#include <visp3/mbt/vpMbEdgeTracker.h>

Inheritance diagram for vpMbEdgeTracker:

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

Public Member Functions
	vpMbEdgeTracker ()

virtual	~vpMbEdgeTracker ()

Inherited functionalities from vpMbEdgeTracker
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)

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

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

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

virtual vpMe	getMovingEdge () const

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

std::vector< bool >	getScales () const

double	getGoodMovingEdgesRatioThreshold () const

virtual vpColVector	getError () const

virtual vpColVector	getRobustWeights () const

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 ()

virtual void	setCameraParameters (const vpCameraParameters &cam)

virtual void	setClipping (const unsigned int &flags)

virtual void	setFarClippingDistance (const double &dist)

virtual void	setNearClippingDistance (const double &dist)

virtual void	setOgreVisibilityTest (const bool &v)

virtual void	setScanLineVisibilityTest (const bool &v)

void	setGoodMovingEdgesRatioThreshold (double threshold)

void	setMovingEdge (const vpMe &me)

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

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

void	setScales (const std::vector< bool > &_scales)

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

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

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

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	setCovarianceComputation (const bool &flag)

virtual void	setDisplayFeatures (bool displayF)

virtual void	setEstimatedDoF (const vpColVector &v)

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	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)

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

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

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

void	addPolygon (vpMbtPolygon &p)

void	cleanPyramid (std::vector< const vpImage< unsigned char > * > &_pyramid)

void	computeProjectionError (const vpImage< unsigned char > &_I)

void	computeVVS (const vpImage< unsigned char > &_I, unsigned int lvl)

void	computeVVSFirstPhase (const vpImage< unsigned char > &I, unsigned int iter, double &count, unsigned int lvl=0)

void	computeVVSFirstPhaseFactor (const vpImage< unsigned char > &I, unsigned int lvl=0)

void	computeVVSFirstPhasePoseEstimation (unsigned int iter, bool &isoJoIdentity)

virtual void	computeVVSInit ()

virtual void	computeVVSInteractionMatrixAndResidu ()

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

virtual void	computeVVSWeights ()

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

void	displayFeaturesOnImage (const vpImage< vpRGBa > &I)

void	downScale (const unsigned int _scale)

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

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

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

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

virtual void	initFaceFromCorners (vpMbtPolygon &polygon)

virtual void	initFaceFromLines (vpMbtPolygon &polygon)

unsigned int	initMbtTracking (unsigned int &nberrors_lines, unsigned int &nberrors_cylinders, unsigned int &nberrors_circles)

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

void	initPyramid (const vpImage< unsigned char > &_I, std::vector< const vpImage< unsigned char > * > &_pyramid)

void	reInitLevel (const unsigned int _lvl)

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

void	removeCircle (const std::string &name)

void	removeCylinder (const std::string &name)

void	removeLine (const std::string &name)

void	resetMovingEdge ()

virtual void	testTracking ()

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

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

void	updateMovingEdgeWeights ()

void	upScale (const unsigned int _scale)

void	visibleFace (const vpImage< unsigned char > &_I, const vpHomogeneousMatrix &_cMo, bool &newvisibleline)

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

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
vpMe	me

std::vector< std::list< vpMbtDistanceLine * > >	lines

std::vector< std::list< vpMbtDistanceCircle * > >	circles

std::vector< std::list< vpMbtDistanceCylinder * > >	cylinders

unsigned int	nline

unsigned int	ncircle

unsigned int	ncylinder

unsigned int	nbvisiblepolygone

double	percentageGdPt

std::vector< bool >	scales

std::vector< const vpImage< unsigned char > * >	Ipyramid

unsigned int	scaleLevel

unsigned int	nbFeaturesForProjErrorComputation

vpColVector	m_factor

vpRobust	m_robustLines

vpRobust	m_robustCylinders

vpRobust	m_robustCircles

vpColVector	m_wLines

vpColVector	m_wCylinders

vpColVector	m_wCircles

vpColVector	m_errorLines

vpColVector	m_errorCylinders

vpColVector	m_errorCircles

vpMatrix	m_L_edge

vpColVector	m_error_edge

vpColVector	m_w_edge

vpColVector	m_weightedError_edge

vpRobust	m_robust_edge

std::vector< std::vector< double > >	m_featuresToBeDisplayedEdge

vpCameraParameters	m_cam

vpHomogeneousMatrix	m_cMo

vpMatrix	oJo

bool	m_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

Make the complete tracking of an object by using its CAD model.

Warning: This class is deprecated for user usage. You should rather use the high level vpMbGenericTracker class.

This class allows to track an object or a scene given its 3D model. A video can be found on YouTube https://www.youtube.com/watch?v=UK10KMMJFCI The Tutorial: Markerless model-based tracking (deprecated) is also 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.

#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/vpMbEdgeTracker.h>
 
int main()
{
  vpMbEdgeTracker tracker; // Create a model based tracker.
  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 Edge 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;
}

For application with large inter-images displacement, multi-scale tracking is also possible, by setting the number of scales used and by activating (or not) them using a vector of booleans, as presented in the following code:

...
vpHomogeneousMatrix cMo; // Pose computed using the tracker.
vpCameraParameters cam;
 
std::vector< bool > scales(3); //Three scales used
scales.push_back(true); //First scale : active
scales.push_back(false); //Second scale (/2) : not active
scales.push_back(true); //Third scale (/4) : active
tracker.setScales(scales); // Set active scales for multi-scale tracking
 
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).
...

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/vpMbEdgeTracker.h>
 
int main()
{
  vpMbEdgeTracker tracker; // Create a model based tracker.
  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;
}

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/vpMbEdgeTracker.h>
 
int main()
{
  vpMbEdgeTracker tracker; // Create a model based tracker.
  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 Edge 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;
}

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

Definition at line 241 of file vpMbEdgeTracker.h.

Member Enumeration Documentation

◆ vpMbtOptimizationMethod

enum vpMbTracker::vpMbtOptimizationMethod

inherited

Enumerator
GAUSS_NEWTON_OPT
LEVENBERG_MARQUARDT_OPT

Definition at line 107 of file vpMbTracker.h.

Constructor & Destructor Documentation

◆ vpMbEdgeTracker()

vpMbEdgeTracker::vpMbEdgeTracker ( )

Basic constructor

Definition at line 64 of file vpMbEdgeTracker.cpp.

References vpMbTracker::faces, vpMbHiddenFaces< PolygonType >::getOgreContext(), scales, and vpAROgre::setWindowName().

◆ ~vpMbEdgeTracker()

vpMbEdgeTracker::~vpMbEdgeTracker ( )

virtual

Basic destructor useful to deallocate the memory.

Definition at line 81 of file vpMbEdgeTracker.cpp.

References circles, cleanPyramid(), cylinders, Ipyramid, lines, and scales.

Member Function Documentation

◆ addCircle()

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

protected

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.
idFace	: Id of the face that is associated to the circle to handle visibility test.
name	: the optional name of the circle.

Definition at line 2047 of file vpMbEdgeTracker.cpp.

Referenced by initCircle().

◆ addCylinder()

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

protected

Add a cylinder to the list of cylinders.

Parameters

P1	: The first extremity of the axis.
P2	: The second extremity of the axis.
r	: The radius of the cylinder.
idFace	: The index of the face.
name	: the optional name of the cylinder

Definition at line 2106 of file vpMbEdgeTracker.cpp.

Referenced by initCylinder().

◆ addLine()

void vpMbEdgeTracker::addLine	(	vpPoint &	P1,
		vpPoint &	P2,
		int	polygon = `-1`,
		std::string	name = `""`
	)

protected

Add a line belonging to the the polygon to the list of lines. It is defined by its two extremities.

If the line already exists, the ploygone's index is added to the list of polygon to which it belongs.

Parameters

P1	: The first extremity of the line.
P2	: The second extremity of the line.
polygon	: The index of the polygon to which the line belongs.
name	: the optional name of the line

Definition at line 1964 of file vpMbEdgeTracker.cpp.

Referenced by addPolygon(), initFaceFromCorners(), and initFaceFromLines().

◆ addPolygon() [1/5]

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

protectedinherited

◆ addPolygon() [2/5]

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

protectedinherited

◆ addPolygon() [3/5]

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

protectedinherited

◆ addPolygon() [4/5]

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 1339 of file vpMbTracker.cpp.

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

◆ addPolygon() [5/5]

void vpMbEdgeTracker::addPolygon ( vpMbtPolygon & p )

protected

Add a polygon to the list of polygons.

Parameters

p	: The polygon to add.

Definition at line 2193 of file vpMbEdgeTracker.cpp.

References addLine(), vpMbtPolygon::getIndex(), vpPolygon3D::getNbPoint(), and vpPolygon3D::p.

◆ addProjectionErrorCircle()

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

protectedinherited

◆ addProjectionErrorCylinder()

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

protectedinherited

Definition at line 3348 of file vpMbTracker.cpp.

Referenced by vpMbTracker::initProjectionErrorCylinder().

◆ addProjectionErrorLine()

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

protectedinherited

Definition at line 3275 of file vpMbTracker.cpp.

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

◆ addProjectionErrorPolygon() [1/4]

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

protectedinherited

◆ addProjectionErrorPolygon() [2/4]

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

protectedinherited

◆ addProjectionErrorPolygon() [3/4]

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

protectedinherited

◆ addProjectionErrorPolygon() [4/4]

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

protectedinherited

Definition at line 3211 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().

◆ cleanPyramid()

void vpMbEdgeTracker::cleanPyramid ( std::vector< const vpImage< unsigned char > * > & _pyramid )

protected

Clean the pyramid of image allocated with the initPyramid() method. The vector has a size equal to zero at the end of the method.

Parameters

_pyramid : The pyramid of image to clean.

Definition at line 2751 of file vpMbEdgeTracker.cpp.

Referenced by vpMbEdgeKltTracker::init(), init(), vpMbEdgeKltTracker::setPose(), track(), and ~vpMbEdgeTracker().

◆ computeCovarianceMatrixVVS()

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

protectedvirtualinherited

Definition at line 2800 of file vpMbTracker.cpp.

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

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

◆ computeCurrentProjectionError()

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

virtualinherited

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

See also: setProjectionErrorComputation; getProjectionError

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

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

Parameters

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

Reimplemented in vpMbGenericTracker.

Examples: mbtGenericTrackingDepthOnly.cpp.

Definition at line 3426 of file vpMbTracker.cpp.

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

◆ computeJTR()

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

protectedinherited

Compute , with J the interaction matrix and R the vector of residuals.

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 2830 of file vpMbTracker.cpp.

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

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

◆ computeProjectionError()

void vpMbEdgeTracker::computeProjectionError ( const vpImage< unsigned char > & _I )

protected

Compute the projection error of the model. This approach compares the gradient direction around samples of each lines of the model with their direction. Error is expressed in degrees between 0 and 90.

Parameters

_I	: Image in which the model appears.

Definition at line 855 of file vpMbEdgeTracker.cpp.

References circles, cylinders, vpMath::deg(), vpMbtDistanceCircle::isTracked(), vpMbtDistanceCylinder::isTracked(), vpMbtDistanceLine::isTracked(), vpMbtDistanceCircle::isVisible(), vpMbtDistanceCylinder::isVisible(), vpMbtDistanceLine::isVisible(), lines, vpMbTracker::m_projectionErrorDisplay, vpMbTracker::m_projectionErrorDisplayLength, vpMbTracker::m_projectionErrorDisplayThickness, vpMbTracker::m_SobelX, vpMbTracker::m_SobelY, vpMbtDistanceCircle::meEllipse, vpMbtDistanceLine::meline, vpMbtDistanceCylinder::meline1, vpMbtDistanceCylinder::meline2, nbFeaturesForProjErrorComputation, vpMbTracker::projectionError, and scaleLevel.

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

◆ computeProjectionErrorImpl()

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

protectedinherited

Definition at line 3443 of file vpMbTracker.cpp.

Referenced by vpMbTracker::computeCurrentProjectionError().

◆ computeVVS()

void vpMbEdgeTracker::computeVVS	(	const vpImage< unsigned char > &	_I,
		unsigned int	lvl
	)

protected

Compute the visual servoing loop to get the pose of the feature set.

Exceptions

vpTrackingException::notEnoughPointError if the number of detected feature is equal to zero.

Parameters

_I	: The current image.
lvl	: The level in the pyramid scale.

Definition at line 162 of file vpMbEdgeTracker.cpp.

References vpVelocityTwistMatrix::buildFrom(), vpMbTracker::computeCovariance, vpMbTracker::computeCovarianceMatrixVVS(), vpMbTracker::computeVVSCheckLevenbergMarquardt(), computeVVSFirstPhase(), computeVVSFirstPhasePoseEstimation(), computeVVSInit(), computeVVSInteractionMatrixAndResidu(), vpMbTracker::computeVVSPoseEstimation(), computeVVSWeights(), vpExponentialMap::direct(), vpMatrix::eye(), vpArray2D< Type >::getRows(), vpHomogeneousMatrix::inverse(), vpMbTracker::m_cMo, vpMbTracker::m_computeInteraction, m_error_edge, m_factor, vpMbTracker::m_initialMu, vpMbTracker::m_isoJoIdentity, m_L_edge, vpMbTracker::m_maxIter, m_w_edge, m_weightedError_edge, vpMbTracker::oJo, vpMath::sqr(), and updateMovingEdgeWeights().

Referenced by track().

◆ computeVVSCheckLevenbergMarquardt()

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

protectedvirtualinherited

Definition at line 2841 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(), vpMbKltTracker::computeVVS(), computeVVS(), vpMbEdgeKltTracker::computeVVS(), and vpMbGenericTracker::computeVVS().

◆ computeVVSFirstPhase()

void vpMbEdgeTracker::computeVVSFirstPhase	(	const vpImage< unsigned char > &	I,
		unsigned int	iter,
		double &	count,
		unsigned int	lvl = `0`
	)

protected

Definition at line 285 of file vpMbEdgeTracker.cpp.

Referenced by computeVVS().

◆ computeVVSFirstPhaseFactor()

void vpMbEdgeTracker::computeVVSFirstPhaseFactor	(	const vpImage< unsigned char > &	I,
		unsigned int	lvl = `0`
	)

protected

◆ computeVVSFirstPhasePoseEstimation()

void vpMbEdgeTracker::computeVVSFirstPhasePoseEstimation	(	unsigned int	iter,
		bool &	isoJoIdentity
	)

protected

Definition at line 649 of file vpMbEdgeTracker.cpp.

References vpMatrix::AtA(), vpVelocityTwistMatrix::buildFrom(), vpMbTracker::computeJTR(), vpExponentialMap::direct(), vpException::fatalError, vpArray2D< Type >::getRows(), vpHomogeneousMatrix::inverse(), vpMbTracker::m_cMo, vpMbTracker::m_computeInteraction, m_error_edge, m_factor, m_L_edge, m_w_edge, m_weightedError_edge, vpMbTracker::oJo, and vpMatrix::pseudoInverse().

Referenced by computeVVS().

◆ computeVVSInit()

void vpMbEdgeTracker::computeVVSInit ( )

protectedvirtual

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 718 of file vpMbEdgeTracker.cpp.

References vpCameraParameters::get_px(), initMbtTracking(), vpMbTracker::m_cam, m_error_edge, m_errorCircles, m_errorCylinders, m_errorLines, m_factor, m_L_edge, m_robustCircles, m_robustCylinders, m_robustLines, m_w_edge, m_wCircles, m_wCylinders, m_weightedError_edge, m_wLines, vpTrackingException::notEnoughPointError, vpColVector::resize(), vpArray2D< Type >::resize(), vpRobust::setMinMedianAbsoluteDeviation(), and vpMath::sqr().

Referenced by computeVVS().

◆ computeVVSInteractionMatrixAndResidu() [1/2]

void vpMbEdgeTracker::computeVVSInteractionMatrixAndResidu ( )

protectedvirtual

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 758 of file vpMbEdgeTracker.cpp.

References vpException::fatalError.

Referenced by computeVVS().

◆ computeVVSInteractionMatrixAndResidu() [2/2]

void vpMbEdgeTracker::computeVVSInteractionMatrixAndResidu ( const vpImage< unsigned char > & I )

protectedvirtual

◆ computeVVSPoseEstimation()

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

protectedvirtualinherited

Definition at line 2863 of file vpMbTracker.cpp.

References vpVelocityTwistMatrix::buildFrom(), vpMbTracker::computeJTR(), vpMatrix::eye(), vpMbTracker::GAUSS_NEWTON_OPT, vpArray2D< Type >::getCols(), vpArray2D< Type >::getRows(), vpMbTracker::LEVENBERG_MARQUARDT_OPT, vpMbTracker::m_cMo, vpMbTracker::m_lambda, vpMbTracker::m_optimizationMethod, vpMbTracker::oJo, and vpMatrix::pseudoInverse().

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

◆ computeVVSWeights() [1/3]

void vpMbEdgeTracker::computeVVSWeights ( )

protectedvirtual

Definition at line 830 of file vpMbEdgeTracker.cpp.

References vpArray2D< Type >::getRows(), vpColVector::insert(), m_errorCircles, m_errorCylinders, m_errorLines, m_robustCircles, m_robustCylinders, m_robustLines, m_w_edge, m_wCircles, m_wCylinders, m_wLines, vpRobust::MEstimator(), and vpRobust::TUKEY.

Referenced by computeVVS().

◆ computeVVSWeights() [2/3]

void vpMbTracker::computeVVSWeights

protected

Definition at line 816 of file vpMbTracker.cpp.

◆ computeVVSWeights() [3/3]

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

protectedvirtualinherited

Definition at line 2926 of file vpMbTracker.cpp.

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

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

◆ createCylinderBBox()

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

protectedinherited

Definition at line 2982 of file vpMbTracker.cpp.

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

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

◆ display() [1/2]

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

virtual

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

Parameters

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

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

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

Definition at line 1279 of file vpMbEdgeTracker.cpp.

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

◆ display() [2/2]

void vpMbEdgeTracker::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 from a given position of the camera.

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).

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 1322 of file vpMbEdgeTracker.cpp.

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

◆ displayFeaturesOnImage() [1/2]

void vpMbEdgeTracker::displayFeaturesOnImage ( const vpImage< unsigned char > & I )

protected

Definition at line 1438 of file vpMbEdgeTracker.cpp.

References vpColor::blue, vpMeSite::CONTRAST, vpColor::cyan, vpDisplay::displayCross(), vpMath::equal(), vpColor::green, vpMeSite::M_ESTIMATOR, m_featuresToBeDisplayedEdge, vpMeSite::NO_SUPPRESSION, vpColor::purple, vpColor::red, vpMeSite::THRESHOLD, vpMeSite::TOO_NEAR, and vpColor::yellow.

Referenced by display().

◆ displayFeaturesOnImage() [2/2]

void vpMbEdgeTracker::displayFeaturesOnImage ( const vpImage< vpRGBa > & I )

protected

Definition at line 1473 of file vpMbEdgeTracker.cpp.

References vpColor::blue, vpMeSite::CONTRAST, vpColor::cyan, vpDisplay::displayCross(), vpMath::equal(), vpColor::green, vpMeSite::M_ESTIMATOR, m_featuresToBeDisplayedEdge, vpMeSite::NO_SUPPRESSION, vpColor::purple, vpColor::red, vpMeSite::THRESHOLD, vpMeSite::TOO_NEAR, and vpColor::yellow.

◆ downScale()

void vpMbEdgeTracker::downScale ( const unsigned int _scale )

protected

Modify the camera parameters to have them corresponding to the current scale. The new parameters are divided by $2^{\_scale}$ .

Parameters

_scale : Scale to use.

Definition at line 2837 of file vpMbEdgeTracker.cpp.

References vpCameraParameters::get_K(), vpCameraParameters::initFromCalibrationMatrix(), vpMbTracker::m_cam, and scaleLevel.

Referenced by addCircle(), addCylinder(), addLine(), vpMbEdgeKltTracker::init(), init(), vpMbEdgeKltTracker::setPose(), and track().

◆ extractCylinders()

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

protectedvirtualinherited

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

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

Parameters

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

Definition at line 2415 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::extractGroup().

◆ extractFaces()

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

protectedvirtualinherited

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

Parameters

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

Definition at line 2362 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::extractGroup().

◆ extractGroup()

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

protectedvirtualinherited

Extract a VRML object Group.

Parameters

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

Definition at line 2273 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::loadVRMLModel().

◆ extractLines()

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

protectedvirtualinherited

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

Parameters

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

Definition at line 2500 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::extractGroup().

◆ getAngleAppear()

virtual double vpMbTracker::getAngleAppear ( ) const

inlinevirtualinherited

Return the angle used to test polygons appearance.

Definition at line 238 of file vpMbTracker.h.

◆ getAngleDisappear()

virtual double vpMbTracker::getAngleDisappear ( ) const

inlinevirtualinherited

Return the angle used to test polygons disappearance.

Definition at line 241 of file vpMbTracker.h.

◆ getCameraParameters()

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().

◆ getClipping()

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.

◆ getCovarianceMatrix()

virtual vpMatrix vpMbTracker::getCovarianceMatrix ( ) const

inlinevirtualinherited

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

See also: setCovarianceComputation()

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

Definition at line 265 of file vpMbTracker.h.

◆ getError()

virtual vpColVector vpMbEdgeTracker::getError ( ) const

inlinevirtual

Return the error vector 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 369 of file vpMbEdgeTracker.h.

◆ getEstimatedDoF()

vpColVector vpMbTracker::getEstimatedDoF ( ) const

virtualinherited

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

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

Definition at line 2943 of file vpMbTracker.cpp.

References vpMbTracker::oJo.

◆ getFaces()

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

inlinevirtualinherited

Return a reference to the faces structure.

Reimplemented in vpMbGenericTracker.

Definition at line 332 of file vpMbTracker.h.

◆ getFarClippingDistance()

virtual double vpMbTracker::getFarClippingDistance ( ) const

inlinevirtualinherited

Get the far distance for clipping.

Returns: Far clipping value.

Definition at line 339 of file vpMbTracker.h.

◆ getFeaturesForDisplayEdge()

std::vector< std::vector< double > > vpMbEdgeTracker::getFeaturesForDisplayEdge ( )

protectedvirtual

Definition at line 1353 of file vpMbEdgeTracker.cpp.

References circles, cylinders, vpMbtDistanceCircle::getFeaturesForDisplay(), vpMbtDistanceCylinder::getFeaturesForDisplay(), vpMbtDistanceLine::getFeaturesForDisplay(), vpMbtDistanceCircle::isTracked(), vpMbtDistanceCylinder::isTracked(), vpMbtDistanceLine::isTracked(), vpMbtDistanceCircle::isVisible(), vpMbtDistanceCylinder::isVisible(), vpMbtDistanceLine::isVisible(), and lines.

Referenced by track().

◆ getGoodMovingEdgesRatioThreshold()

double vpMbEdgeTracker::getGoodMovingEdgesRatioThreshold ( ) const

inline

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

See also: setGoodMovingEdgesRatioThreshold()

Definition at line 367 of file vpMbEdgeTracker.h.

◆ getGravityCenter()

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

protectedinherited

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

Exceptions

vpException::dimensionError if the set is empty.

Parameters

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

Returns: Center of gravity of the set.

Definition at line 2545 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::extractCylinders().

◆ getInitialMu()

virtual double vpMbTracker::getInitialMu ( ) const

inlinevirtualinherited

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

Returns: the initial mu value.

Definition at line 284 of file vpMbTracker.h.

◆ getLambda()

virtual double vpMbTracker::getLambda ( ) const

inlinevirtualinherited

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

Returns: the value for the gain.

Definition at line 291 of file vpMbTracker.h.

◆ getLcircle()

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

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

Exceptions

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

Parameters

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

Definition at line 2819 of file vpMbEdgeTracker.cpp.

References circles, vpException::dimensionError, and scales.

◆ getLcylinder()

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

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

Exceptions

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

Parameters

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

Definition at line 2797 of file vpMbEdgeTracker.cpp.

References cylinders, vpException::dimensionError, and scales.

◆ getLline()

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

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

Exceptions

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

Parameters

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

Definition at line 2775 of file vpMbEdgeTracker.cpp.

References vpException::dimensionError, lines, and scales.

◆ getMaxIter()

virtual unsigned int vpMbTracker::getMaxIter ( ) const

inlinevirtualinherited

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

Returns: the number of iteration

Definition at line 298 of file vpMbTracker.h.

◆ getModelForDisplay()

std::vector< std::vector< double > > vpMbEdgeTracker::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 1401 of file vpMbEdgeTracker.cpp.

References circles, cylinders, lines, scaleLevel, and scales.

Referenced by display().

◆ getMovingEdge() [1/2]

virtual vpMe vpMbEdgeTracker::getMovingEdge ( ) const

inlinevirtual

Get the moving edge parameters.

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

Definition at line 348 of file vpMbEdgeTracker.h.

◆ getMovingEdge() [2/2]

virtual void vpMbEdgeTracker::getMovingEdge ( vpMe & p_me ) const

inlinevirtual

Get the moving edge parameters.

Parameters

p_me	[out] : an instance of the moving edge parameters used by the tracker.

Definition at line 342 of file vpMbEdgeTracker.h.

◆ getNbPoints()

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

virtual

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

Exceptions

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

Returns: the number of good points.

Definition at line 2505 of file vpMbEdgeTracker.cpp.

References circles, cylinders, vpException::dimensionError, vpMbtDistanceCircle::isTracked(), vpMbtDistanceCylinder::isTracked(), vpMbtDistanceLine::isTracked(), vpMbtDistanceCircle::isVisible(), vpMbtDistanceCylinder::isVisible(), vpMbtDistanceLine::isVisible(), lines, vpMbtDistanceCircle::meEllipse, vpMbtDistanceLine::meline, vpMbtDistanceCylinder::meline1, vpMbtDistanceCylinder::meline2, vpMbtDistanceLine::nbFeature, vpMeSite::NO_SUPPRESSION, and scales.

◆ getNbPolygon()

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

◆ getNearClippingDistance()

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().

◆ getOptimizationMethod()

virtual vpMbtOptimizationMethod vpMbTracker::getOptimizationMethod ( ) const

inlinevirtualinherited

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

Returns: Optimization method.

Definition at line 384 of file vpMbTracker.h.

◆ getPolygon()

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

inlinevirtualinherited

Return the polygon (face) "index".

Exceptions

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

Parameters

index : Index of the polygon to return.

Returns: Pointer to the polygon index.

Reimplemented in vpMbGenericTracker.

Definition at line 395 of file vpMbTracker.h.

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

◆ getPolygonFaces()

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

virtualinherited

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

Parameters

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

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

Reimplemented in vpMbGenericTracker.

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

Definition at line 2579 of file vpMbTracker.cpp.

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

◆ getPose() [1/2]

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::getPose().

◆ getPose() [2/2]

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.

◆ getProjectionError()

virtual double vpMbTracker::getProjectionError ( ) const

inlinevirtualinherited

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

Returns: the value for the error.

See also: setProjectionErrorComputation()

Examples: mbtEdgeKltTracking.cpp, mbtEdgeTracking.cpp, mbtGenericTracking.cpp, mbtGenericTracking2.cpp, mbtGenericTrackingDepth.cpp, mbtGenericTrackingDepthOnly.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-rgbd-realsense-json-settings.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 vpMbEdgeTracker::getRobustWeights ( ) const

inlinevirtual

Return the weights vector 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 371 of file vpMbEdgeTracker.h.

◆ getScales()

std::vector<bool> vpMbEdgeTracker::getScales ( ) const

inline

Return the scales levels used for the tracking.

Returns: The scales levels used for the tracking.

Definition at line 357 of file vpMbEdgeTracker.h.

◆ getStopCriteriaEpsilon()

virtual double vpMbTracker::getStopCriteriaEpsilon ( ) const

inlinevirtualinherited

Definition at line 425 of file vpMbTracker.h.

◆ init()

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

protectedvirtual

Initialize the tracking.

Parameters

I	: The image.

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 1125 of file vpMbEdgeTracker.cpp.

References cleanPyramid(), vpMbTracker::clippingFlag, vpMbHiddenFaces< PolygonType >::computeClippedPolygons(), vpCameraParameters::computeFov(), vpMbHiddenFaces< PolygonType >::computeScanLineRender(), downScale(), vpMbTracker::faces, vpException::fatalError, vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), initMovingEdge(), vpMbHiddenFaces< PolygonType >::initOgre(), initPyramid(), Ipyramid, vpMbHiddenFaces< PolygonType >::isOgreInitialised(), vpMbTracker::m_cam, vpMbTracker::m_cMo, vpMbTracker::modelInitialised, vpMbTracker::ogreShowConfigDialog, resetMovingEdge(), scales, vpMbHiddenFaces< PolygonType >::setBackgroundSizeOgre(), vpMbHiddenFaces< PolygonType >::setOgreShowConfigDialog(), upScale(), vpMbTracker::useOgre, vpMbTracker::useScanLine, and visibleFace().

Referenced by setPose().

◆ initCircle()

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

protectedvirtual

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

Parameters

p1	: Center of the circle.
p2,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.
idFace	: Index of the face associated to the circle to handle visibility test.
name	: The optional name of the circle.

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 2344 of file vpMbEdgeTracker.cpp.

References addCircle().

Referenced by vpMbEdgeKltTracker::initCircle().

◆ initClick() [1/6]

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	: Optional 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 584 of file vpMbTracker.cpp.

Referenced by vpMbTracker::initClick().

◆ initClick() [2/6]

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 786 of file vpMbTracker.cpp.

References vpMbTracker::initClick().

◆ initClick() [3/6]

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

◆ initClick() [4/6]

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

◆ initClick() [5/6]

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	: Optional 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 621 of file vpMbTracker.cpp.

References vpMbTracker::initClick().

◆ initClick() [6/6]

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 803 of file vpMbTracker.cpp.

References vpMbTracker::initClick().

◆ initCylinder()

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

protectedvirtual

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

Parameters

p1	: First point on the axis.
p2	: Second point on the axis.
radius	: Radius of the cylinder.
idFace	: Id of the face that is associated to the cylinder to handle visibility test.
name	: The optional name of the cylinder.

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 2360 of file vpMbEdgeTracker.cpp.

References addCylinder().

Referenced by vpMbEdgeKltTracker::initCylinder().

◆ initFaceFromCorners()

void vpMbEdgeTracker::initFaceFromCorners ( vpMbtPolygon & polygon )

protectedvirtual

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

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

This method is called from the loadModel() one to add a face of the object to track.

Parameters

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

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 2255 of file vpMbEdgeTracker.cpp.

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

Referenced by vpMbEdgeKltTracker::initFaceFromCorners().

◆ initFaceFromLines()

void vpMbEdgeTracker::initFaceFromLines ( vpMbtPolygon & polygon )

protectedvirtual

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

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

This method is called from the loadModel() one to add a face of the object to track.

Parameters

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

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 2279 of file vpMbEdgeTracker.cpp.

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

Referenced by vpMbEdgeKltTracker::initFaceFromLines().

◆ initFromPoints() [1/6]

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

virtualinherited

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

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

Parameters

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

Definition at line 962 of file vpMbTracker.cpp.

Referenced by vpMbTracker::initFromPoints().

◆ initFromPoints() [2/6]

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

virtualinherited

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

Parameters

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

Definition at line 1035 of file vpMbTracker.cpp.

References vpMbTracker::initFromPoints().

◆ initFromPoints() [3/6]

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

protectedvirtualinherited

Definition at line 810 of file vpMbTracker.cpp.

◆ initFromPoints() [4/6]

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

protectedvirtualinherited

Definition at line 996 of file vpMbTracker.cpp.

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

◆ initFromPoints() [5/6]

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

virtualinherited

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

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

Parameters

I_color	: Input color image
initFile	: Path to the file containing all the points.

Definition at line 991 of file vpMbTracker.cpp.

References vpMbTracker::initFromPoints().

◆ initFromPoints() [6/6]

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

virtualinherited

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

Parameters

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

Definition at line 1049 of file vpMbTracker.cpp.

References vpMbTracker::initFromPoints().

◆ initFromPose() [1/7]

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 1110 of file vpMbTracker.cpp.

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

◆ initFromPose() [2/7]

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 1144 of file vpMbTracker.cpp.

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

◆ initFromPose() [3/7]

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 1169 of file vpMbTracker.cpp.

References vpMbTracker::initFromPose().

◆ initFromPose() [4/7]

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

protectedvirtualinherited

Definition at line 1055 of file vpMbTracker.cpp.

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

◆ initFromPose() [5/7]

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 1133 of file vpMbTracker.cpp.

References vpMbTracker::initFromPose().

◆ initFromPose() [6/7]

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 1156 of file vpMbTracker.cpp.

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

◆ initFromPose() [7/7]

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 1181 of file vpMbTracker.cpp.

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

◆ initMbtTracking()

unsigned int vpMbEdgeTracker::initMbtTracking	(	unsigned int &	nberrors_lines,
		unsigned int &	nberrors_cylinders,
		unsigned int &	nberrors_circles
	)

protected

Definition at line 2288 of file vpMbEdgeTracker.cpp.

References circles, cylinders, vpMbtDistanceCircle::initInteractionMatrixError(), vpMbtDistanceCylinder::initInteractionMatrixError(), vpMbtDistanceLine::initInteractionMatrixError(), vpMbtDistanceCircle::isTracked(), vpMbtDistanceCylinder::isTracked(), vpMbtDistanceLine::isTracked(), lines, vpMbtDistanceCircle::nbFeature, vpMbtDistanceCylinder::nbFeature, vpMbtDistanceLine::nbFeatureTotal, and scaleLevel.

Referenced by computeVVSInit().

◆ initMovingEdge()

void vpMbEdgeTracker::initMovingEdge	(	const vpImage< unsigned char > &	I,
		const vpHomogeneousMatrix &	_cMo
	)

protected

Initialize the moving edge thanks to a given pose of the camera. The 3D model is projected into the image to create moving edges along the lines.

Parameters

I	: The image.
_cMo	: The pose of the camera used to initialize the moving edges.

Definition at line 1516 of file vpMbEdgeTracker.cpp.

References circles, cylinders, vpMbtDistanceCircle::hiddenface, vpMbtDistanceCylinder::hiddenface, vpMbtDistanceLine::hiddenface, vpMbtDistanceCircle::index_polygon, vpMbtDistanceCylinder::index_polygon, vpMbtDistanceCircle::initMovingEdge(), vpMbtDistanceCylinder::initMovingEdge(), vpMbtDistanceLine::initMovingEdge(), vpMbtDistanceCircle::isTracked(), vpMbtDistanceCylinder::isTracked(), vpMbtDistanceLine::isTracked(), vpMbHiddenFaces< PolygonType >::isVisible(), vpMbtDistanceLine::Lindex_polygon, lines, vpMbTracker::m_mask, vpMbtDistanceCircle::meEllipse, vpMbtDistanceLine::meline, vpMbtDistanceCylinder::meline1, vpMbtDistanceCylinder::meline2, vpMbtDistanceCircle::nbFeature, vpMbtDistanceCylinder::nbFeature, vpMbtDistanceLine::nbFeature, vpMbtDistanceCylinder::nbFeaturel1, vpMbtDistanceCylinder::nbFeaturel2, vpMbtDistanceLine::nbFeatureTotal, scaleLevel, vpMbtDistanceCircle::setVisible(), vpMbtDistanceCylinder::setVisible(), vpMbtDistanceLine::setVisible(), and vpMbtDistanceLine::updateTracked().

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

◆ initProjectionErrorCircle()

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

protectedinherited

Definition at line 3378 of file vpMbTracker.cpp.

References vpMbTracker::addProjectionErrorCircle().

Referenced by vpMbTracker::loadCAOModel().

◆ initProjectionErrorCylinder()

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

protectedinherited

Definition at line 3384 of file vpMbTracker.cpp.

References vpMbTracker::addProjectionErrorCylinder().

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

◆ initProjectionErrorFaceFromCorners()

void vpMbTracker::initProjectionErrorFaceFromCorners ( vpMbtPolygon & polygon )

protectedinherited

Definition at line 3390 of file vpMbTracker.cpp.

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

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

◆ initProjectionErrorFaceFromLines()

void vpMbTracker::initProjectionErrorFaceFromLines ( vpMbtPolygon & polygon )

protectedinherited

Definition at line 3400 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::loadCAOModel().

◆ initPyramid()

void vpMbEdgeTracker::initPyramid	(	const vpImage< unsigned char > &	_I,
		std::vector< const vpImage< unsigned char > * > &	_pyramid
	)

protected

Compute the pyramid of image associated to the image in parameter. The scales computed are the ones corresponding to the scales attribute of the class. If OpenCV is detected, the functions used to computed a smoothed pyramid come from OpenCV, otherwise a simple subsampling (no smoothing, no interpolation) is realized.

Warning: The pyramid contains pointers to vpImage. To properly deallocate the pyramid. All the element but the first (which is a pointer to the input image) must be freed. A proper cleaning is implemented in the cleanPyramid() method.

Parameters

_I	: The input image.
_pyramid	: The pyramid of image to build from the input image.

Definition at line 2718 of file vpMbEdgeTracker.cpp.

References vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), and scales.

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

◆ 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 1636 of file vpMbTracker.cpp.

References vpMbTracker::addPolygon(), vpMbTracker::addProjectionErrorPolygon(), vpMbTracker::applyLodSettingInConfig, vpException::badValue, vpHomogeneousMatrix::buildFrom(), vpIoTools::checkFilename(), vpMbTracker::createCylinderBBox(), vpIoTools::createFilePath(), vpMbTracker::faces, vpIoTools::getAbsolutePathname(), vpIoTools::getName(), vpIoTools::getParent(), vpMbHiddenFaces< PolygonType >::getPolygon(), vpMbTracker::initCircle(), vpMbTracker::initCylinder(), vpMbTracker::initFaceFromCorners(), vpMbTracker::initFaceFromLines(), vpMbTracker::initProjectionErrorCircle(), vpMbTracker::initProjectionErrorCylinder(), vpMbTracker::initProjectionErrorFaceFromCorners(), vpMbTracker::initProjectionErrorFaceFromLines(), vpException::ioError, vpIoTools::isAbsolutePathname(), vpMbTracker::m_projectionErrorFaces, vpMbTracker::minLineLengthThresholdGeneral, vpMbTracker::minPolygonAreaThresholdGeneral, vpMbTracker::nbCircles, vpMbTracker::nbCylinders, vpMbTracker::nbLines, vpMbTracker::nbPoints, vpMbTracker::nbPolygonLines, vpMbTracker::nbPolygonPoints, vpIoTools::parseBoolean(), vpMbTracker::parseParameters(), vpIoTools::path(), vpMath::rad(), vpMbTracker::removeComment(), vpPoint::setWorldCoordinates(), vpIoTools::splitChain(), vpIoTools::trim(), vpMbTracker::useLodGeneral, and vpTRACE.

Referenced by vpMbTracker::loadModel().

◆ loadConfigFile()

void vpMbEdgeTracker::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: moving-edges, camera and visibility angles.

Parameters

configFile	: full name of the xml file.
verbose	: verbose flag.

See also: loadConfigFile(const char*)

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

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

Definition at line 1215 of file vpMbEdgeTracker.cpp.

◆ loadModel()

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 1424 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 vpMbDepthDenseTracker::reInitModel(), vpMbDepthNormalTracker::reInitModel(), vpMbEdgeKltTracker::reInitModel(), reInitModel(), and vpMbKltTracker::reInitModel().

◆ loadVRMLModel()

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

protectedvirtualinherited

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

Warning: 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 1473 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().

◆ parseParameters()

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

protectedinherited

Definition at line 1535 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::loadCAOModel().

◆ projectionErrorInitMovingEdge()

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

protectedinherited

Definition at line 3622 of file vpMbTracker.cpp.

References vpMbtDistanceCircle::hiddenface, vpMbtDistanceCylinder::hiddenface, vpMbtDistanceLine::hiddenface, vpMbtDistanceCircle::index_polygon, vpMbtDistanceCylinder::index_polygon, vpMbtDistanceCircle::initMovingEdge(), vpMbtDistanceCylinder::initMovingEdge(), vpMbtDistanceLine::initMovingEdge(), vpMbtDistanceCircle::isTracked(), vpMbtDistanceCylinder::isTracked(), vpMbtDistanceLine::isTracked(), vpMbHiddenFaces< PolygonType >::isVisible(), vpMbtDistanceLine::Lindex_polygon, vpMbTracker::m_mask, vpMbTracker::m_projectionErrorCircles, vpMbTracker::m_projectionErrorCylinders, vpMbTracker::m_projectionErrorLines, vpMbtDistanceCircle::meEllipse, vpMbtDistanceLine::meline, vpMbtDistanceCylinder::meline1, vpMbtDistanceCylinder::meline2, vpMbtDistanceCircle::nbFeature, vpMbtDistanceCylinder::nbFeature, vpMbtDistanceLine::nbFeature, vpMbtDistanceCylinder::nbFeaturel1, vpMbtDistanceCylinder::nbFeaturel2, vpMbtDistanceLine::nbFeatureTotal, vpMbtDistanceCircle::setVisible(), vpMbtDistanceCylinder::setVisible(), vpMbtDistanceLine::setVisible(), and vpMbtDistanceLine::updateTracked().

Referenced by vpMbTracker::computeProjectionErrorImpl().

◆ projectionErrorResetMovingEdges()

void vpMbTracker::projectionErrorResetMovingEdges ( )

protectedinherited

Definition at line 3580 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::computeProjectionErrorImpl().

◆ projectionErrorVisibleFace()

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

protectedinherited

Definition at line 3562 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().

◆ reInitLevel()

void vpMbEdgeTracker::reInitLevel ( const unsigned int _lvl )

protected

Re initialize the moving edges associated to a given level. This method is used to re-initialize the level if the tracking failed on this level but succeeded on the other one.

Parameters

_lvl	: The level to re-initialize.

Definition at line 2880 of file vpMbEdgeTracker.cpp.

References circles, cylinders, Ipyramid, lines, vpMbTracker::m_cMo, vpMbTracker::m_mask, vpMbtDistanceCircle::reinitMovingEdge(), vpMbtDistanceCylinder::reinitMovingEdge(), vpMbtDistanceLine::reinitMovingEdge(), scaleLevel, trackMovingEdge(), and updateMovingEdge().

Referenced by track().

◆ reInitModel()

void vpMbEdgeTracker::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 2444 of file vpMbEdgeTracker.cpp.

References circles, cylinders, vpHomogeneousMatrix::eye(), vpMbTracker::faces, vpMbTracker::initFromPose(), lines, vpMbTracker::loadModel(), vpMbTracker::m_cMo, nbvisiblepolygone, ncircle, ncylinder, nline, vpMbHiddenFaces< PolygonType >::reset(), and scales.

◆ reinitMovingEdge()

void vpMbEdgeTracker::reinitMovingEdge	(	const vpImage< unsigned char > &	I,
		const vpHomogeneousMatrix &	_cMo
	)

protected

Reinitialize the lines if it is required.

A line is reinitialized if the 2D line do not match enough with the projected 3D line.

Parameters

I	: the image.
_cMo	: the pose of the used to re-initialize the moving edges

Definition at line 1872 of file vpMbEdgeTracker.cpp.

References circles, cylinders, vpMbtDistanceCircle::isVisible(), vpMbtDistanceCylinder::isVisible(), vpMbtDistanceLine::isVisible(), lines, vpMbTracker::m_mask, vpMbtDistanceCircle::Reinit, vpMbtDistanceCylinder::Reinit, vpMbtDistanceLine::Reinit, vpMbtDistanceCircle::reinitMovingEdge(), vpMbtDistanceCylinder::reinitMovingEdge(), vpMbtDistanceLine::reinitMovingEdge(), and scaleLevel.

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

◆ removeCircle()

void vpMbEdgeTracker::removeCircle ( const std::string & name )

protected

Remove a circle by its name.

Parameters

name	: The name of the circle to remove.

Definition at line 2171 of file vpMbEdgeTracker.cpp.

References circles, vpMbtDistanceCircle::getName(), and scales.

◆ removeComment()

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

protectedinherited

Definition at line 1520 of file vpMbTracker.cpp.

References vpException::ioError.

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

◆ removeCylinder()

void vpMbEdgeTracker::removeCylinder ( const std::string & name )

protected

Remove a cylinder by its name.

Parameters

name	: The name of the cylinder to remove.

Definition at line 2149 of file vpMbEdgeTracker.cpp.

References cylinders, vpMbtDistanceCylinder::getName(), and scales.

◆ removeLine()

void vpMbEdgeTracker::removeLine ( const std::string & name )

protected

Remove a line using its name.

Parameters

name	: The name of the line to remove.

Definition at line 2020 of file vpMbEdgeTracker.cpp.

References vpMbtDistanceLine::getName(), lines, and scales.

◆ resetMovingEdge()

void vpMbEdgeTracker::resetMovingEdge ( )

protected

Definition at line 1905 of file vpMbEdgeTracker.cpp.

References circles, cylinders, lines, m_featuresToBeDisplayedEdge, and scales.

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

◆ resetTracker()

void vpMbEdgeTracker::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: mbtEdgeTracking.cpp.

Definition at line 2371 of file vpMbEdgeTracker.cpp.

References vpMbTracker::angleAppears, vpMbTracker::angleDisappears, circles, vpMbTracker::clippingFlag, cylinders, vpHomogeneousMatrix::eye(), vpMbTracker::faces, vpMbTracker::GAUSS_NEWTON_OPT, lines, vpMbTracker::m_cMo, vpMbTracker::m_computeInteraction, vpMbTracker::m_lambda, vpMbTracker::m_optimizationMethod, nbvisiblepolygone, ncylinder, nline, vpPolygon3D::NO_CLIPPING, percentageGdPt, vpMath::rad(), vpMbHiddenFaces< PolygonType >::reset(), scales, setScales(), vpMbTracker::useOgre, and vpMbTracker::useScanLine.

Referenced by vpMbEdgeKltTracker::resetTracker().

◆ samePoint()

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

protectedinherited

Check if two vpPoints are similar.

To be similar : .

Parameters

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

Definition at line 3081 of file vpMbTracker.cpp.

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

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

◆ savePose()

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

inherited

Save the pose in the given filename

Parameters

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

Definition at line 1193 of file vpMbTracker.cpp.

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

◆ setAngleAppear()

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 470 of file vpMbTracker.h.

Referenced by vpMbGenericTracker::setAngleAppear().

◆ setAngleDisappear()

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 481 of file vpMbTracker.h.

Referenced by vpMbGenericTracker::setAngleDisappear().

◆ setCameraParameters()

virtual void vpMbEdgeTracker::setCameraParameters ( const vpCameraParameters & cam )

inlinevirtual

Set the camera parameters.

Parameters

cam	: The new camera parameters.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

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

Definition at line 384 of file vpMbEdgeTracker.h.

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

◆ setClipping()

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

virtual

Specify which clipping to use.

See also: vpMbtPolygonClipping

Parameters

flags : New clipping flags.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

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

Definition at line 2687 of file vpMbEdgeTracker.cpp.

References vpMbTracker::clippingFlag, vpMbtDistanceLine::getPolygon(), lines, scales, vpPolygon3D::setClipping(), and vpMbTracker::setClipping().

Referenced by loadConfigFile(), and vpMbEdgeKltTracker::setClipping().

◆ setCovarianceComputation()

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 500 of file vpMbTracker.h.

◆ setDisplayFeatures()

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 518 of file vpMbTracker.h.

Referenced by vpMbGenericTracker::setDisplayFeatures().

◆ setEstimatedDoF()

void vpMbTracker::setEstimatedDoF ( const vpColVector & v )

virtualinherited

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

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

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

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

Definition at line 2966 of file vpMbTracker.cpp.

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

◆ setFarClippingDistance()

void vpMbEdgeTracker::setFarClippingDistance ( const double & dist )

virtual

Set the far distance for clipping.

Parameters

dist	: Far clipping value.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

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

Definition at line 2625 of file vpMbEdgeTracker.cpp.

References vpMbTracker::clippingFlag, vpMbTracker::distFarClip, vpMbTracker::distNearClip, vpMbtDistanceLine::getPolygon(), lines, vpPolygon3D::NEAR_CLIPPING, scales, vpPolygon3D::setFarClippingDistance(), and vpMbTracker::setFarClippingDistance().

Referenced by loadConfigFile(), and vpMbEdgeKltTracker::setFarClippingDistance().

◆ setGoodMovingEdgesRatioThreshold()

void vpMbEdgeTracker::setGoodMovingEdgesRatioThreshold ( double threshold )

inline

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

Parameters

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

See also: getGoodMovingEdgesRatioThreshold()

Definition at line 459 of file vpMbEdgeTracker.h.

◆ setGoodNbRayCastingAttemptsRatio()

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 621 of file vpMbTracker.h.

References vpMbHiddenFaces< PolygonType >::setGoodNbRayCastingAttemptsRatio().

◆ setInitialMu()

virtual void vpMbTracker::setInitialMu ( double mu )

inlinevirtualinherited

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

Parameters

mu	: initial mu.

Definition at line 529 of file vpMbTracker.h.

◆ setLambda()

virtual void vpMbTracker::setLambda ( double gain )

inlinevirtualinherited

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

Parameters

gain	: the desired value for the gain.

Definition at line 536 of file vpMbTracker.h.

◆ setLod()

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 2717 of file vpMbTracker.cpp.

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

Referenced by vpMbEdgeKltTracker::loadConfigFile(), loadConfigFile(), and vpMbKltTracker::loadConfigFile().

◆ setMask()

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

inlinevirtualinherited

Reimplemented in vpMbGenericTracker.

Definition at line 564 of file vpMbTracker.h.

Referenced by vpMbGenericTracker::setMask().

◆ setMaxIter()

virtual void vpMbTracker::setMaxIter ( unsigned int max )

inlinevirtualinherited

Set the maximum iteration of the virtual visual servoing stage.

Parameters

max	: the desired number of iteration

Definition at line 545 of file vpMbTracker.h.

◆ setMinLineLengthThresh()

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 2735 of file vpMbTracker.cpp.

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

Referenced by vpMbEdgeKltTracker::loadConfigFile(), loadConfigFile(), and vpMbKltTracker::loadConfigFile().

◆ setMinPolygonAreaThresh()

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 2752 of file vpMbTracker.cpp.

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

Referenced by vpMbEdgeKltTracker::loadConfigFile(), loadConfigFile(), and vpMbKltTracker::loadConfigFile().

◆ setMovingEdge()

void vpMbEdgeTracker::setMovingEdge ( const vpMe & p_me )

Set the moving edge parameters.

Parameters

p_me	: an instance of vpMe containing all the desired parameters

Examples: mbtEdgeKltTracking.cpp, mbtEdgeTracking.cpp, testKeyPoint-2.cpp, testKeyPoint-4.cpp, tutorial-detection-object-mbt-deprecated.cpp, tutorial-detection-object-mbt2-deprecated.cpp, tutorial-mb-edge-tracker.cpp, and tutorial-mb-hybrid-tracker.cpp.

Definition at line 128 of file vpMbEdgeTracker.cpp.

References circles, cylinders, lines, me, scales, vpMbtDistanceCircle::setMovingEdge(), vpMbtDistanceCylinder::setMovingEdge(), and vpMbtDistanceLine::setMovingEdge().

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

◆ setNbRayCastingAttemptsForVisibility()

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 631 of file vpMbTracker.h.

References vpMbHiddenFaces< PolygonType >::setNbRayCastingAttemptsForVisibility().

◆ setNearClippingDistance()

void vpMbEdgeTracker::setNearClippingDistance ( const double & dist )

virtual

Set the near distance for clipping.

Parameters

dist	: Near clipping value.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

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

Definition at line 2655 of file vpMbEdgeTracker.cpp.

References vpMbTracker::clippingFlag, vpMbTracker::distFarClip, vpMbTracker::distNearClip, vpPolygon3D::FAR_CLIPPING, vpMbtDistanceLine::getPolygon(), lines, scales, vpPolygon3D::setNearClippingDistance(), and vpMbTracker::setNearClippingDistance().

Referenced by loadConfigFile(), and vpMbEdgeKltTracker::setNearClippingDistance().

◆ setOgreShowConfigDialog()

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 647 of file vpMbTracker.h.

Referenced by vpMbGenericTracker::setOgreShowConfigDialog().

◆ setOgreVisibilityTest()

virtual void vpMbEdgeTracker::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: mbtEdgeTracking.cpp, tutorial-detection-object-mbt-deprecated.cpp, tutorial-detection-object-mbt2-deprecated.cpp, and tutorial-mb-edge-tracker.cpp.

Definition at line 420 of file vpMbEdgeTracker.h.

References vpMbTracker::setOgreVisibilityTest().

◆ setOptimizationMethod()

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 558 of file vpMbTracker.h.

Referenced by vpMbGenericTracker::setOptimizationMethod().

◆ setPose() [1/2]

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

virtual

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

Parameters

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

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

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

Definition at line 1182 of file vpMbEdgeTracker.cpp.

References init(), and vpMbTracker::m_cMo.

◆ setPose() [2/2]

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

virtual

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

Parameters

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

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 1196 of file vpMbEdgeTracker.cpp.

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

◆ setPoseSavingFilename()

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

inlineinherited

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

Parameters

filename : The new filename.

Definition at line 659 of file vpMbTracker.h.

◆ setProjectionErrorComputation()

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

inlinevirtualinherited

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 vpMbKltTracker, vpMbGenericTracker, and vpMbEdgeKltTracker.

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

Definition at line 585 of file vpMbTracker.h.

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

◆ setProjectionErrorDisplay()

virtual void vpMbTracker::setProjectionErrorDisplay ( bool display )

inlinevirtualinherited

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

Reimplemented in vpMbGenericTracker.

Examples: mbtGenericTrackingDepthOnly.cpp.

Definition at line 590 of file vpMbTracker.h.

Referenced by vpMbGenericTracker::setProjectionErrorDisplay().

◆ setProjectionErrorDisplayArrowLength()

virtual void vpMbTracker::setProjectionErrorDisplayArrowLength ( unsigned int length )

inlinevirtualinherited

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

Reimplemented in vpMbGenericTracker.

Examples: mbtGenericTrackingDepthOnly.cpp.

Definition at line 595 of file vpMbTracker.h.

Referenced by vpMbGenericTracker::setProjectionErrorDisplayArrowLength().

◆ setProjectionErrorDisplayArrowThickness()

virtual void vpMbTracker::setProjectionErrorDisplayArrowThickness ( unsigned int thickness )

inlinevirtualinherited

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

Reimplemented in vpMbGenericTracker.

Examples: mbtGenericTrackingDepthOnly.cpp.

Definition at line 600 of file vpMbTracker.h.

Referenced by vpMbGenericTracker::setProjectionErrorDisplayArrowThickness().

◆ setProjectionErrorKernelSize()

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

inherited

Set kernel size used for projection error computation.

Parameters

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

Definition at line 3785 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::loadConfigFile().

◆ setProjectionErrorMovingEdge()

void vpMbTracker::setProjectionErrorMovingEdge ( const vpMe & me )

inherited

Set Moving-Edges parameters for projection error computation.

Parameters

me	: Moving-Edges parameters.

Definition at line 3757 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::loadConfigFile().

◆ setScales()

void vpMbEdgeTracker::setScales ( const std::vector< bool > & scale )

Set the scales to use to realize the tracking. The vector of boolean activates or not the scales to set for the object tracking. The first element of the list correspond to the tracking on the full image, the second element corresponds to the tracking on an image subsampled by two.

Using multi scale tracking allows to track the object with greater moves. It requires the computation of a pyramid of images, but the total tracking can be faster than a tracking based only on the full scale. The pose is computed from the smallest image to the biggest. This may be dangerous if the object to track is small in the image, because the subsampled scale(s) will have only few points to compute the pose (it could result in a loss of precision).

Warning: This method must be used before the tracker has been initialized ( before the call of the loadConfigFile() or loadModel() methods).; At least one level must be activated.

Parameters

scale : The vector describing the levels to use.

Definition at line 2582 of file vpMbEdgeTracker.cpp.

References circles, cylinders, lines, scales, and vpERROR_TRACE.

Referenced by resetTracker().

◆ setScanLineVisibilityTest()

virtual void vpMbEdgeTracker::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: mbtEdgeTracking.cpp.

Definition at line 433 of file vpMbEdgeTracker.h.

References vpMbTracker::setScanLineVisibilityTest().

Referenced by vpMbEdgeKltTracker::setScanLineVisibilityTest().

◆ setStopCriteriaEpsilon()

virtual void vpMbTracker::setStopCriteriaEpsilon ( const double eps )

inlinevirtualinherited

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

Parameters

eps	: Epsilon threshold.

Definition at line 572 of file vpMbTracker.h.

◆ setUseEdgeTracking()

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

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

Parameters

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

Definition at line 2924 of file vpMbEdgeTracker.cpp.

References circles, cylinders, vpMbTracker::faces, lines, and scales.

◆ testTracking()

void vpMbEdgeTracker::testTracking ( )

protectedvirtual

Check if the tracking failed.

Exceptions

vpTrackingException::fatalError if the test fails.

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 932 of file vpMbEdgeTracker.cpp.

References circles, cylinders, vpTrackingException::fatalError, vpMeSite::getState(), vpMbtDistanceCircle::isTracked(), vpMbtDistanceCylinder::isTracked(), vpMbtDistanceLine::isTracked(), vpMbtDistanceCircle::isVisible(), vpMbtDistanceCylinder::isVisible(), vpMbtDistanceLine::isVisible(), lines, vpMbtDistanceCircle::meEllipse, vpMbtDistanceLine::meline, vpMbtDistanceCylinder::meline1, vpMbtDistanceCylinder::meline2, vpMath::minimum(), vpMeSite::NO_SUPPRESSION, percentageGdPt, and scaleLevel.

Referenced by track().

◆ track() [1/2]

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

virtual

Compute each state of the tracking procedure for all the feature sets.

If the tracking is considered as failed an exception is thrown.

Parameters

I	: The image.

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

Examples: mbtEdgeTracking.cpp, tutorial-detection-object-mbt-deprecated.cpp, tutorial-detection-object-mbt2-deprecated.cpp, and tutorial-mb-edge-tracker.cpp.

Definition at line 1019 of file vpMbEdgeTracker.cpp.

References cleanPyramid(), vpMbHiddenFaces< PolygonType >::computeClippedPolygons(), computeProjectionError(), vpMbTracker::computeProjError, vpMbHiddenFaces< PolygonType >::computeScanLineRender(), computeVVS(), vpMbTracker::covarianceMatrix, vpMbTracker::displayFeatures, downScale(), vpMbTracker::faces, getFeaturesForDisplayEdge(), vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), initMovingEdge(), initPyramid(), Ipyramid, vpMbTracker::m_cam, vpMbTracker::m_cMo, m_featuresToBeDisplayedEdge, vpMbTracker::projectionError, reInitLevel(), reinitMovingEdge(), scales, testTracking(), trackMovingEdge(), updateMovingEdge(), upScale(), vpMbTracker::useScanLine, visibleFace(), and vpTRACE.

Referenced by track().

◆ track() [2/2]

void vpMbEdgeTracker::track ( const vpImage< vpRGBa > & I )

virtual

Track the object in the given image

Parameters

I	: The current image.

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 1114 of file vpMbEdgeTracker.cpp.

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

◆ trackMovingEdge()

void vpMbEdgeTracker::trackMovingEdge ( const vpImage< unsigned char > & I )

protected

Track the moving edges in the image.

Parameters

I	: the image.

Definition at line 1629 of file vpMbEdgeTracker.cpp.

References circles, cylinders, vpMbtDistanceCircle::initMovingEdge(), vpMbtDistanceCylinder::initMovingEdge(), vpMbtDistanceLine::initMovingEdge(), vpMbtDistanceCircle::isTracked(), vpMbtDistanceCylinder::isTracked(), vpMbtDistanceLine::isTracked(), vpMbtDistanceCircle::isVisible(), vpMbtDistanceCylinder::isVisible(), vpMbtDistanceLine::isVisible(), lines, vpMbTracker::m_cMo, vpMbTracker::m_mask, vpMbtDistanceCircle::meEllipse, vpMbtDistanceLine::meline, vpMbtDistanceCylinder::meline1, vpMbtDistanceCylinder::meline2, scaleLevel, vpMbtDistanceLine::trackMovingEdge(), vpMbtDistanceCircle::trackMovingEdge(), and vpMbtDistanceCylinder::trackMovingEdge().

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

◆ updateMovingEdge()

void vpMbEdgeTracker::updateMovingEdge ( const vpImage< unsigned char > & I )

protected

Update the moving edges at the end of the virtual visual servoing.

Parameters

I	: the image.

Definition at line 1672 of file vpMbEdgeTracker.cpp.

References circles, cylinders, vpMbtDistanceCircle::isVisible(), vpMbtDistanceCylinder::isVisible(), vpMbtDistanceLine::isVisible(), lines, vpMbTracker::m_cMo, vpMbtDistanceCircle::nbFeature, vpMbtDistanceCylinder::nbFeaturel1, vpMbtDistanceCylinder::nbFeaturel2, vpMbtDistanceLine::nbFeatureTotal, vpMbtDistanceCircle::Reinit, vpMbtDistanceCylinder::Reinit, vpMbtDistanceLine::Reinit, scaleLevel, vpMbtDistanceCircle::updateMovingEdge(), vpMbtDistanceCylinder::updateMovingEdge(), and vpMbtDistanceLine::updateMovingEdge().

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

◆ updateMovingEdgeWeights()

void vpMbEdgeTracker::updateMovingEdgeWeights ( )

protected

◆ upScale()

void vpMbEdgeTracker::upScale ( const unsigned int _scale )

protected

Modify the camera parameters to have them corresponding to the current scale. The new parameters are multiplied by $2^{\_scale}$ .

Parameters

_scale : Scale to use.

Definition at line 2858 of file vpMbEdgeTracker.cpp.

References vpCameraParameters::get_K(), vpCameraParameters::initFromCalibrationMatrix(), vpMbTracker::m_cam, and scaleLevel.

Referenced by addCircle(), addCylinder(), addLine(), vpMbEdgeKltTracker::init(), init(), vpMbEdgeKltTracker::setPose(), and track().

◆ visibleFace()

void vpMbEdgeTracker::visibleFace	(	const vpImage< unsigned char > &	I,
		const vpHomogeneousMatrix &	cMo,
		bool &	newvisibleline
	)

protected

Detect the visible faces in the image and says if a new one appeared.

Warning: If in one iteration one face appears and one disappears, then the function will not detect the new face.

Parameters

I	: Image to test if a face is entirely in the image.
cMo	: The pose of the camera used to project the 3D model into the image.
newvisibleline	: This parameter is set to true if a new face appeared.

Definition at line 2214 of file vpMbEdgeTracker.cpp.

References vpMbTracker::angleAppears, vpMbTracker::angleDisappears, vpMbTracker::faces, vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpMbTracker::m_cam, nbvisiblepolygone, vpMbHiddenFaces< PolygonType >::setVisible(), vpMbHiddenFaces< PolygonType >::setVisibleOgre(), and vpMbTracker::useOgre.

Referenced by init(), and track().

Member Data Documentation

◆ angleAppears

double vpMbTracker::angleAppears

protectedinherited

Angle used to detect a face appearance.

Definition at line 145 of file vpMbTracker.h.

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

◆ angleDisappears

double vpMbTracker::angleDisappears

protectedinherited

Angle used to detect a face disappearance.

Definition at line 147 of file vpMbTracker.h.

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

◆ applyLodSettingInConfig

bool vpMbTracker::applyLodSettingInConfig

protectedinherited

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

Definition at line 175 of file vpMbTracker.h.

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

◆ circles

std::vector<std::list<vpMbtDistanceCircle *> > vpMbEdgeTracker::circles

protected

Vector of the tracked circles.

Definition at line 252 of file vpMbEdgeTracker.h.

Referenced by addCircle(), computeProjectionError(), computeVVSFirstPhase(), computeVVSFirstPhaseFactor(), computeVVSInteractionMatrixAndResidu(), getFeaturesForDisplayEdge(), getLcircle(), vpMbEdgeKltTracker::getModelForDisplay(), getModelForDisplay(), getNbPoints(), initMbtTracking(), vpMbEdgeKltTracker::initMbtTracking(), initMovingEdge(), vpMbEdgeKltTracker::postTracking(), vpMbEdgeKltTracker::postTrackingMbt(), reInitLevel(), vpMbEdgeKltTracker::reInitModel(), reInitModel(), reinitMovingEdge(), removeCircle(), resetMovingEdge(), resetTracker(), setMovingEdge(), setScales(), setUseEdgeTracking(), testTracking(), vpMbEdgeKltTracker::trackFirstLoop(), trackMovingEdge(), vpMbEdgeKltTracker::trackSecondLoop(), updateMovingEdge(), updateMovingEdgeWeights(), and ~vpMbEdgeTracker().

◆ clippingFlag

unsigned int vpMbTracker::clippingFlag

protectedinherited

Flags specifying which clipping to used.

Definition at line 153 of file vpMbTracker.h.

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

◆ computeCovariance

bool vpMbTracker::computeCovariance

protectedinherited

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

Definition at line 128 of file vpMbTracker.h.

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

◆ computeProjError

bool vpMbTracker::computeProjError

protectedinherited

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

Definition at line 133 of file vpMbTracker.h.

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

◆ covarianceMatrix

vpMatrix vpMbTracker::covarianceMatrix

protectedinherited

Covariance matrix.

Definition at line 130 of file vpMbTracker.h.

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

◆ cylinders

std::vector<std::list<vpMbtDistanceCylinder *> > vpMbEdgeTracker::cylinders

protected

Vector of the tracked cylinders.

Definition at line 255 of file vpMbEdgeTracker.h.

Referenced by addCylinder(), computeProjectionError(), computeVVSFirstPhase(), computeVVSFirstPhaseFactor(), computeVVSInteractionMatrixAndResidu(), getFeaturesForDisplayEdge(), getLcylinder(), vpMbEdgeKltTracker::getModelForDisplay(), getModelForDisplay(), getNbPoints(), initMbtTracking(), vpMbEdgeKltTracker::initMbtTracking(), initMovingEdge(), vpMbEdgeKltTracker::postTracking(), vpMbEdgeKltTracker::postTrackingMbt(), reInitLevel(), vpMbEdgeKltTracker::reInitModel(), reInitModel(), reinitMovingEdge(), removeCylinder(), resetMovingEdge(), resetTracker(), setMovingEdge(), setScales(), setUseEdgeTracking(), testTracking(), vpMbEdgeKltTracker::trackFirstLoop(), trackMovingEdge(), vpMbEdgeKltTracker::trackSecondLoop(), updateMovingEdge(), updateMovingEdgeWeights(), and ~vpMbEdgeTracker().

◆ displayFeatures

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(), vpMbKltTracker::display(), vpMbGenericTracker::loadConfigFileJSON(), vpMbEdgeKltTracker::postTracking(), vpMbEdgeKltTracker::track(), track(), vpMbKltTracker::track(), and vpMbGenericTracker::track().

◆ distFarClip

double vpMbTracker::distFarClip

protectedinherited

Distance for near clipping.

Definition at line 151 of file vpMbTracker.h.

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

◆ distNearClip

double vpMbTracker::distNearClip

protectedinherited

Distance for near clipping.

Definition at line 149 of file vpMbTracker.h.

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

◆ faces

vpMbHiddenFaces<vpMbtPolygon> vpMbTracker::faces

protectedinherited

Set of faces describing the object.

Definition at line 143 of file vpMbTracker.h.

◆ Ipyramid

std::vector<const vpImage<unsigned char> *> vpMbEdgeTracker::Ipyramid

protected

Pyramid of image associated to the current image. This pyramid is computed in the init() and in the track() methods.

Definition at line 281 of file vpMbEdgeTracker.h.

Referenced by vpMbEdgeKltTracker::init(), init(), reInitLevel(), vpMbEdgeKltTracker::setPose(), track(), and ~vpMbEdgeTracker().

◆ lines

std::vector<std::list<vpMbtDistanceLine *> > vpMbEdgeTracker::lines

protected

Vector of list of all the lines tracked (each line is linked to a list of moving edges). Each element of the vector is for a scale (element 0 = level 0 = no subsampling).

Definition at line 249 of file vpMbEdgeTracker.h.

Referenced by addLine(), computeProjectionError(), computeVVSFirstPhase(), computeVVSFirstPhaseFactor(), computeVVSInteractionMatrixAndResidu(), getFeaturesForDisplayEdge(), getLline(), vpMbEdgeKltTracker::getModelForDisplay(), getModelForDisplay(), getNbPoints(), initMbtTracking(), vpMbEdgeKltTracker::initMbtTracking(), initMovingEdge(), vpMbEdgeKltTracker::postTracking(), vpMbEdgeKltTracker::postTrackingMbt(), reInitLevel(), vpMbEdgeKltTracker::reInitModel(), reInitModel(), reinitMovingEdge(), removeLine(), resetMovingEdge(), resetTracker(), setClipping(), setFarClippingDistance(), setMovingEdge(), setNearClippingDistance(), setScales(), setUseEdgeTracking(), testTracking(), vpMbEdgeKltTracker::trackFirstLoop(), trackMovingEdge(), vpMbEdgeKltTracker::trackSecondLoop(), updateMovingEdge(), updateMovingEdgeWeights(), and ~vpMbEdgeTracker().

◆ m_cam

vpCameraParameters vpMbTracker::m_cam

protectedinherited

The camera parameters.

Definition at line 111 of file vpMbTracker.h.

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

◆ m_cMo

vpHomogeneousMatrix vpMbTracker::m_cMo

protectedinherited

The current pose.

Definition at line 113 of file vpMbTracker.h.

◆ m_computeInteraction

bool vpMbTracker::m_computeInteraction

protectedinherited

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

Definition at line 185 of file vpMbTracker.h.

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

◆ m_error_edge

vpColVector vpMbEdgeTracker::m_error_edge

protected

(s - s*)

Definition at line 305 of file vpMbEdgeTracker.h.

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

◆ m_errorCircles

vpColVector vpMbEdgeTracker::m_errorCircles

protected

Definition at line 301 of file vpMbEdgeTracker.h.

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

◆ m_errorCylinders

vpColVector vpMbEdgeTracker::m_errorCylinders

protected

Definition at line 300 of file vpMbEdgeTracker.h.

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

◆ m_errorLines

vpColVector vpMbEdgeTracker::m_errorLines

protected

Definition at line 299 of file vpMbEdgeTracker.h.

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

◆ m_factor

vpColVector vpMbEdgeTracker::m_factor

protected

Edge VVS variables.

Definition at line 292 of file vpMbEdgeTracker.h.

Referenced by computeVVS(), computeVVSFirstPhase(), computeVVSFirstPhaseFactor(), computeVVSFirstPhasePoseEstimation(), and computeVVSInit().

◆ m_featuresToBeDisplayedEdge

std::vector<std::vector<double> > vpMbEdgeTracker::m_featuresToBeDisplayedEdge

protected

Display features.

Definition at line 313 of file vpMbEdgeTracker.h.

Referenced by displayFeaturesOnImage(), resetMovingEdge(), and track().

◆ m_I

vpImage<unsigned char> vpMbTracker::m_I

protectedinherited

Grayscale image buffer, used when passing color images.

Definition at line 223 of file vpMbTracker.h.

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

◆ m_initialMu

double vpMbTracker::m_initialMu

protectedinherited

Initial Mu for Levenberg Marquardt optimization loop.

Definition at line 193 of file vpMbTracker.h.

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

◆ m_isoJoIdentity

bool vpMbTracker::m_isoJoIdentity

protectedinherited

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

Definition at line 117 of file vpMbTracker.h.

Referenced by vpMbDepthDenseTracker::computeVVS(), vpMbDepthNormalTracker::computeVVS(), vpMbKltTracker::computeVVS(), computeVVS(), vpMbEdgeKltTracker::computeVVS(), vpMbGenericTracker::computeVVS(), and vpMbTracker::setEstimatedDoF().

◆ m_L_edge

vpMatrix vpMbEdgeTracker::m_L_edge

protected

Interaction matrix.

Definition at line 303 of file vpMbEdgeTracker.h.

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

◆ m_lambda

double vpMbTracker::m_lambda

protectedinherited

Gain of the virtual visual servoing stage.

Definition at line 187 of file vpMbTracker.h.

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

◆ m_mask

const vpImage<bool>* vpMbTracker::m_mask

protectedinherited

Mask used to disable tracking on a part of image.

Definition at line 221 of file vpMbTracker.h.

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

◆ m_maxIter

unsigned int vpMbTracker::m_maxIter

protectedinherited

Maximum number of iterations of the virtual visual servoing stage.

Definition at line 189 of file vpMbTracker.h.

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

◆ m_optimizationMethod

vpMbtOptimizationMethod vpMbTracker::m_optimizationMethod

protectedinherited

Optimization method used.

Definition at line 140 of file vpMbTracker.h.

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

◆ m_projectionErrorCam

vpCameraParameters vpMbTracker::m_projectionErrorCam

protectedinherited

Camera parameters used for projection error computation.

Definition at line 219 of file vpMbTracker.h.

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

◆ m_projectionErrorCircles

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

protectedinherited

Distance circle primitive for projection error.

Definition at line 200 of file vpMbTracker.h.

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

◆ m_projectionErrorCylinders

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

protectedinherited

Distance cylinder primitives for projection error.

Definition at line 198 of file vpMbTracker.h.

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

◆ m_projectionErrorDisplay

bool vpMbTracker::m_projectionErrorDisplay

protectedinherited

Display gradient and model orientation for projection error computation.

Definition at line 213 of file vpMbTracker.h.

Referenced by computeProjectionError(), vpMbTracker::computeProjectionErrorImpl(), and vpMbGenericTracker::loadConfigFileJSON().

◆ m_projectionErrorDisplayLength

unsigned int vpMbTracker::m_projectionErrorDisplayLength

protectedinherited

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

Definition at line 215 of file vpMbTracker.h.

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

◆ m_projectionErrorDisplayThickness

unsigned int vpMbTracker::m_projectionErrorDisplayThickness

protectedinherited

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

Definition at line 217 of file vpMbTracker.h.

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

◆ m_projectionErrorFaces

vpMbHiddenFaces<vpMbtPolygon> vpMbTracker::m_projectionErrorFaces

protectedinherited

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

Definition at line 202 of file vpMbTracker.h.

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

◆ m_projectionErrorKernelSize

unsigned int vpMbTracker::m_projectionErrorKernelSize

protectedinherited

Kernel size used to compute the gradient orientation.

Definition at line 207 of file vpMbTracker.h.

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

◆ m_projectionErrorLines

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

protectedinherited

Distance line primitives for projection error.

Definition at line 196 of file vpMbTracker.h.

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

◆ m_projectionErrorMe

vpMe vpMbTracker::m_projectionErrorMe

protectedinherited

Moving-Edges parameters for projection error.

Definition at line 205 of file vpMbTracker.h.

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

◆ m_projectionErrorOgreShowConfigDialog

bool vpMbTracker::m_projectionErrorOgreShowConfigDialog

protectedinherited

Definition at line 203 of file vpMbTracker.h.

Referenced by vpMbTracker::computeProjectionErrorImpl().

◆ m_rand

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(), addLine(), and vpMbTracker::addProjectionErrorLine().

◆ m_robust_edge

vpRobust vpMbEdgeTracker::m_robust_edge

protected

Robust.

Definition at line 311 of file vpMbEdgeTracker.h.

◆ m_robustCircles

vpRobust vpMbEdgeTracker::m_robustCircles

protected

Definition at line 295 of file vpMbEdgeTracker.h.

Referenced by computeVVSInit(), and computeVVSWeights().

◆ m_robustCylinders

vpRobust vpMbEdgeTracker::m_robustCylinders

protected

Definition at line 294 of file vpMbEdgeTracker.h.

Referenced by computeVVSInit(), and computeVVSWeights().

◆ m_robustLines

vpRobust vpMbEdgeTracker::m_robustLines

protected

Definition at line 293 of file vpMbEdgeTracker.h.

Referenced by computeVVSInit(), and computeVVSWeights().

◆ m_SobelX

vpMatrix vpMbTracker::m_SobelX

protectedinherited

Sobel kernel in X.

Definition at line 209 of file vpMbTracker.h.

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

◆ m_SobelY

vpMatrix vpMbTracker::m_SobelY

protectedinherited

Sobel kernel in Y.

Definition at line 211 of file vpMbTracker.h.

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

◆ m_sodb_init_called

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().

◆ m_stopCriteriaEpsilon

double vpMbTracker::m_stopCriteriaEpsilon

protectedinherited

Epsilon threshold to stop the VVS optimization loop.

Definition at line 191 of file vpMbTracker.h.

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

◆ m_w_edge

vpColVector vpMbEdgeTracker::m_w_edge

protected

Robust weights.

Definition at line 307 of file vpMbEdgeTracker.h.

Referenced by computeVVS(), computeVVSFirstPhase(), computeVVSFirstPhasePoseEstimation(), computeVVSInit(), computeVVSWeights(), and updateMovingEdgeWeights().

◆ m_wCircles

vpColVector vpMbEdgeTracker::m_wCircles

protected

Definition at line 298 of file vpMbEdgeTracker.h.

Referenced by computeVVSInit(), and computeVVSWeights().

◆ m_wCylinders

vpColVector vpMbEdgeTracker::m_wCylinders

protected

Definition at line 297 of file vpMbEdgeTracker.h.

Referenced by computeVVSInit(), and computeVVSWeights().

◆ m_weightedError_edge

vpColVector vpMbEdgeTracker::m_weightedError_edge

protected

Weighted error.

Definition at line 309 of file vpMbEdgeTracker.h.

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

◆ m_wLines

vpColVector vpMbEdgeTracker::m_wLines

protected

Definition at line 296 of file vpMbEdgeTracker.h.

Referenced by computeVVSInit(), and computeVVSWeights().

◆ mapOfParameterNames

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

protectedinherited

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

Definition at line 182 of file vpMbTracker.h.

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

◆ me

vpMe vpMbEdgeTracker::me

protected

The moving edges parameters.

Definition at line 245 of file vpMbEdgeTracker.h.

Referenced by addCircle(), addCylinder(), addLine(), vpMbEdgeKltTracker::loadConfigFile(), loadConfigFile(), and setMovingEdge().

◆ minLineLengthThresholdGeneral

double vpMbTracker::minLineLengthThresholdGeneral

protectedinherited

Minimum line length threshold for LOD mode (general setting)

Definition at line 177 of file vpMbTracker.h.

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

◆ minPolygonAreaThresholdGeneral

double vpMbTracker::minPolygonAreaThresholdGeneral

protectedinherited

Minimum polygon area threshold for LOD mode (general setting)

Definition at line 179 of file vpMbTracker.h.

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

◆ modelFileName

std::string vpMbTracker::modelFileName

protectedinherited

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

Definition at line 120 of file vpMbTracker.h.

Referenced by vpMbTracker::loadModel().

◆ modelInitialised

bool vpMbTracker::modelInitialised

protectedinherited

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

Definition at line 123 of file vpMbTracker.h.

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

◆ nbCircles

unsigned int vpMbTracker::nbCircles

protectedinherited

Number of circles in CAO model.

Definition at line 170 of file vpMbTracker.h.

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

◆ nbCylinders

unsigned int vpMbTracker::nbCylinders

protectedinherited

Number of cylinders in CAO model.

Definition at line 168 of file vpMbTracker.h.

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

◆ nbFeaturesForProjErrorComputation

unsigned int vpMbEdgeTracker::nbFeaturesForProjErrorComputation

protected

Number of features used in the computation of the projection error.

Definition at line 289 of file vpMbEdgeTracker.h.

Referenced by computeProjectionError().

◆ nbLines

unsigned int vpMbTracker::nbLines

protectedinherited

Number of lines in CAO model.

Definition at line 162 of file vpMbTracker.h.

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

◆ nbPoints

unsigned int vpMbTracker::nbPoints

protectedinherited

Number of points in CAO model.

Definition at line 160 of file vpMbTracker.h.

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

◆ nbPolygonLines

unsigned int vpMbTracker::nbPolygonLines

protectedinherited

Number of polygon lines in CAO model.

Definition at line 164 of file vpMbTracker.h.

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

◆ nbPolygonPoints

unsigned int vpMbTracker::nbPolygonPoints

protectedinherited

Number of polygon points in CAO model.

Definition at line 166 of file vpMbTracker.h.

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

◆ nbvisiblepolygone

unsigned int vpMbEdgeTracker::nbvisiblepolygone

protected

Number of polygon (face) currently visible.

Definition at line 270 of file vpMbEdgeTracker.h.

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

◆ ncircle

unsigned int vpMbEdgeTracker::ncircle

protected

Index of the circle to add, and total number of circles extracted so far.

Definition at line 263 of file vpMbEdgeTracker.h.

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

◆ ncylinder

unsigned int vpMbEdgeTracker::ncylinder

protected

Index of the cylinder to add, and total number of cylinders extracted so far.

Definition at line 267 of file vpMbEdgeTracker.h.

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

◆ nline

unsigned int vpMbEdgeTracker::nline

protected

Index of the polygon to add, and total number of polygon extracted so far.

Definition at line 259 of file vpMbEdgeTracker.h.

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

◆ ogreShowConfigDialog

bool vpMbTracker::ogreShowConfigDialog

protectedinherited

Definition at line 156 of file vpMbTracker.h.

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

◆ oJo

vpMatrix vpMbTracker::oJo

protectedinherited

The Degrees of Freedom to estimate.

Definition at line 115 of file vpMbTracker.h.

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

◆ percentageGdPt

double vpMbEdgeTracker::percentageGdPt

protected

Percentage of good points over total number of points below which tracking is supposed to have failed.

Definition at line 274 of file vpMbEdgeTracker.h.

Referenced by resetTracker(), and testTracking().

◆ poseSavingFilename

std::string vpMbTracker::poseSavingFilename

protectedinherited

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

Definition at line 126 of file vpMbTracker.h.

Referenced by vpMbTracker::initClick().

◆ projectionError

double vpMbTracker::projectionError

protectedinherited

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

Definition at line 136 of file vpMbTracker.h.

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

◆ scaleLevel

unsigned int vpMbEdgeTracker::scaleLevel

protected

Current scale level used. This attribute must not be modified outside of the downScale() and upScale() methods, as it used to specify to some methods which set of distanceLine use.

Definition at line 286 of file vpMbEdgeTracker.h.

Referenced by computeProjectionError(), computeVVSInteractionMatrixAndResidu(), downScale(), vpMbEdgeKltTracker::getModelForDisplay(), getModelForDisplay(), initMbtTracking(), initMovingEdge(), reInitLevel(), reinitMovingEdge(), testTracking(), trackMovingEdge(), updateMovingEdge(), updateMovingEdgeWeights(), and upScale().

◆ scales

std::vector<bool> vpMbEdgeTracker::scales

protected

Vector of scale level to use for the multi-scale tracking.

Definition at line 277 of file vpMbEdgeTracker.h.

Referenced by addCircle(), addCylinder(), addLine(), getLcircle(), getLcylinder(), getLline(), vpMbEdgeKltTracker::getModelForDisplay(), getModelForDisplay(), getNbPoints(), vpMbEdgeKltTracker::init(), init(), vpMbEdgeKltTracker::initMbtTracking(), initPyramid(), vpMbEdgeKltTracker::postTrackingMbt(), vpMbEdgeKltTracker::reInitModel(), reInitModel(), removeCircle(), removeCylinder(), removeLine(), resetMovingEdge(), resetTracker(), setClipping(), setFarClippingDistance(), setMovingEdge(), setNearClippingDistance(), vpMbEdgeKltTracker::setPose(), setScales(), setUseEdgeTracking(), track(), vpMbEdgeKltTracker::trackFirstLoop(), vpMbEdgeTracker(), and ~vpMbEdgeTracker().

◆ useLodGeneral

bool vpMbTracker::useLodGeneral

protectedinherited

True if LOD mode is enabled.

Definition at line 172 of file vpMbTracker.h.

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

◆ useOgre

bool vpMbTracker::useOgre

protectedinherited

◆ useScanLine

bool vpMbTracker::useScanLine

protectedinherited

Use Scanline for visibility tests.

Definition at line 158 of file vpMbTracker.h.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ vpMbtOptimizationMethod

Constructor & Destructor Documentation

◆ vpMbEdgeTracker()

◆ ~vpMbEdgeTracker()

Member Function Documentation

◆ addCircle()

◆ addCylinder()

◆ addLine()

◆ addPolygon() [1/5]

◆ addPolygon() [2/5]

◆ addPolygon() [3/5]

◆ addPolygon() [4/5]

◆ addPolygon() [5/5]

◆ addProjectionErrorCircle()

◆ addProjectionErrorCylinder()

◆ addProjectionErrorLine()

◆ addProjectionErrorPolygon() [1/4]

◆ addProjectionErrorPolygon() [2/4]

◆ addProjectionErrorPolygon() [3/4]

◆ addProjectionErrorPolygon() [4/4]

◆ cleanPyramid()

◆ computeCovarianceMatrixVVS()

◆ computeCurrentProjectionError()

◆ computeJTR()

◆ computeProjectionError()

◆ computeProjectionErrorImpl()

◆ computeVVS()

◆ computeVVSCheckLevenbergMarquardt()

◆ computeVVSFirstPhase()

◆ computeVVSFirstPhaseFactor()

◆ computeVVSFirstPhasePoseEstimation()

◆ computeVVSInit()

◆ computeVVSInteractionMatrixAndResidu() [1/2]

◆ computeVVSInteractionMatrixAndResidu() [2/2]

◆ computeVVSPoseEstimation()

◆ computeVVSWeights() [1/3]

◆ computeVVSWeights() [2/3]

◆ computeVVSWeights() [3/3]

◆ createCylinderBBox()

◆ display() [1/2]

◆ display() [2/2]

◆ displayFeaturesOnImage() [1/2]

◆ displayFeaturesOnImage() [2/2]

◆ downScale()

◆ extractCylinders()

◆ extractFaces()

◆ extractGroup()

◆ extractLines()

◆ getAngleAppear()

◆ getAngleDisappear()

◆ getCameraParameters()

◆ getClipping()

◆ getCovarianceMatrix()

◆ getError()

◆ getEstimatedDoF()

◆ getFaces()

◆ getFarClippingDistance()

◆ getFeaturesForDisplayEdge()

◆ getGoodMovingEdgesRatioThreshold()

◆ getGravityCenter()

◆ getInitialMu()

◆ getLambda()

◆ getLcircle()

◆ getLcylinder()

◆ getLline()

◆ getMaxIter()

◆ getModelForDisplay()

◆ getMovingEdge() [1/2]

◆ getMovingEdge() [2/2]

◆ getNbPoints()

◆ getNbPolygon()

◆ getNearClippingDistance()

◆ getOptimizationMethod()

◆ getPolygon()