Visual Servoing Platform  version 3.3.1 under development (2020-12-02)
vpMbEdgeKltTracker Class Reference

#include <visp3/mbt/vpMbEdgeKltTracker.h>

+ Inheritance diagram for vpMbEdgeKltTracker:

Public Types

enum  vpMbtOptimizationMethod { GAUSS_NEWTON_OPT = 0, LEVENBERG_MARQUARDT_OPT = 1 }
 

Public Member Functions

 vpMbEdgeKltTracker ()
 
virtual ~vpMbEdgeKltTracker ()
 
virtual void display (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, unsigned int thickness=1, bool displayFullModel=false)
 
virtual void display (const vpImage< vpRGBa > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, unsigned int thickness=1, bool displayFullModel=false)
 
virtual vpColVector getError () const
 
virtual std::vector< std::vector< double > > getModelForDisplay (unsigned int width, unsigned int height, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, bool displayFullModel=false)
 
virtual vpColVector getRobustWeights () const
 
virtual double getNearClippingDistance () const
 
virtual void loadConfigFile (const std::string &configFile)
 
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)
 
virtual void setPose (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cdMo)
 
virtual void setPose (const vpImage< vpRGBa > &I_color, const vpHomogeneousMatrix &cdMo)
 
virtual void setProjectionErrorComputation (const bool &flag)
 
virtual void testTracking ()
 
virtual void track (const vpImage< unsigned char > &I)
 
virtual void track (const vpImage< vpRGBa > &I_color)
 
Inherited functionalities from vpMbKltTracker
void addCircle (const vpPoint &P1, const vpPoint &P2, const vpPoint &P3, double r, const std::string &name="")
 
virtual std::list< vpMbtDistanceCircle * > & getFeaturesCircle ()
 
virtual std::list< vpMbtDistanceKltCylinder * > & getFeaturesKltCylinder ()
 
virtual std::list< vpMbtDistanceKltPoints * > & getFeaturesKlt ()
 
std::vector< cv::Point2f > getKltPoints () const
 
std::vector< vpImagePointgetKltImagePoints () const
 
std::map< int, vpImagePointgetKltImagePointsWithId () const
 
vpKltOpencv getKltOpencv () const
 
unsigned int getKltMaskBorder () const
 
int getKltNbPoints () const
 
double getKltThresholdAcceptation () const
 
void setKltMaskBorder (const unsigned int &e)
 
virtual void setKltOpencv (const vpKltOpencv &t)
 
void setKltThresholdAcceptation (double th)
 
void setUseKltTracking (const std::string &name, const bool &useKltTracking)
 
Deprecated functions
unsigned int getMaskBorder () const
 
int getNbKltPoints () const
 
double getThresholdAcceptation () const
 
void setMaskBorder (const unsigned int &e)
 
void setThresholdAcceptation (double th)
 
Inherited functionalities from vpMbTracker
virtual double computeCurrentProjectionError (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &_cMo, const vpCameraParameters &_cam)
 
virtual double getAngleAppear () const
 
virtual double getAngleDisappear () const
 
virtual void getCameraParameters (vpCameraParameters &cam) const
 
virtual unsigned int getClipping () const
 
virtual vpMatrix getCovarianceMatrix () const
 
virtual double getInitialMu () const
 
virtual double getLambda () const
 
virtual unsigned int getMaxIter () const
 
virtual double getProjectionError () const
 
virtual vpColVector getEstimatedDoF () const
 
virtual vpMbHiddenFaces< vpMbtPolygon > & getFaces ()
 
virtual double getFarClippingDistance () const
 
virtual unsigned int getNbPolygon () const
 
virtual vpMbtOptimizationMethod getOptimizationMethod () const
 
virtual vpMbtPolygongetPolygon (unsigned int index)
 
virtual std::pair< std::vector< vpPolygon >, std::vector< std::vector< vpPoint > > > getPolygonFaces (bool orderPolygons=true, bool useVisibility=true, bool clipPolygon=false)
 
virtual void getPose (vpHomogeneousMatrix &cMo) const
 
virtual vpHomogeneousMatrix getPose () const
 
virtual double getStopCriteriaEpsilon () const
 
virtual void initClick (const vpImage< unsigned char > &I, const std::string &initFile, bool displayHelp=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
 
virtual void initClick (const vpImage< vpRGBa > &I_color, const std::string &initFile, bool displayHelp=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
 
virtual void initClick (const vpImage< unsigned char > &I, const std::vector< vpPoint > &points3D_list, const std::string &displayFile="")
 
virtual void initClick (const vpImage< vpRGBa > &I_color, const std::vector< vpPoint > &points3D_list, const std::string &displayFile="")
 
virtual void initFromPoints (const vpImage< unsigned char > &I, const std::string &initFile)
 
virtual void initFromPoints (const vpImage< vpRGBa > &I_color, const std::string &initFile)
 
virtual void initFromPoints (const vpImage< unsigned char > &I, const std::vector< vpImagePoint > &points2D_list, const std::vector< vpPoint > &points3D_list)
 
virtual void initFromPoints (const vpImage< vpRGBa > &I_color, const std::vector< vpImagePoint > &points2D_list, const std::vector< vpPoint > &points3D_list)
 
virtual void initFromPose (const vpImage< unsigned char > &I, const std::string &initFile)
 
virtual void initFromPose (const vpImage< vpRGBa > &I_color, const std::string &initFile)
 
virtual void initFromPose (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo)
 
virtual void initFromPose (const vpImage< vpRGBa > &I_color, const vpHomogeneousMatrix &cMo)
 
virtual void initFromPose (const vpImage< unsigned char > &I, const vpPoseVector &cPo)
 
virtual void initFromPose (const vpImage< vpRGBa > &I_color, const vpPoseVector &cPo)
 
virtual void loadModel (const std::string &modelFile, bool verbose=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
 
virtual void setAngleAppear (const double &a)
 
virtual void setAngleDisappear (const double &a)
 
virtual void 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 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)
 
Inherited functionalities from vpMbEdgeTracker
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 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
 
void setGoodMovingEdgesRatioThreshold (double threshold)
 
void setMovingEdge (const vpMe &me)
 
void setScales (const std::vector< bool > &_scales)
 
void setUseEdgeTracking (const std::string &name, const bool &useEdgeTracking)
 

Protected Member Functions

virtual void computeVVS (const vpImage< unsigned char > &I, const unsigned int &nbInfos, unsigned int &nbrow, unsigned int lvl=0)
 
virtual void computeVVSInit ()
 
virtual void computeVVSInteractionMatrixAndResidu ()
 
virtual void init (const vpImage< unsigned char > &I)
 
virtual void initCircle (const vpPoint &, const vpPoint &, const vpPoint &, double r, int idFace=0, const std::string &name="")
 
virtual void initCylinder (const vpPoint &, const vpPoint &, double r, int idFace, const std::string &name="")
 
virtual void initFaceFromCorners (vpMbtPolygon &polygon)
 
virtual void initFaceFromLines (vpMbtPolygon &polygon)
 
unsigned int initMbtTracking (unsigned int level=0)
 
bool postTracking (const vpImage< unsigned char > &I, vpColVector &w_mbt, vpColVector &w_klt, unsigned int lvl=0)
 
bool postTracking (const vpImage< vpRGBa > &I_color, vpColVector &w_mbt, vpColVector &w_klt, unsigned int lvl=0)
 
void postTrackingMbt (vpColVector &w, unsigned int level=0)
 
unsigned int trackFirstLoop (const vpImage< unsigned char > &I, vpColVector &factor, unsigned int lvl=0)
 
void trackSecondLoop (const vpImage< unsigned char > &I, vpMatrix &L, vpColVector &_error, const vpHomogeneousMatrix &cMo, unsigned int lvl=0)
 
Protected Member Functions Inherited from vpMbKltTracker
virtual void setPose (const vpImage< unsigned char > *const I, const vpImage< vpRGBa > *const I_color, const vpHomogeneousMatrix &cdMo)
 
void computeVVS ()
 
virtual std::vector< std::vector< double > > getFeaturesForDisplayKlt ()
 
void preTracking (const vpImage< unsigned char > &I)
 
bool postTracking (const vpImage< unsigned char > &I, vpColVector &w)
 
virtual void reinit (const vpImage< unsigned char > &I)
 
Protected Member Functions Inherited from vpMbTracker
virtual void initClick (const vpImage< unsigned char > *const I, const vpImage< vpRGBa > *const I_color, const std::string &initFile, bool displayHelp=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
 
virtual void initClick (const vpImage< unsigned char > *const I, const vpImage< vpRGBa > *const I_color, const std::vector< vpPoint > &points3D_list, const std::string &displayFile="")
 
virtual void initFromPoints (const vpImage< unsigned char > *const I, const vpImage< vpRGBa > *const I_color, const std::string &initFile)
 
virtual void initFromPoints (const vpImage< unsigned char > *const I, const vpImage< vpRGBa > *const I_color, const std::vector< vpImagePoint > &points2D_list, const std::vector< vpPoint > &points3D_list)
 
virtual void initFromPose (const vpImage< unsigned char > *const I, const vpImage< vpRGBa > *const I_color, const std::string &initFile)
 
void addPolygon (const std::vector< vpPoint > &corners, int idFace=-1, const std::string &polygonName="", bool useLod=false, double minPolygonAreaThreshold=2500.0, double minLineLengthThreshold=50.0)
 
void addPolygon (const vpPoint &p1, const vpPoint &p2, const vpPoint &p3, double radius, int idFace=-1, const std::string &polygonName="", bool useLod=false, double minPolygonAreaThreshold=2500.0)
 
void addPolygon (const vpPoint &p1, const vpPoint &p2, int idFace=-1, const std::string &polygonName="", bool useLod=false, double minLineLengthThreshold=50)
 
void addPolygon (const std::vector< std::vector< vpPoint > > &listFaces, int idFace=-1, const std::string &polygonName="", bool useLod=false, double minLineLengthThreshold=50)
 
void addProjectionErrorCircle (const vpPoint &P1, const vpPoint &P2, const vpPoint &P3, double r, int idFace=-1, const std::string &name="")
 
void addProjectionErrorCylinder (const vpPoint &P1, const vpPoint &P2, double r, int idFace=-1, const std::string &name="")
 
void addProjectionErrorLine (vpPoint &p1, vpPoint &p2, int polygon=-1, std::string name="")
 
void addProjectionErrorPolygon (const std::vector< vpPoint > &corners, int idFace=-1, const std::string &polygonName="", bool useLod=false, double minPolygonAreaThreshold=2500.0, const double minLineLengthThreshold=50.0)
 
void addProjectionErrorPolygon (const vpPoint &p1, const vpPoint &p2, const vpPoint &p3, double radius, int idFace=-1, const std::string &polygonName="", bool useLod=false, double minPolygonAreaThreshold=2500.0)
 
void addProjectionErrorPolygon (const vpPoint &p1, const vpPoint &p2, int idFace=-1, const std::string &polygonName="", bool useLod=false, double minLineLengthThreshold=50)
 
void addProjectionErrorPolygon (const std::vector< std::vector< vpPoint > > &listFaces, int idFace=-1, const std::string &polygonName="", bool useLod=false, double minLineLengthThreshold=50)
 
void createCylinderBBox (const vpPoint &p1, const vpPoint &p2, const double &radius, std::vector< std::vector< vpPoint > > &listFaces)
 
virtual void computeCovarianceMatrixVVS (const bool isoJoIdentity_, const vpColVector &w_true, const vpHomogeneousMatrix &cMoPrev, const vpMatrix &L_true, const vpMatrix &LVJ_true, const vpColVector &error)
 
void computeJTR (const vpMatrix &J, const vpColVector &R, vpColVector &JTR) const
 
double computeProjectionErrorImpl (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &_cMo, const vpCameraParameters &_cam, unsigned int &nbFeatures)
 
virtual void computeVVSCheckLevenbergMarquardt (unsigned int iter, vpColVector &error, const vpColVector &m_error_prev, const vpHomogeneousMatrix &cMoPrev, double &mu, bool &reStartFromLastIncrement, vpColVector *const w=NULL, const vpColVector *const m_w_prev=NULL)
 
virtual void computeVVSPoseEstimation (const bool isoJoIdentity_, unsigned int iter, vpMatrix &L, vpMatrix &LTL, vpColVector &R, const vpColVector &error, vpColVector &error_prev, vpColVector &LTR, double &mu, vpColVector &v, const vpColVector *const w=NULL, vpColVector *const m_w_prev=NULL)
 
virtual void computeVVSWeights (vpRobust &robust, const vpColVector &error, vpColVector &w)
 
virtual void extractGroup (SoVRMLGroup *sceneGraphVRML2, vpHomogeneousMatrix &transform, int &idFace)
 
virtual void extractFaces (SoVRMLIndexedFaceSet *face_set, vpHomogeneousMatrix &transform, int &idFace, const std::string &polygonName="")
 
virtual void extractLines (SoVRMLIndexedLineSet *line_set, int &idFace, const std::string &polygonName="")
 
virtual void extractCylinders (SoVRMLIndexedFaceSet *face_set, vpHomogeneousMatrix &transform, int &idFace, const std::string &polygonName="")
 
vpPoint getGravityCenter (const std::vector< vpPoint > &_pts) const
 
void initProjectionErrorCircle (const vpPoint &p1, const vpPoint &p2, const vpPoint &p3, double radius, int idFace=0, const std::string &name="")
 
void initProjectionErrorCylinder (const vpPoint &p1, const vpPoint &p2, double radius, int idFace=0, const std::string &name="")
 
void initProjectionErrorFaceFromCorners (vpMbtPolygon &polygon)
 
void initProjectionErrorFaceFromLines (vpMbtPolygon &polygon)
 
virtual void loadVRMLModel (const std::string &modelFile)
 
virtual void loadCAOModel (const std::string &modelFile, std::vector< std::string > &vectorOfModelFilename, int &startIdFace, bool verbose=false, bool parent=true, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
 
void projectionErrorInitMovingEdge (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &_cMo)
 
void projectionErrorResetMovingEdges ()
 
void projectionErrorVisibleFace (unsigned int width, unsigned int height, const vpHomogeneousMatrix &_cMo)
 
void removeComment (std::ifstream &fileId)
 
std::map< std::string, std::string > parseParameters (std::string &endLine)
 
bool samePoint (const vpPoint &P1, const vpPoint &P2) const
 
Protected 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 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 ()
 
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 ()
 
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)
 

Protected Attributes

double m_thresholdKLT
 
double m_thresholdMBT
 
unsigned int m_maxIterKlt
 
vpColVector m_w_mbt
 
vpColVector m_w_klt
 
vpColVector m_error_hybrid
 
vpColVector m_w_hybrid
 
cv::Mat cur
 
vpHomogeneousMatrix c0Mo
 
bool firstInitialisation
 
unsigned int maskBorder
 
double threshold_outlier
 
double percentGood
 
vpHomogeneousMatrix ctTc0
 
vpKltOpencv tracker
 
std::list< vpMbtDistanceKltPoints * > kltPolygons
 
std::list< vpMbtDistanceKltCylinder * > kltCylinders
 
std::list< vpMbtDistanceCircle * > circles_disp
 
unsigned int m_nbInfos
 
unsigned int m_nbFaceUsed
 
vpMatrix m_L_klt
 
vpColVector m_error_klt
 
vpColVector m_weightedError_klt
 
vpRobust m_robust_klt
 
std::vector< std::vector< double > > m_featuresToBeDisplayedKlt
 
vpCameraParameters m_cam
 
vpHomogeneousMatrix m_cMo
 
vpMatrix oJo
 
bool isoJoIdentity
 
std::string modelFileName
 
bool modelInitialised
 
std::string poseSavingFilename
 
bool computeCovariance
 
vpMatrix covarianceMatrix
 
bool computeProjError
 
double projectionError
 
bool displayFeatures
 
vpMbtOptimizationMethod m_optimizationMethod
 
vpMbHiddenFaces< vpMbtPolygonfaces
 
double angleAppears
 
double angleDisappears
 
double distNearClip
 
double distFarClip
 
unsigned int clippingFlag
 
bool useOgre
 
bool ogreShowConfigDialog
 
bool useScanLine
 
unsigned int nbPoints
 
unsigned int nbLines
 
unsigned int nbPolygonLines
 
unsigned int nbPolygonPoints
 
unsigned int nbCylinders
 
unsigned int nbCircles
 
bool useLodGeneral
 
bool applyLodSettingInConfig
 
double minLineLengthThresholdGeneral
 
double minPolygonAreaThresholdGeneral
 
std::map< std::string, std::string > mapOfParameterNames
 
bool m_computeInteraction
 
double m_lambda
 
unsigned int m_maxIter
 
double m_stopCriteriaEpsilon
 
double m_initialMu
 
std::vector< vpMbtDistanceLine * > m_projectionErrorLines
 
std::vector< vpMbtDistanceCylinder * > m_projectionErrorCylinders
 
std::vector< vpMbtDistanceCircle * > m_projectionErrorCircles
 
vpMbHiddenFaces< vpMbtPolygonm_projectionErrorFaces
 
bool m_projectionErrorOgreShowConfigDialog
 
vpMe m_projectionErrorMe
 
unsigned int m_projectionErrorKernelSize
 
vpMatrix m_SobelX
 
vpMatrix m_SobelY
 
bool m_projectionErrorDisplay
 
unsigned int m_projectionErrorDisplayLength
 
unsigned int m_projectionErrorDisplayThickness
 
vpCameraParameters m_projectionErrorCam
 
const vpImage< bool > * m_mask
 
vpImage< unsigned char > m_I
 
bool m_sodb_init_called
 
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
 

Detailed Description

Hybrid tracker based on moving-edges and keypoints tracked using KLT tracker.

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

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

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

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

#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpImage.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/mbt/vpMbEdgeKltTracker.h>
int main()
{
#if defined VISP_HAVE_OPENCV
vpMbEdgeKltTracker tracker; // Create an hybrid model based tracker.
vpHomogeneousMatrix cMo; // Pose computed using the tracker.
// Acquire an image
vpImageIo::read(I, "cube.pgm");
#if defined VISP_HAVE_X11
display.init(I,100,100,"Mb Hybrid Tracker");
#endif
tracker.loadConfigFile("cube.xml"); // Load the configuration of the tracker
// Load the 3d model in cao format. No 3rd party library is required
tracker.loadModel("cube.cao");
// Get the camera parameters used by the tracker (from the configuration file).
tracker.getCameraParameters(cam);
// 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
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.
}
return 0;
#endif
}

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

#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpImage.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/mbt/vpMbEdgeKltTracker.h>
int main()
{
#if defined VISP_HAVE_OPENCV
vpMbEdgeKltTracker tracker; // Create an hybrid model based tracker.
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); // initialise the tracker with the given pose.
while(true){
// acquire a new image
tracker.track(I); // track the object on this image
tracker.getPose(cMo); // get the pose
}
return 0;
#endif
}

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

#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpImage.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/mbt/vpMbEdgeKltTracker.h>
int main()
{
#if defined VISP_HAVE_OPENCV
vpMbEdgeKltTracker tracker; // Create an hybrid model based tracker.
vpHomogeneousMatrix cMo; // Pose used to display the model.
// Acquire an image
vpImageIo::read(I, "cube.pgm");
#if defined VISP_HAVE_X11
display.init(I,100,100,"Mb Hybrid 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
tracker.display(I, cMo, cam, vpColor::darkRed, 1, true); // Display the model at the computed pose.
}
#endif
return 0;
}
Examples:
mbtEdgeKltTracking.cpp, tutorial-mb-hybrid-tracker.cpp, tutorial-mb-tracker-full.cpp, and tutorial-mb-tracker.cpp.

Definition at line 212 of file vpMbEdgeKltTracker.h.

Member Enumeration Documentation

◆ vpMbtOptimizationMethod

Enumerator
GAUSS_NEWTON_OPT 
LEVENBERG_MARQUARDT_OPT 

Definition at line 107 of file vpMbTracker.h.

Constructor & Destructor Documentation

◆ vpMbEdgeKltTracker()

◆ ~vpMbEdgeKltTracker()

vpMbEdgeKltTracker::~vpMbEdgeKltTracker ( )
virtual

Basic constructor

Definition at line 67 of file vpMbEdgeKltTracker.cpp.

Member Function Documentation

◆ addCircle() [1/2]

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

Add a circle to the list of circles.

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

Definition at line 1410 of file vpMbKltTracker.cpp.

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

Referenced by vpMbKltTracker::initCircle().

◆ addCircle() [2/2]

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

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 2048 of file vpMbEdgeTracker.cpp.

References vpMbtDistanceCircle::buildFrom(), vpMbEdgeTracker::circles, vpMbEdgeTracker::downScale(), vpMbTracker::faces, vpMbtDistanceCircle::hiddenface, vpMbtDistanceCircle::index_polygon, vpMbTracker::m_cam, vpMath::maximum(), vpMbEdgeTracker::me, vpMbEdgeTracker::ncircle, vpMbtDistanceCircle::p1, vpMbtDistanceCircle::p2, vpMbtDistanceCircle::p3, vpMbtDistanceCircle::radius, vpMbTracker::samePoint(), vpMbEdgeTracker::scales, vpMbtDistanceCircle::setCameraParameters(), vpMbtDistanceCircle::setIndex(), vpMbtDistanceCircle::setMovingEdge(), vpMbtDistanceCircle::setName(), and vpMbEdgeTracker::upScale().

Referenced by vpMbEdgeTracker::initCircle().

◆ addCylinder()

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

◆ addLine()

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

◆ addPolygon() [1/5]

void vpMbEdgeTracker::addPolygon ( vpMbtPolygon p)
protectedinherited

Add a polygon to the list of polygons.

Parameters
p: The polygon to add.

Definition at line 2195 of file vpMbEdgeTracker.cpp.

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

◆ 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()

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

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 2767 of file vpMbEdgeTracker.cpp.

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

◆ 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 3515 of file vpMbTracker.cpp.

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

◆ computeJTR()

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

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

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

Definition at line 2882 of file vpMbTracker.cpp.

References vpCPUFeatures::checkSSE2(), vpArray2D< Type >::data, vpArray2D< Type >::getCols(), vpArray2D< Type >::getRows(), vpMatrixException::incorrectMatrixSizeError, and vpColVector::resize().

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

◆ computeProjectionError()

◆ computeProjectionErrorImpl()

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

Definition at line 3532 of file vpMbTracker.cpp.

References vpMbTracker::clippingFlag, vpMbHiddenFaces< PolygonType >::computeClippedPolygons(), vpCameraParameters::computeFov(), vpMbHiddenFaces< PolygonType >::computeScanLineRender(), vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpMbHiddenFaces< PolygonType >::initOgre(), vpMbHiddenFaces< PolygonType >::isOgreInitialised(), vpMbtDistanceCircle::isTracked(), vpMbtDistanceLine::isTracked(), vpMbtDistanceCylinder::isTracked(), vpMbtDistanceCircle::isVisible(), vpMbtDistanceLine::isVisible(), vpMbtDistanceCylinder::isVisible(), vpMbTracker::m_projectionErrorCam, vpMbTracker::m_projectionErrorCircles, vpMbTracker::m_projectionErrorCylinders, vpMbTracker::m_projectionErrorDisplay, vpMbTracker::m_projectionErrorDisplayLength, vpMbTracker::m_projectionErrorDisplayThickness, vpMbTracker::m_projectionErrorFaces, vpMbTracker::m_projectionErrorLines, vpMbTracker::m_projectionErrorOgreShowConfigDialog, vpMbTracker::m_SobelX, vpMbTracker::m_SobelY, vpMbtDistanceCircle::meEllipse, vpMbtDistanceLine::meline, vpMbtDistanceCylinder::meline1, vpMbtDistanceCylinder::meline2, vpMbTracker::projectionErrorInitMovingEdge(), vpMbTracker::projectionErrorResetMovingEdges(), vpMbTracker::projectionErrorVisibleFace(), vpMbHiddenFaces< PolygonType >::setBackgroundSizeOgre(), vpMbtDistanceCircle::setCameraParameters(), vpMbtDistanceLine::setCameraParameters(), vpMbtDistanceCylinder::setCameraParameters(), vpMbHiddenFaces< PolygonType >::setOgreShowConfigDialog(), vpMbTracker::useOgre, and vpMbTracker::useScanLine.

Referenced by vpMbTracker::computeCurrentProjectionError().

◆ computeVVS() [1/3]

void vpMbEdgeKltTracker::computeVVS ( const vpImage< unsigned char > &  I,
const unsigned int &  nbInfos,
unsigned int &  nbrow,
unsigned int  lvl = 0 
)
protectedvirtual

Realize the VVS loop for the tracking

Parameters
I: current image.
nbInfos: Size of the features (KLT).
nbrow: Size of the features (Edge).
lvl: level of the pyramid.

Definition at line 634 of file vpMbEdgeKltTracker.cpp.

References vpVelocityTwistMatrix::buildFrom(), vpMbKltTracker::c0Mo, vpMbTracker::computeCovariance, vpMbTracker::computeCovarianceMatrixVVS(), vpMbtDistanceKltPoints::computeHomography(), vpMbtDistanceKltCylinder::computeInteractionMatrixAndResidu(), vpMbtDistanceKltPoints::computeInteractionMatrixAndResidu(), vpMbTracker::computeVVSCheckLevenbergMarquardt(), vpMbTracker::computeVVSPoseEstimation(), vpMbKltTracker::ctTc0, vpExponentialMap::direct(), vpTrackingException::fatalError, vpCameraParameters::get_px(), vpMbtDistanceKltCylinder::getCurrentNumberPoints(), vpMbtDistanceKltPoints::getCurrentNumberPoints(), vpArray2D< Type >::getRows(), vpMbtDistanceKltCylinder::hasEnoughPoints(), vpMbtDistanceKltPoints::hasEnoughPoints(), vpColVector::insert(), vpMatrix::insert(), vpHomogeneousMatrix::inverse(), vpMbTracker::isoJoIdentity, vpMbtDistanceKltCylinder::isTracked(), vpMbtDistanceKltPoints::isTracked(), vpMbtPolygon::isVisible(), vpMbKltTracker::kltCylinders, vpMbKltTracker::kltPolygons, vpMbTracker::m_cam, vpMbTracker::m_cMo, vpMbTracker::m_computeInteraction, m_error_hybrid, vpMbTracker::m_initialMu, vpMbTracker::m_maxIter, m_thresholdKLT, m_thresholdMBT, m_w_hybrid, m_w_klt, m_w_mbt, vpRobust::MEstimator(), vpTrackingException::notEnoughPointError, vpMbTracker::oJo, vpMbtDistanceKltPoints::polygon, vpArray2D< Type >::resize(), vpColVector::resize(), vpRobust::setMinMedianAbsoluteDeviation(), vpMath::sqr(), trackFirstLoop(), trackSecondLoop(), and vpRobust::TUKEY.

◆ computeVVS() [2/3]

◆ computeVVS() [3/3]

◆ 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

◆ computeVVSFirstPhase()

◆ computeVVSFirstPhaseFactor()

◆ computeVVSFirstPhasePoseEstimation()

◆ computeVVSInit()

void vpMbEdgeKltTracker::computeVVSInit ( )
protectedvirtual

Reimplemented from vpMbEdgeTracker.

Definition at line 854 of file vpMbEdgeKltTracker.cpp.

References vpException::fatalError.

◆ computeVVSInteractionMatrixAndResidu() [1/2]

void vpMbEdgeKltTracker::computeVVSInteractionMatrixAndResidu ( )
protectedvirtual

Reimplemented from vpMbEdgeTracker.

Definition at line 859 of file vpMbEdgeKltTracker.cpp.

References vpException::fatalError.

◆ computeVVSInteractionMatrixAndResidu() [2/2]

◆ computeVVSPoseEstimation()

◆ computeVVSWeights() [1/2]

◆ computeVVSWeights() [2/2]

◆ createCylinderBBox()

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

◆ display() [1/2]

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

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

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

Reimplemented from vpMbEdgeTracker.

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

Definition at line 1229 of file vpMbEdgeKltTracker.cpp.

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

◆ display() [2/2]

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

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

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

Reimplemented from vpMbEdgeTracker.

Definition at line 1281 of file vpMbEdgeKltTracker.cpp.

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

◆ displayFeaturesOnImage() [1/2]

◆ displayFeaturesOnImage() [2/2]

◆ downScale()

void vpMbEdgeTracker::downScale ( const unsigned int  _scale)
protectedinherited

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 2853 of file vpMbEdgeTracker.cpp.

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

Referenced by vpMbEdgeTracker::addCircle(), vpMbEdgeTracker::addCylinder(), vpMbEdgeTracker::addLine(), init(), vpMbEdgeTracker::init(), setPose(), and vpMbEdgeTracker::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.
polygonNameName of the polygon.

Definition at line 2466 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.
polygonNameName of the polygon.

Definition at line 2413 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 2324 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.
polygonNameName of the polygon.

Definition at line 2551 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 236 of file vpMbTracker.h.

◆ getAngleDisappear()

virtual double vpMbTracker::getAngleDisappear ( ) const
inlinevirtualinherited

Return the angle used to test polygons disappearance.

Definition at line 239 of file vpMbTracker.h.

◆ getCameraParameters()

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

◆ getClipping()

◆ getCovarianceMatrix()

virtual vpMatrix vpMbTracker::getCovarianceMatrix ( ) const
inlinevirtualinherited

◆ getError()

virtual vpColVector vpMbEdgeKltTracker::getError ( ) const
inlinevirtual

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

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

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

Reimplemented from vpMbEdgeTracker.

Definition at line 239 of file vpMbEdgeKltTracker.h.

References vpMbEdgeTracker::getModelForDisplay().

◆ 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 3033 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 330 of file vpMbTracker.h.

Referenced by vpMbGenericTracker::getError().

◆ getFarClippingDistance()

virtual double vpMbTracker::getFarClippingDistance ( ) const
inlinevirtualinherited

Get the far distance for clipping.

Returns
Far clipping value.

Definition at line 337 of file vpMbTracker.h.

◆ getFeaturesCircle()

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

Return the address of the circle feature list.

Definition at line 274 of file vpMbKltTracker.h.

◆ getFeaturesForDisplayEdge()

◆ getFeaturesForDisplayKlt()

◆ getFeaturesKlt()

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

Return the address of the Klt feature list.

Definition at line 278 of file vpMbKltTracker.h.

◆ getFeaturesKltCylinder()

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

Return the address of the cylinder feature list.

Definition at line 276 of file vpMbKltTracker.h.

◆ getGoodMovingEdgesRatioThreshold()

double vpMbEdgeTracker::getGoodMovingEdgesRatioThreshold ( ) const
inlineinherited
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 378 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::dimensionErrorif the set is empty.
Parameters
pts: Set of point to extract the center of gravity.
Returns
Center of gravity of the set.

Definition at line 2596 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 282 of file vpMbTracker.h.

◆ getKltImagePoints()

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

Get the current list of KLT points.

Warning
Contrary to getKltPoints which returns a pointer on CvPoint2D32f. This function convert and copy the openCV KLT points into vpImagePoints.
Returns
the list of KLT points through vpKltOpencv.

Definition at line 389 of file vpMbKltTracker.cpp.

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

◆ getKltImagePointsWithId()

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

Get the current list of KLT points and their id.

Warning
Contrary to getKltPoints which returns a pointer on CvPoint2D32f. This function convert and copy the openCV KLT points into vpImagePoints.
Returns
the list of KLT points and their id through vpKltOpencv.

Definition at line 410 of file vpMbKltTracker.cpp.

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

◆ getKltMaskBorder()

unsigned int vpMbKltTracker::getKltMaskBorder ( ) const
inlineinherited

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

Returns
The erosion.

Definition at line 307 of file vpMbKltTracker.h.

◆ getKltNbPoints()

int vpMbKltTracker::getKltNbPoints ( ) const
inlineinherited

Get the current number of klt points.

Returns
the number of features

Definition at line 314 of file vpMbKltTracker.h.

References vpKltOpencv::getNbFeatures().

◆ getKltOpencv()

vpKltOpencv vpMbKltTracker::getKltOpencv ( ) const
inlineinherited

Get the klt tracker at the current state.

Returns
klt tracker.

Definition at line 300 of file vpMbKltTracker.h.

◆ getKltPoints()

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

Get the current list of KLT points.

Returns
the list of KLT points through vpKltOpencv.

Definition at line 286 of file vpMbKltTracker.h.

References vpKltOpencv::getFeatures().

◆ getKltThresholdAcceptation()

double vpMbKltTracker::getKltThresholdAcceptation ( ) const
inlineinherited

Get the threshold for the acceptation of a point.

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

Definition at line 322 of file vpMbKltTracker.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 289 of file vpMbTracker.h.

◆ getLcircle()

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

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

Exceptions
vpException::dimensionErrorif 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 2835 of file vpMbEdgeTracker.cpp.

References vpMbEdgeTracker::circles, vpException::dimensionError, and vpMbEdgeTracker::scales.

◆ getLcylinder()

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

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

Exceptions
vpException::dimensionErrorif 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 2813 of file vpMbEdgeTracker.cpp.

References vpMbEdgeTracker::cylinders, vpException::dimensionError, and vpMbEdgeTracker::scales.

◆ getLline()

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

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

Exceptions
vpException::dimensionErrorif 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 2791 of file vpMbEdgeTracker.cpp.

References vpException::dimensionError, vpMbEdgeTracker::lines, and vpMbEdgeTracker::scales.

◆ getMaskBorder()

unsigned int vpMbKltTracker::getMaskBorder ( ) const
inlineinherited

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

Deprecated:
Use rather getkltMaskBorder()
Returns
The erosion.

Definition at line 426 of file vpMbKltTracker.h.

◆ 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 296 of file vpMbTracker.h.

◆ getModelForDisplay()

std::vector< std::vector< double > > vpMbEdgeKltTracker::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

Reimplemented from vpMbEdgeTracker.

Definition at line 1322 of file vpMbEdgeKltTracker.cpp.

References vpMbEdgeTracker::circles, vpMbEdgeTracker::cylinders, vpMbHiddenFaces< PolygonType >::displayOgre(), vpMbTracker::faces, vpMbEdgeTracker::lines, vpMbEdgeTracker::scaleLevel, vpMbEdgeTracker::scales, and vpMbTracker::useOgre.

Referenced by display().

◆ getMovingEdge() [1/2]

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

Get the moving edge parameters.

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

Definition at line 353 of file vpMbEdgeTracker.h.

◆ getMovingEdge() [2/2]

virtual vpMe vpMbEdgeTracker::getMovingEdge ( ) const
inlinevirtualinherited

Get the moving edge parameters.

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

Definition at line 359 of file vpMbEdgeTracker.h.

◆ getNbKltPoints()

int vpMbKltTracker::getNbKltPoints ( ) const
inlineinherited

Get the current number of klt points.

Deprecated:
Use rather getKltNbPoints()
Returns
the number of features

Definition at line 433 of file vpMbKltTracker.h.

References vpKltOpencv::getNbFeatures().

◆ getNbPoints()

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

◆ 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 366 of file vpMbTracker.h.

References vpMbHiddenFaces< PolygonType >::size().

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

◆ getNearClippingDistance()

virtual double vpMbEdgeKltTracker::getNearClippingDistance ( ) const
inlinevirtual

Get the near distance for clipping.

Returns
Near clipping value.

Reimplemented from vpMbTracker.

Definition at line 253 of file vpMbEdgeKltTracker.h.

References vpMbTracker::getNearClippingDistance(), vpMbEdgeTracker::loadConfigFile(), vpMbEdgeTracker::reInitModel(), vpMbEdgeTracker::resetTracker(), and vpMbEdgeTracker::setCameraParameters().

◆ 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 382 of file vpMbTracker.h.

◆ getPolygon()

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

Return the polygon (face) "index".

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

Reimplemented in vpMbGenericTracker.

Definition at line 393 of file vpMbTracker.h.

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

Referenced by vpMbGenericTracker::getNbFeaturesKlt().

◆ getPolygonFaces()

std::pair< std::vector< vpPolygon >, std::vector< std::vector< vpPoint > > > vpMbTracker::getPolygonFaces ( bool  orderPolygons = true,
bool  useVisibility = true,
bool  clipPolygon = false 
)
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 2630 of file vpMbTracker.cpp.

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

Referenced by vpMbGenericTracker::getNbFeaturesKlt().

◆ getPose() [1/2]

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 412 of file vpMbTracker.h.

◆ getPose() [2/2]

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 421 of file vpMbTracker.h.

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

◆ 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, and tutorial-mb-generic-tracker-rgbd-realsense.cpp.

Definition at line 308 of file vpMbTracker.h.

◆ getRobustWeights()

virtual vpColVector vpMbEdgeKltTracker::getRobustWeights ( ) const
inlinevirtual

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

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

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

Reimplemented from vpMbEdgeTracker.

Definition at line 246 of file vpMbEdgeKltTracker.h.

◆ getScales()

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

Return the scales levels used for the tracking.

Returns
The scales levels used for the tracking.

Definition at line 368 of file vpMbEdgeTracker.h.

◆ getStopCriteriaEpsilon()

virtual double vpMbTracker::getStopCriteriaEpsilon ( ) const
inlinevirtualinherited

Definition at line 423 of file vpMbTracker.h.

◆ getThresholdAcceptation()

double vpMbKltTracker::getThresholdAcceptation ( ) const
inlineinherited

Get the threshold for the acceptation of a point.

Deprecated:
Use rather getKltThresholdAcceptation()
Returns
threshold_outlier : Threshold for the weight below which a point is rejected.

Definition at line 442 of file vpMbKltTracker.h.

◆ init()

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

Initialization of the tracker using a known initial pose. The 3D model must first have been loaded.

Parameters
I: Input image.

Reimplemented from vpMbEdgeTracker.

Definition at line 75 of file vpMbEdgeKltTracker.cpp.

References vpMbEdgeTracker::cleanPyramid(), vpMbEdgeTracker::downScale(), vpMbKltTracker::init(), vpMbEdgeTracker::initMovingEdge(), vpMbEdgeTracker::initPyramid(), vpMbEdgeTracker::Ipyramid, vpMbTracker::m_cMo, vpMbEdgeTracker::resetMovingEdge(), vpMbEdgeTracker::scales, and vpMbEdgeTracker::upScale().

Referenced by reInitModel().

◆ initCircle()

void vpMbEdgeKltTracker::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: Id of the face associated to the circle.
name: The optional name of the circle.

Reimplemented from vpMbEdgeTracker.

Definition at line 1195 of file vpMbEdgeKltTracker.cpp.

References vpMbEdgeTracker::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: Optionnal display of an image (.ppm, .pgm, .jpg, .jpeg, .png) that should have the same generic name as the init file (ie teabox.ppm or teabox.png). This image may be used to show where to click. This functionality is only available if visp_io module is used.
T: optional transformation matrix to transform 3D points expressed in the original object frame to the desired object frame.
Exceptions
vpException::ioError: The file specified in initFile doesn't exist.
Examples:
mbtEdgeKltTracking.cpp, mbtEdgeTracking.cpp, mbtKltTracking.cpp, testKeyPoint-2.cpp, testKeyPoint-4.cpp, tutorial-detection-object-mbt-deprecated.cpp, tutorial-mb-edge-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, tutorial-mb-klt-tracker.cpp, tutorial-mb-tracker-full.cpp, and tutorial-mb-tracker.cpp.

Definition at line 596 of file vpMbTracker.cpp.

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

◆ initClick() [2/6]

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: Optionnal display of an image (.ppm, .pgm, .jpg, .jpeg, .png) that should have the same generic name as the init file (ie teabox.ppm or teabox.png). This image may be used to show where to click. This functionality is only available if visp_io module is used.
T: optional transformation matrix to transform 3D points expressed in the original object frame to the desired object frame.
Exceptions
vpException::ioError: The file specified in initFile doesn't exist.

Definition at line 633 of file vpMbTracker.cpp.

References vpMbTracker::initClick().

◆ initClick() [3/6]

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 820 of file vpMbTracker.cpp.

References vpMbTracker::initClick().

◆ initClick() [4/6]

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 837 of file vpMbTracker.cpp.

References vpMbTracker::initClick().

◆ initClick() [5/6]

◆ initClick() [6/6]

◆ initCylinder()

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

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

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

Reimplemented from vpMbEdgeTracker.

Definition at line 1211 of file vpMbEdgeKltTracker.cpp.

References vpMbKltTracker::initCylinder(), and vpMbEdgeTracker::initCylinder().

◆ initFaceFromCorners()

void vpMbEdgeKltTracker::initFaceFromCorners ( vpMbtPolygon polygon)
protectedvirtual

Initialise a new face from the coordinates given in parameter.

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

Reimplemented from vpMbEdgeTracker.

Definition at line 1168 of file vpMbEdgeKltTracker.cpp.

References vpMbKltTracker::initFaceFromCorners(), and vpMbEdgeTracker::initFaceFromCorners().

◆ initFaceFromLines()

void vpMbEdgeKltTracker::initFaceFromLines ( vpMbtPolygon polygon)
protectedvirtual

Initialise a new face from the coordinates given in parameter.

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

Reimplemented from vpMbEdgeTracker.

Definition at line 1179 of file vpMbEdgeKltTracker.cpp.

References vpMbKltTracker::initFaceFromLines(), and vpMbEdgeTracker::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 1015 of file vpMbTracker.cpp.

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

◆ initFromPoints() [2/6]

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

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

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

Definition at line 1044 of file vpMbTracker.cpp.

References vpMbTracker::initFromPoints().

◆ initFromPoints() [3/6]

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

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

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

Definition at line 1110 of file vpMbTracker.cpp.

References vpMbTracker::initFromPoints().

◆ initFromPoints() [4/6]

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

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

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

Definition at line 1124 of file vpMbTracker.cpp.

References vpMbTracker::initFromPoints().

◆ initFromPoints() [5/6]

◆ initFromPoints() [6/6]

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

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

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

Parameters
I: Input grayscale image
initFile: Path to the file containing the pose.
Examples:
mbtEdgeKltTracking.cpp, mbtEdgeTracking.cpp, mbtKltTracking.cpp, testKeyPoint-2.cpp, and testKeyPoint-4.cpp.

Definition at line 1183 of file vpMbTracker.cpp.

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

◆ initFromPose() [2/7]

void vpMbTracker::initFromPose ( const vpImage< vpRGBa > &  I_color,
const std::string &  initFile 
)
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
0.0000 // \
0.0000 // |
1.0000 // | Exemple of value for the pose vector where Z = 1 meter
0.0000 // |
0.0000 // |
0.0000 // /

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

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

Definition at line 1206 of file vpMbTracker.cpp.

References vpMbTracker::initFromPose().

◆ initFromPose() [3/7]

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 1217 of file vpMbTracker.cpp.

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

◆ initFromPose() [4/7]

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 1229 of file vpMbTracker.cpp.

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

◆ initFromPose() [5/7]

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 1242 of file vpMbTracker.cpp.

References vpMbTracker::initFromPose().

◆ initFromPose() [6/7]

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 1254 of file vpMbTracker.cpp.

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

◆ initFromPose() [7/7]

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

◆ initMbtTracking() [1/2]

◆ initMbtTracking() [2/2]

◆ initMovingEdge()

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

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 1517 of file vpMbEdgeTracker.cpp.

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

Referenced by init(), vpMbEdgeTracker::init(), postTracking(), setPose(), vpMbGenericTracker::track(), and vpMbEdgeTracker::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 3467 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

◆ initProjectionErrorFaceFromCorners()

void vpMbTracker::initProjectionErrorFaceFromCorners ( vpMbtPolygon polygon)
protectedinherited

◆ initProjectionErrorFaceFromLines()

void vpMbTracker::initProjectionErrorFaceFromLines ( vpMbtPolygon polygon)
protectedinherited

◆ initPyramid()

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

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 2722 of file vpMbEdgeTracker.cpp.

References vpImage< Type >::bitmap, vpImageConvert::convert(), vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), and vpMbEdgeTracker::scales.

Referenced by init(), vpMbEdgeTracker::init(), setPose(), and vpMbEdgeTracker::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 1714 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 vpMbEdgeKltTracker::loadConfigFile ( const std::string &  configFile)
virtual

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

Exceptions
vpException::ioErrorif the file has not been properly parsed (file not found or wrong format for the data).
Parameters
configFile: full name of the xml file.

The XML configuration file has the following form:

<?xml version="1.0"?>
<conf>
<ecm>
<mask>
<size>5</size>
<nb_mask>180</nb_mask>
</mask>
<range>
<tracking>10</tracking>
</range>
<contrast>
<edge_threshold>7000</edge_threshold>
<mu1>0.5</mu1>
<mu2>0.5</mu2>
</contrast>
<sample>
<step>4</step>
</sample>
</ecm>
<camera>
<width>640</width>
<height>480</height>
<u0>320</u0>
<v0>240</v0>
<px>686.24</px>
<py>686.24</py>
</camera>
<face>
<angle_appear>65</angle_appear>
<angle_disappear>85</angle_disappear>
<near_clipping>0.01</near_clipping>
<far_clipping>0.90</far_clipping>
<fov_clipping>1</fov_clipping>
</face>
<klt>
<mask_border>10</mask_border>
<max_features>10000</max_features>
<window_size>5</window_size>
<quality>0.02</quality>
<min_distance>10</min_distance>
<harris>0.02</harris>
<size_block>3</size_block>
<pyramid_lvl>3</pyramid_lvl>
</klt>
</conf>

Reimplemented from vpMbKltTracker.

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

Definition at line 276 of file vpMbEdgeKltTracker.cpp.

References vpMbTracker::angleAppears, vpMbTracker::angleDisappears, vpMbTracker::applyLodSettingInConfig, vpMbTracker::clippingFlag, vpMath::deg(), vpMbtXmlGenericParser::EDGE_PARSER, vpMbTracker::faces, vpPolygon3D::FOV_CLIPPING, vpMbtXmlGenericParser::getAngleAppear(), vpMbtXmlGenericParser::getAngleDisappear(), vpMbtXmlGenericParser::getCameraParameters(), vpMbtXmlGenericParser::getEdgeMe(), vpMbtXmlGenericParser::getFarClippingDistance(), vpMbtXmlGenericParser::getFovClipping(), vpMbtXmlGenericParser::getKltBlockSize(), vpMbtXmlGenericParser::getKltHarrisParam(), vpMbtXmlGenericParser::getKltMaskBorder(), vpMbtXmlGenericParser::getKltMaxFeatures(), vpMbtXmlGenericParser::getKltMinDistance(), vpMbtXmlGenericParser::getKltPyramidLevels(), vpMbtXmlGenericParser::getKltQuality(), vpMbtXmlGenericParser::getKltWindowSize(), vpMbtXmlGenericParser::getLodMinLineLengthThreshold(), vpMbtXmlGenericParser::getLodMinPolygonAreaThreshold(), vpMbtXmlGenericParser::getLodState(), vpMbHiddenFaces< PolygonType >::getMbScanLineRenderer(), vpMbTracker::getNbPolygon(), vpMbtXmlGenericParser::getNearClippingDistance(), vpMbtXmlGenericParser::hasFarClippingDistance(), vpMbtXmlGenericParser::hasNearClippingDistance(), vpException::ioError, vpMbtXmlGenericParser::KLT_PARSER, vpMbTracker::loadConfigFile(), vpMbTracker::m_cam, vpMbKltTracker::maskBorder, vpMbEdgeTracker::me, vpMbTracker::minLineLengthThresholdGeneral, vpMbTracker::minPolygonAreaThresholdGeneral, vpMbtXmlGenericParser::parse(), vpMath::rad(), vpMbtXmlGenericParser::setAngleAppear(), vpMbtXmlGenericParser::setAngleDisappear(), vpKltOpencv::setBlockSize(), vpMbtXmlGenericParser::setCameraParameters(), setCameraParameters(), setClipping(), vpMbtXmlGenericParser::setEdgeMe(), setFarClippingDistance(), vpKltOpencv::setHarrisFreeParameter(), vpMbtXmlGenericParser::setKltBlockSize(), vpMbtXmlGenericParser::setKltHarrisParam(), vpMbtXmlGenericParser::setKltMaskBorder(), vpMbtXmlGenericParser::setKltMaxFeatures(), vpMbtXmlGenericParser::setKltMinDistance(), vpMbtXmlGenericParser::setKltPyramidLevels(), vpMbtXmlGenericParser::setKltQuality(), vpMbtXmlGenericParser::setKltWindowSize(), vpMbTracker::setLod(), vpKltOpencv::setMaxFeatures(), vpKltOpencv::setMinDistance(), vpMbTracker::setMinLineLengthThresh(), vpMbTracker::setMinPolygonAreaThresh(), vpMbEdgeTracker::setMovingEdge(), setNearClippingDistance(), vpKltOpencv::setPyramidLevels(), vpKltOpencv::setQuality(), vpKltOpencv::setWindowSize(), vpMbKltTracker::tracker, vpMbTracker::useLodGeneral, and vpERROR_TRACE.

◆ 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::ioErrorif the file cannot be open, or if its extension is not wrl or cao.
Parameters
modelFile: the file containing the the 3D model description. The extension of this file is either .wrl or .cao.
verbose: verbose option to print additional information when loading CAO model files which include other CAO model files.
odTo: optional transformation matrix (currently only for .cao) to transform 3D points expressed in the original object frame to the desired object frame.

Reimplemented in vpMbGenericTracker.

Examples:
mbtEdgeKltTracking.cpp, mbtEdgeTracking.cpp, mbtGenericTracking.cpp, mbtGenericTracking2.cpp, mbtKltTracking.cpp, testKeyPoint-2.cpp, testKeyPoint-4.cpp, tutorial-detection-object-mbt-deprecated.cpp, tutorial-detection-object-mbt2-deprecated.cpp, tutorial-mb-edge-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, tutorial-mb-klt-tracker.cpp, tutorial-mb-tracker-full.cpp, and tutorial-mb-tracker.cpp.

Definition at line 1502 of file vpMbTracker.cpp.

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

Referenced by vpMbGenericTracker::getRobustWeights(), vpMbDepthDenseTracker::reInitModel(), vpMbDepthNormalTracker::reInitModel(), reInitModel(), vpMbKltTracker::reInitModel(), and vpMbEdgeTracker::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::fatalErrorif the file cannot be open.
Parameters
modelFile: The full name of the file containing the 3D model.

Definition at line 1551 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 1613 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::loadCAOModel().

◆ postTracking() [1/3]

◆ postTracking() [2/3]

◆ postTracking() [3/3]

◆ postTrackingMbt()

void vpMbEdgeKltTracker::postTrackingMbt ( vpColVector w,
unsigned int  lvl = 0 
)
protected

◆ preTracking()

◆ projectionErrorInitMovingEdge()

◆ projectionErrorResetMovingEdges()

void vpMbTracker::projectionErrorResetMovingEdges ( )
protectedinherited

◆ projectionErrorVisibleFace()

◆ reinit()

◆ reInitLevel()

void vpMbEdgeTracker::reInitLevel ( const unsigned int  _lvl)
protectedinherited

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 2896 of file vpMbEdgeTracker.cpp.

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

Referenced by vpMbEdgeTracker::track().

◆ reInitModel()

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

Re-initialize the model used by the tracker.

Parameters
I: The image containing the object to initialize.
cad_name: Path to the file containing the 3D model description.
cMo: The new vpHomogeneousMatrix between the camera and the new model
verbose: verbose option to print additional information when loading CAO model files which include other CAO model files.
T: optional transformation matrix (currently only for .cao) to transform 3D points expressed in the original object frame to the desired object frame.

Reimplemented from vpMbEdgeTracker.

Definition at line 1375 of file vpMbEdgeKltTracker.cpp.

References vpMbEdgeTracker::circles, vpMbKltTracker::circles_disp, vpMbKltTracker::cur, vpMbEdgeTracker::cylinders, vpMbTracker::faces, vpMbKltTracker::firstInitialisation, init(), vpMbKltTracker::kltCylinders, vpMbKltTracker::kltPolygons, vpMbEdgeTracker::lines, vpMbTracker::loadModel(), vpMbTracker::m_cMo, vpMbEdgeTracker::nbvisiblepolygone, vpMbEdgeTracker::ncircle, vpMbEdgeTracker::ncylinder, vpMbEdgeTracker::nline, vpMbHiddenFaces< PolygonType >::reset(), and vpMbEdgeTracker::scales.

◆ reinitMovingEdge()

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

◆ removeCircle()

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

Remove a circle by its name.

Parameters
name: The name of the circle to remove.

Definition at line 2173 of file vpMbEdgeTracker.cpp.

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

◆ removeComment()

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

Definition at line 1598 of file vpMbTracker.cpp.

References vpException::ioError.

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

◆ removeCylinder()

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

Remove a cylinder by its name.

Parameters
name: The name of the cylinder to remove.

Definition at line 2151 of file vpMbEdgeTracker.cpp.

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

◆ removeLine()

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

Remove a line using its name.

Parameters
name: The name of the line to remove.

Definition at line 2021 of file vpMbEdgeTracker.cpp.

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

◆ resetMovingEdge()

◆ resetTracker()

void vpMbEdgeKltTracker::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:
mbtEdgeKltTracking.cpp.

Definition at line 173 of file vpMbEdgeKltTracker.cpp.

References vpMbKltTracker::resetTracker(), and vpMbEdgeTracker::resetTracker().

◆ samePoint()

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

Check if two vpPoints are similar.

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

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

Definition at line 3171 of file vpMbTracker.cpp.

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

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

◆ savePose()

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

Save the pose in the given filename

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

Definition at line 1266 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::initClick().

◆ 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 467 of file vpMbTracker.h.

Referenced by vpMbGenericTracker::getRobustWeights(), and 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 478 of file vpMbTracker.h.

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

◆ setCameraParameters()

void vpMbEdgeKltTracker::setCameraParameters ( const vpCameraParameters cam)
virtual

Set the camera parameters

Parameters
cam: the new camera parameters

Reimplemented from vpMbEdgeTracker.

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

Definition at line 1154 of file vpMbEdgeKltTracker.cpp.

References vpMbTracker::m_cam, vpMbKltTracker::setCameraParameters(), and vpMbEdgeTracker::setCameraParameters().

Referenced by loadConfigFile().

◆ setClipping()

virtual void vpMbEdgeKltTracker::setClipping ( const unsigned int &  flags)
inlinevirtual

Specify which clipping to use.

See also
vpMbtPolygonClipping
Parameters
flags: New clipping flags.

Reimplemented from vpMbEdgeTracker.

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

Definition at line 270 of file vpMbEdgeKltTracker.h.

References vpMbEdgeTracker::setClipping().

Referenced by loadConfigFile().

◆ 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 497 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 515 of file vpMbTracker.h.

Referenced by vpMbGenericTracker::getRobustWeights(), and 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;

Definition at line 3056 of file vpMbTracker.cpp.

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

◆ setFarClippingDistance()

virtual void vpMbEdgeKltTracker::setFarClippingDistance ( const double &  dist)
inlinevirtual

Set the far distance for clipping.

Parameters
dist: Far clipping value.

Reimplemented from vpMbEdgeTracker.

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

Definition at line 277 of file vpMbEdgeKltTracker.h.

References vpMbEdgeTracker::setFarClippingDistance().

Referenced by loadConfigFile().

◆ setGoodMovingEdgesRatioThreshold()

void vpMbEdgeTracker::setGoodMovingEdgesRatioThreshold ( double  threshold)
inlineinherited

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 471 of file vpMbEdgeTracker.h.

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

◆ 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 615 of file vpMbTracker.h.

References vpMbHiddenFaces< PolygonType >::setGoodNbRayCastingAttemptsRatio().

Referenced by vpMbGenericTracker::getRobustWeights().

◆ 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 526 of file vpMbTracker.h.

◆ setKltMaskBorder()

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

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

Parameters
e: The desired erosion.
Examples:
mbtEdgeKltTracking.cpp, mbtKltTracking.cpp, and tutorial-mb-klt-tracker.cpp.

Definition at line 347 of file vpMbKltTracker.h.

◆ setKltOpencv()

◆ setKltThresholdAcceptation()

void vpMbKltTracker::setKltThresholdAcceptation ( double  th)
inlineinherited

Set the threshold for the acceptation of a point.

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

Definition at line 361 of file vpMbKltTracker.h.

◆ 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 533 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 2768 of file vpMbTracker.cpp.

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

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

◆ setMask()

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

Reimplemented in vpMbGenericTracker.

Definition at line 561 of file vpMbTracker.h.

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

◆ setMaskBorder()

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

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

Parameters
e: The desired erosion.
Examples:
tutorial-mb-hybrid-tracker.cpp.

Definition at line 448 of file vpMbKltTracker.h.

◆ 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 542 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 2786 of file vpMbTracker.cpp.

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

Referenced by vpMbGenericTracker::getRobustWeights(), loadConfigFile(), vpMbKltTracker::loadConfigFile(), and vpMbEdgeTracker::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 2803 of file vpMbTracker.cpp.

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

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

◆ setMovingEdge()

◆ 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
attemptsNumber of rays to be sent.

Reimplemented in vpMbGenericTracker.

Definition at line 625 of file vpMbTracker.h.

References vpMbHiddenFaces< PolygonType >::setNbRayCastingAttemptsForVisibility().

Referenced by vpMbGenericTracker::getRobustWeights().

◆ setNearClippingDistance()

virtual void vpMbEdgeKltTracker::setNearClippingDistance ( const double &  dist)
inlinevirtual

Set the near distance for clipping.

Parameters
dist: Near clipping value.

Reimplemented from vpMbEdgeTracker.

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

Definition at line 284 of file vpMbEdgeKltTracker.h.

References vpMbEdgeTracker::setNearClippingDistance().

Referenced by loadConfigFile().

◆ 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 641 of file vpMbTracker.h.

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

◆ setOgreVisibilityTest()

virtual void vpMbEdgeKltTracker::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 vpMbEdgeTracker.

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

Definition at line 294 of file vpMbEdgeKltTracker.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 555 of file vpMbTracker.h.

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

◆ setPose() [1/3]

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

◆ setPose() [2/3]

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

◆ setPose() [3/3]

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

◆ 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 653 of file vpMbTracker.h.

◆ setProjectionErrorComputation()

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

Set if the projection error criteria has to be computed.

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

Reimplemented from vpMbKltTracker.

Examples:
mbtEdgeKltTracking.cpp.

Definition at line 321 of file vpMbEdgeKltTracker.h.

References vpMbTracker::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 587 of file vpMbTracker.h.

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

◆ setProjectionErrorDisplayArrowLength()

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

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

Reimplemented in vpMbGenericTracker.

Examples:
mbtGenericTrackingDepthOnly.cpp.

Definition at line 592 of file vpMbTracker.h.

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

◆ setProjectionErrorDisplayArrowThickness()

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

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

Reimplemented in vpMbGenericTracker.

Examples:
mbtGenericTrackingDepthOnly.cpp.

Definition at line 597 of file vpMbTracker.h.

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

◆ setProjectionErrorKernelSize()

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

Set kernel size used for projection error computation.

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

Definition at line 3864 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

◆ setScales()

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

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 2586 of file vpMbEdgeTracker.cpp.

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

Referenced by vpMbEdgeTracker::resetTracker().

◆ setScanLineVisibilityTest()

virtual void vpMbEdgeKltTracker::setScanLineVisibilityTest ( const bool &  v)
inlinevirtual

Use Scanline algorithm for visibility tests

Parameters
v: True to use it, False otherwise

Reimplemented from vpMbEdgeTracker.

Examples:
mbtEdgeKltTracking.cpp.

Definition at line 307 of file vpMbEdgeKltTracker.h.

References vpMbEdgeTracker::setPose(), vpMbKltTracker::setScanLineVisibilityTest(), and vpMbEdgeTracker::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 569 of file vpMbTracker.h.

◆ setThresholdAcceptation()

void vpMbKltTracker::setThresholdAcceptation ( double  th)
inlineinherited

◆ setUseEdgeTracking()

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

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 2940 of file vpMbEdgeTracker.cpp.

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

◆ setUseKltTracking()

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

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

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

Definition at line 1507 of file vpMbKltTracker.cpp.

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

◆ testTracking()

◆ track() [1/2]

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

◆ track() [2/2]

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

◆ trackFirstLoop()

◆ trackMovingEdge()

◆ trackSecondLoop()

◆ updateMovingEdge()

◆ updateMovingEdgeWeights()

◆ upScale()

void vpMbEdgeTracker::upScale ( const unsigned int  _scale)
protectedinherited

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 2874 of file vpMbEdgeTracker.cpp.

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

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

◆ visibleFace()

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

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 2216 of file vpMbEdgeTracker.cpp.

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

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

Member Data Documentation

◆ angleAppears

◆ angleDisappears

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

◆ c0Mo

vpHomogeneousMatrix vpMbKltTracker::c0Mo
protectedinherited

◆ circles

◆ circles_disp

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

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

Definition at line 242 of file vpMbKltTracker.h.

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

◆ clippingFlag

◆ computeCovariance

◆ 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(), postTracking(), vpMbGenericTracker::track(), and vpMbEdgeTracker::track().

◆ covarianceMatrix

vpMatrix vpMbTracker::covarianceMatrix
protectedinherited

Covariance matrix.

Definition at line 130 of file vpMbTracker.h.

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

◆ ctTc0

vpHomogeneousMatrix vpMbKltTracker::ctTc0
protectedinherited

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

Definition at line 234 of file vpMbKltTracker.h.

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

◆ cur

cv::Mat vpMbKltTracker::cur
protectedinherited

◆ cylinders

◆ displayFeatures

bool vpMbTracker::displayFeatures
protectedinherited

◆ distFarClip

◆ distNearClip

◆ faces

vpMbHiddenFaces<vpMbtPolygon> vpMbTracker::faces
protectedinherited

Set of faces describing the object.

Definition at line 143 of file vpMbTracker.h.

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

◆ firstInitialisation

bool vpMbKltTracker::firstInitialisation
protectedinherited

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

Definition at line 223 of file vpMbKltTracker.h.

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

◆ Ipyramid

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

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

Definition at line 292 of file vpMbEdgeTracker.h.

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

◆ isoJoIdentity

bool vpMbTracker::isoJoIdentity
protectedinherited

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

Definition at line 117 of file vpMbTracker.h.

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

◆ kltCylinders

◆ kltPolygons

◆ lines

◆ m_cam

vpCameraParameters vpMbTracker::m_cam
protectedinherited

The camera parameters.

Definition at line 111 of file vpMbTracker.h.

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

◆ m_cMo

vpHomogeneousMatrix vpMbTracker::m_cMo
protectedinherited

The current pose.

Definition at line 113 of file vpMbTracker.h.

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

◆ m_computeInteraction

bool vpMbTracker::m_computeInteraction
protectedinherited

◆ m_error_edge

◆ m_error_hybrid

vpColVector vpMbEdgeKltTracker::m_error_hybrid
protected

(s - s*)

Definition at line 226 of file vpMbEdgeKltTracker.h.

Referenced by computeVVS().

◆ m_error_klt

vpColVector vpMbKltTracker::m_error_klt
protectedinherited

◆ m_errorCircles

vpColVector vpMbEdgeTracker::m_errorCircles
protectedinherited

◆ m_errorCylinders

vpColVector vpMbEdgeTracker::m_errorCylinders
protectedinherited

◆ m_errorLines

vpColVector vpMbEdgeTracker::m_errorLines
protectedinherited

◆ m_factor

◆ m_featuresToBeDisplayedEdge

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

◆ m_featuresToBeDisplayedKlt

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

Display features.

Definition at line 258 of file vpMbKltTracker.h.

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

◆ m_I

◆ m_initialMu

double vpMbTracker::m_initialMu
protectedinherited

◆ m_L_edge

◆ m_L_klt

vpMatrix vpMbKltTracker::m_L_klt
protectedinherited

◆ m_lambda

◆ m_mask

◆ m_maxIter

◆ m_maxIterKlt

unsigned int vpMbEdgeKltTracker::m_maxIterKlt
protected

The maximum iteration of the virtual visual servoing stage.

Definition at line 220 of file vpMbEdgeKltTracker.h.

Referenced by track().

◆ m_nbFaceUsed

unsigned int vpMbKltTracker::m_nbFaceUsed
protectedinherited

Definition at line 246 of file vpMbKltTracker.h.

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

◆ m_nbInfos

unsigned int vpMbKltTracker::m_nbInfos
protectedinherited

◆ m_optimizationMethod

◆ 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

◆ m_projectionErrorCylinders

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

◆ m_projectionErrorDisplay

bool vpMbTracker::m_projectionErrorDisplay
protectedinherited

Display gradient and model orientation for projection error computation.

Definition at line 213 of file vpMbTracker.h.

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

◆ m_projectionErrorDisplayLength

unsigned int vpMbTracker::m_projectionErrorDisplayLength
protectedinherited

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

Definition at line 215 of file vpMbTracker.h.

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

◆ m_projectionErrorDisplayThickness

unsigned int vpMbTracker::m_projectionErrorDisplayThickness
protectedinherited

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

Definition at line 217 of file vpMbTracker.h.

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

◆ m_projectionErrorFaces

◆ 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

◆ m_projectionErrorMe

vpMe vpMbTracker::m_projectionErrorMe
protectedinherited

◆ m_projectionErrorOgreShowConfigDialog

bool vpMbTracker::m_projectionErrorOgreShowConfigDialog
protectedinherited

Definition at line 203 of file vpMbTracker.h.

Referenced by vpMbTracker::computeProjectionErrorImpl().

◆ m_robust_edge

vpRobust vpMbEdgeTracker::m_robust_edge
protectedinherited

Robust.

Definition at line 322 of file vpMbEdgeTracker.h.

◆ m_robust_klt

vpRobust vpMbKltTracker::m_robust_klt
protectedinherited

Robust.

Definition at line 256 of file vpMbKltTracker.h.

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

◆ m_robustCircles

vpRobust vpMbEdgeTracker::m_robustCircles
protectedinherited

◆ m_robustCylinders

vpRobust vpMbEdgeTracker::m_robustCylinders
protectedinherited

◆ m_robustLines

vpRobust vpMbEdgeTracker::m_robustLines
protectedinherited

◆ m_SobelX

vpMatrix vpMbTracker::m_SobelX
protectedinherited

◆ m_SobelY

vpMatrix vpMbTracker::m_SobelY
protectedinherited

◆ 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

◆ m_thresholdKLT

double vpMbEdgeKltTracker::m_thresholdKLT
protected

The threshold used in the robust estimation of KLT.

Definition at line 216 of file vpMbEdgeKltTracker.h.

Referenced by computeVVS().

◆ m_thresholdMBT

double vpMbEdgeKltTracker::m_thresholdMBT
protected

The threshold used in the robust estimation of MBT.

Definition at line 218 of file vpMbEdgeKltTracker.h.

Referenced by computeVVS().

◆ m_w_edge

◆ m_w_hybrid

vpColVector vpMbEdgeKltTracker::m_w_hybrid
protected

Robust weights.

Definition at line 228 of file vpMbEdgeKltTracker.h.

Referenced by computeVVS().

◆ m_w_klt

vpColVector vpMbEdgeKltTracker::m_w_klt
protected

Robust weights for KLT.

Definition at line 224 of file vpMbEdgeKltTracker.h.

Referenced by computeVVS(), and track().

◆ m_w_mbt

vpColVector vpMbEdgeKltTracker::m_w_mbt
protected

Robust weights for Edge.

Definition at line 222 of file vpMbEdgeKltTracker.h.

Referenced by computeVVS(), and track().

◆ m_wCircles

vpColVector vpMbEdgeTracker::m_wCircles
protectedinherited

◆ m_wCylinders

vpColVector vpMbEdgeTracker::m_wCylinders
protectedinherited

◆ m_weightedError_edge

vpColVector vpMbEdgeTracker::m_weightedError_edge
protectedinherited

◆ m_weightedError_klt

vpColVector vpMbKltTracker::m_weightedError_klt
protectedinherited

Weighted error.

Definition at line 254 of file vpMbKltTracker.h.

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

◆ m_wLines

vpColVector vpMbEdgeTracker::m_wLines
protectedinherited

◆ mapOfParameterNames

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

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

Definition at line 182 of file vpMbTracker.h.

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

◆ maskBorder

unsigned int vpMbKltTracker::maskBorder
protectedinherited

◆ me

vpMe vpMbEdgeTracker::me
protectedinherited

◆ minLineLengthThresholdGeneral

double vpMbTracker::minLineLengthThresholdGeneral
protectedinherited

◆ minPolygonAreaThresholdGeneral

double vpMbTracker::minPolygonAreaThresholdGeneral
protectedinherited

◆ 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

◆ 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
protectedinherited

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

Definition at line 300 of file vpMbEdgeTracker.h.

Referenced by vpMbEdgeTracker::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
protectedinherited

Number of polygon (face) currently visible.

Definition at line 281 of file vpMbEdgeTracker.h.

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

◆ ncircle

unsigned int vpMbEdgeTracker::ncircle
protectedinherited

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

Definition at line 274 of file vpMbEdgeTracker.h.

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

◆ ncylinder

unsigned int vpMbEdgeTracker::ncylinder
protectedinherited

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

Definition at line 278 of file vpMbEdgeTracker.h.

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

◆ nline

unsigned int vpMbEdgeTracker::nline
protectedinherited

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

Definition at line 270 of file vpMbEdgeTracker.h.

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

◆ ogreShowConfigDialog

bool vpMbTracker::ogreShowConfigDialog
protectedinherited

◆ oJo

◆ percentageGdPt

double vpMbEdgeTracker::percentageGdPt
protectedinherited

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

Definition at line 285 of file vpMbEdgeTracker.h.

Referenced by vpMbEdgeTracker::resetTracker(), and vpMbEdgeTracker::testTracking().

◆ percentGood

double vpMbKltTracker::percentGood
protectedinherited

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

Definition at line 231 of file vpMbKltTracker.h.

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

◆ poseSavingFilename

std::string vpMbTracker::poseSavingFilename
protectedinherited

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

Definition at line 126 of file vpMbTracker.h.

Referenced by vpMbTracker::initClick().

◆ projectionError

double vpMbTracker::projectionError
protectedinherited

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

Definition at line 136 of file vpMbTracker.h.

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

◆ scaleLevel

◆ scales

◆ threshold_outlier

double vpMbKltTracker::threshold_outlier
protectedinherited

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

Definition at line 228 of file vpMbKltTracker.h.

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

◆ tracker

◆ useLodGeneral

bool vpMbTracker::useLodGeneral
protectedinherited

◆ useOgre

◆ useScanLine