projectionErrorKernelSize
protected

Kernel size used to compute the gradient orientation.

Definition at line 207 of file vpMbTracker.h.

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

◆ m_projectionErrorLines

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

◆ m_projectionErrorMe

vpMe vpMbTracker::m_projectionErrorMe
protected

Moving-Edges parameters for projection error.

Definition at line 205 of file vpMbTracker.h.

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

◆ m_projectionErrorOgreShowConfigDialog

bool vpMbTracker::m_projectionErrorOgreShowConfigDialog
protected

Definition at line 203 of file vpMbTracker.h.

Referenced by computeProjectionErrorImpl().

◆ m_rand

vpUniRand vpMbTracker::m_rand
protected

◆ m_SobelX

vpMatrix vpMbTracker::m_SobelX
protected

◆ m_SobelY

vpMatrix vpMbTracker::m_SobelY
protected

◆ m_sodb_init_called

bool vpMbTracker::m_sodb_init_called
protected

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

Definition at line 225 of file vpMbTracker.h.

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

◆ m_stopCriteriaEpsilon

double vpMbTracker::m_stopCriteriaEpsilon
protected

◆ mapOfParameterNames

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

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

Definition at line 182 of file vpMbTracker.h.

Referenced by parseParameters(), and vpMbTracker().

◆ minLineLengthThresholdGeneral

double vpMbTracker::minLineLengthThresholdGeneral
protected

◆ minPolygonAreaThresholdGeneral

double vpMbTracker::minPolygonAreaThresholdGeneral
protected

◆ modelFileName

std::string vpMbTracker::modelFileName
protected

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 loadModel().

◆ modelInitialised

bool vpMbTracker::modelInitialised
protected

◆ nbCircles

unsigned int vpMbTracker::nbCircles
protected

Number of circles in CAO model.

Definition at line 170 of file vpMbTracker.h.

Referenced by loadCAOModel(), and loadModel().

◆ nbCylinders

unsigned int vpMbTracker::nbCylinders
protected

Number of cylinders in CAO model.

Definition at line 168 of file vpMbTracker.h.

Referenced by loadCAOModel(), and loadModel().

◆ nbLines

unsigned int vpMbTracker::nbLines
protected

Number of lines in CAO model.

Definition at line 162 of file vpMbTracker.h.

Referenced by loadCAOModel(), and loadModel().

◆ nbPoints

unsigned int vpMbTracker::nbPoints
protected

Number of points in CAO model.

Definition at line 160 of file vpMbTracker.h.

Referenced by loadCAOModel(), and loadModel().

◆ nbPolygonLines

unsigned int vpMbTracker::nbPolygonLines
protected

Number of polygon lines in CAO model.

Definition at line 164 of file vpMbTracker.h.

Referenced by loadCAOModel(), and loadModel().

◆ nbPolygonPoints

unsigned int vpMbTracker::nbPolygonPoints
protected

Number of polygon points in CAO model.

Definition at line 166 of file vpMbTracker.h.

Referenced by loadCAOModel(), and loadModel().

◆ ogreShowConfigDialog

bool vpMbTracker::ogreShowConfigDialog
protected

◆ oJo

◆ poseSavingFilename

std::string vpMbTracker::poseSavingFilename
protected

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 initClick().

◆ projectionError

double vpMbTracker::projectionError
protected

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().

◆ useLodGeneral

bool vpMbTracker::useLodGeneral
protected

◆ useOgre

◆ useScanLine