#include <visp3/mbt/vpMbGenericTracker.h>

Inheritance diagram for vpMbGenericTracker:

Public Types
enum	vpTrackerType { EDGE_TRACKER = 1 << 0 , KLT_TRACKER = 1 << 1 , DEPTH_NORMAL_TRACKER = 1 << 2 , DEPTH_DENSE_TRACKER = 1 << 3 }

enum	vpMbtOptimizationMethod { GAUSS_NEWTON_OPT = 0 , LEVENBERG_MARQUARDT_OPT = 1 }

Public Member Functions
	vpMbGenericTracker ()

	vpMbGenericTracker (unsigned int nbCameras, int trackerType=EDGE_TRACKER)

	vpMbGenericTracker (const std::vector< int > &trackerTypes)

	vpMbGenericTracker (const std::vector< std::string > &cameraNames, const std::vector< int > &trackerTypes)

virtual	~vpMbGenericTracker () override

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

virtual double	computeCurrentProjectionError (const vpImage< vpRGBa > &I, const vpHomogeneousMatrix &_cMo, const vpCameraParameters &_cam)

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

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

virtual void	display (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, const vpHomogeneousMatrix &c1Mo, const vpHomogeneousMatrix &c2Mo, const vpCameraParameters &cam1, const vpCameraParameters &cam2, const vpColor &color, unsigned int thickness=1, bool displayFullModel=false)

virtual void	display (const vpImage< vpRGBa > &I1, const vpImage< vpRGBa > &I2, const vpHomogeneousMatrix &c1Mo, const vpHomogeneousMatrix &c2Mo, const vpCameraParameters &cam1, const vpCameraParameters &cam2, const vpColor &color, unsigned int thickness=1, bool displayFullModel=false)

virtual void	display (const std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, const std::map< std::string, vpHomogeneousMatrix > &mapOfCameraPoses, const std::map< std::string, vpCameraParameters > &mapOfCameraParameters, const vpColor &col, unsigned int thickness=1, bool displayFullModel=false)

virtual void	display (const std::map< std::string, const vpImage< vpRGBa > * > &mapOfImages, const std::map< std::string, vpHomogeneousMatrix > &mapOfCameraPoses, const std::map< std::string, vpCameraParameters > &mapOfCameraParameters, const vpColor &col, unsigned int thickness=1, bool displayFullModel=false)

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

virtual void	getCameraParameters (vpCameraParameters &camera) const override

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

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

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

virtual void	getClipping (unsigned int &clippingFlag1, unsigned int &clippingFlag2) const

virtual void	getClipping (std::map< std::string, unsigned int > &mapOfClippingFlags) const

virtual vpColVector	getError () const override

virtual vpMbHiddenFaces< vpMbtPolygon > &	getFaces () override

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

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

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

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

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

virtual void	getFeaturesForDisplay (std::map< std::string, std::vector< std::vector< double > > > &mapOfFeatures)

virtual double	getGoodMovingEdgesRatioThreshold () const

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

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

virtual unsigned int	getKltMaskBorder () const

virtual int	getKltNbPoints () const

virtual vpKltOpencv	getKltOpencv () const

virtual void	getKltOpencv (vpKltOpencv &klt1, vpKltOpencv &klt2) const

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

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

virtual double	getKltThresholdAcceptation () const

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

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

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

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

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

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

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

virtual void	getModelForDisplay (std::map< std::string, std::vector< std::vector< double > > > &mapOfModels, const std::map< std::string, unsigned int > &mapOfwidths, const std::map< std::string, unsigned int > &mapOfheights, const std::map< std::string, vpHomogeneousMatrix > &mapOfcMos, const std::map< std::string, vpCameraParameters > &mapOfCams, bool displayFullModel=false)

virtual vpMe	getMovingEdge () const

virtual void	getMovingEdge (vpMe &me1, vpMe &me2) const

virtual void	getMovingEdge (std::map< std::string, vpMe > &mapOfMovingEdges) const

virtual unsigned int	getNbFeaturesDepthDense () const

virtual unsigned int	getNbFeaturesDepthNormal () const

virtual unsigned int	getNbFeaturesEdge () const

virtual unsigned int	getNbFeaturesKlt () const

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

virtual void	getNbPoints (std::map< std::string, unsigned int > &mapOfNbPoints, unsigned int level=0) const

virtual unsigned int	getNbPolygon () const override

virtual void	getNbPolygon (std::map< std::string, unsigned int > &mapOfNbPolygons) const

virtual vpMbtPolygon *	getPolygon (unsigned int index) override

virtual vpMbtPolygon *	getPolygon (const std::string &cameraName, unsigned int index)

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

virtual void	getPolygonFaces (std::map< std::string, std::vector< vpPolygon > > &mapOfPolygons, std::map< std::string, std::vector< std::vector< vpPoint > > > &mapOfPoints, bool orderPolygons=true, bool useVisibility=true, bool clipPolygon=false)

virtual void	getPose (vpHomogeneousMatrix &cMo) const override

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

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

virtual std::string	getReferenceCameraName () const

virtual vpColVector	getRobustWeights () const override

virtual int	getTrackerType () const

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

virtual void	initClick (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, const std::string &initFile1, const std::string &initFile2, bool displayHelp=false, const vpHomogeneousMatrix &T1=vpHomogeneousMatrix(), const vpHomogeneousMatrix &T2=vpHomogeneousMatrix())

virtual void	initClick (const vpImage< vpRGBa > &I_color1, const vpImage< vpRGBa > &I_color2, const std::string &initFile1, const std::string &initFile2, bool displayHelp=false, const vpHomogeneousMatrix &T1=vpHomogeneousMatrix(), const vpHomogeneousMatrix &T2=vpHomogeneousMatrix())

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

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

virtual void	initFromPoints (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, const std::string &initFile1, const std::string &initFile2)

virtual void	initFromPoints (const vpImage< vpRGBa > &I_color1, const vpImage< vpRGBa > &I_color2, const std::string &initFile1, const std::string &initFile2)

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

virtual void	initFromPoints (const std::map< std::string, const vpImage< vpRGBa > * > &mapOfColorImages, const std::map< std::string, std::string > &mapOfInitPoints)

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

virtual void	initFromPose (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, const std::string &initFile1, const std::string &initFile2)

virtual void	initFromPose (const vpImage< vpRGBa > &I_color1, const vpImage< vpRGBa > &I_color2, const std::string &initFile1, const std::string &initFile2)

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

virtual void	initFromPose (const std::map< std::string, const vpImage< vpRGBa > * > &mapOfColorImages, const std::map< std::string, std::string > &mapOfInitPoses)

virtual void	initFromPose (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, const vpHomogeneousMatrix &c1Mo, const vpHomogeneousMatrix &c2Mo)

virtual void	initFromPose (const vpImage< vpRGBa > &I_color1, const vpImage< vpRGBa > &I_color2, const vpHomogeneousMatrix &c1Mo, const vpHomogeneousMatrix &c2Mo)

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

virtual void	initFromPose (const std::map< std::string, const vpImage< vpRGBa > * > &mapOfColorImages, const std::map< std::string, vpHomogeneousMatrix > &mapOfCameraPoses)

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

virtual void	loadConfigFile (const std::string &configFile1, const std::string &configFile2, bool verbose=true)

virtual void	loadConfigFile (const std::map< std::string, std::string > &mapOfConfigFiles, bool verbose=true)

virtual void	saveConfigFile (const std::string &settingsFile) const

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

virtual void	loadModel (const std::string &modelFile1, const std::string &modelFile2, bool verbose=false, const vpHomogeneousMatrix &T1=vpHomogeneousMatrix(), const vpHomogeneousMatrix &T2=vpHomogeneousMatrix())

virtual void	loadModel (const std::map< std::string, std::string > &mapOfModelFiles, bool verbose=false, const std::map< std::string, vpHomogeneousMatrix > &mapOfT=std::map< std::string, vpHomogeneousMatrix >())

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

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

virtual void	reInitModel (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, const std::string &cad_name1, const std::string &cad_name2, const vpHomogeneousMatrix &c1Mo, const vpHomogeneousMatrix &c2Mo, bool verbose=false, const vpHomogeneousMatrix &T1=vpHomogeneousMatrix(), const vpHomogeneousMatrix &T2=vpHomogeneousMatrix())

virtual void	reInitModel (const vpImage< vpRGBa > &I_color1, const vpImage< vpRGBa > &I_color2, const std::string &cad_name1, const std::string &cad_name2, const vpHomogeneousMatrix &c1Mo, const vpHomogeneousMatrix &c2Mo, bool verbose=false, const vpHomogeneousMatrix &T1=vpHomogeneousMatrix(), const vpHomogeneousMatrix &T2=vpHomogeneousMatrix())

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

virtual void	reInitModel (const std::map< std::string, const vpImage< vpRGBa > * > &mapOfColorImages, const std::map< std::string, std::string > &mapOfModelFiles, const std::map< std::string, vpHomogeneousMatrix > &mapOfCameraPoses, bool verbose=false, const std::map< std::string, vpHomogeneousMatrix > &mapOfT=std::map< std::string, vpHomogeneousMatrix >())

virtual void	resetTracker () override

virtual void	setAngleAppear (const double &a) override

virtual void	setAngleAppear (const double &a1, const double &a2)

virtual void	setAngleAppear (const std::map< std::string, double > &mapOfAngles)

virtual void	setAngleDisappear (const double &a) override

virtual void	setAngleDisappear (const double &a1, const double &a2)

virtual void	setAngleDisappear (const std::map< std::string, double > &mapOfAngles)

virtual void	setCameraParameters (const vpCameraParameters &camera) override

virtual void	setCameraParameters (const vpCameraParameters &camera1, const vpCameraParameters &camera2)

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

virtual void	setCameraTransformationMatrix (const std::string &cameraName, const vpHomogeneousMatrix &cameraTransformationMatrix)

virtual void	setCameraTransformationMatrix (const std::map< std::string, vpHomogeneousMatrix > &mapOfTransformationMatrix)

virtual void	setClipping (const unsigned int &flags) override

virtual void	setClipping (const unsigned int &flags1, const unsigned int &flags2)

virtual void	setClipping (const std::map< std::string, unsigned int > &mapOfClippingFlags)

virtual void	setDepthDenseFilteringMaxDistance (double maxDistance)

virtual void	setDepthDenseFilteringMethod (int method)

virtual void	setDepthDenseFilteringMinDistance (double minDistance)

virtual void	setDepthDenseFilteringOccupancyRatio (double occupancyRatio)

virtual void	setDepthDenseSamplingStep (unsigned int stepX, unsigned int stepY)

virtual void	setDepthNormalFaceCentroidMethod (const vpMbtFaceDepthNormal::vpFaceCentroidType &method)

virtual void	setDepthNormalFeatureEstimationMethod (const vpMbtFaceDepthNormal::vpFeatureEstimationType &method)

virtual void	setDepthNormalPclPlaneEstimationMethod (int method)

virtual void	setDepthNormalPclPlaneEstimationRansacMaxIter (int maxIter)

virtual void	setDepthNormalPclPlaneEstimationRansacThreshold (double threshold)

virtual void	setDepthNormalSamplingStep (unsigned int stepX, unsigned int stepY)

virtual void	setDisplayFeatures (bool displayF) override

virtual void	setFarClippingDistance (const double &dist) override

virtual void	setFarClippingDistance (const double &dist1, const double &dist2)

virtual void	setFarClippingDistance (const std::map< std::string, double > &mapOfClippingDists)

virtual void	setFeatureFactors (const std::map< vpTrackerType, double > &mapOfFeatureFactors)

virtual void	setGoodMovingEdgesRatioThreshold (double threshold)

virtual void	setGoodNbRayCastingAttemptsRatio (const double &ratio)

virtual void	setNbRayCastingAttemptsForVisibility (const unsigned int &attempts)

virtual void	setKltMaskBorder (const unsigned int &e)

virtual void	setKltMaskBorder (const unsigned int &e1, const unsigned int &e2)

virtual void	setKltMaskBorder (const std::map< std::string, unsigned int > &mapOfErosions)

virtual void	setKltOpencv (const vpKltOpencv &t)

virtual void	setKltOpencv (const vpKltOpencv &t1, const vpKltOpencv &t2)

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

virtual void	setKltThresholdAcceptation (double th)

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

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

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

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

virtual void	setMovingEdge (const vpMe &me)

virtual void	setMovingEdge (const vpMe &me1, const vpMe &me2)

virtual void	setMovingEdge (const std::map< std::string, vpMe > &mapOfMe)

virtual void	setNearClippingDistance (const double &dist) override

virtual void	setNearClippingDistance (const double &dist1, const double &dist2)

virtual void	setNearClippingDistance (const std::map< std::string, double > &mapOfDists)

virtual void	setOgreShowConfigDialog (bool showConfigDialog) override

virtual void	setOgreVisibilityTest (const bool &v) override

virtual void	setOptimizationMethod (const vpMbtOptimizationMethod &opt) override

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

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

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

virtual void	setPose (const vpImage< vpRGBa > &I_color1, const vpImage< vpRGBa > &I_color2, const vpHomogeneousMatrix &c1Mo, const vpHomogeneousMatrix &c2Mo)

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

virtual void	setPose (const std::map< std::string, const vpImage< vpRGBa > * > &mapOfColorImages, const std::map< std::string, vpHomogeneousMatrix > &mapOfCameraPoses)

virtual void	setProjectionErrorComputation (const bool &flag) override

virtual void	setProjectionErrorDisplay (bool display) override

virtual void	setProjectionErrorDisplayArrowLength (unsigned int length) override

virtual void	setProjectionErrorDisplayArrowThickness (unsigned int thickness) override

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

virtual void	setScanLineVisibilityTest (const bool &v) override

virtual void	setTrackerType (int type)

virtual void	setTrackerType (const std::map< std::string, int > &mapOfTrackerTypes)

virtual void	setUseDepthDenseTracking (const std::string &name, const bool &useDepthDenseTracking)

virtual void	setUseDepthNormalTracking (const std::string &name, const bool &useDepthNormalTracking)

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

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

virtual void	testTracking () override

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

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

virtual void	track (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2)

virtual void	track (const vpImage< vpRGBa > &I_color1, const vpImage< vpRGBa > &I_color2)

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

virtual void	track (std::map< std::string, const vpImage< vpRGBa > * > &mapOfColorImages)

virtual void	track (std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, std::map< std::string, pcl::PointCloud< pcl::PointXYZ >::ConstPtr > &mapOfPointClouds)

virtual void	track (std::map< std::string, const vpImage< vpRGBa > * > &mapOfColorImages, std::map< std::string, pcl::PointCloud< pcl::PointXYZ >::ConstPtr > &mapOfPointClouds)

virtual void	track (std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, std::map< std::string, const std::vector< vpColVector > * > &mapOfPointClouds, std::map< std::string, unsigned int > &mapOfPointCloudWidths, std::map< std::string, unsigned int > &mapOfPointCloudHeights)

virtual void	track (std::map< std::string, const vpImage< vpRGBa > * > &mapOfColorImages, std::map< std::string, const std::vector< vpColVector > * > &mapOfPointClouds, std::map< std::string, unsigned int > &mapOfPointCloudWidths, std::map< std::string, unsigned int > &mapOfPointCloudHeights)

virtual void	getCameraParameters (vpCameraParameters &cam) const

virtual unsigned int	getClipping () const

virtual void	getPose (vpHomogeneousMatrix &cMo) const

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

Inherited functionalities from vpMbTracker
virtual double	getAngleAppear () const

virtual double	getAngleDisappear () const

virtual unsigned int	getClipping () const

virtual vpMatrix	getCovarianceMatrix () const

virtual double	getInitialMu () const

virtual double	getLambda () const

virtual unsigned int	getMaxIter () const

virtual double	getProjectionError () const

virtual vpColVector	getEstimatedDoF () const

virtual double	getFarClippingDistance () const

virtual double	getNearClippingDistance () const

virtual vpMbtOptimizationMethod	getOptimizationMethod () const

virtual 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< 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	setCovarianceComputation (const bool &flag)

virtual void	setEstimatedDoF (const vpColVector &v)

virtual void	setInitialMu (double mu)

virtual void	setLambda (double gain)

virtual void	setMaxIter (unsigned int max)

void	setProjectionErrorMovingEdge (const vpMe &me)

void	setProjectionErrorKernelSize (const unsigned int &size)

virtual void	setStopCriteriaEpsilon (const double eps)

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

void	setPoseSavingFilename (const std::string &filename)

Protected Member Functions
virtual void	computeProjectionError ()

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

virtual void	computeVVSInit () override

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

virtual void	computeVVSInteractionMatrixAndResidu () override

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

virtual void	computeVVSWeights ()

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

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

virtual void	initFaceFromCorners (vpMbtPolygon &polygon) override

virtual void	initFaceFromLines (vpMbtPolygon &polygon) override

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

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

virtual void	preTracking (std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, std::map< std::string, pcl::PointCloud< pcl::PointXYZ >::ConstPtr > &mapOfPointClouds)

virtual void	preTracking (std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, std::map< std::string, const std::vector< vpColVector > * > &mapOfPointClouds, std::map< std::string, unsigned int > &mapOfPointCloudWidths, std::map< std::string, unsigned int > &mapOfPointCloudHeights)

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

void	computeJTR (const vpMatrix &J, const vpColVector &R, vpColVector &JTR) const

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

virtual void	computeVVSCheckLevenbergMarquardt (unsigned int iter, vpColVector &error, const vpColVector &m_error_prev, const vpHomogeneousMatrix &cMoPrev, double &mu, bool &reStartFromLastIncrement, vpColVector const w=nullptr, const vpColVector const m_w_prev=nullptr)

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=nullptr, vpColVector const m_w_prev=nullptr)

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

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

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

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

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

vpPoint	getGravityCenter (const std::vector< vpPoint > &_pts) const

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

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

void	initProjectionErrorFaceFromCorners (vpMbtPolygon &polygon)

void	initProjectionErrorFaceFromLines (vpMbtPolygon &polygon)

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

virtual void	loadCAOModel (const std::string &modelFile, std::vector< std::string > &vectorOfModelFilename, int &startIdFace, bool verbose=false, bool parent=true, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())

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

void	projectionErrorResetMovingEdges ()

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

void	removeComment (std::ifstream &fileId)

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

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

Protected Attributes
vpColVector	m_error

vpMatrix	m_L

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

std::map< vpTrackerType, double >	m_mapOfFeatureFactors

std::map< std::string, TrackerWrapper * >	m_mapOfTrackers

double	m_percentageGdPt

std::string	m_referenceCameraName

double	m_thresholdOutlier

vpColVector	m_w

vpColVector	m_weightedError

unsigned int	m_nb_feat_edge

unsigned int	m_nb_feat_klt

unsigned int	m_nb_feat_depthNormal

unsigned int	m_nb_feat_depthDense

vpCameraParameters	m_cam

vpHomogeneousMatrix	m_cMo

vpMatrix	oJo

bool	m_isoJoIdentity

std::string	modelFileName

bool	modelInitialised

std::string	poseSavingFilename

bool	computeCovariance

vpMatrix	covarianceMatrix

bool	computeProjError

double	projectionError

bool	displayFeatures

vpMbtOptimizationMethod	m_optimizationMethod

vpMbHiddenFaces< vpMbtPolygon >	faces

double	angleAppears

double	angleDisappears

double	distNearClip

double	distFarClip

unsigned int	clippingFlag

bool	useOgre

bool	ogreShowConfigDialog

bool	useScanLine

unsigned int	nbPoints

unsigned int	nbLines

unsigned int	nbPolygonLines

unsigned int	nbPolygonPoints

unsigned int	nbCylinders

unsigned int	nbCircles

bool	useLodGeneral

bool	applyLodSettingInConfig

double	minLineLengthThresholdGeneral

double	minPolygonAreaThresholdGeneral

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

bool	m_computeInteraction

double	m_lambda

unsigned int	m_maxIter

double	m_stopCriteriaEpsilon

double	m_initialMu

std::vector< vpMbtDistanceLine * >	m_projectionErrorLines

std::vector< vpMbtDistanceCylinder * >	m_projectionErrorCylinders

std::vector< vpMbtDistanceCircle * >	m_projectionErrorCircles

vpMbHiddenFaces< vpMbtPolygon >	m_projectionErrorFaces

bool	m_projectionErrorOgreShowConfigDialog

vpMe	m_projectionErrorMe

unsigned int	m_projectionErrorKernelSize

vpMatrix	m_SobelX

vpMatrix	m_SobelY

bool	m_projectionErrorDisplay

unsigned int	m_projectionErrorDisplayLength

unsigned int	m_projectionErrorDisplayThickness

vpCameraParameters	m_projectionErrorCam

const vpImage< bool > *	m_mask

vpImage< unsigned char >	m_I

bool	m_sodb_init_called

vpUniRand	m_rand

Friends
void	to_json (nlohmann::json &j, const TrackerWrapper &t)

void	from_json (const nlohmann::json &j, TrackerWrapper &t)

Detailed Description

Real-time 6D object pose tracking using its CAD model.

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.

This class allows tracking an object or a scene given its 3D model. More information in [46]. A lot of videos can be found on YouTube VispTeam channel.

The Tutorial: Markerless generic model-based tracking using a color camera is a good starting point to use this class. If you want to track an object with a stereo camera refer to Tutorial: Markerless generic model-based tracking using a stereo camera. If you want rather use a RGB-D camera and exploit the depth information, you may see Tutorial: Markerless generic model-based tracking using a RGB-D camera. There is also Tutorial: Object detection and localization that shows how to initialize the tracker from an initial pose provided by a detection algorithm.

JSON serialization

Since ViSP 3.6.0, if ViSP is build with JSON for modern C++ 3rd-party we introduce JSON serialization capabilities for vpMbGenericTracker. The following sample code shows how to save a model-based tracker settings in a file named mbt.json and reload the values from this JSON file.

#include <visp3/mbt/vpMbGenericTracker.h>
 
int main()
{
#if defined(VISP_HAVE_NLOHMANN_JSON)
  std::string filename = "mbt-generic.json";
  {
    vpMbGenericTracker mbt;
    mbt.saveConfigFile(filename);
  }
  {
    vpMbGenericTracker mbt;
    bool verbose = false;
    std::cout << "Read model-based tracker settings from " << filename << std::endl;
    mbt.loadConfigFile(filename, verbose);
  }
#endif
}

If you build and execute the sample code, it will produce the following output:

Read model-based tracker settings from mbt-generic.json

The content of the mbt.json file is the following:

$ cat mbt-generic.json
{
  "referenceCameraName": "Camera",
  "trackers": {
      "Camera": {
          "angleAppear": 89.0,
          "angleDisappear": 89.0,
          "camTref": {
              "cols": 4,
              "data": [
                  1.0,
                  0.0,
                  0.0,
                  0.0,
                  0.0,
                  1.0,
                  0.0,
                  0.0,
                  0.0,
                  0.0,
                  1.0,
                  0.0,
                  0.0,
                  0.0,
                  0.0,
                  1.0
              ],
              "rows": 4,
              "type": "vpHomogeneousMatrix"
          },
          "camera": {
              "model": "perspectiveWithoutDistortion",
              "px": 600.0,
              "py": 600.0,
              "u0": 192.0,
              "v0": 144.0
          },
          "clipping": {
              "far": 100.0,
              "flags": [
                  "none"
              ],
              "near": 0.001
          },
          "display": {
              "features": false,
              "projectionError": false
          },
          "edge": {
              "maskSign": 0,
              "maskSize": 5,
              "minSampleStep": 4.0,
              "mu": [
                  0.5,
                  0.5
              ],
              "nMask": 180,
              "ntotalSample": 0,
              "pointsToTrack": 500,
              "range": 4,
              "sampleStep": 10.0,
              "strip": 2,
              "threshold": 1500.0
          },
          "lod": {
              "minLineLengthThresholdGeneral": 50.0,
              "minPolygonAreaThresholdGeneral": 2500.0,
              "useLod": false
          },
          "type": [
              "edge"
          ],
          "visibilityTest": {
              "ogre": false,
              "scanline": false
          }
      }
  },
  "version": "1.0"
}

Definition at line 197 of file vpMbGenericTracker.h.

Member Enumeration Documentation

◆ vpMbtOptimizationMethod

enum vpMbTracker::vpMbtOptimizationMethod

inherited

Enumerator
GAUSS_NEWTON_OPT
LEVENBERG_MARQUARDT_OPT

Definition at line 107 of file vpMbTracker.h.

◆ vpTrackerType

enum vpMbGenericTracker::vpTrackerType

Enumerator
EDGE_TRACKER	Model-based tracking using moving edges features.
KLT_TRACKER	Model-based tracking using KLT features.
DEPTH_NORMAL_TRACKER	Model-based tracking using depth normal features.
DEPTH_DENSE_TRACKER	Model-based tracking using depth dense features.

Definition at line 200 of file vpMbGenericTracker.h.

Constructor & Destructor Documentation

◆ vpMbGenericTracker() [1/4]

vpMbGenericTracker::vpMbGenericTracker ( )

json namespace shortcut

Definition at line 49 of file vpMbGenericTracker.cpp.

References DEPTH_DENSE_TRACKER, DEPTH_NORMAL_TRACKER, EDGE_TRACKER, KLT_TRACKER, m_mapOfCameraTransformationMatrix, m_mapOfFeatureFactors, and m_mapOfTrackers.

◆ vpMbGenericTracker() [2/4]

vpMbGenericTracker::vpMbGenericTracker	(	unsigned int	nbCameras,
		int	trackerType = `EDGE_TRACKER`
	)

Definition at line 70 of file vpMbGenericTracker.cpp.

References DEPTH_DENSE_TRACKER, DEPTH_NORMAL_TRACKER, EDGE_TRACKER, vpTrackingException::fatalError, KLT_TRACKER, m_mapOfCameraTransformationMatrix, m_mapOfFeatureFactors, m_mapOfTrackers, and m_referenceCameraName.

◆ vpMbGenericTracker() [3/4]

vpMbGenericTracker::vpMbGenericTracker ( const std::vector< int > & trackerTypes )

explicit

Definition at line 109 of file vpMbGenericTracker.cpp.

References vpException::badValue, DEPTH_DENSE_TRACKER, DEPTH_NORMAL_TRACKER, EDGE_TRACKER, KLT_TRACKER, m_mapOfCameraTransformationMatrix, m_mapOfFeatureFactors, m_mapOfTrackers, and m_referenceCameraName.

◆ vpMbGenericTracker() [4/4]

vpMbGenericTracker::vpMbGenericTracker	(	const std::vector< std::string > &	cameraNames,
		const std::vector< int > &	trackerTypes
	)

Definition at line 149 of file vpMbGenericTracker.cpp.

References vpException::badValue, DEPTH_DENSE_TRACKER, DEPTH_NORMAL_TRACKER, EDGE_TRACKER, KLT_TRACKER, m_mapOfCameraTransformationMatrix, m_mapOfFeatureFactors, m_mapOfTrackers, and m_referenceCameraName.

◆ ~vpMbGenericTracker()

vpMbGenericTracker::~vpMbGenericTracker ( )

overridevirtual

Definition at line 181 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

Member Function Documentation

◆ addPolygon() [1/4]

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

protectedinherited

◆ addPolygon() [2/4]

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

protectedinherited

◆ addPolygon() [3/4]

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

protectedinherited

◆ addPolygon() [4/4]

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

protectedinherited

Definition at line 1365 of file vpMbTracker.cpp.

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

◆ addProjectionErrorCircle()

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

protectedinherited

◆ addProjectionErrorCylinder()

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

protectedinherited

Definition at line 3381 of file vpMbTracker.cpp.

Referenced by vpMbTracker::initProjectionErrorCylinder().

◆ addProjectionErrorLine()

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

protectedinherited

Definition at line 3308 of file vpMbTracker.cpp.

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

◆ addProjectionErrorPolygon() [1/4]

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

protectedinherited

◆ addProjectionErrorPolygon() [2/4]

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

protectedinherited

◆ addProjectionErrorPolygon() [3/4]

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

protectedinherited

◆ addProjectionErrorPolygon() [4/4]

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

protectedinherited

Definition at line 3244 of file vpMbTracker.cpp.

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

◆ computeCovarianceMatrixVVS()

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

protectedvirtualinherited

Definition at line 2830 of file vpMbTracker.cpp.

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

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

◆ computeCurrentProjectionError() [1/2]

double vpMbGenericTracker::computeCurrentProjectionError	(	const vpImage< unsigned char > &	I,
		const vpHomogeneousMatrix &	cMo,
		const vpCameraParameters &	cam
	)

overridevirtual

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 from vpMbTracker.

Examples: tutorial-mb-generic-tracker-apriltag-rs2.cpp, tutorial-mb-generic-tracker-apriltag-webcam.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-rgbd-realsense-json-settings.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, and tutorial-mb-generic-tracker-rgbd-structure-core.cpp.

Definition at line 207 of file vpMbGenericTracker.cpp.

References vpMath::deg(), and m_mapOfTrackers.

Referenced by computeCurrentProjectionError().

◆ computeCurrentProjectionError() [2/2]

double vpMbGenericTracker::computeCurrentProjectionError	(	const vpImage< vpRGBa > &	I_color,
		const vpHomogeneousMatrix &	_cMo,
		const vpCameraParameters &	_cam
	)

virtual

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

See also: setProjectionErrorComputation; getProjectionError

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

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

Parameters

I_color	: Input color image.
_cMo	: Camera pose.
_cam	: Camera parameters.

Definition at line 250 of file vpMbGenericTracker.cpp.

References computeCurrentProjectionError(), and vpImageConvert::convert().

◆ computeJTR()

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

protectedinherited

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

Exceptions

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

Warning: The JTR vector is resized.

Parameters

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

Definition at line 2861 of file vpMbTracker.cpp.

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

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

◆ computeProjectionError()

void vpMbGenericTracker::computeProjectionError ( )

protectedvirtual

Definition at line 260 of file vpMbGenericTracker.cpp.

References vpMbTracker::computeProjError, vpMath::deg(), m_mapOfTrackers, vpMbTracker::projectionError, and vpMath::rad().

Referenced by track().

◆ computeProjectionErrorImpl()

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

protectedinherited

Definition at line 3476 of file vpMbTracker.cpp.

Referenced by vpMbTracker::computeCurrentProjectionError().

◆ computeVVS()

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

protectedvirtual

Definition at line 291 of file vpMbGenericTracker.cpp.

References vpMatrix::AtA(), vpVelocityTwistMatrix::buildFrom(), vpMbTracker::computeCovariance, vpMbTracker::computeCovarianceMatrixVVS(), vpMbTracker::computeVVSCheckLevenbergMarquardt(), computeVVSInit(), computeVVSInteractionMatrixAndResidu(), vpMbTracker::computeVVSPoseEstimation(), computeVVSWeights(), DEPTH_DENSE_TRACKER, DEPTH_NORMAL_TRACKER, vpExponentialMap::direct(), EDGE_TRACKER, vpMatrix::eye(), vpException::fatalError, vpArray2D< Type >::getCols(), vpArray2D< Type >::getRows(), vpHomogeneousMatrix::inverse(), KLT_TRACKER, vpMbTracker::m_cMo, m_error, vpMbTracker::m_initialMu, vpMbTracker::m_isoJoIdentity, m_L, m_mapOfCameraTransformationMatrix, m_mapOfFeatureFactors, m_mapOfTrackers, vpMbTracker::m_maxIter, m_nb_feat_depthDense, m_nb_feat_depthNormal, m_nb_feat_edge, m_nb_feat_klt, vpMbTracker::m_stopCriteriaEpsilon, m_weightedError, vpTrackingException::notEnoughPointError, vpMbTracker::oJo, and vpMath::sqr().

Referenced by track().

◆ computeVVSCheckLevenbergMarquardt()

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

protectedvirtualinherited

Definition at line 2872 of file vpMbTracker.cpp.

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

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

◆ computeVVSInit() [1/2]

void vpMbGenericTracker::computeVVSInit ( )

overrideprotectedvirtual

Implements vpMbTracker.

Definition at line 538 of file vpMbGenericTracker.cpp.

References vpException::fatalError.

Referenced by computeVVS().

◆ computeVVSInit() [2/2]

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

protectedvirtual

Definition at line 543 of file vpMbGenericTracker.cpp.

References m_error, m_L, m_mapOfTrackers, m_w, m_weightedError, vpColVector::resize(), and vpArray2D< Type >::resize().

◆ computeVVSInteractionMatrixAndResidu() [1/2]

void vpMbGenericTracker::computeVVSInteractionMatrixAndResidu ( )

overrideprotectedvirtual

Implements vpMbTracker.

Definition at line 563 of file vpMbGenericTracker.cpp.

References vpException::fatalError.

Referenced by computeVVS().

◆ computeVVSInteractionMatrixAndResidu() [2/2]

void vpMbGenericTracker::computeVVSInteractionMatrixAndResidu	(	std::map< std::string, const vpImage< unsigned char > * > &	mapOfImages,
		std::map< std::string, vpVelocityTwistMatrix > &	mapOfVelocityTwist
	)

protectedvirtual

Definition at line 570 of file vpMbGenericTracker.cpp.

References vpMatrix::insert(), vpColVector::insert(), vpHomogeneousMatrix::inverse(), vpMbTracker::m_cMo, m_error, m_L, m_mapOfCameraTransformationMatrix, and m_mapOfTrackers.

◆ computeVVSPoseEstimation()

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

protectedvirtualinherited

Definition at line 2894 of file vpMbTracker.cpp.

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

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

◆ computeVVSWeights() [1/3]

void vpMbGenericTracker::computeVVSWeights ( )

protectedvirtual

Definition at line 596 of file vpMbGenericTracker.cpp.

References vpColVector::insert(), m_mapOfTrackers, and m_w.

Referenced by computeVVS().

◆ computeVVSWeights() [2/3]

void vpMbTracker::computeVVSWeights

protected

Definition at line 819 of file vpMbTracker.cpp.

◆ computeVVSWeights() [3/3]

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

protectedvirtualinherited

Definition at line 2958 of file vpMbTracker.cpp.

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

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

◆ createCylinderBBox()

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

protectedinherited

Definition at line 3015 of file vpMbTracker.cpp.

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

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

◆ display() [1/6]

void vpMbGenericTracker::display	(	const std::map< std::string, const vpImage< unsigned char > * > &	mapOfImages,
		const std::map< std::string, vpHomogeneousMatrix > &	mapOfCameraPoses,
		const std::map< std::string, vpCameraParameters > &	mapOfCameraParameters,
		const vpColor &	col,
		unsigned int	thickness = `1`,
		bool	displayFullModel = `false`
	)

virtual

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

Parameters

mapOfImages	: Map of grayscale images.
mapOfCameraPoses	: Map of camera poses.
mapOfCameraParameters	: Map of camera parameters.
col	: The desired color.
thickness	: The thickness of the lines.
displayFullModel	: If true, the full model is displayed (even the non visible faces).

Definition at line 743 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ display() [2/6]

void vpMbGenericTracker::display	(	const std::map< std::string, const vpImage< vpRGBa > * > &	mapOfImages,
		const std::map< std::string, vpHomogeneousMatrix > &	mapOfCameraPoses,
		const std::map< std::string, vpCameraParameters > &	mapOfCameraParameters,
		const vpColor &	col,
		unsigned int	thickness = `1`,
		bool	displayFullModel = `false`
	)

virtual

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

Parameters

mapOfImages	: Map of color images.
mapOfCameraPoses	: Map of camera poses.
mapOfCameraParameters	: Map of camera parameters.
col	: The desired color.
thickness	: The thickness of the lines.
displayFullModel	: If true, the full model is displayed (even the non visible faces).

Definition at line 777 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ display() [3/6]

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

overridevirtual

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

Parameters

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

Note: This function will display the model only for the reference camera.

Implements vpMbTracker.

Examples: testGenericTracker.cpp, testGenericTrackerDepth.cpp, tutorial-detection-object-mbt.cpp, tutorial-mb-generic-tracker-apriltag-rs2.cpp, tutorial-mb-generic-tracker-apriltag-webcam.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-rgbd-realsense-json-settings.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, tutorial-mb-generic-tracker-rgbd-structure-core.cpp, tutorial-mb-generic-tracker-stereo-mono.cpp, tutorial-mb-generic-tracker-stereo.cpp, and tutorial-mb-generic-tracker.cpp.

Definition at line 623 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_referenceCameraName.

Referenced by setProjectionErrorDisplay().

◆ display() [4/6]

void vpMbGenericTracker::display	(	const vpImage< unsigned char > &	I1,
		const vpImage< unsigned char > &	I2,
		const vpHomogeneousMatrix &	c1Mo,
		const vpHomogeneousMatrix &	c2Mo,
		const vpCameraParameters &	cam1,
		const vpCameraParameters &	cam2,
		const vpColor &	color,
		unsigned int	thickness = `1`,
		bool	displayFullModel = `false`
	)

virtual

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

Parameters

I1	: The first grayscale image.
I2	: The second grayscale image.
c1Mo	: Pose used to project the 3D model into the first image.
c2Mo	: Pose used to project the 3D model into the second image.
cam1	: The first camera parameters.
cam2	: The second camera parameters.
color	: The desired color.
thickness	: The thickness of the lines.
displayFullModel	: If true, the full model is displayed (even the non visible faces).

Note: This function assumes a stereo configuration of the generic tracker.

Definition at line 680 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ display() [5/6]

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

overridevirtual

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

Parameters

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

Note: This function will display the model only for the reference camera.

Implements vpMbTracker.

Definition at line 650 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_referenceCameraName.

◆ display() [6/6]

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

virtual

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

Parameters

I1	: The first color image.
I2	: The second color image.
c1Mo	: Pose used to project the 3D model into the first image.
c2Mo	: Pose used to project the 3D model into the second image.
cam1	: The first camera parameters.
cam2	: The second camera parameters.
color	: The desired color.
thickness	: The thickness of the lines.
displayFullModel	: If true, the full model is displayed (even the non visible faces).

Note: This function assumes a stereo configuration of the generic tracker.

Definition at line 714 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ extractCylinders()

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

protectedvirtualinherited

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

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

Parameters

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

Definition at line 2440 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::extractGroup().

◆ extractFaces()

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

protectedvirtualinherited

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

Parameters

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

Definition at line 2386 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::extractGroup().

◆ extractGroup()

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

protectedvirtualinherited

Extract a VRML object Group.

Parameters

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

Definition at line 2296 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::loadVRMLModel().

◆ extractLines()

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

protectedvirtualinherited

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

Parameters

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

Definition at line 2526 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::extractGroup().

◆ getAngleAppear()

virtual double vpMbTracker::getAngleAppear ( ) const

inlinevirtualinherited

Return the angle used to test polygons appearance.

Definition at line 238 of file vpMbTracker.h.

◆ getAngleDisappear()

virtual double vpMbTracker::getAngleDisappear ( ) const

inlinevirtualinherited

Return the angle used to test polygons disappearance.

Definition at line 241 of file vpMbTracker.h.

◆ getCameraNames()

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

virtual

Get the camera names.

Returns: The vector of camera names.

Definition at line 805 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

Referenced by loadConfigFileJSON().

◆ getCameraParameters() [1/4]

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

virtual

Get all the camera parameters.

Parameters

mapOfCameraParameters : Map of camera parameters.

Definition at line 850 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ getCameraParameters() [2/4]

virtual void vpMbTracker::getCameraParameters

inline

Get the camera parameters.

Parameters

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

Definition at line 248 of file vpMbTracker.h.

◆ getCameraParameters() [3/4]

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

virtual

Get all the camera parameters.

Parameters

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

Note: This function assumes a stereo configuration of the generic tracker.

Definition at line 830 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ getCameraParameters() [4/4]

void vpMbGenericTracker::getCameraParameters ( vpCameraParameters & cam ) const

overridevirtual

Get the camera parameters.

Parameters

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

Reimplemented from vpMbTracker.

Examples: testGenericTracker.cpp, testGenericTrackerDepth.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, tutorial-mb-generic-tracker-apriltag-rs2.cpp, tutorial-mb-generic-tracker-apriltag-webcam.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-stereo-mono.cpp, tutorial-mb-generic-tracker-stereo.cpp, and tutorial-mb-generic-tracker.cpp.

Definition at line 817 of file vpMbGenericTracker.cpp.

References vpMbTracker::getCameraParameters().

◆ getCameraTrackerTypes()

std::map< std::string, int > vpMbGenericTracker::getCameraTrackerTypes ( ) const

virtual

Get the camera tracker types.

Returns: The map of camera tracker types.

See also: vpTrackerType

Examples: tutorial-mb-generic-tracker-rgbd-realsense-json-settings.cpp.

Definition at line 869 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ getClipping() [1/4]

virtual unsigned int vpMbTracker::getClipping

inline

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

Returns: Clipping flags.

Definition at line 256 of file vpMbTracker.h.

◆ getClipping() [2/4]

virtual unsigned int vpMbTracker::getClipping ( ) const

inlinevirtualinherited

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

Returns: Clipping flags.

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

Definition at line 256 of file vpMbTracker.h.

◆ getClipping() [3/4]

void vpMbGenericTracker::getClipping ( std::map< std::string, unsigned int > & mapOfClippingFlags ) const

virtual

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

Parameters

mapOfClippingFlags : Map of clipping flags.

Definition at line 911 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ getClipping() [4/4]

void vpMbGenericTracker::getClipping	(	unsigned int &	clippingFlag1,
		unsigned int &	clippingFlag2
	)		const

virtual

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

Parameters

clippingFlag1	: Clipping flags for the first camera.
clippingFlag2	: Clipping flags for the second camera.

Note: This function assumes a stereo configuration of the generic tracker.

Examples: testGenericTracker.cpp, testGenericTrackerDepth.cpp, tutorial-detection-object-mbt.cpp, and tutorial-mb-generic-tracker-full.cpp.

Definition at line 891 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ getCovarianceMatrix()

virtual vpMatrix vpMbTracker::getCovarianceMatrix ( ) const

inlinevirtualinherited

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

See also: setCovarianceComputation()

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

Definition at line 265 of file vpMbTracker.h.

◆ getError()

virtual vpColVector vpMbGenericTracker::getError ( ) const

inlineoverridevirtual

Return the error vector reached after the virtual visual servoing process used to estimate the pose.

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

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

See also: getRobustWeights()

Implements vpMbTracker.

Examples: testGenericTracker.cpp, testGenericTrackerDepth.cpp, tutorial-mb-generic-tracker-rgbd-realsense-json-settings.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, and tutorial-mb-generic-tracker-rgbd-structure-core.cpp.

Definition at line 257 of file vpMbGenericTracker.h.

◆ getEstimatedDoF()

vpColVector vpMbTracker::getEstimatedDoF ( ) const

virtualinherited

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

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

Definition at line 2975 of file vpMbTracker.cpp.

References vpMbTracker::oJo.

◆ getFaces() [1/2]

vpMbHiddenFaces< vpMbtPolygon > & vpMbGenericTracker::getFaces ( )

overridevirtual

Return a reference to the faces structure.

Returns: Reference to the face structure.

Reimplemented from vpMbTracker.

Definition at line 927 of file vpMbGenericTracker.cpp.

References vpMbTracker::faces, m_mapOfTrackers, and m_referenceCameraName.

◆ getFaces() [2/2]

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

virtual

Return a reference to the faces structure for the given camera name.

Returns: Reference to the face structure.

Definition at line 943 of file vpMbGenericTracker.cpp.

References vpMbTracker::faces, and m_mapOfTrackers.

◆ getFarClippingDistance()

virtual double vpMbTracker::getFarClippingDistance ( ) const

inlinevirtualinherited

Get the far distance for clipping.

Returns: Far clipping value.

Definition at line 339 of file vpMbTracker.h.

◆ getFeaturesCircle()

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

virtual

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

Definition at line 958 of file vpMbGenericTracker.cpp.

References vpException::badValue, m_mapOfTrackers, and m_referenceCameraName.

◆ getFeaturesForDisplay() [1/2]

std::vector< std::vector< double > > vpMbGenericTracker::getFeaturesForDisplay ( )

virtual

Returns a list of visual features parameters for the reference camera. The first element of the vector indicates the feature type that is either a moving-edge (ME) when value is 0, or a keypoint (KLT) when value is 1. Then behind, the second element of the vector gives the corresponding feature parameters.

Moving-edges parameters are: <feature id (here 0 for ME)>, <pt.i()>, <pt.j()>, <state> where pt.i(), pt.j() are the coordinates of the moving-edge point feature, and state with values in range [0,4] indicates the state of the ME
- 0 for vpMeSite::NO_SUPPRESSION
- 1 for vpMeSite::CONTRAST
- 2 for vpMeSite::THRESHOLD
- 3 for vpMeSite::M_ESTIMATOR
- 4 for vpMeSite::TOO_NEAR
KLT parameters are: <feature id (here 1 for KLT)>, <pt.i()>, <pt.j()>, <klt_id.i()>, <klt_id.j()>, <klt_id.id>

When the tracking is achieved with features from multiple cameras you can use rather getFeaturesForDisplay(std::map<std::string, std::vector<std::vector<double> > > &).

It can be used to display the 3D model with a render engine of your choice.

Note: It returns the visual features for the reference camera.

See also: getModelForDisplay(unsigned int, unsigned int, const vpHomogeneousMatrix &, const vpCameraParameters &, bool)

Examples: testGenericTracker.cpp.

Definition at line 1030 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_referenceCameraName.

◆ getFeaturesForDisplay() [2/2]

void vpMbGenericTracker::getFeaturesForDisplay ( std::map< std::string, std::vector< std::vector< double > > > & mapOfFeatures )

virtual

Get a list of visual features parameters for multiple cameras. The considered camera name is the first element of the map. The second element of the map contains the visual features parameters where the first element of the vector indicates the feature type that is either a moving-edge (ME) when value is 0, or a keypoint (KLT) when value is 1. Then behind, the second element of the vector gives the corresponding feature parameters.

Moving-edges parameters are: <feature id (here 0 for ME)>, <pt.i()>, <pt.j()>, <state> where pt.i(), pt.j() are the coordinates of the moving-edge point feature, and state with values in range [0,4] indicates the state of the ME
- 0 for vpMeSite::NO_SUPPRESSION
- 1 for vpMeSite::CONTRAST
- 2 for vpMeSite::THRESHOLD
- 3 for vpMeSite::M_ESTIMATOR
- 4 for vpMeSite::TOO_NEAR
KLT parameters are: <feature id (here 1 for KLT)>, <pt.i()>, <pt.j()>, <klt_id.i()>, <klt_id.j()>, <klt_id.id> It can be used to display the 3D model with a render engine of your choice.

When the tracking is achieved with features from a single camera you can use rather getFeaturesForDisplay().

See also: getModelForDisplay(std::map<std::string, std::vector<std::vector<double> > > &, const std::map<std::string, unsigned int> &, const std::map<std::string, unsigned int> &, const std::map<std::string, vpHomogeneousMatrix> &, const std::map<std::string, vpCameraParameters> &, bool)

Definition at line 1069 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ getFeaturesKlt()

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

virtual

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

Definition at line 990 of file vpMbGenericTracker.cpp.

References vpException::badValue, m_mapOfTrackers, and m_referenceCameraName.

◆ getFeaturesKltCylinder()

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

virtual

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

Definition at line 974 of file vpMbGenericTracker.cpp.

References vpException::badValue, m_mapOfTrackers, and m_referenceCameraName.

◆ getGoodMovingEdgesRatioThreshold()

double vpMbGenericTracker::getGoodMovingEdgesRatioThreshold ( ) const

virtual

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 1089 of file vpMbGenericTracker.cpp.

References m_percentageGdPt.

◆ getGravityCenter()

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

protectedinherited

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

Exceptions

vpException::dimensionError if the set is empty.

Parameters

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

Returns: Center of gravity of the set.

Definition at line 2572 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::extractCylinders().

◆ getInitialMu()

virtual double vpMbTracker::getInitialMu ( ) const

inlinevirtualinherited

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

Returns: the initial mu value.

Definition at line 284 of file vpMbTracker.h.

◆ getKltImagePoints()

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

virtual

Get the current list of KLT points for the reference camera.

Warning: This function convert and copy the OpenCV KLT points into vpImagePoints.

Returns: the list of KLT points through vpKltOpencv.

Definition at line 1100 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_referenceCameraName.

◆ getKltImagePointsWithId()

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

virtual

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

Warning: 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 1122 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_referenceCameraName.

◆ getKltMaskBorder()

unsigned int vpMbGenericTracker::getKltMaskBorder ( ) const

virtual

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

Returns: The erosion for the reference camera.

Definition at line 1141 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_referenceCameraName.

◆ getKltNbPoints()

int vpMbGenericTracker::getKltNbPoints ( ) const

virtual

Get number of KLT points for the reference camera.

Returns: Number of KLT points for the reference camera.

Definition at line 1160 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_referenceCameraName.

◆ getKltOpencv() [1/3]

vpKltOpencv vpMbGenericTracker::getKltOpencv ( ) const

virtual

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

Returns: klt tracker.

Definition at line 1179 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_referenceCameraName.

◆ getKltOpencv() [2/3]

void vpMbGenericTracker::getKltOpencv ( std::map< std::string, vpKltOpencv > & mapOfKlts ) const

virtual

Get the klt tracker at the current state.

Parameters

mapOfKlts : Map if klt trackers.

Definition at line 1223 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ getKltOpencv() [3/3]

void vpMbGenericTracker::getKltOpencv	(	vpKltOpencv &	klt1,
		vpKltOpencv &	klt2
	)		const

virtual

Get the klt tracker at the current state.

Parameters

klt1	: Klt tracker for the first camera.
klt2	: Klt tracker for the second camera.

Note: This function assumes a stereo configuration of the generic tracker.

Definition at line 1203 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ getKltPoints()

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

virtual

Get the current list of KLT points for the reference camera.

Returns: the list of KLT points through vpKltOpencv.

Definition at line 1239 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_referenceCameraName.

◆ getKltThresholdAcceptation()

double vpMbGenericTracker::getKltThresholdAcceptation ( ) const

virtual

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 1259 of file vpMbGenericTracker.cpp.

References m_thresholdOutlier.

◆ getLambda()

virtual double vpMbTracker::getLambda ( ) const

inlinevirtualinherited

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

Returns: the value for the gain.

Definition at line 291 of file vpMbTracker.h.

◆ getLcircle() [1/2]

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

virtual

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

Exceptions

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

Parameters

cameraName	: Camera name for which we want to get the list of vpMbtDistanceCircle.
circlesList	: The list of the circles of the model.
level	: Level corresponding to the list to return.

Note: Multi-scale moving edge tracking is not possible, scale level=0 must be used.

Definition at line 1298 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ getLcircle() [2/2]

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

virtual

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

Exceptions

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

Parameters

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

Note: Multi-scale moving edge tracking is not possible, scale level=0 must be used.

Definition at line 1274 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_referenceCameraName.

◆ getLcylinder() [1/2]

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

virtual

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

Exceptions

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

Parameters

cameraName	: Camera name for which we want to get the list of vpMbtDistanceCylinder.
cylindersList	: The list of the cylinders of the model.
level	: Level corresponding to the list to return.

Note: Multi-scale moving edge tracking is not possible, scale level=0 must be used.

Definition at line 1346 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ getLcylinder() [2/2]

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

virtual

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

Exceptions

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

Parameters

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

Note: Multi-scale moving edge tracking is not possible, scale level=0 must be used.

Definition at line 1322 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_referenceCameraName.

◆ getLline() [1/2]

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

virtual

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

Exceptions

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

Parameters

cameraName	: Camera name for which we want to get the list of vpMbtDistanceLine.
linesList	: The list of the lines of the model.
level	: Level corresponding to the list to return.

Note: Multi-scale moving edge tracking is not possible, scale level=0 must be used.

Definition at line 1395 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ getLline() [2/2]

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

virtual

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

Exceptions

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

Parameters

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

Note: Multi-scale moving edge tracking is not possible, scale level=0 must be used.

Definition at line 1370 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_referenceCameraName.

◆ getMaxIter()

virtual unsigned int vpMbTracker::getMaxIter ( ) const

inlinevirtualinherited

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

Returns: the number of iteration

Definition at line 298 of file vpMbTracker.h.

◆ getModelForDisplay() [1/2]

void vpMbGenericTracker::getModelForDisplay	(	std::map< std::string, std::vector< std::vector< double > > > &	mapOfModels,
		const std::map< std::string, unsigned int > &	mapOfwidths,
		const std::map< std::string, unsigned int > &	mapOfheights,
		const std::map< std::string, vpHomogeneousMatrix > &	mapOfcMos,
		const std::map< std::string, vpCameraParameters > &	mapOfCams,
		bool	displayFullModel = `false`
	)

virtual

Get primitive parameters to display the object CAD model for the multiple cameras.

It can be used to display the 3D model with a render engine of your choice.

Each first element of the map correspond to the camera name.

Parameters

mapOfModels	: Map of models. The second element of the map contains a list of primitives parameters to display the model at a given pose with corresponding camera parameters. The first element of the vector indicates the type of parameters: 0 for a line and 1 for an ellipse. Then the second element gives the corresponding 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).
mapOfwidths	: Map of images width.
mapOfheights	: Map of images height.
mapOfcMos	: Map of poses used to project the 3D model into the images.
mapOfCams	: The camera parameters.
displayFullModel	: If true, the line is displayed even if it is not

If you are using a single camera you should rather use getModelForDisplay(unsigned int, unsigned int, const vpHomogeneousMatrix &, const vpCameraParameters &, bool)

See also: getFeaturesForDisplay(std::map<std::string, std::vector<std::vector<double> > > &)

Definition at line 1478 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ getModelForDisplay() [2/2]

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

overridevirtual

Get primitive parameters to display the object CAD model for the reference camera.

It can be used to display the 3D model with a render engine of your choice.

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

Returns

List of primitives parameters corresponding to the reference camera in order to display the model to a given pose with camera parameters. The first element of the vector indicates the type of parameters: 0 for a line and 1 for an ellipse. Then the second element gives the corresponding 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).

When tracking is performed using multiple cameras, you should rather use getModelForDisplay(std::map<std::string, std::vector<std::vector<double> > > &, const std::map<std::string, unsigned int> &, const std::map<std::string, unsigned int> &, const std::map<std::string, vpHomogeneousMatrix> &, const std::map<std::string, vpCameraParameters> &, bool)

See also: getFeaturesForDisplay()

Implements vpMbTracker.

Examples: testGenericTracker.cpp.

Definition at line 1436 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_referenceCameraName.

◆ getMovingEdge() [1/3]

vpMe vpMbGenericTracker::getMovingEdge ( ) const

virtual

Get the moving edge parameters for the reference camera.

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

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

Definition at line 1508 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_referenceCameraName.

◆ getMovingEdge() [2/3]

void vpMbGenericTracker::getMovingEdge ( std::map< std::string, vpMe > & mapOfMovingEdges ) const

virtual

Get the moving edge parameters for all the cameras

Parameters

mapOfMovingEdges : Map of moving edge parameters for all the cameras.

Definition at line 1550 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ getMovingEdge() [3/3]

void vpMbGenericTracker::getMovingEdge	(	vpMe &	me1,
		vpMe &	me2
	)		const

virtual

Get the moving edge parameters.

Parameters

me1	: Moving edge parameters for the first camera.
me2	: Moving edge parameters for the second camera.

Note: This function assumes a stereo configuration of the generic tracker.

Definition at line 1530 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ getNbFeaturesDepthDense()

virtual unsigned int vpMbGenericTracker::getNbFeaturesDepthDense ( ) const

inlinevirtual

Return the number of depth dense features taken into account in the virtual visual-servoing scheme.

Examples: tutorial-mb-generic-tracker-apriltag-rs2.cpp, tutorial-mb-generic-tracker-rgbd-realsense-json-settings.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, and tutorial-mb-generic-tracker-rgbd-structure-core.cpp.

Definition at line 319 of file vpMbGenericTracker.h.

◆ getNbFeaturesDepthNormal()

virtual unsigned int vpMbGenericTracker::getNbFeaturesDepthNormal ( ) const

inlinevirtual

Return the number of depth normal features features taken into account in the virtual visual-servoing scheme.

Examples: tutorial-mb-generic-tracker-rgbd-realsense-json-settings.cpp.

Definition at line 324 of file vpMbGenericTracker.h.

◆ getNbFeaturesEdge()

virtual unsigned int vpMbGenericTracker::getNbFeaturesEdge ( ) const

inlinevirtual

Return the number of moving-edges features taken into account in the virtual visual-servoing scheme.

This function is similar to getNbPoints().

Examples: tutorial-mb-generic-tracker-apriltag-rs2.cpp, tutorial-mb-generic-tracker-apriltag-webcam.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-rgbd-realsense-json-settings.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, and tutorial-mb-generic-tracker-rgbd-structure-core.cpp.

Definition at line 331 of file vpMbGenericTracker.h.

◆ getNbFeaturesKlt()

virtual unsigned int vpMbGenericTracker::getNbFeaturesKlt ( ) const

inlinevirtual

Return the number of klt keypoints features taken into account in the virtual visual-servoing scheme.

Examples: tutorial-mb-generic-tracker-apriltag-rs2.cpp, tutorial-mb-generic-tracker-apriltag-webcam.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-rgbd-realsense-json-settings.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, and tutorial-mb-generic-tracker-rgbd-structure-core.cpp.

Definition at line 336 of file vpMbGenericTracker.h.

◆ getNbPoints() [1/2]

void vpMbGenericTracker::getNbPoints	(	std::map< std::string, unsigned int > &	mapOfNbPoints,
		unsigned int	level = `0`
	)		const

virtual

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

Parameters

mapOfNbPoints	: Map of number of good points (vpMeSite) tracked for all the cameras.
level	: Pyramid level to consider.

Exceptions

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

Note: Multi-scale moving edge tracking is not possible, scale level=0 must be used.

Definition at line 1608 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ getNbPoints() [2/2]

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

virtual

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

Parameters

level : Pyramid level to consider.

Exceptions

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

Returns: the number of good points for the reference camera.

Note: Multi-scale moving edge tracking is not possible, scale level=0 must be used.

See also: getNbFeaturesEdge()

Definition at line 1578 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_referenceCameraName.

◆ getNbPolygon() [1/2]

unsigned int vpMbGenericTracker::getNbPolygon ( ) const

overridevirtual

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

Returns: Number of polygons for the reference camera.

Reimplemented from vpMbTracker.

Examples: tutorial-mb-generic-tracker-rgbd-realsense-json-settings.cpp.

Definition at line 1624 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_referenceCameraName.

◆ getNbPolygon() [2/2]

void vpMbGenericTracker::getNbPolygon ( std::map< std::string, unsigned int > & mapOfNbPolygons ) const

virtual

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

Parameters

[out] mapOfNbPolygons : Map that contains the number of polygons for all the cameras.

Definition at line 1640 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ getNearClippingDistance()

virtual double vpMbTracker::getNearClippingDistance ( ) const

inlinevirtualinherited

Get the near distance for clipping.

Returns: Near clipping value.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 375 of file vpMbTracker.h.

Referenced by vpMbEdgeKltTracker::getNearClippingDistance().

◆ getOptimizationMethod()

virtual vpMbtOptimizationMethod vpMbTracker::getOptimizationMethod ( ) const

inlinevirtualinherited

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

Returns: Optimization method.

Definition at line 384 of file vpMbTracker.h.

◆ getPolygon() [1/2]

vpMbtPolygon * vpMbGenericTracker::getPolygon	(	const std::string &	cameraName,
		unsigned int	index
	)

virtual

Return the polygon (face) "index" for the specified camera.

Exceptions

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

Parameters

cameraName	: Name of the camera to return the polygon.
index	: Index of the polygon to return.

Returns: Pointer to the polygon index for the specified camera or nullptr in case of problem.

Definition at line 1683 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ getPolygon() [2/2]

vpMbtPolygon * vpMbGenericTracker::getPolygon ( unsigned int index )

overridevirtual

Return the polygon (face) "index" for the reference camera.

Exceptions

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

Parameters

index : Index of the polygon to return.

Returns: Pointer to the polygon index for the reference camera or nullptr in case of problem.

Reimplemented from vpMbTracker.

Definition at line 1661 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_referenceCameraName.

◆ getPolygonFaces() [1/2]

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

overridevirtual

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.

Note: This function will return the 2D polygons faces and 3D face points only for the reference camera.

Reimplemented from vpMbTracker.

Examples: tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, and tutorial-mb-generic-tracker-rgbd-structure-core.cpp.

Definition at line 1710 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_referenceCameraName.

◆ getPolygonFaces() [2/2]

void vpMbGenericTracker::getPolygonFaces	(	std::map< std::string, std::vector< vpPolygon > > &	mapOfPolygons,
		std::map< std::string, std::vector< std::vector< vpPoint > > > &	mapOfPoints,
		bool	orderPolygons = `true`,
		bool	useVisibility = `true`,
		bool	clipPolygon = `false`
	)

virtual

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

Parameters

mapOfPolygons	: Map of 2D polygon faces.
mapOfPoints	: Map of face 3D points.
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.

Note: This function will return the 2D polygons faces and 3D face points only for all the cameras.

Definition at line 1743 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ getPose() [1/6]

virtual vpHomogeneousMatrix vpMbTracker::getPose

inline

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

Returns: the current pose

Definition at line 423 of file vpMbTracker.h.

◆ getPose() [2/6]

virtual vpHomogeneousMatrix vpMbTracker::getPose ( ) const

inlinevirtualinherited

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

Returns: the current pose

Definition at line 423 of file vpMbTracker.h.

Referenced by getPose().

◆ getPose() [3/6]

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

virtual

Get the current pose between the object and the cameras.

Parameters

mapOfCameraPoses : The map of camera poses for all the cameras.

Definition at line 1791 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ getPose() [4/6]

void vpMbGenericTracker::getPose	(	vpHomogeneousMatrix &	c1Mo,
		vpHomogeneousMatrix &	c2Mo
	)		const

virtual

Get the current pose between the object and the cameras.

Parameters

c1Mo	: The camera pose for the first camera.
c2Mo	: The camera pose for the second camera.

Note: This function assumes a stereo configuration of the generic tracker.

Definition at line 1771 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ getPose() [5/6]

virtual void vpMbTracker::getPose

inline

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

Definition at line 414 of file vpMbTracker.h.

◆ getPose() [6/6]

void vpMbGenericTracker::getPose ( vpHomogeneousMatrix & cMo ) const

overridevirtual

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 from vpMbTracker.

Examples: testGenericTracker.cpp, testGenericTrackerDepth.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, tutorial-mb-generic-tracker-apriltag-rs2.cpp, tutorial-mb-generic-tracker-apriltag-webcam.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-rgbd-realsense-json-settings.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, tutorial-mb-generic-tracker-rgbd-structure-core.cpp, tutorial-mb-generic-tracker-stereo-mono.cpp, tutorial-mb-generic-tracker-stereo.cpp, and tutorial-mb-generic-tracker.cpp.

Definition at line 1761 of file vpMbGenericTracker.cpp.

References vpMbTracker::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, tutorial-mb-generic-tracker-rgbd-realsense-json-settings.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, and tutorial-mb-generic-tracker-rgbd-structure-core.cpp.

Definition at line 310 of file vpMbTracker.h.

◆ getReferenceCameraName()

std::string vpMbGenericTracker::getReferenceCameraName ( ) const

virtual

Get name of the reference camera.

Definition at line 1806 of file vpMbGenericTracker.cpp.

References m_referenceCameraName.

◆ getRobustWeights()

virtual vpColVector vpMbGenericTracker::getRobustWeights ( ) const

inlineoverridevirtual

Return the weights vector computed by the robust scheme.

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

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

See also: getError()

Implements vpMbTracker.

Definition at line 360 of file vpMbGenericTracker.h.

◆ getStopCriteriaEpsilon()

virtual double vpMbTracker::getStopCriteriaEpsilon ( ) const

inlinevirtualinherited

Definition at line 425 of file vpMbTracker.h.

◆ getTrackerType()

int vpMbGenericTracker::getTrackerType ( ) const

virtual

The tracker type for the reference camera.

Examples: tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-rgbd-realsense-json-settings.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, and tutorial-mb-generic-tracker-rgbd-structure-core.cpp.

Definition at line 1811 of file vpMbGenericTracker.cpp.

References vpException::badValue, m_mapOfTrackers, and m_referenceCameraName.

◆ init()

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

overridevirtual

Initialise the tracking.

Parameters

I	: Input image.

Implements vpMbTracker.

Definition at line 1824 of file vpMbGenericTracker.cpp.

References vpHomogeneousMatrix::init(), vpMbTracker::m_cMo, m_mapOfCameraTransformationMatrix, and m_mapOfTrackers.

◆ initCircle()

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

overrideprotectedvirtual

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

Parameters

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

Implements vpMbTracker.

Definition at line 1834 of file vpMbGenericTracker.cpp.

References vpException::fatalError.

◆ initClick() [1/16]

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

virtual

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

The structure of this file is the following:

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

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

Parameters

mapOfImages	: Map of grayscale images.
mapOfInitFiles	: Map of files containing the points where to click for each camera.
displayHelp	: Optional display of an image 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. Supported image formats are .pgm, .ppm, .png, .jpeg.
mapOfT	: optional map of transformation matrices to transform 3D points in mapOfInitFiles expressed in the original object frame to the desired object frame (if the init points are expressed in the same object frame which should be the case most of the time, all the transformation matrices are identical).

Exceptions

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

Note: Image and init file must be supplied for the reference camera. The images for all the cameras must be supplied to correctly initialize the trackers but some init files can be omitted. In this case, they will be initialized using the pose computed from the reference camera pose and using the known geometric transformation between each camera (see setCameraTransformationMatrix()).

Definition at line 2024 of file vpMbGenericTracker.cpp.

References vpTrackingException::initializationError, vpMbTracker::m_cMo, m_mapOfCameraTransformationMatrix, m_mapOfTrackers, and m_referenceCameraName.

◆ initClick() [2/16]

void vpMbGenericTracker::initClick	(	const std::map< std::string, const vpImage< vpRGBa > * > &	mapOfColorImages,
		const std::map< std::string, std::string > &	mapOfInitFiles,
		bool	displayHelp = `false`,
		const std::map< std::string, vpHomogeneousMatrix > &	mapOfT = `std::map<std::string, vpHomogeneousMatrix>()`
	)

virtual

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

The structure of this file is the following:

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

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

Parameters

mapOfColorImages	: Map of color images.
mapOfInitFiles	: Map of files containing the points where to click for each camera.
displayHelp	: Optional display of an image 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. Supported image formats are .pgm, .ppm, .png, .jpeg.
mapOfT	: optional map of transformation matrices to transform 3D points in mapOfInitFiles expressed in the original object frame to the desired object frame (if the init points are expressed in the same object frame which should be the case most of the time, all the transformation matrices are identical).

Exceptions

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

Note: Image and init file must be supplied for the reference camera. The images for all the cameras must be supplied to correctly initialize the trackers but some init files can be omitted. In this case, they will be initialized using the pose computed from the reference camera pose and using the known geometric transformation between each camera (see setCameraTransformationMatrix()).

Definition at line 2129 of file vpMbGenericTracker.cpp.

References vpImageConvert::convert(), vpTrackingException::initializationError, vpMbTracker::m_cMo, vpMbTracker::m_I, m_mapOfCameraTransformationMatrix, m_mapOfTrackers, and m_referenceCameraName.

◆ initClick() [3/16]

void vpMbTracker::initClick

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

The structure of this file is the following:

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

Parameters

I	: Input grayscale image where the user has to click.
initFile	: File containing the coordinates of at least 4 3D points the user has to click in the image. This file should have .init extension (ie teabox.init).
displayHelp	: Optional display of an image (.ppm, .pgm, .jpg, .jpeg, .png) that should have the same generic name as the init file (ie teabox.ppm or teabox.png). This image may be used to show where to click. This functionality is only available if visp_io module is used.
T	: optional transformation matrix to transform 3D points expressed in the original object frame to the desired object frame.

Exceptions

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

Definition at line 430 of file vpMbTracker.cpp.

◆ initClick() [4/16]

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

virtualinherited

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

The structure of this file is the following:

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

Parameters

I	: Input grayscale image where the user has to click.
initFile	: File containing the coordinates of at least 4 3D points the user has to click in the image. This file should have .init extension (ie teabox.init).
displayHelp	: Optional display of an image (.ppm, .pgm, .jpg, .jpeg, .png) that should have the same generic name as the init file (ie teabox.ppm or teabox.png). This image may be used to show where to click. This functionality is only available if visp_io module is used.
T	: optional transformation matrix to transform 3D points expressed in the original object frame to the desired object frame.

Exceptions

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

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

Definition at line 595 of file vpMbTracker.cpp.

Referenced by vpMbTracker::initClick().

◆ initClick() [5/16]

void vpMbTracker::initClick

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 435 of file vpMbTracker.cpp.

◆ initClick() [6/16]

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 807 of file vpMbTracker.cpp.

References vpMbTracker::initClick().

◆ initClick() [7/16]

void vpMbGenericTracker::initClick	(	const vpImage< unsigned char > &	I1,
		const vpImage< unsigned char > &	I2,
		const std::string &	initFile1,
		const std::string &	initFile2,
		bool	displayHelp = `false`,
		const vpHomogeneousMatrix &	T1 = `vpHomogeneousMatrix()`,
		const vpHomogeneousMatrix &	T2 = `vpHomogeneousMatrix()`
	)

virtual

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

The structure of this file is the following:

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

Parameters

I1	: Input grayscale image for the first camera.
I2	: Input grayscale image for the second camera.
initFile1	: File containing the coordinates of at least 4 3D points the user has to click in the image acquired by the first camera. This file should have .init extension (ie teabox.init).
initFile2	: File containing the coordinates of at least 4 3D points the user has to click in the image acquired by the second camera. This file should have .init extension.
displayHelp	: Optional display of an image 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. Supported image formats are .pgm, .ppm, .png, .jpeg.
T1	: optional transformation matrix to transform 3D points in initFile1 expressed in the original object frame to the desired object frame.
T2	: optional transformation matrix to transform 3D points in initFile2 expressed in the original object frame to the desired object frame (T2==T1 if the init points are expressed in the same object frame which should be the case most of the time).

Exceptions

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

Note: This function assumes a stereo configuration of the generic tracker.

Examples: tutorial-detection-object-mbt.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-rgbd-realsense-json-settings.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, tutorial-mb-generic-tracker-rgbd-structure-core.cpp, tutorial-mb-generic-tracker-stereo-mono.cpp, tutorial-mb-generic-tracker-stereo.cpp, and tutorial-mb-generic-tracker.cpp.

Definition at line 1884 of file vpMbGenericTracker.cpp.

References vpTrackingException::initializationError, vpMbTracker::m_cMo, m_mapOfTrackers, and m_referenceCameraName.

◆ initClick() [8/16]

void vpMbTracker::initClick

Definition at line 849 of file vpMbTracker.cpp.

References vpException::ioError.

◆ initClick() [9/16]

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

protectedvirtualinherited

◆ initClick() [10/16]

void vpMbTracker::initClick

Definition at line 853 of file vpMbTracker.cpp.

◆ initClick() [11/16]

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

protectedvirtualinherited

◆ initClick() [12/16]

void vpMbTracker::initClick

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

The structure of this file is the following:

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

Parameters

I_color	: Input color image where the user has to click.
initFile	: File containing the coordinates of at least 4 3D points the user has to click in the image. This file should have .init extension (ie teabox.init).
displayHelp	: Optional display of an image (.ppm, .pgm, .jpg, .jpeg, .png) that should have the same generic name as the init file (ie teabox.ppm or teabox.png). This image may be used to show where to click. This functionality is only available if visp_io module is used.
T	: optional transformation matrix to transform 3D points expressed in the original object frame to the desired object frame.

Exceptions

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

Definition at line 432 of file vpMbTracker.cpp.

◆ initClick() [13/16]

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

virtualinherited

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

The structure of this file is the following:

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

Parameters

I_color	: Input color image where the user has to click.
initFile	: File containing the coordinates of at least 4 3D points the user has to click in the image. This file should have .init extension (ie teabox.init).
displayHelp	: Optional display of an image (.ppm, .pgm, .jpg, .jpeg, .png) that should have the same generic name as the init file (ie teabox.ppm or teabox.png). This image may be used to show where to click. This functionality is only available if visp_io module is used.
T	: optional transformation matrix to transform 3D points expressed in the original object frame to the desired object frame.

Exceptions

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

Definition at line 632 of file vpMbTracker.cpp.

References vpMbTracker::initClick().

◆ initClick() [14/16]

void vpMbTracker::initClick

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 437 of file vpMbTracker.cpp.

◆ initClick() [15/16]

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 824 of file vpMbTracker.cpp.

References vpMbTracker::initClick().

◆ initClick() [16/16]

void vpMbGenericTracker::initClick	(	const vpImage< vpRGBa > &	I_color1,
		const vpImage< vpRGBa > &	I_color2,
		const std::string &	initFile1,
		const std::string &	initFile2,
		bool	displayHelp = `false`,
		const vpHomogeneousMatrix &	T1 = `vpHomogeneousMatrix()`,
		const vpHomogeneousMatrix &	T2 = `vpHomogeneousMatrix()`
	)

virtual

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

The structure of this file is the following:

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

Parameters

I_color1	: Input color image for the first camera.
I_color2	: Input color image for the second camera.
initFile1	: File containing the coordinates of at least 4 3D points the user has to click in the image acquired by the first camera. This file should have .init extension (ie teabox.init).
initFile2	: File containing the coordinates of at least 4 3D points the user has to click in the image acquired by the second camera. This file should have .init extension.
displayHelp	: Optional display of an image 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. Supported image formats are .pgm, .ppm, .png, .jpeg.
T1	: optional transformation matrix to transform 3D points in initFile1 expressed in the original object frame to the desired object frame.
T2	: optional transformation matrix to transform 3D points in initFile2 expressed in the original object frame to the desired object frame (T2==T1 if the init points are expressed in the same object frame which should be the case most of the time).

Exceptions

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

Note: This function assumes a stereo configuration of the generic tracker.

Definition at line 1954 of file vpMbGenericTracker.cpp.

References vpTrackingException::initializationError, vpMbTracker::m_cMo, m_mapOfTrackers, and m_referenceCameraName.

◆ initCylinder()

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

overrideprotectedvirtual

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

Parameters

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

Implements vpMbTracker.

Definition at line 2193 of file vpMbGenericTracker.cpp.

References vpException::fatalError.

◆ initFaceFromCorners()

void vpMbGenericTracker::initFaceFromCorners ( vpMbtPolygon & polygon )

overrideprotectedvirtual

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

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

Parameters

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

Implements vpMbTracker.

Definition at line 2199 of file vpMbGenericTracker.cpp.

References vpException::fatalError.

◆ initFaceFromLines()

void vpMbGenericTracker::initFaceFromLines ( vpMbtPolygon & polygon )

overrideprotectedvirtual

Implements vpMbTracker.

Definition at line 2204 of file vpMbGenericTracker.cpp.

References vpException::fatalError.

◆ initFromPoints() [1/16]

void vpMbGenericTracker::initFromPoints	(	const std::map< std::string, const vpImage< unsigned char > * > &	mapOfImages,
		const std::map< std::string, std::string > &	mapOfInitPoints
	)

virtual

Definition at line 2331 of file vpMbGenericTracker.cpp.

References vpTrackingException::initializationError, vpMbTracker::m_cMo, m_mapOfCameraTransformationMatrix, m_mapOfTrackers, and m_referenceCameraName.

◆ initFromPoints() [2/16]

void vpMbGenericTracker::initFromPoints	(	const std::map< std::string, const vpImage< vpRGBa > * > &	mapOfColorImages,
		const std::map< std::string, std::string > &	mapOfInitPoints
	)

virtual

Definition at line 2385 of file vpMbGenericTracker.cpp.

References vpTrackingException::initializationError, vpMbTracker::m_cMo, m_mapOfCameraTransformationMatrix, m_mapOfTrackers, and m_referenceCameraName.

◆ initFromPoints() [3/16]

void vpMbTracker::initFromPoints

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 441 of file vpMbTracker.cpp.

◆ initFromPoints() [4/16]

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 985 of file vpMbTracker.cpp.

Referenced by vpMbTracker::initFromPoints().

◆ initFromPoints() [5/16]

void vpMbTracker::initFromPoints

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 444 of file vpMbTracker.cpp.

◆ initFromPoints() [6/16]

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 1059 of file vpMbTracker.cpp.

References vpMbTracker::initFromPoints().

◆ initFromPoints() [7/16]

void vpMbGenericTracker::initFromPoints	(	const vpImage< unsigned char > &	I1,
		const vpImage< unsigned char > &	I2,
		const std::string &	initFile1,
		const std::string &	initFile2
	)

virtual

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

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

Parameters

I1	: Input grayscale image for the first camera.
I2	: Input grayscale image for the second camera.
initFile1	: Path to the file containing all the points for the first camera.
initFile2	: Path to the file containing all the points for the second camera.

Note: This function assumes a stereo configuration of the generic tracker.

Definition at line 2238 of file vpMbGenericTracker.cpp.

References vpTrackingException::initializationError, vpMbTracker::m_cam, vpMbTracker::m_cMo, m_mapOfTrackers, and m_referenceCameraName.

◆ initFromPoints() [8/16]

void vpMbTracker::initFromPoints

Definition at line 857 of file vpMbTracker.cpp.

◆ initFromPoints() [9/16]

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

protectedvirtualinherited

Definition at line 831 of file vpMbTracker.cpp.

◆ initFromPoints() [10/16]

void vpMbTracker::initFromPoints

Definition at line 860 of file vpMbTracker.cpp.

◆ initFromPoints() [11/16]

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

protectedvirtualinherited

Definition at line 1019 of file vpMbTracker.cpp.

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

◆ initFromPoints() [12/16]

void vpMbTracker::initFromPoints

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 442 of file vpMbTracker.cpp.

◆ initFromPoints() [13/16]

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 1014 of file vpMbTracker.cpp.

References vpMbTracker::initFromPoints().

◆ initFromPoints() [14/16]

void vpMbTracker::initFromPoints

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 446 of file vpMbTracker.cpp.

◆ initFromPoints() [15/16]

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 1073 of file vpMbTracker.cpp.

References vpMbTracker::initFromPoints().

◆ initFromPoints() [16/16]

void vpMbGenericTracker::initFromPoints	(	const vpImage< vpRGBa > &	I_color1,
		const vpImage< vpRGBa > &	I_color2,
		const std::string &	initFile1,
		const std::string &	initFile2
	)

virtual

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

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

Parameters

I_color1	: Input color image for the first camera.
I_color2	: Input color image for the second camera.
initFile1	: Path to the file containing all the points for the first camera.
initFile2	: Path to the file containing all the points for the second camera.

Note: This function assumes a stereo configuration of the generic tracker.

Definition at line 2299 of file vpMbGenericTracker.cpp.

References vpTrackingException::initializationError, vpMbTracker::m_cam, vpMbTracker::m_cMo, m_mapOfTrackers, and m_referenceCameraName.

◆ initFromPose() [1/22]

void vpMbGenericTracker::initFromPose	(	const std::map< std::string, const vpImage< unsigned char > * > &	mapOfImages,
		const std::map< std::string, std::string > &	mapOfInitPoses
	)

virtual

Initialise the tracking thanks to the pose in vpPoseVector format, and read in the file initFile.

Parameters

mapOfImages	: Map of grayscale images.
mapOfInitPoses	: Map of init pose files.

Note: Image and init pose file must be supplied for the reference camera. The images for all the cameras must be supplied to correctly initialize the trackers but some init pose files can be omitted. In this case, they will be initialized using the pose computed from the reference camera pose and using the known geometric transformation between each camera (see setCameraTransformationMatrix()).

Definition at line 2544 of file vpMbGenericTracker.cpp.

References vpTrackingException::initializationError, vpMbTracker::m_cMo, m_mapOfCameraTransformationMatrix, m_mapOfTrackers, and m_referenceCameraName.

◆ initFromPose() [2/22]

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

virtual

Initialize the tracking thanks to the pose.

Parameters

mapOfImages	: Map of grayscale images.
mapOfCameraPoses	: Map of pose matrix.

Note: Image and camera pose must be supplied for the reference camera. The images for all the cameras must be supplied to correctly initialize the trackers but some camera poses can be omitted. In this case, they will be initialized using the pose computed from the reference camera pose and using the known geometric transformation between each camera (see setCameraTransformationMatrix()).

Definition at line 2736 of file vpMbGenericTracker.cpp.

References vpTrackingException::initializationError, vpMbTracker::m_cMo, m_mapOfCameraTransformationMatrix, m_mapOfTrackers, and m_referenceCameraName.

◆ initFromPose() [3/22]

void vpMbGenericTracker::initFromPose	(	const std::map< std::string, const vpImage< vpRGBa > * > &	mapOfColorImages,
		const std::map< std::string, std::string > &	mapOfInitPoses
	)

virtual

Initialise the tracking thanks to the pose in vpPoseVector format, and read in the file initFile.

Parameters

mapOfColorImages	: Map of color images.
mapOfInitPoses	: Map of init pose files.

Note: Image and init pose file must be supplied for the reference camera. The images for all the cameras must be supplied to correctly initialize the trackers but some init pose files can be omitted. In this case, they will be initialized using the pose computed from the reference camera pose and using the known geometric transformation between each camera (see setCameraTransformationMatrix()).

Definition at line 2612 of file vpMbGenericTracker.cpp.

References vpTrackingException::initializationError, vpMbTracker::m_cMo, m_mapOfCameraTransformationMatrix, m_mapOfTrackers, and m_referenceCameraName.

◆ initFromPose() [4/22]

void vpMbGenericTracker::initFromPose	(	const std::map< std::string, const vpImage< vpRGBa > * > &	mapOfColorImages,
		const std::map< std::string, vpHomogeneousMatrix > &	mapOfCameraPoses
	)

virtual

Initialize the tracking thanks to the pose.

Parameters

mapOfColorImages	: Map of color images.
mapOfCameraPoses	: Map of pose matrix.

Note: Image and camera pose must be supplied for the reference camera. The images for all the cameras must be supplied to correctly initialize the trackers but some camera poses can be omitted. In this case, they will be initialized using the pose computed from the reference camera pose and using the known geometric transformation between each camera (see setCameraTransformationMatrix()).

Definition at line 2803 of file vpMbGenericTracker.cpp.

References vpTrackingException::initializationError, vpMbTracker::m_cMo, m_mapOfCameraTransformationMatrix, m_mapOfTrackers, and m_referenceCameraName.

◆ initFromPose() [5/22]

void vpMbTracker::initFromPose

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

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

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

Parameters

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

Definition at line 449 of file vpMbTracker.cpp.

◆ initFromPose() [6/22]

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

virtualinherited

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

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

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

Parameters

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

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

Definition at line 1136 of file vpMbTracker.cpp.

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

◆ initFromPose() [7/22]

void vpMbTracker::initFromPose

Initialise the tracking thanks to the pose.

Parameters

I	: Input grayscale image
cMo	: Pose matrix.

Definition at line 452 of file vpMbTracker.cpp.

◆ initFromPose() [8/22]

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

overridevirtual

Initialise the tracking thanks to the pose.

Parameters

I	: Input grayscale image
cMo	: Pose matrix.

Reimplemented from vpMbTracker.

Examples: testGenericTracker.cpp, testGenericTrackerDepth.cpp, tutorial-mb-generic-tracker-apriltag-rs2.cpp, tutorial-mb-generic-tracker-apriltag-webcam.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, and tutorial-mb-generic-tracker-rgbd-structure-core.cpp.

Definition at line 2439 of file vpMbGenericTracker.cpp.

References vpMbTracker::initFromPose().

◆ initFromPose() [9/22]

void vpMbTracker::initFromPose

Initialise the tracking thanks to the pose vector.

Parameters

I	: Input grayscale image
cPo	: Pose vector.

Definition at line 455 of file vpMbTracker.cpp.

◆ initFromPose() [10/22]

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 1195 of file vpMbTracker.cpp.

References vpMbTracker::initFromPose().

◆ initFromPose() [11/22]

void vpMbGenericTracker::initFromPose	(	const vpImage< unsigned char > &	I1,
		const vpImage< unsigned char > &	I2,
		const std::string &	initFile1,
		const std::string &	initFile2
	)

virtual

Initialise the tracking thanks to the pose in vpPoseVector format, and read in the file initFile.

Parameters

I1	: Input grayscale image for the first camera.
I2	: Input grayscale image for the second camera.
initFile1	: Init pose file for the first camera.
initFile2	: Init pose file for the second camera.

Note: This function assumes a stereo configuration of the generic tracker.

Definition at line 2455 of file vpMbGenericTracker.cpp.

References vpTrackingException::initializationError, vpMbTracker::m_cam, vpMbTracker::m_cMo, m_mapOfTrackers, and m_referenceCameraName.

◆ initFromPose() [12/22]

void vpMbGenericTracker::initFromPose	(	const vpImage< unsigned char > &	I1,
		const vpImage< unsigned char > &	I2,
		const vpHomogeneousMatrix &	c1Mo,
		const vpHomogeneousMatrix &	c2Mo
	)

virtual

Initialize the tracking thanks to the pose.

Parameters

I1	: Input grayscale image for the first camera.
I2	: Input grayscale image for the second camera.
c1Mo	: Pose matrix for the first camera.
c2Mo	: Pose matrix for the second camera.

Note: This function assumes a stereo configuration of the generic tracker.

Definition at line 2675 of file vpMbGenericTracker.cpp.

References vpTrackingException::initializationError, vpMbTracker::m_cMo, and m_mapOfTrackers.

◆ initFromPose() [13/22]

void vpMbTracker::initFromPose

Definition at line 864 of file vpMbTracker.cpp.

◆ initFromPose() [14/22]

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

protectedvirtualinherited

Definition at line 1079 of file vpMbTracker.cpp.

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

◆ initFromPose() [15/22]

void vpMbTracker::initFromPose

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

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

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

Parameters

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

Definition at line 450 of file vpMbTracker.cpp.

◆ initFromPose() [16/22]

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

virtualinherited

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

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

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

Parameters

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

Definition at line 1159 of file vpMbTracker.cpp.

References vpMbTracker::initFromPose().

◆ initFromPose() [17/22]

void vpMbTracker::initFromPose

Initialise the tracking thanks to the pose.

Parameters

I_color	: Input color image
cMo	: Pose matrix.

Definition at line 453 of file vpMbTracker.cpp.

◆ initFromPose() [18/22]

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 1182 of file vpMbTracker.cpp.

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

◆ initFromPose() [19/22]

void vpMbTracker::initFromPose

Initialise the tracking thanks to the pose vector.

Parameters

I_color	: Input color image
cPo	: Pose vector.

Definition at line 456 of file vpMbTracker.cpp.

◆ initFromPose() [20/22]

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 1207 of file vpMbTracker.cpp.

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

◆ initFromPose() [21/22]

void vpMbGenericTracker::initFromPose	(	const vpImage< vpRGBa > &	I_color1,
		const vpImage< vpRGBa > &	I_color2,
		const std::string &	initFile1,
		const std::string &	initFile2
	)

virtual

Initialise the tracking thanks to the pose in vpPoseVector format, and read in the file initFile.

Parameters

I_color1	: Input color image for the first camera.
I_color2	: Input color image for the second camera.
initFile1	: Init pose file for the first camera.
initFile2	: Init pose file for the second camera.

Note: This function assumes a stereo configuration of the generic tracker.

Definition at line 2498 of file vpMbGenericTracker.cpp.

References vpTrackingException::initializationError, vpMbTracker::m_cam, vpMbTracker::m_cMo, m_mapOfTrackers, and m_referenceCameraName.

◆ initFromPose() [22/22]

void vpMbGenericTracker::initFromPose	(	const vpImage< vpRGBa > &	I_color1,
		const vpImage< vpRGBa > &	I_color2,
		const vpHomogeneousMatrix &	c1Mo,
		const vpHomogeneousMatrix &	c2Mo
	)

virtual

Initialize the tracking thanks to the pose.

Parameters

I_color1	: Input color image for the first camera.
I_color2	: Input color image for the second camera.
c1Mo	: Pose matrix for the first camera.
c2Mo	: Pose matrix for the second camera.

Note: This function assumes a stereo configuration of the generic tracker.

Definition at line 2704 of file vpMbGenericTracker.cpp.

References vpTrackingException::initializationError, vpMbTracker::m_cMo, and m_mapOfTrackers.

◆ 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 3411 of file vpMbTracker.cpp.

References vpMbTracker::addProjectionErrorCircle().

Referenced by vpMbTracker::loadCAOModel().

◆ initProjectionErrorCylinder()

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

protectedinherited

Definition at line 3417 of file vpMbTracker.cpp.

References vpMbTracker::addProjectionErrorCylinder().

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

◆ initProjectionErrorFaceFromCorners()

void vpMbTracker::initProjectionErrorFaceFromCorners ( vpMbtPolygon & polygon )

protectedinherited

Definition at line 3423 of file vpMbTracker.cpp.

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

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

◆ initProjectionErrorFaceFromLines()

void vpMbTracker::initProjectionErrorFaceFromLines ( vpMbtPolygon & polygon )

protectedinherited

Definition at line 3433 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::loadCAOModel().

◆ loadCAOModel()

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

protectedvirtualinherited

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

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

Since ViSP 2.9.1, circles are supported.

The structure of the file is :

V1
# Number of points describing the object
8
0.01 0.01 0.01  // point with index 0 \
...             // ...                 | coordinates of the points in the object frame (in m.)
0.01 0.01 0.01  // point with index 7 /
# Number of lines to track.
3
0 2 // line with index 0 \
1 4 //                    | Index of the points representing the extremitiesof the lines
1 5 // line with index 2 /
# Number of polygon (face) to track using the line previously described
1
3 0 1 2 // Face described as follow : nbLine indexLine1 indexLine2 ... indexLineN
# Number of polygon (face) to track using the points previously described
3
4 0 2 3 4 // Face described as follow : nbPoint IndexPoint1 IndexPoint2 ... IndexPointN
4 1 3 5 7 3 1 5 6
# Number of cylinder
1
6 7 0.05 // Index of the limits points on the axis (used to know the 'height' of the cylinder) and radius of the
cyclinder (in m.) # Number of circle
1
0.5 0 1 2 // radius, index center point, index 2 other points on the plane containing the circle

Parameters

modelFile	: Full name of the main *.cao file containing the model.
vectorOfModelFilename	: A vector of *.cao files.
startIdFace	: Current Id of the face.
verbose	: If true, will print additional information with CAO model files which include other CAO model files.
parent	: This parameter is set to true when parsing a parent CAO model file, and false when parsing an included CAO model file.
odTo	: optional transformation matrix (currently only for .cao) to transform 3D points expressed in the original object frame to the desired object frame.

Definition at line 1667 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::loadModel().

◆ loadConfigFile() [1/3]

void vpMbGenericTracker::loadConfigFile	(	const std::map< std::string, std::string > &	mapOfConfigFiles,
		bool	verbose = `true`
	)

virtual

Load the xml configuration files. From the configuration file initialize the parameters corresponding to the objects: tracking parameters, camera intrinsic parameters.

Exceptions

vpException::ioError if the file has not been properly parsed (file not found).

Parameters

mapOfConfigFiles	: Map of xml files.
verbose	: verbose flag.

Note: Configuration files must be supplied for all the cameras.

Definition at line 3114 of file vpMbGenericTracker.cpp.

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

◆ loadConfigFile() [2/3]

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

overridevirtual

Load the configuration file. This file can be in XML format(.xml) or in JSON (.json) if ViSP is compiled with the JSON option. From the configuration file initialize the parameters corresponding to the objects: tracking parameters, camera intrinsic parameters.

Exceptions

vpException::ioError if the file has not been properly parsed (file not found), or if it is of an unknown extension (not .xml or .json).

Parameters

configFile	: full name of the xml or json file.
verbose	: verbose flag. Ignored when parsing JSON

Reimplemented from vpMbTracker.

Examples: testGenericTracker.cpp, testGenericTrackerDepth.cpp, tutorial-detection-object-mbt.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-rgbd-realsense-json-settings.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, tutorial-mb-generic-tracker-rgbd-structure-core.cpp, tutorial-mb-generic-tracker-stereo-mono.cpp, and tutorial-mb-generic-tracker-stereo.cpp.

Definition at line 2867 of file vpMbGenericTracker.cpp.

References vpIoTools::getFileExtension(), vpException::ioError, loadConfigFileJSON(), and loadConfigFileXML().

◆ loadConfigFile() [3/3]

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

virtual

Load the xml configuration files. From the configuration file initialize the parameters corresponding to the objects: tracking parameters, camera intrinsic parameters.

Exceptions

vpException::ioError if the file has not been properly parsed (file not found).

Parameters

configFile1	: Full name of the xml file for the first camera.
configFile2	: Full name of the xml file for the second camera.
verbose	: verbose flag.

Note: This function assumes a stereo configuration of the generic tracker.

Definition at line 3077 of file vpMbGenericTracker.cpp.

References vpMbTracker::angleAppears, vpMbTracker::angleDisappears, vpMbTracker::clippingFlag, vpException::fatalError, vpMbTracker::m_cam, m_mapOfTrackers, and m_referenceCameraName.

◆ loadConfigFileJSON()

void vpMbGenericTracker::loadConfigFileJSON	(	const std::string &	settingsFile,
		bool	verbose = `true`
	)

protectedvirtual

Load tracker settings from a JSON configuration file. A single JSON settings file is a more complete description of the tracker than what is provided by XML loading. It may contain the full information regarding the different cameras and trackers that are used. Additionally, the user may supply path to the 3D model (.cao) to be loaded at the same time as the other tracker settings.

Exceptions

vpException::ioError if the file cannot be read, or if JSON parsiing fails.

Definition at line 2921 of file vpMbGenericTracker.cpp.

References vpMbTracker::angleAppears, vpMbTracker::angleDisappears, vpException::badValue, vpMbTracker::clippingFlag, vpMbTracker::displayFeatures, vpMbTracker::distFarClip, vpMbTracker::distNearClip, from_json, getCameraNames(), vpException::ioError, loadModel(), vpMbTracker::m_cam, m_mapOfCameraTransformationMatrix, m_mapOfTrackers, vpMbTracker::m_projectionErrorDisplay, m_referenceCameraName, vpException::notInitialized, setDisplayFeatures(), setOgreVisibilityTest(), setProjectionErrorDisplay(), setScanLineVisibilityTest(), vpMbTracker::useOgre, and vpMbTracker::useScanLine.

Referenced by loadConfigFile().

◆ loadConfigFileXML()

void vpMbGenericTracker::loadConfigFileXML	(	const std::string &	configFile,
		bool	verbose = `true`
	)

protectedvirtual

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

Exceptions

vpException::ioError if the file has not been properly parsed (file not found).

Parameters

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

Definition at line 2894 of file vpMbGenericTracker.cpp.

References vpMbTracker::angleAppears, vpMbTracker::angleDisappears, vpMbTracker::clippingFlag, vpException::fatalError, vpMbTracker::m_cam, m_mapOfTrackers, and m_referenceCameraName.

Referenced by loadConfigFile().

◆ loadModel() [1/3]

void vpMbGenericTracker::loadModel	(	const std::map< std::string, std::string > &	mapOfModelFiles,
		bool	verbose = `false`,
		const std::map< std::string, vpHomogeneousMatrix > &	mapOfT = `std::map<std::string, vpHomogeneousMatrix>()`
	)

virtual

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

Exceptions

vpException::ioError if the file cannot be open, or if its extension is not wrl or cao.

Parameters

mapOfModelFiles	: map of files containing 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.
mapOfT	: optional map of transformation matrices (currently only for .cao) to transform 3D points in mapOfModelFiles expressed in the original object frame to the desired object frame (if the models have the same object frame which should be the case most of the time, all the transformation matrices are identical).

Note: Each camera must have a model file.

Definition at line 3231 of file vpMbGenericTracker.cpp.

References vpTrackingException::initializationError, and m_mapOfTrackers.

◆ loadModel() [2/3]

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

overridevirtual

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

Exceptions

vpException::ioError if the file cannot be open, or if its extension is not wrl or cao.

Parameters

modelFile	: the file containing the 3D model description. The extension of this file is either .wrl or .cao.
verbose	: verbose option to print additional information when loading CAO model files which include other CAO model files.
T	: optional transformation matrix (currently only for .cao) to transform 3D points expressed in the original object frame to the desired object frame.

Note: All the trackers will use the same model in case of stereo / multiple cameras configuration.

Reimplemented from vpMbTracker.

Examples: testGenericTracker.cpp, testGenericTrackerDepth.cpp, tutorial-detection-object-mbt.cpp, tutorial-mb-generic-tracker-apriltag-rs2.cpp, tutorial-mb-generic-tracker-apriltag-webcam.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-rgbd-realsense-json-settings.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, tutorial-mb-generic-tracker-rgbd-structure-core.cpp, tutorial-mb-generic-tracker-stereo-mono.cpp, tutorial-mb-generic-tracker-stereo.cpp, and tutorial-mb-generic-tracker.cpp.

Definition at line 3165 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

Referenced by loadConfigFileJSON().

◆ loadModel() [3/3]

void vpMbGenericTracker::loadModel	(	const std::string &	modelFile1,
		const std::string &	modelFile2,
		bool	verbose = `false`,
		const vpHomogeneousMatrix &	T1 = `vpHomogeneousMatrix()`,
		const vpHomogeneousMatrix &	T2 = `vpHomogeneousMatrix()`
	)

virtual

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

Exceptions

vpException::ioError if the file cannot be open, or if its extension is not wrl or cao.

Parameters

modelFile1	: the file containing the 3D model description for the first camera. The extension of this file is either .wrl or .cao.
modelFile2	: the file containing the the 3D model description for the second camera. 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.
T1	: optional transformation matrix (currently only for .cao) to transform 3D points in modelFile1 expressed in the original object frame to the desired object frame.
T2	: optional transformation matrix (currently only for .cao) to transform 3D points in modelFile2 expressed in the original object frame to the desired object frame ( T2==T1 if the two models have the same object frame which should be the case most of the time).

Note: This function assumes a stereo configuration of the generic tracker.

Definition at line 3196 of file vpMbGenericTracker.cpp.

References vpException::fatalError, and m_mapOfTrackers.

◆ loadVRMLModel()

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

protectedvirtualinherited

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

Warning: The cylinders extracted using this method do not use the Cylinder keyword of vrml since vrml exporter such as Blender or AC3D consider a cylinder as an IndexedFaceSet. To test whether an indexedFaceSet is a cylinder or not, the name of the geometry is read. If the name begins with "cyl" then the faceset is supposed to be a cylinder. For example, the line
geometry DEF cyl_cylinder1 IndexedFaceSet

defines a cylinder named cyl_cylinder1.

Exceptions

vpException::fatalError if the file cannot be open.

Parameters

modelFile : The full name of the file containing the 3D model.

Definition at line 1502 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 1565 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::loadCAOModel().

◆ preTracking() [1/2]

void vpMbGenericTracker::preTracking	(	std::map< std::string, const vpImage< unsigned char > * > &	mapOfImages,
		std::map< std::string, const std::vector< vpColVector > * > &	mapOfPointClouds,
		std::map< std::string, unsigned int > &	mapOfPointCloudWidths,
		std::map< std::string, unsigned int > &	mapOfPointCloudHeights
	)

protectedvirtual

Definition at line 3266 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ preTracking() [2/2]

void vpMbGenericTracker::preTracking	(	std::map< std::string, const vpImage< unsigned char > * > &	mapOfImages,
		std::map< std::string, pcl::PointCloud< pcl::PointXYZ >::ConstPtr > &	mapOfPointClouds
	)

protectedvirtual

Definition at line 3255 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

Referenced by track().

◆ projectionErrorInitMovingEdge()

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

protectedinherited

Definition at line 3656 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::computeProjectionErrorImpl().

◆ projectionErrorResetMovingEdges()

void vpMbTracker::projectionErrorResetMovingEdges ( )

protectedinherited

Definition at line 3614 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::computeProjectionErrorImpl().

◆ projectionErrorVisibleFace()

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

protectedinherited

Definition at line 3595 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::computeProjectionErrorImpl().

◆ reInitModel() [1/6]

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

virtual

Re-initialize the model used by the tracker.

Parameters

mapOfImages	: Map of grayscale images.
mapOfModelFiles	: Map of model files.
mapOfCameraPoses	: The new vpHomogeneousMatrix between the cameras and the current object position.
verbose	: Verbose option to print additional information when loading CAO model files which include other CAO model files.
mapOfT	: optional map of transformation matrices (currently only for .cao) to transform 3D points in mapOfModelFiles expressed in the original object frame to the desired object frame (if the models have the same object frame which should be the case most of the time, all the transformation matrices are identical).

Definition at line 3455 of file vpMbGenericTracker.cpp.

References vpTrackingException::fatalError, vpMbTracker::m_cMo, m_mapOfCameraTransformationMatrix, m_mapOfTrackers, m_referenceCameraName, and vpMbTracker::modelInitialised.

◆ reInitModel() [2/6]

void vpMbGenericTracker::reInitModel	(	const std::map< std::string, const vpImage< vpRGBa > * > &	mapOfColorImages,
		const std::map< std::string, std::string > &	mapOfModelFiles,
		const std::map< std::string, vpHomogeneousMatrix > &	mapOfCameraPoses,
		bool	verbose = `false`,
		const std::map< std::string, vpHomogeneousMatrix > &	mapOfT = `std::map<std::string, vpHomogeneousMatrix>()`
	)

virtual

Re-initialize the model used by the tracker.

Parameters

mapOfColorImages	: Map of color images.
mapOfModelFiles	: Map of model files.
mapOfCameraPoses	: The new vpHomogeneousMatrix between the cameras and the current object position.
verbose	: Verbose option to print additional information when loading CAO model files which include other CAO model files.
mapOfT	: optional map of transformation matrices (currently only for .cao) to transform 3D points in mapOfModelFiles expressed in the original object frame to the desired object frame (if the models have the same object frame which should be the case most of the time, all the transformation matrices are identical).

Definition at line 3530 of file vpMbGenericTracker.cpp.

References vpTrackingException::fatalError, vpMbTracker::m_cMo, m_mapOfCameraTransformationMatrix, m_mapOfTrackers, m_referenceCameraName, and vpMbTracker::modelInitialised.

◆ reInitModel() [3/6]

void vpMbGenericTracker::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 grayscale 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).

Definition at line 3290 of file vpMbGenericTracker.cpp.

References vpTrackingException::fatalError, vpMbTracker::m_cMo, m_mapOfTrackers, m_referenceCameraName, and vpMbTracker::modelInitialised.

◆ reInitModel() [4/6]

void vpMbGenericTracker::reInitModel	(	const vpImage< unsigned char > &	I1,
		const vpImage< unsigned char > &	I2,
		const std::string &	cad_name1,
		const std::string &	cad_name2,
		const vpHomogeneousMatrix &	c1Mo,
		const vpHomogeneousMatrix &	c2Mo,
		bool	verbose = `false`,
		const vpHomogeneousMatrix &	T1 = `vpHomogeneousMatrix()`,
		const vpHomogeneousMatrix &	T2 = `vpHomogeneousMatrix()`
	)

virtual

Re-initialize the model used by the tracker.

Parameters

I1	: The grayscale image containing the object to initialize for the first camera.
I2	: The grayscale image containing the object to initialize for the second camera.
cad_name1	: Path to the file containing the 3D model description for the first camera.
cad_name2	: Path to the file containing the 3D model description for the second camera.
c1Mo	: The new vpHomogeneousMatrix between the first camera and the new model.
c2Mo	: The new vpHomogeneousMatrix between the second camera and the new model.
verbose	: verbose option to print additional information when loading CAO model files which include other CAO model files.
T1	: optional transformation matrix (currently only for .cao) to transform 3D points in cad_name1 expressed in the original object frame to the desired object frame.
T2	: optional transformation matrix (currently only for .cao) to transform 3D points in cad_name2 expressed in the original object frame to the desired object frame ( T2==T1 if the two models have the same object frame which should be the case most of the time).

Note: This function assumes a stereo configuration of the generic tracker.

Definition at line 3367 of file vpMbGenericTracker.cpp.

References vpTrackingException::fatalError, vpMbTracker::m_cMo, m_mapOfTrackers, m_referenceCameraName, and vpMbTracker::modelInitialised.

◆ reInitModel() [5/6]

void vpMbGenericTracker::reInitModel	(	const vpImage< vpRGBa > &	I_color,
		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_color	: The color 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).

Definition at line 3324 of file vpMbGenericTracker.cpp.

References vpTrackingException::fatalError, vpMbTracker::m_cMo, m_mapOfTrackers, m_referenceCameraName, and vpMbTracker::modelInitialised.

◆ reInitModel() [6/6]

void vpMbGenericTracker::reInitModel	(	const vpImage< vpRGBa > &	I_color1,
		const vpImage< vpRGBa > &	I_color2,
		const std::string &	cad_name1,
		const std::string &	cad_name2,
		const vpHomogeneousMatrix &	c1Mo,
		const vpHomogeneousMatrix &	c2Mo,
		bool	verbose = `false`,
		const vpHomogeneousMatrix &	T1 = `vpHomogeneousMatrix()`,
		const vpHomogeneousMatrix &	T2 = `vpHomogeneousMatrix()`
	)

virtual

Re-initialize the model used by the tracker.

Parameters

I_color1	: The color image containing the object to initialize for the first camera.
I_color2	: The color image containing the object to initialize for the second camera.
cad_name1	: Path to the file containing the 3D model description for the first camera.
cad_name2	: Path to the file containing the 3D model description for the second camera.
c1Mo	: The new vpHomogeneousMatrix between the first camera and the new model.
c2Mo	: The new vpHomogeneousMatrix between the second camera and the new model.
verbose	: verbose option to print additional information when loading CAO model files which include other CAO model files.
T1	: optional transformation matrix (currently only for .cao) to transform 3D points in cad_name1 expressed in the original object frame to the desired object frame.
T2	: optional transformation matrix (currently only for .cao) to transform 3D points in cad_name2 expressed in the original object frame to the desired object frame ( T2==T1 if the two models have the same object frame which should be the case most of the time).

Note: This function assumes a stereo configuration of the generic tracker.

Definition at line 3414 of file vpMbGenericTracker.cpp.

References vpTrackingException::fatalError, vpMbTracker::m_cMo, m_mapOfTrackers, m_referenceCameraName, and vpMbTracker::modelInitialised.

◆ removeComment()

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

protectedinherited

Definition at line 1550 of file vpMbTracker.cpp.

References vpException::ioError.

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

◆ resetTracker()

void vpMbGenericTracker::resetTracker ( )

overridevirtual

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.

Definition at line 3595 of file vpMbGenericTracker.cpp.

References vpMbTracker::angleAppears, vpMbTracker::angleDisappears, vpMbTracker::clippingFlag, DEPTH_DENSE_TRACKER, DEPTH_NORMAL_TRACKER, vpMbTracker::distFarClip, vpMbTracker::distNearClip, EDGE_TRACKER, vpHomogeneousMatrix::eye(), vpMbTracker::GAUSS_NEWTON_OPT, KLT_TRACKER, vpMbTracker::m_cMo, vpMbTracker::m_computeInteraction, vpMbTracker::m_initialMu, vpMbTracker::m_lambda, m_mapOfFeatureFactors, m_mapOfTrackers, vpMbTracker::m_maxIter, vpMbTracker::m_optimizationMethod, m_percentageGdPt, vpMbTracker::m_stopCriteriaEpsilon, m_thresholdOutlier, vpPolygon3D::NO_CLIPPING, vpMath::rad(), vpMbTracker::useOgre, and vpMbTracker::useScanLine.

◆ samePoint()

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

protectedinherited

Check if two vpPoints are similar.

To be similar : .

Parameters

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

Definition at line 3114 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().

◆ saveConfigFile()

void vpMbGenericTracker::saveConfigFile ( const std::string & settingsFile ) const

virtual

Save the current tracker settings to a configuration file. This configuration does not include the model path, only the different tracker and camera parameters. As of now, only saving to a JSON file is supported.

Parameters

settingsFile : name of the file in which to save the tracker settings.

Definition at line 3035 of file vpMbGenericTracker.cpp.

References vpException::ioError, m_mapOfCameraTransformationMatrix, m_mapOfTrackers, and m_referenceCameraName.

◆ 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 1219 of file vpMbTracker.cpp.

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

◆ setAngleAppear() [1/3]

void vpMbGenericTracker::setAngleAppear ( const double & a )

overridevirtual

Set the angle used to test polygons appearance. If the angle between the normal of the polygon and the line going from the camera to the polygon center has a value lower than this parameter, the polygon is considered as appearing. The polygon will then be tracked.

Parameters

a	: new angle in radian.

Reimplemented from vpMbTracker.

Examples: testGenericTracker.cpp, testGenericTrackerDepth.cpp, tutorial-detection-object-mbt.cpp, tutorial-mb-generic-tracker-apriltag-rs2.cpp, tutorial-mb-generic-tracker-apriltag-webcam.cpp, and tutorial-mb-generic-tracker-full.cpp.

Definition at line 3651 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and vpMbTracker::setAngleAppear().

◆ setAngleAppear() [2/3]

void vpMbGenericTracker::setAngleAppear	(	const double &	a1,
		const double &	a2
	)

virtual

Set the angle used to test polygons appearance. If the angle between the normal of the polygon and the line going from the camera to the polygon center has a value lower than this parameter, the polygon is considered as appearing. The polygon will then be tracked.

Parameters

a1	: new angle in radian for the first camera.
a2	: new angle in radian for the second camera.

Note: This function assumes a stereo configuration of the generic tracker.

Definition at line 3674 of file vpMbGenericTracker.cpp.

References vpMbTracker::angleAppears, vpTrackingException::fatalError, m_mapOfTrackers, and m_referenceCameraName.

◆ setAngleAppear() [3/3]

void vpMbGenericTracker::setAngleAppear ( const std::map< std::string, double > & mapOfAngles )

virtual

Set the angle used to test polygons appearance. If the angle between the normal of the polygon and the line going from the camera to the polygon center has a value lower than this parameter, the polygon is considered as appearing. The polygon will then be tracked.

Parameters

mapOfAngles : Map of new angles in radian.

Definition at line 3706 of file vpMbGenericTracker.cpp.

References vpMbTracker::angleAppears, m_mapOfTrackers, and m_referenceCameraName.

◆ setAngleDisappear() [1/3]

void vpMbGenericTracker::setAngleDisappear ( const double & a )

overridevirtual

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

Parameters

a	: new angle in radian.

Reimplemented from vpMbTracker.

Examples: testGenericTracker.cpp, testGenericTrackerDepth.cpp, tutorial-detection-object-mbt.cpp, tutorial-mb-generic-tracker-apriltag-rs2.cpp, tutorial-mb-generic-tracker-apriltag-webcam.cpp, and tutorial-mb-generic-tracker-full.cpp.

Definition at line 3731 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and vpMbTracker::setAngleDisappear().

◆ setAngleDisappear() [2/3]

void vpMbGenericTracker::setAngleDisappear	(	const double &	a1,
		const double &	a2
	)

virtual

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

Parameters

a1	: new angle in radian for the first camera.
a2	: new angle in radian for the second camera.

Note: This function assumes a stereo configuration of the generic tracker.

Definition at line 3754 of file vpMbGenericTracker.cpp.

References vpMbTracker::angleDisappears, vpTrackingException::fatalError, m_mapOfTrackers, and m_referenceCameraName.

◆ setAngleDisappear() [3/3]

void vpMbGenericTracker::setAngleDisappear ( const std::map< std::string, double > & mapOfAngles )

virtual

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

Parameters

mapOfAngles : Map of new angles in radian.

Definition at line 3786 of file vpMbGenericTracker.cpp.

References vpMbTracker::angleDisappears, m_mapOfTrackers, and m_referenceCameraName.

◆ setCameraParameters() [1/3]

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

virtual

Set the camera parameters.

Parameters

mapOfCameraParameters : map of new camera parameters.

Note: This function will set the camera parameters only for the supplied camera names.

Definition at line 3857 of file vpMbGenericTracker.cpp.

References vpMbTracker::m_cam, m_mapOfTrackers, and m_referenceCameraName.

◆ setCameraParameters() [2/3]

void vpMbGenericTracker::setCameraParameters ( const vpCameraParameters & camera )

overridevirtual

Set the camera parameters.

Parameters

camera : the new camera parameters.

Reimplemented from vpMbTracker.

Examples: testGenericTracker.cpp, testGenericTrackerDepth.cpp, tutorial-detection-object-mbt.cpp, tutorial-mb-generic-tracker-apriltag-rs2.cpp, tutorial-mb-generic-tracker-apriltag-webcam.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-rgbd-realsense-json-settings.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, tutorial-mb-generic-tracker-rgbd-structure-core.cpp, tutorial-mb-generic-tracker-stereo-mono.cpp, and tutorial-mb-generic-tracker.cpp.

Definition at line 3807 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and vpMbTracker::setCameraParameters().

◆ setCameraParameters() [3/3]

void vpMbGenericTracker::setCameraParameters	(	const vpCameraParameters &	camera1,
		const vpCameraParameters &	camera2
	)

virtual

Set the camera parameters.

Parameters

camera1	: the new camera parameters for the first camera.
camera2	: the new camera parameters for the second camera.

Note: This function assumes a stereo configuration of the generic tracker.

Definition at line 3826 of file vpMbGenericTracker.cpp.

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

◆ setCameraTransformationMatrix() [1/2]

void vpMbGenericTracker::setCameraTransformationMatrix ( const std::map< std::string, vpHomogeneousMatrix > & mapOfTransformationMatrix )

virtual

Set the map of camera transformation matrices ( $_{}^{c_1}\textrm{M}_{c_1}, _{}^{c_2}\textrm{M}_{c_1}, _{}^{c_3}\textrm{M}_{c_1}, \cdots, _{}^{c_n}\textrm{M}_{c_1}$ ).

Parameters

mapOfTransformationMatrix : map of camera transformation matrices.

Definition at line 3902 of file vpMbGenericTracker.cpp.

References m_mapOfCameraTransformationMatrix.

◆ setCameraTransformationMatrix() [2/2]

void vpMbGenericTracker::setCameraTransformationMatrix	(	const std::string &	cameraName,
		const vpHomogeneousMatrix &	cameraTransformationMatrix
	)

virtual

Set the camera transformation matrix for the specified camera ( $_{}^{c_{current}}\textrm{M}_{c_{reference}}$ ).

Parameters

cameraName	: Camera name.
cameraTransformationMatrix	: Camera transformation matrix between the current and the reference camera.

Examples: testGenericTracker.cpp, tutorial-mb-generic-tracker-apriltag-rs2.cpp, tutorial-mb-generic-tracker-rgbd-realsense-json-settings.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, tutorial-mb-generic-tracker-rgbd-structure-core.cpp, and tutorial-mb-generic-tracker-stereo.cpp.

Definition at line 3882 of file vpMbGenericTracker.cpp.

References vpTrackingException::fatalError, and m_mapOfCameraTransformationMatrix.

◆ setClipping() [1/3]

void vpMbGenericTracker::setClipping ( const std::map< std::string, unsigned int > & mapOfClippingFlags )

virtual

Specify which clipping to use.

See also: vpMbtPolygonClipping

Parameters

mapOfClippingFlags : Map of new clipping flags.

Definition at line 3977 of file vpMbGenericTracker.cpp.

References vpMbTracker::clippingFlag, m_mapOfTrackers, and m_referenceCameraName.

◆ setClipping() [2/3]

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

overridevirtual

Specify which clipping to use.

See also: vpMbtPolygonClipping

Parameters

flags : New clipping flags.

Note: This function will set the new parameter for all the cameras.

Reimplemented from vpMbTracker.

Examples: testGenericTracker.cpp, testGenericTrackerDepth.cpp, tutorial-detection-object-mbt.cpp, and tutorial-mb-generic-tracker-full.cpp.

Definition at line 3925 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and vpMbTracker::setClipping().

◆ setClipping() [3/3]

void vpMbGenericTracker::setClipping	(	const unsigned int &	flags1,
		const unsigned int &	flags2
	)

virtual

Specify which clipping to use.

See also: vpMbtPolygonClipping

Parameters

flags1	: New clipping flags for the first camera.
flags2	: New clipping flags for the second camera.

Note: This function assumes a stereo configuration of the generic tracker.

Definition at line 3946 of file vpMbGenericTracker.cpp.

References vpMbTracker::clippingFlag, vpTrackingException::fatalError, m_mapOfTrackers, and m_referenceCameraName.

◆ setCovarianceComputation()

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

inlinevirtualinherited

Set if the covariance matrix has to be computed.

Parameters

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

See also: getCovarianceMatrix()

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

Definition at line 500 of file vpMbTracker.h.

◆ setDepthDenseFilteringMaxDistance()

void vpMbGenericTracker::setDepthDenseFilteringMaxDistance ( double maxDistance )

virtual

Set maximum distance to consider a face. You should use the maximum depth range of the sensor used.

Parameters

maxDistance : Maximum distance to the face.

See also: setDepthDenseFilteringMethod

Note: This function will set the new parameter for all the cameras.

Definition at line 4003 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ setDepthDenseFilteringMethod()

void vpMbGenericTracker::setDepthDenseFilteringMethod ( int method )

virtual

Set method to discard a face, e.g.if outside of the depth range.

Parameters

method : Depth dense filtering method.

See also: vpMbtFaceDepthDense::vpDepthDenseFilteringType

Note: This function will set the new parameter for all the cameras.

Definition at line 4020 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ setDepthDenseFilteringMinDistance()

void vpMbGenericTracker::setDepthDenseFilteringMinDistance ( double minDistance )

virtual

Set minimum distance to consider a face. You should use the minimum depth range of the sensor used.

Parameters

minDistance : Minimum distance to the face.

See also: setDepthDenseFilteringMethod

Note: This function will set the new parameter for all the cameras.

Definition at line 4038 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ setDepthDenseFilteringOccupancyRatio()

void vpMbGenericTracker::setDepthDenseFilteringOccupancyRatio ( double occupancyRatio )

virtual

Set depth occupancy ratio to consider a face, used to discard faces where the depth map is not well reconstructed.

Parameters

occupancyRatio : Occupancy ratio, between [0 ; 1].

See also: setDepthDenseFilteringMethod

Note: This function will set the new parameter for all the cameras.

Definition at line 4056 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ setDepthDenseSamplingStep()

void vpMbGenericTracker::setDepthDenseSamplingStep	(	unsigned int	stepX,
		unsigned int	stepY
	)

virtual

Set depth dense sampling step.

Parameters

stepX	: Sampling step in x-direction.
stepY	: Sampling step in y-direction.

Note: This function will set the new parameter for all the cameras.

Examples: testGenericTracker.cpp, and testGenericTrackerDepth.cpp.

Definition at line 4073 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ setDepthNormalFaceCentroidMethod()

void vpMbGenericTracker::setDepthNormalFaceCentroidMethod ( const vpMbtFaceDepthNormal::vpFaceCentroidType & method )

virtual

Set method to compute the centroid for display for depth tracker.

Parameters

method : Centroid computation method.

Note: This function will set the new parameter for all the cameras.

Definition at line 4089 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ setDepthNormalFeatureEstimationMethod()

void vpMbGenericTracker::setDepthNormalFeatureEstimationMethod ( const vpMbtFaceDepthNormal::vpFeatureEstimationType & method )

virtual

Set depth feature estimation method.

Parameters

method : Depth feature estimation method.

Note: This function will set the new parameter for all the cameras.

Examples: testGenericTracker.cpp, and testGenericTrackerDepth.cpp.

Definition at line 4105 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ setDepthNormalPclPlaneEstimationMethod()

void vpMbGenericTracker::setDepthNormalPclPlaneEstimationMethod ( int method )

virtual

Set depth PCL plane estimation method.

Parameters

method : Depth PCL plane estimation method.

Note: This function will set the new parameter for all the cameras.

Examples: testGenericTracker.cpp, and testGenericTrackerDepth.cpp.

Definition at line 4122 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ setDepthNormalPclPlaneEstimationRansacMaxIter()

void vpMbGenericTracker::setDepthNormalPclPlaneEstimationRansacMaxIter ( int maxIter )

virtual

Set depth PCL RANSAC maximum number of iterations.

Parameters

maxIter : Depth PCL RANSAC maximum number of iterations.

Note: This function will set the new parameter for all the cameras.

Examples: testGenericTracker.cpp, and testGenericTrackerDepth.cpp.

Definition at line 4138 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ setDepthNormalPclPlaneEstimationRansacThreshold()

void vpMbGenericTracker::setDepthNormalPclPlaneEstimationRansacThreshold ( double thresold )

virtual

Set depth PCL RANSAC threshold.

Parameters

thresold : Depth PCL RANSAC threshold.

Note: This function will set the new parameter for all the cameras.

Examples: testGenericTracker.cpp, and testGenericTrackerDepth.cpp.

Definition at line 4154 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ setDepthNormalSamplingStep()

void vpMbGenericTracker::setDepthNormalSamplingStep	(	unsigned int	stepX,
		unsigned int	stepY
	)

virtual

Set depth sampling step.

Parameters

stepX	: Sampling step in x-direction.
stepY	: Sampling step in y-direction.

Note: This function will set the new parameter for all the cameras.

Examples: testGenericTracker.cpp, and testGenericTrackerDepth.cpp.

Definition at line 4171 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ setDisplayFeatures()

void vpMbGenericTracker::setDisplayFeatures ( bool displayF )

overridevirtual

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.

Note: This function will set the new parameter for all the cameras.

Reimplemented from vpMbTracker.

Examples: testGenericTracker.cpp, testGenericTrackerDepth.cpp, tutorial-detection-object-mbt.cpp, tutorial-mb-generic-tracker-apriltag-rs2.cpp, tutorial-mb-generic-tracker-apriltag-webcam.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-rgbd-realsense-json-settings.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, tutorial-mb-generic-tracker-rgbd-structure-core.cpp, tutorial-mb-generic-tracker-stereo-mono.cpp, tutorial-mb-generic-tracker-stereo.cpp, and tutorial-mb-generic-tracker.cpp.

Definition at line 4198 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and vpMbTracker::setDisplayFeatures().

Referenced by loadConfigFileJSON().

◆ 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 correspondence between the index of the vector and the considered dof:

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

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

Definition at line 2998 of file vpMbTracker.cpp.

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

◆ setFarClippingDistance() [1/3]

void vpMbGenericTracker::setFarClippingDistance ( const double & dist )

overridevirtual

Set the far distance for clipping.

Parameters

dist	: Far clipping value.

Note: This function will set the new parameter for all the cameras.

Reimplemented from vpMbTracker.

Examples: testGenericTracker.cpp, testGenericTrackerDepth.cpp, tutorial-detection-object-mbt.cpp, and tutorial-mb-generic-tracker-full.cpp.

Definition at line 4216 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and vpMbTracker::setFarClippingDistance().

◆ setFarClippingDistance() [2/3]

void vpMbGenericTracker::setFarClippingDistance	(	const double &	dist1,
		const double &	dist2
	)

virtual

Set the far distance for clipping.

Parameters

dist1	: Far clipping value for the first camera.
dist2	: Far clipping value for the second camera.

Note: This function assumes a stereo configuration of the generic tracker.

Definition at line 4235 of file vpMbGenericTracker.cpp.

References vpMbTracker::distFarClip, vpTrackingException::fatalError, m_mapOfTrackers, and m_referenceCameraName.

◆ setFarClippingDistance() [3/3]

void vpMbGenericTracker::setFarClippingDistance ( const std::map< std::string, double > & mapOfClippingDists )

virtual

Set the far distance for clipping.

Parameters

mapOfClippingDists : Map of far clipping values.

Definition at line 4263 of file vpMbGenericTracker.cpp.

References vpMbTracker::distFarClip, m_mapOfTrackers, and m_referenceCameraName.

◆ setFeatureFactors()

void vpMbGenericTracker::setFeatureFactors ( const std::map< vpTrackerType, double > & mapOfFeatureFactors )

virtual

Set the feature factors used in the VVS stage (ponderation between the feature types).

Parameters

mapOfFeatureFactors : Map of feature factors.

Definition at line 4286 of file vpMbGenericTracker.cpp.

References m_mapOfFeatureFactors.

◆ setGoodMovingEdgesRatioThreshold()

void vpMbGenericTracker::setGoodMovingEdgesRatioThreshold ( double threshold )

virtual

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()

Note: This function will set the new parameter for all the cameras.

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

Definition at line 4312 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_percentageGdPt.

◆ setGoodNbRayCastingAttemptsRatio()

void vpMbGenericTracker::setGoodNbRayCastingAttemptsRatio ( const double & ratio )

virtual

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

See also: setNbRayCastingAttemptsForVisibility(const unsigned int &)

Parameters

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

Note: This function will set the new parameter for all the cameras.

Reimplemented from vpMbTracker.

Definition at line 4335 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ setInitialMu()

virtual void vpMbTracker::setInitialMu ( double mu )

inlinevirtualinherited

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

Parameters

mu	: initial mu.

Definition at line 529 of file vpMbTracker.h.

◆ setKltMaskBorder() [1/3]

void vpMbGenericTracker::setKltMaskBorder ( const std::map< std::string, unsigned int > & mapOfErosions )

virtual

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

Parameters

mapOfErosions : Map of desired erosions.

Definition at line 4508 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ setKltMaskBorder() [2/3]

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

virtual

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

Parameters

e	: The desired erosion.

Note: This function will set the new parameter for all the cameras.

Examples: testGenericTracker.cpp, testGenericTrackerDepth.cpp, tutorial-mb-generic-tracker-apriltag-rs2.cpp, tutorial-mb-generic-tracker-apriltag-webcam.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-stereo-mono.cpp, and tutorial-mb-generic-tracker.cpp.

Definition at line 4470 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ setKltMaskBorder() [3/3]

void vpMbGenericTracker::setKltMaskBorder	(	const unsigned int &	e1,
		const unsigned int &	e2
	)

virtual

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

Parameters

e1	: The desired erosion for the first camera.
e2	: The desired erosion for the second camera.

Note: This function assumes a stereo configuration of the generic tracker.

Definition at line 4487 of file vpMbGenericTracker.cpp.

References vpTrackingException::fatalError, and m_mapOfTrackers.

◆ setKltOpencv() [1/3]

void vpMbGenericTracker::setKltOpencv ( const std::map< std::string, vpKltOpencv > & mapOfKlts )

virtual

Set the new value of the klt tracker.

Parameters

mapOfKlts : Map of klt tracker containing the new values.

Definition at line 4410 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ setKltOpencv() [2/3]

void vpMbGenericTracker::setKltOpencv ( const vpKltOpencv & t )

virtual

Set the new value of the klt tracker.

Parameters

t	: Klt tracker containing the new values.

Note: This function will set the new parameter for all the cameras.

Examples: testGenericTracker.cpp, tutorial-mb-generic-tracker-apriltag-rs2.cpp, tutorial-mb-generic-tracker-apriltag-webcam.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-stereo-mono.cpp, and tutorial-mb-generic-tracker.cpp.

Definition at line 4373 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ setKltOpencv() [3/3]

void vpMbGenericTracker::setKltOpencv	(	const vpKltOpencv &	t1,
		const vpKltOpencv &	t2
	)

virtual

Set the new value of the klt tracker.

Parameters

t1	: Klt tracker containing the new values for the first camera.
t2	: Klt tracker containing the new values for the second camera.

Note: This function assumes a stereo configuration of the generic tracker.

Definition at line 4390 of file vpMbGenericTracker.cpp.

References vpTrackingException::fatalError, and m_mapOfTrackers.

◆ setKltThresholdAcceptation()

void vpMbGenericTracker::setKltThresholdAcceptation ( double th )

virtual

Set the threshold for the acceptation of a point.

Parameters

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

Note: This function will set the new parameter for all the cameras.

Definition at line 4429 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_thresholdOutlier.

◆ setLambda()

virtual void vpMbTracker::setLambda ( double gain )

inlinevirtualinherited

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

Parameters

gain	: the desired value for the gain.

Definition at line 536 of file vpMbTracker.h.

◆ setLod()

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

overridevirtual

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()

Note: This function will set the new parameter for all the cameras.

Reimplemented from vpMbTracker.

Definition at line 4453 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ setMask()

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

overridevirtual

Set the visibility mask.

Parameters

mask	: visibility mask.

Reimplemented from vpMbTracker.

Examples: testGenericTracker.cpp, and testGenericTrackerDepth.cpp.

Definition at line 4527 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and vpMbTracker::setMask().

◆ setMaxIter()

virtual void vpMbTracker::setMaxIter ( unsigned int max )

inlinevirtualinherited

Set the maximum iteration of the virtual visual servoing stage.

Parameters

max	: the desired number of iteration

Definition at line 545 of file vpMbTracker.h.

◆ setMinLineLengthThresh()

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

overridevirtual

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()

Note: This function will set the new parameter for all the cameras.

Reimplemented from vpMbTracker.

Definition at line 4549 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ setMinPolygonAreaThresh()

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

overridevirtual

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()

Note: This function will set the new parameter for all the cameras.

Reimplemented from vpMbTracker.

Definition at line 4568 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ setMovingEdge() [1/3]

void vpMbGenericTracker::setMovingEdge ( const std::map< std::string, vpMe > & mapOfMe )

virtual

Set the moving edge parameters.

Parameters

mapOfMe : Map of vpMe containing all the desired parameters.

Definition at line 4623 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ setMovingEdge() [2/3]

void vpMbGenericTracker::setMovingEdge ( const vpMe & me )

virtual

Set the moving edge parameters.

Parameters

me	: an instance of vpMe containing all the desired parameters.

Note: This function will set the new parameter for all the cameras.

Examples: testGenericTracker.cpp, tutorial-detection-object-mbt.cpp, tutorial-mb-generic-tracker-apriltag-rs2.cpp, tutorial-mb-generic-tracker-apriltag-webcam.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-stereo-mono.cpp, and tutorial-mb-generic-tracker.cpp.

Definition at line 4584 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ setMovingEdge() [3/3]

void vpMbGenericTracker::setMovingEdge	(	const vpMe &	me1,
		const vpMe &	me2
	)

virtual

Set the moving edge parameters.

Parameters

me1	: an instance of vpMe containing all the desired parameters for the first camera.
me2	: an instance of vpMe containing all the desired parameters for the second camera.

Note: This function assumes a stereo configuration of the generic tracker.

Definition at line 4602 of file vpMbGenericTracker.cpp.

References vpTrackingException::fatalError, and m_mapOfTrackers.

◆ setNbRayCastingAttemptsForVisibility()

void vpMbGenericTracker::setNbRayCastingAttemptsForVisibility ( const unsigned int & attempts )

virtual

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

See also: setGoodNbRayCastingAttemptsRatio(const unsigned int &)

Parameters

attempts Number of rays to be sent.

Note: This function will set the new parameter for all the cameras.

Reimplemented from vpMbTracker.

Definition at line 4355 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ setNearClippingDistance() [1/3]

void vpMbGenericTracker::setNearClippingDistance ( const double & dist )

overridevirtual

Set the near distance for clipping.

Parameters

dist	: Near clipping value.

Note: This function will set the new parameter for all the cameras.

Reimplemented from vpMbTracker.

Examples: testGenericTracker.cpp, testGenericTrackerDepth.cpp, tutorial-detection-object-mbt.cpp, and tutorial-mb-generic-tracker-full.cpp.

Definition at line 4642 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and vpMbTracker::setNearClippingDistance().

◆ setNearClippingDistance() [2/3]

void vpMbGenericTracker::setNearClippingDistance	(	const double &	dist1,
		const double &	dist2
	)

virtual

Set the near distance for clipping.

Parameters

dist1	: Near clipping value for the first camera.
dist2	: Near clipping value for the second camera.

Note: This function assumes a stereo configuration of the generic tracker.

Definition at line 4661 of file vpMbGenericTracker.cpp.

References vpMbTracker::distNearClip, vpTrackingException::fatalError, m_mapOfTrackers, and m_referenceCameraName.

◆ setNearClippingDistance() [3/3]

void vpMbGenericTracker::setNearClippingDistance ( const std::map< std::string, double > & mapOfDists )

virtual

Set the near distance for clipping.

Parameters

mapOfDists : Map of near clipping values.

Definition at line 4690 of file vpMbGenericTracker.cpp.

References vpMbTracker::distNearClip, m_mapOfTrackers, and m_referenceCameraName.

◆ setOgreShowConfigDialog()

void vpMbGenericTracker::setOgreShowConfigDialog ( bool showConfigDialog )

overridevirtual

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.

Note: This function will set the new parameter for all the cameras.

Reimplemented from vpMbTracker.

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

Definition at line 4718 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and vpMbTracker::setOgreShowConfigDialog().

◆ setOgreVisibilityTest()

void vpMbGenericTracker::setOgreVisibilityTest ( const bool & v )

overridevirtual

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

Note: This function will set the new parameter for all the cameras.

Reimplemented from vpMbTracker.

Examples: tutorial-detection-object-mbt.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, and tutorial-mb-generic-tracker-rgbd-structure-core.cpp.

Definition at line 4739 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and vpMbTracker::setOgreVisibilityTest().

Referenced by loadConfigFileJSON().

◆ setOptimizationMethod()

void vpMbGenericTracker::setOptimizationMethod ( const vpMbtOptimizationMethod & opt )

overridevirtual

Set the optimization method used during the tracking.

Parameters

opt	: Optimization method to use (see vpMbtOptimizationMethod).

Note: This function will set the new parameter for all the cameras.

Reimplemented from vpMbTracker.

Definition at line 4765 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and vpMbTracker::setOptimizationMethod().

◆ setPose() [1/6]

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

virtual

Set the pose to be used in entry of the next call to the track() function. This pose will be just used once. The camera transformation matrices have to be set before.

Parameters

mapOfImages	: Map of grayscale images.
mapOfCameraPoses	: Map of pose to affect to the cameras.

Note: Image and camera pose must be supplied for the reference camera. The images for all the cameras must be supplied to correctly initialize the trackers but some camera poses can be omitted. In this case, they will be initialized using the pose computed from the reference camera pose and using the known geometric transformation between each camera (see setCameraTransformationMatrix()).

Definition at line 4932 of file vpMbGenericTracker.cpp.

References vpTrackingException::fatalError, vpMbTracker::m_cMo, m_mapOfCameraTransformationMatrix, m_mapOfTrackers, and m_referenceCameraName.

◆ setPose() [2/6]

void vpMbGenericTracker::setPose	(	const std::map< std::string, const vpImage< vpRGBa > * > &	mapOfColorImages,
		const std::map< std::string, vpHomogeneousMatrix > &	mapOfCameraPoses
	)

virtual

Set the pose to be used in entry of the next call to the track() function. This pose will be just used once. The camera transformation matrices have to be set before.

Parameters

mapOfColorImages	: Map of color images.
mapOfCameraPoses	: Map of pose to affect to the cameras.

Note: Image and camera pose must be supplied for the reference camera. The images for all the cameras must be supplied to correctly initialize the trackers but some camera poses can be omitted. In this case, they will be initialized using the pose computed from the reference camera pose and using the known geometric transformation between each camera(see setCameraTransformationMatrix()).

Definition at line 5004 of file vpMbGenericTracker.cpp.

References vpTrackingException::fatalError, vpMbTracker::m_cMo, m_mapOfCameraTransformationMatrix, m_mapOfTrackers, and m_referenceCameraName.

◆ setPose() [3/6]

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

overridevirtual

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

Warning: This functionnality is not available when tracking cylinders with the KLT tracking.

Parameters

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

Note: This function will set the new parameter for all the cameras.

Implements vpMbTracker.

Examples: tutorial-detection-object-mbt.cpp.

Definition at line 4788 of file vpMbGenericTracker.cpp.

References vpTrackingException::initializationError, vpMbTracker::m_cMo, m_mapOfTrackers, and m_referenceCameraName.

◆ setPose() [4/6]

void vpMbGenericTracker::setPose	(	const vpImage< unsigned char > &	I1,
		const vpImage< unsigned char > &	I2,
		const vpHomogeneousMatrix &	c1Mo,
		const vpHomogeneousMatrix &	c2Mo
	)

virtual

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

Parameters

I1	: First grayscale image corresponding to the desired pose.
I2	: Second grayscale image corresponding to the desired pose.
c1Mo	: First pose to affect.
c2Mo	: Second pose to affect.

Note: This function assumes a stereo configuration of the generic tracker.

Definition at line 4852 of file vpMbGenericTracker.cpp.

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

◆ setPose() [5/6]

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

overridevirtual

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

Warning: This functionnality is not available when tracking cylinders with the KLT tracking.

Parameters

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

Note: This function will set the new parameter for all the cameras.

Implements vpMbTracker.

Definition at line 4820 of file vpMbGenericTracker.cpp.

References vpImageConvert::convert(), vpTrackingException::initializationError, vpMbTracker::m_cMo, vpMbTracker::m_I, m_mapOfTrackers, and m_referenceCameraName.

◆ setPose() [6/6]

void vpMbGenericTracker::setPose	(	const vpImage< vpRGBa > &	I_color1,
		const vpImage< vpRGBa > &	I_color2,
		const vpHomogeneousMatrix &	c1Mo,
		const vpHomogeneousMatrix &	c2Mo
	)

virtual

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

Parameters

I_color1	: First color image corresponding to the desired pose.
I_color2	: Second color image corresponding to the desired pose.
c1Mo	: First pose to affect.
c2Mo	: Second pose to affect.

Note: This function assumes a stereo configuration of the generic tracker.

Definition at line 4890 of file vpMbGenericTracker.cpp.

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

◆ 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 662 of file vpMbTracker.h.

◆ setProjectionErrorComputation()

void vpMbGenericTracker::setProjectionErrorComputation ( const bool & flag )

overridevirtual

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

Parameters

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

See also: getProjectionError()

Note: Available only if the edge features are used (e.g. Edge tracking or Edge + KLT tracking). Otherwise, the value of 90 degrees will be returned.

Reimplemented from vpMbTracker.

Examples: tutorial-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-rgbd-realsense-json-settings.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, and tutorial-mb-generic-tracker-rgbd-structure-core.cpp.

Definition at line 5074 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and vpMbTracker::setProjectionErrorComputation().

◆ setProjectionErrorDisplay()

void vpMbGenericTracker::setProjectionErrorDisplay ( bool display )

overridevirtual

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

Reimplemented from vpMbTracker.

Examples: tutorial-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, and tutorial-mb-generic-tracker-rgbd-structure-core.cpp.

Definition at line 5088 of file vpMbGenericTracker.cpp.

References display(), m_mapOfTrackers, and vpMbTracker::setProjectionErrorDisplay().

Referenced by loadConfigFileJSON().

◆ setProjectionErrorDisplayArrowLength()

void vpMbGenericTracker::setProjectionErrorDisplayArrowLength ( unsigned int length )

overridevirtual

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

Reimplemented from vpMbTracker.

Definition at line 5102 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and vpMbTracker::setProjectionErrorDisplayArrowLength().

◆ setProjectionErrorDisplayArrowThickness()

void vpMbGenericTracker::setProjectionErrorDisplayArrowThickness ( unsigned int thickness )

overridevirtual

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

Reimplemented from vpMbTracker.

Definition at line 5113 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and vpMbTracker::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 3823 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::loadConfigFile().

◆ setProjectionErrorMovingEdge()

void vpMbTracker::setProjectionErrorMovingEdge ( const vpMe & me )

inherited

Set Moving-Edges parameters for projection error computation.

Parameters

me	: Moving-Edges parameters.

Definition at line 3795 of file vpMbTracker.cpp.

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

Referenced by vpMbTracker::loadConfigFile().

◆ setReferenceCameraName()

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

virtual

Set the reference camera name.

Parameters

referenceCameraName : Name of the reference camera.

Definition at line 5129 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and m_referenceCameraName.

◆ setScanLineVisibilityTest()

void vpMbGenericTracker::setScanLineVisibilityTest ( const bool & v )

overridevirtual

Reimplemented from vpMbTracker.

Examples: testGenericTracker.cpp, testGenericTrackerDepth.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, and tutorial-mb-generic-tracker-rgbd-structure-core.cpp.

Definition at line 5140 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers, and vpMbTracker::setScanLineVisibilityTest().

Referenced by loadConfigFileJSON().

◆ setStopCriteriaEpsilon()

virtual void vpMbTracker::setStopCriteriaEpsilon ( const double eps )

inlinevirtualinherited

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

Parameters

eps	: Epsilon threshold.

Definition at line 572 of file vpMbTracker.h.

◆ setTrackerType() [1/2]

void vpMbGenericTracker::setTrackerType ( const std::map< std::string, int > & mapOfTrackerTypes )

virtual

Set the tracker types.

Parameters

mapOfTrackerTypes : Map of feature types to used, see vpTrackerType (e.g. vpMbGenericTracker::EDGE_TRACKER or vpMbGenericTracker::EDGE_TRACKER | vpMbGenericTracker::KLT_TRACKER).

Warning: This function has to be called before the loading of the CAD model.

Definition at line 5180 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ setTrackerType() [2/2]

void vpMbGenericTracker::setTrackerType ( int type )

virtual

Set the tracker type.

Parameters

type	: Type of features to used, see vpTrackerType (e.g. vpMbGenericTracker::EDGE_TRACKER or vpMbGenericTracker::EDGE_TRACKER \| vpMbGenericTracker::KLT_TRACKER).

Note: This function will set the new parameter for all the cameras.

Warning: This function has to be called before the loading of the CAD model.

Examples: tutorial-mb-generic-tracker-apriltag-webcam.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-live.cpp, and tutorial-mb-generic-tracker.cpp.

Definition at line 5162 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ setUseDepthDenseTracking()

void vpMbGenericTracker::setUseDepthDenseTracking	(	const std::string &	name,
		const bool &	useDepthDenseTracking
	)

virtual

Set if the polygon that has the given name has to be considered during the tracking phase.

Parameters

name	: name of the polygon.
useDepthDenseTracking	: True if it has to be considered, False otherwise.

Note: This function will set the new parameter for all the cameras.

Definition at line 5200 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ setUseDepthNormalTracking()

void vpMbGenericTracker::setUseDepthNormalTracking	(	const std::string &	name,
		const bool &	useDepthNormalTracking
	)

virtual

Set if the polygon that has the given name has to be considered during the tracking phase.

Parameters

name	: name of the polygon.
useDepthNormalTracking	: True if it has to be considered, False otherwise.

Note: This function will set the new parameter for all the cameras.

Definition at line 5218 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ setUseEdgeTracking()

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

virtual

Set if the polygon that has the given name has to be considered during the tracking phase.

Parameters

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

Note: This function will set the new parameter for all the cameras.

Definition at line 5236 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ setUseKltTracking()

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

virtual

Set if the polygon that has the given name has to be considered during the tracking phase.

Parameters

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

Note: This function will set the new parameter for all the cameras.

Definition at line 5255 of file vpMbGenericTracker.cpp.

References m_mapOfTrackers.

◆ testTracking()

void vpMbGenericTracker::testTracking ( )

overridevirtual

Test the quality of the tracking.

Exceptions

vpException if the test fail.

Implements vpMbTracker.

Definition at line 5265 of file vpMbGenericTracker.cpp.

References vpTrackingException::fatalError, m_mapOfTrackers, and m_percentageGdPt.

Referenced by track().

◆ track() [1/10]

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

overridevirtual

Realize the tracking of the object in the image.

Exceptions

vpException : if the tracking is supposed to have failed

Parameters

I	: The current grayscale image.

Note: This function will track only for the reference camera.

Implements vpMbTracker.

Examples: testGenericTracker.cpp, testGenericTrackerDepth.cpp, tutorial-detection-object-mbt.cpp, tutorial-mb-generic-tracker-apriltag-rs2.cpp, tutorial-mb-generic-tracker-apriltag-webcam.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-rgbd-realsense-json-settings.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, tutorial-mb-generic-tracker-rgbd-structure-core.cpp, tutorial-mb-generic-tracker-stereo-mono.cpp, tutorial-mb-generic-tracker-stereo.cpp, and tutorial-mb-generic-tracker.cpp.

Definition at line 5298 of file vpMbGenericTracker.cpp.

References m_referenceCameraName.

Referenced by track().

◆ track() [2/10]

void vpMbGenericTracker::track	(	const vpImage< unsigned char > &	I1,
		const vpImage< unsigned char > &	I2
	)

virtual

Realize the tracking of the object in the image.

Exceptions

vpException : if the tracking is supposed to have failed

Parameters

I1	: The first grayscale image.
I2	: The second grayscale image.

Note: This function assumes a stereo configuration of the generic tracker.

Definition at line 5339 of file vpMbGenericTracker.cpp.

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

◆ track() [3/10]

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

overridevirtual

Realize the tracking of the object in the image.

Exceptions

vpException : if the tracking is supposed to have failed

Parameters

I_color : The current color image.

Note: This function will track only for the reference camera.

Implements vpMbTracker.

Definition at line 5318 of file vpMbGenericTracker.cpp.

References m_referenceCameraName, and track().

◆ track() [4/10]

void vpMbGenericTracker::track	(	const vpImage< vpRGBa > &	I_color1,
		const vpImage< vpRGBa > &	_colorI2
	)

virtual

Realize the tracking of the object in the image.

Exceptions

vpException : if the tracking is supposed to have failed

Parameters

I_color1	: The first color image.
_colorI2	: The second color image.

Note: This function assumes a stereo configuration of the generic tracker.

Definition at line 5371 of file vpMbGenericTracker.cpp.

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

◆ track() [5/10]

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

virtual

Realize the tracking of the object in the image.

Exceptions

vpException : if the tracking is supposed to have failed

Parameters

mapOfImages : Map of images.

Definition at line 5400 of file vpMbGenericTracker.cpp.

References track().

◆ track() [6/10]

void vpMbGenericTracker::track	(	std::map< std::string, const vpImage< unsigned char > * > &	mapOfImages,
		std::map< std::string, const std::vector< vpColVector > * > &	mapOfPointClouds,
		std::map< std::string, unsigned int > &	mapOfPointCloudWidths,
		std::map< std::string, unsigned int > &	mapOfPointCloudHeights
	)

virtual

Realize the tracking of the object in the image.

Exceptions

vpException : if the tracking is supposed to have failed

Parameters

mapOfImages	: Map of images.
mapOfPointClouds	: Map of pointclouds.
mapOfPointCloudWidths	: Map of pointcloud widths.
mapOfPointCloudHeights	: Map of pointcloud heights.

Definition at line 5597 of file vpMbGenericTracker.cpp.

References computeProjectionError(), computeVVS(), vpMbTracker::covarianceMatrix, DEPTH_DENSE_TRACKER, DEPTH_NORMAL_TRACKER, vpMbTracker::displayFeatures, EDGE_TRACKER, vpException::fatalError, KLT_TRACKER, m_mapOfTrackers, preTracking(), and testTracking().

◆ track() [7/10]

void vpMbGenericTracker::track	(	std::map< std::string, const vpImage< unsigned char > * > &	mapOfImages,
		std::map< std::string, pcl::PointCloud< pcl::PointXYZ >::ConstPtr > &	mapOfPointClouds
	)

virtual

Realize the tracking of the object in the image.

Exceptions

vpException : if the tracking is supposed to have failed

Parameters

mapOfImages	: Map of images.
mapOfPointClouds	: Map of PCL pointclouds.

Definition at line 5432 of file vpMbGenericTracker.cpp.

References computeProjectionError(), computeVVS(), vpMbTracker::covarianceMatrix, DEPTH_DENSE_TRACKER, DEPTH_NORMAL_TRACKER, vpMbTracker::displayFeatures, EDGE_TRACKER, vpException::fatalError, KLT_TRACKER, m_mapOfTrackers, preTracking(), and testTracking().

◆ track() [8/10]

void vpMbGenericTracker::track ( std::map< std::string, const vpImage< vpRGBa > * > & mapOfColorImages )

virtual

Realize the tracking of the object in the image.

Exceptions

vpException : if the tracking is supposed to have failed

Parameters

mapOfColorImages : Map of color images.

Definition at line 5415 of file vpMbGenericTracker.cpp.

References track().

◆ track() [9/10]

void vpMbGenericTracker::track	(	std::map< std::string, const vpImage< vpRGBa > * > &	mapOfColorImages,
		std::map< std::string, const std::vector< vpColVector > * > &	mapOfPointClouds,
		std::map< std::string, unsigned int > &	mapOfPointCloudWidths,
		std::map< std::string, unsigned int > &	mapOfPointCloudHeights
	)

virtual

Realize the tracking of the object in the image.

Exceptions

vpException : if the tracking is supposed to have failed

Parameters

mapOfColorImages	: Map of images.
mapOfPointClouds	: Map of pointclouds.
mapOfPointCloudWidths	: Map of pointcloud widths.
mapOfPointCloudHeights	: Map of pointcloud heights.

Definition at line 5677 of file vpMbGenericTracker.cpp.

References computeProjectionError(), computeVVS(), vpImageConvert::convert(), vpMbTracker::covarianceMatrix, DEPTH_DENSE_TRACKER, DEPTH_NORMAL_TRACKER, vpMbTracker::displayFeatures, EDGE_TRACKER, vpException::fatalError, KLT_TRACKER, m_mapOfTrackers, preTracking(), and testTracking().

◆ track() [10/10]

void vpMbGenericTracker::track	(	std::map< std::string, const vpImage< vpRGBa > * > &	mapOfColorImages,
		std::map< std::string, pcl::PointCloud< pcl::PointXYZ >::ConstPtr > &	mapOfPointClouds
	)

virtual

Realize the tracking of the object in the image.

Exceptions

vpException : if the tracking is supposed to have failed

Parameters

mapOfColorImages	: Map of color images.
mapOfPointClouds	: Map of PCL pointclouds.

Definition at line 5508 of file vpMbGenericTracker.cpp.

References computeProjectionError(), computeVVS(), vpImageConvert::convert(), vpMbTracker::covarianceMatrix, DEPTH_DENSE_TRACKER, DEPTH_NORMAL_TRACKER, vpMbTracker::displayFeatures, EDGE_TRACKER, vpException::fatalError, KLT_TRACKER, m_mapOfTrackers, preTracking(), and testTracking().

Friends And Related Function Documentation

◆ from_json

void from_json	(	const nlohmann::json &	j,
		vpMbGenericTracker::TrackerWrapper &	t
	)

friend

Load configuration settings from a JSON object for a tracker wrapper.

The settings must at the minimum contain the camera parameters vpCameraParameters::from_json and the type of the tracker.

The type of the tracker is serialized as a combination of flags of type vpMbGenericTracker::vpTrackerType:

"type" : ["edge", "klt"]              // for a tracker that uses edges and KLT point as features
"type": ["depthDense", "depthNormal"] // for a tracker that operates on the depth map using normal
                                      // and the dense depth map features

Then for each used type of feature that is used, the corresponding settings are deserialized.

The settings may also contain settings about clipping, LOD or face tracking.

See also: to_json

Parameters

j	The JSON object containing the settings
t	The tracker wrapper for which to load settings

Definition at line 961 of file vpMbGenericTracker.h.

Referenced by loadConfigFileJSON().

◆ to_json

void to_json	(	nlohmann::json &	j,
		const TrackerWrapper &	t
	)

friend

Serialize a tracker wrapper's settings into a JSON representation.

See also: from_json for more details on what is serialized

Parameters

j	The modified json object.
t	The tracker to serialize.

unsigned int vpMbGenericTracker::m_nb_feat_depthNormal

protected

Number of depth normal features.

Definition at line 829 of file vpMbGenericTracker.h.

Referenced by computeVVS().

◆ m_nb_feat_edge

unsigned int vpMbGenericTracker::m_nb_feat_edge

protected

Number of moving-edges features.

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Member Enumeration Documentation

◆ vpMbtOptimizationMethod

◆ vpTrackerType

Constructor & Destructor Documentation

◆ vpMbGenericTracker() [1/4]

◆ vpMbGenericTracker() [2/4]

◆ vpMbGenericTracker() [3/4]

◆ vpMbGenericTracker() [4/4]

◆ ~vpMbGenericTracker()

Member Function Documentation

◆ addPolygon() [1/4]

◆ addPolygon() [2/4]

◆ addPolygon() [3/4]

◆ addPolygon() [4/4]

◆ addProjectionErrorCircle()

◆ addProjectionErrorCylinder()

◆ addProjectionErrorLine()

◆ addProjectionErrorPolygon() [1/4]

◆ addProjectionErrorPolygon() [2/4]

◆ addProjectionErrorPolygon() [3/4]

◆ addProjectionErrorPolygon() [4/4]

◆ computeCovarianceMatrixVVS()

◆ computeCurrentProjectionError() [1/2]

◆ computeCurrentProjectionError() [2/2]

◆ computeJTR()

◆ computeProjectionError()

◆ computeProjectionErrorImpl()

◆ computeVVS()

◆ computeVVSCheckLevenbergMarquardt()

◆ computeVVSInit() [1/2]

◆ computeVVSInit() [2/2]

◆ computeVVSInteractionMatrixAndResidu() [1/2]

◆ computeVVSInteractionMatrixAndResidu() [2/2]

◆ computeVVSPoseEstimation()

◆ computeVVSWeights() [1/3]

◆ computeVVSWeights() [2/3]

◆ computeVVSWeights() [3/3]

◆ createCylinderBBox()

◆ display() [1/6]

◆ display() [2/6]

◆ display() [3/6]

◆ display() [4/6]

◆ display() [5/6]

◆ display() [6/6]

◆ extractCylinders()

◆ extractFaces()

◆ extractGroup()

◆ extractLines()

◆ getAngleAppear()

◆ getAngleDisappear()

◆ getCameraNames()

◆ getCameraParameters() [1/4]

◆ getCameraParameters() [2/4]

◆ getCameraParameters() [3/4]

◆ getCameraParameters() [4/4]

◆ getCameraTrackerTypes()

◆ getClipping() [1/4]

◆ getClipping() [2/4]

◆ getClipping() [3/4]

◆ getClipping() [4/4]

◆ getCovarianceMatrix()

◆ getError()

◆ getEstimatedDoF()

◆ getFaces() [1/2]

◆ getFaces() [2/2]

◆ getFarClippingDistance()

◆ getFeaturesCircle()

◆ getFeaturesForDisplay() [1/2]

◆ getFeaturesForDisplay() [2/2]

◆ getFeaturesKlt()

◆ getFeaturesKltCylinder()

◆ getGoodMovingEdgesRatioThreshold()

◆ getGravityCenter()

◆ getInitialMu()