#include <visp3/mbt/vpMbTracker.h>

Inheritance diagram for vpMbTracker:

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

Public Member Functions
	vpMbTracker ()

virtual	~vpMbTracker ()

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

virtual double	getAngleAppear () const

virtual double	getAngleDisappear () const

virtual void	getCameraParameters (vpCameraParameters &cam) const

virtual unsigned int	getClipping () const

virtual vpMatrix	getCovarianceMatrix () const

virtual double	getInitialMu () const

virtual double	getLambda () const

virtual unsigned int	getMaxIter () const

virtual double	getProjectionError () const

virtual vpColVector	getEstimatedDoF () const

virtual vpColVector	getError () const =0

virtual vpMbHiddenFaces< vpMbtPolygon > &	getFaces ()

virtual double	getFarClippingDistance () const

virtual vpColVector	getRobustWeights () const =0

virtual unsigned int	getNbPolygon () const

virtual double	getNearClippingDistance () const

virtual vpMbtOptimizationMethod	getOptimizationMethod () const

virtual vpMbtPolygon *	getPolygon (unsigned int index)

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

virtual void	getPose (vpHomogeneousMatrix &cMo) const

virtual vpHomogeneousMatrix	getPose () const

virtual double	getStopCriteriaEpsilon () const

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

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

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

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

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

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

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

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

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

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

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

virtual void	setAngleAppear (const double &a)

virtual void	setAngleDisappear (const double &a)

virtual void	setCameraParameters (const vpCameraParameters &cam)

virtual void	setClipping (const unsigned int &flags)

virtual void	setCovarianceComputation (const bool &flag)

virtual void	setDisplayFeatures (bool displayF)

virtual void	setEstimatedDoF (const vpColVector &v)

virtual void	setFarClippingDistance (const double &dist)

virtual void	setInitialMu (double mu)

virtual void	setLambda (double gain)

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

virtual void	setMaxIter (unsigned int max)

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

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

virtual void	setNearClippingDistance (const double &dist)

virtual void	setOptimizationMethod (const vpMbtOptimizationMethod &opt)

void	setProjectionErrorMovingEdge (const vpMe &me)

void	setProjectionErrorKernelSize (const unsigned int &size)

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

virtual void	setStopCriteriaEpsilon (const double eps)

virtual void	setProjectionErrorComputation (const bool &flag)

virtual void	setProjectionErrorDisplay (bool display)

virtual void	setProjectionErrorDisplayArrowLength (unsigned int length)

virtual void	setProjectionErrorDisplayArrowThickness (unsigned int thickness)

virtual void	setScanLineVisibilityTest (const bool &v)

virtual void	setOgreVisibilityTest (const bool &v)

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

virtual void	setGoodNbRayCastingAttemptsRatio (const double &ratio)

virtual void	setNbRayCastingAttemptsForVisibility (const unsigned int &attempts)

virtual void	setOgreShowConfigDialog (bool showConfigDialog)

void	setPoseSavingFilename (const std::string &filename)

virtual void	display (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, unsigned int thickness=1, bool displayFullModel=false)=0

virtual void	display (const vpImage< vpRGBa > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, unsigned int thickness=1, bool displayFullModel=false)=0

virtual std::vector< std::vector< double > >	getModelForDisplay (unsigned int width, unsigned int height, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, bool displayFullModel=false)=0

virtual void	init (const vpImage< unsigned char > &I)=0

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

virtual void	resetTracker ()=0

virtual void	setPose (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cdMo)=0

virtual void	setPose (const vpImage< vpRGBa > &I_color, const vpHomogeneousMatrix &cdMo)=0

virtual void	testTracking ()=0

virtual void	track (const vpImage< unsigned char > &I)=0

virtual void	track (const vpImage< vpRGBa > &I)=0

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

virtual void	computeVVSInit ()=0

virtual void	computeVVSInteractionMatrixAndResidu ()=0

virtual void	computeVVSPoseEstimation (const bool isoJoIdentity, unsigned int iter, vpMatrix &L, vpMatrix &LTL, vpColVector &R, const vpColVector &error, vpColVector &error_prev, vpColVector &LTR, double &mu, vpColVector &v, const vpColVector const w=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

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

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

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

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

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

virtual void	initFaceFromCorners (vpMbtPolygon &polygon)=0

virtual void	initFaceFromLines (vpMbtPolygon &polygon)=0

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

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

void	initProjectionErrorFaceFromCorners (vpMbtPolygon &polygon)

void	initProjectionErrorFaceFromLines (vpMbtPolygon &polygon)

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

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

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

void	projectionErrorResetMovingEdges ()

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

void	removeComment (std::ifstream &fileId)

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

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

Protected Attributes
vpCameraParameters	m_cam

vpHomogeneousMatrix	m_cMo

vpMatrix	oJo

bool	m_isoJoIdentity

std::string	modelFileName

bool	modelInitialised

std::string	poseSavingFilename

bool	computeCovariance

vpMatrix	covarianceMatrix

bool	computeProjError

double	projectionError

bool	displayFeatures

vpMbtOptimizationMethod	m_optimizationMethod

vpMbHiddenFaces< vpMbtPolygon >	faces

double	angleAppears

double	angleDisappears

double	distNearClip

double	distFarClip

unsigned int	clippingFlag

bool	useOgre

bool	ogreShowConfigDialog

bool	useScanLine

unsigned int	nbPoints

unsigned int	nbLines

unsigned int	nbPolygonLines

unsigned int	nbPolygonPoints

unsigned int	nbCylinders

unsigned int	nbCircles

bool	useLodGeneral

bool	applyLodSettingInConfig

double	minLineLengthThresholdGeneral

double	minPolygonAreaThresholdGeneral

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

bool	m_computeInteraction

double	m_lambda

unsigned int	m_maxIter

double	m_stopCriteriaEpsilon

double	m_initialMu

std::vector< vpMbtDistanceLine * >	m_projectionErrorLines

std::vector< vpMbtDistanceCylinder * >	m_projectionErrorCylinders

std::vector< vpMbtDistanceCircle * >	m_projectionErrorCircles

vpMbHiddenFaces< vpMbtPolygon >	m_projectionErrorFaces

bool	m_projectionErrorOgreShowConfigDialog

vpMe	m_projectionErrorMe

unsigned int	m_projectionErrorKernelSize

vpMatrix	m_SobelX

vpMatrix	m_SobelY

bool	m_projectionErrorDisplay

unsigned int	m_projectionErrorDisplayLength

unsigned int	m_projectionErrorDisplayThickness

vpCameraParameters	m_projectionErrorCam

const vpImage< bool > *	m_mask

vpImage< unsigned char >	m_I

bool	m_sodb_init_called

vpUniRand	m_rand

Detailed Description

Main methods for a model-based tracker.

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

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

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

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

Definition at line 106 of file vpMbTracker.h.

Member Enumeration Documentation

◆ vpMbtOptimizationMethod

enum vpMbTracker::vpMbtOptimizationMethod

Enumerator
GAUSS_NEWTON_OPT
LEVENBERG_MARQUARDT_OPT

Definition at line 109 of file vpMbTracker.h.

Constructor & Destructor Documentation

◆ vpMbTracker()

BEGIN_VISP_NAMESPACE vpMbTracker::vpMbTracker ( )

Basic constructor. Set default values.

Definition at line 187 of file vpMbTracker.cpp.

References vpArray2D< Type >::data, vpMatrix::eye(), vpImageFilter::getSobelKernelX(), vpImageFilter::getSobelKernelY(), m_projectionErrorKernelSize, m_SobelX, m_SobelY, mapOfParameterNames, and oJo.

◆ ~vpMbTracker()

vpMbTracker::~vpMbTracker ( )

virtual

Definition at line 214 of file vpMbTracker.cpp.

References m_projectionErrorCircles, m_projectionErrorCylinders, m_projectionErrorLines, and m_sodb_init_called.

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`
	)

protected

◆ 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`
	)

protected

◆ 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`
	)

protected

◆ 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`
	)

protected

Definition at line 1377 of file vpMbTracker.cpp.

References vpPolygon3D::addPoint(), vpMbHiddenFaces< PolygonType >::addPolygon(), clippingFlag, distFarClip, distNearClip, faces, vpPolygon3D::FAR_CLIPPING, vpMbHiddenFaces< PolygonType >::getPolygon(), 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 = `""`
	)

protected

◆ addProjectionErrorCylinder()

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

protected

Definition at line 3420 of file vpMbTracker.cpp.

References vpMbtDistanceCylinder::buildFrom(), vpMbtDistanceCylinder::hiddenface, vpMbtDistanceCylinder::index_polygon, m_cam, m_projectionErrorCylinders, m_projectionErrorFaces, m_projectionErrorMe, vpMath::maximum(), vpMbtDistanceCylinder::p1, vpMbtDistanceCylinder::p2, vpMbtDistanceCylinder::radius, samePoint(), vpMbtDistanceCylinder::setCameraParameters(), vpMbtDistanceCylinder::setIndex(), vpMbtDistanceCylinder::setMovingEdge(), and vpMbtDistanceCylinder::setName().

Referenced by initProjectionErrorCylinder().

◆ addProjectionErrorLine()

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

protected

Definition at line 3347 of file vpMbTracker.cpp.

Referenced by initProjectionErrorFaceFromCorners(), and 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`
	)

protected

◆ 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`
	)

protected

◆ 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`
	)

protected

◆ 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`
	)

protected

Definition at line 3283 of file vpMbTracker.cpp.

References vpPolygon3D::addPoint(), vpMbHiddenFaces< PolygonType >::addPolygon(), clippingFlag, distFarClip, distNearClip, vpPolygon3D::FAR_CLIPPING, vpMbHiddenFaces< PolygonType >::getPolygon(), m_projectionErrorFaces, 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
	)

protectedvirtual

Definition at line 2858 of file vpMbTracker.cpp.

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

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

◆ computeCurrentProjectionError()

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

virtual

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

See also: setProjectionErrorComputation; getProjectionError

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

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

Parameters

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

Reimplemented in vpMbGenericTracker.

Examples: mbtGenericTrackingDepthOnly.cpp.

Definition at line 3498 of file vpMbTracker.cpp.

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

◆ computeJTR()

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

protected

Compute , 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 2889 of file vpMbTracker.cpp.

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

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

◆ computeProjectionErrorImpl()

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

protected

Definition at line 3515 of file vpMbTracker.cpp.

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

Referenced by computeCurrentProjectionError().

◆ 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`
	)

protectedvirtual

Definition at line 2911 of file vpMbTracker.cpp.

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

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

◆ computeVVSInit()

virtual void vpMbTracker::computeVVSInit ( )

protectedpure virtual

Implemented in vpMbGenericTracker, vpMbEdgeTracker, vpMbDepthNormalTracker, and vpMbDepthDenseTracker.

◆ computeVVSInteractionMatrixAndResidu()

virtual void vpMbTracker::computeVVSInteractionMatrixAndResidu ( )

protectedpure virtual

Implemented in vpMbGenericTracker, vpMbEdgeTracker, vpMbDepthNormalTracker, and vpMbDepthDenseTracker.

◆ 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`
	)

protectedvirtual

Definition at line 2933 of file vpMbTracker.cpp.

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

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

◆ computeVVSWeights()

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

protectedvirtual

Definition at line 2997 of file vpMbTracker.cpp.

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

Referenced by vpMbDepthNormalTracker::computeVVS().

◆ createCylinderBBox()

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

protected

Definition at line 3054 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 extractCylinders(), and loadCAOModel().

◆ display() [1/2]

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

pure virtual

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

Parameters

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

Implemented in vpMbGenericTracker, vpMbEdgeTracker, vpMbDepthNormalTracker, and vpMbDepthDenseTracker.

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

◆ display() [2/2]

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

pure virtual

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

Parameters

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

Implemented in vpMbGenericTracker, vpMbEdgeTracker, vpMbDepthNormalTracker, and vpMbDepthDenseTracker.

◆ extractCylinders()

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

protectedvirtual

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

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

Parameters

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

Definition at line 2468 of file vpMbTracker.cpp.

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

Referenced by extractGroup().

◆ extractFaces()

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

protectedvirtual

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

Parameters

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

Definition at line 2414 of file vpMbTracker.cpp.

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

Referenced by extractGroup().

◆ extractGroup()

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

protectedvirtual

Extract a VRML object Group.

Parameters

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

Definition at line 2324 of file vpMbTracker.cpp.

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

Referenced by loadVRMLModel().

◆ extractLines()

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

protectedvirtual

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

Parameters

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

Definition at line 2554 of file vpMbTracker.cpp.

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

Referenced by extractGroup().

◆ getAngleAppear()

virtual double vpMbTracker::getAngleAppear ( ) const

inlinevirtual

Return the angle used to test polygons appearance.

Definition at line 240 of file vpMbTracker.h.

◆ getAngleDisappear()

virtual double vpMbTracker::getAngleDisappear ( ) const

inlinevirtual

Return the angle used to test polygons disappearance.

Definition at line 243 of file vpMbTracker.h.

◆ getCameraParameters()

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

inlinevirtual

Get the camera parameters.

Parameters

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

Reimplemented in vpMbGenericTracker.

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

Definition at line 250 of file vpMbTracker.h.

Referenced by vpMbGenericTracker::getCameraParameters().

◆ getClipping()

virtual unsigned int vpMbTracker::getClipping ( ) const

inlinevirtual

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

Returns: Clipping flags.

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

Definition at line 258 of file vpMbTracker.h.

◆ getCovarianceMatrix()

virtual vpMatrix vpMbTracker::getCovarianceMatrix ( ) const

inlinevirtual

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

See also: setCovarianceComputation()

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

Definition at line 267 of file vpMbTracker.h.

◆ getError()

virtual vpColVector vpMbTracker::getError ( ) const

pure virtual

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()

Implemented in vpMbGenericTracker, vpMbEdgeTracker, vpMbDepthNormalTracker, and vpMbDepthDenseTracker.

Examples: mbtGenericTrackingDepth.cpp, and mbtGenericTrackingDepthOnly.cpp.

◆ getEstimatedDoF()

vpColVector vpMbTracker::getEstimatedDoF ( ) const

virtual

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

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

Definition at line 3014 of file vpMbTracker.cpp.

References oJo.

◆ getFaces()

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

inlinevirtual

Return a reference to the faces structure.

Reimplemented in vpMbGenericTracker.

Definition at line 334 of file vpMbTracker.h.

◆ getFarClippingDistance()

virtual double vpMbTracker::getFarClippingDistance ( ) const

inlinevirtual

Get the far distance for clipping.

Returns: Far clipping value.

Definition at line 341 of file vpMbTracker.h.

◆ getGravityCenter()

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

protected

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

Exceptions

vpException::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 2600 of file vpMbTracker.cpp.

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

Referenced by extractCylinders().

◆ getInitialMu()

virtual double vpMbTracker::getInitialMu ( ) const

inlinevirtual

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

Returns: the initial mu value.

Definition at line 286 of file vpMbTracker.h.

◆ getLambda()

virtual double vpMbTracker::getLambda ( ) const

inlinevirtual

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

Returns: the value for the gain.

Definition at line 293 of file vpMbTracker.h.

◆ getMaxIter()

virtual unsigned int vpMbTracker::getMaxIter ( ) const

inlinevirtual

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

Returns: the number of iteration

Definition at line 300 of file vpMbTracker.h.

◆ getModelForDisplay()

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

pure virtual

Implemented in vpMbGenericTracker, vpMbEdgeTracker, vpMbDepthNormalTracker, and vpMbDepthDenseTracker.

◆ getNbPolygon()

virtual unsigned int vpMbTracker::getNbPolygon ( ) const

inlinevirtual

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

Returns: Number of polygons.

Reimplemented in vpMbGenericTracker.

Definition at line 370 of file vpMbTracker.h.

References vpMbHiddenFaces< PolygonType >::size().

Referenced by vpMbEdgeTracker::loadConfigFile().

◆ getNearClippingDistance()

virtual double vpMbTracker::getNearClippingDistance ( ) const

inlinevirtual

Get the near distance for clipping.

Returns: Near clipping value.

Definition at line 377 of file vpMbTracker.h.

◆ getOptimizationMethod()

virtual vpMbtOptimizationMethod vpMbTracker::getOptimizationMethod ( ) const

inlinevirtual

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

Returns: Optimization method.

Definition at line 386 of file vpMbTracker.h.

◆ getPolygon()

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

inlinevirtual

Return the polygon (face) "index".

Exceptions

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

Parameters

index : Index of the polygon to return.

Returns: Pointer to the polygon index.

Reimplemented in vpMbGenericTracker.

Definition at line 397 of file vpMbTracker.h.

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

◆ getPolygonFaces()

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

virtual

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

Parameters

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

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

Reimplemented in vpMbGenericTracker.

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

Definition at line 2634 of file vpMbTracker.cpp.

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

◆ getPose() [1/2]

virtual vpHomogeneousMatrix vpMbTracker::getPose ( ) const

inlinevirtual

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

Returns: the current pose

Definition at line 425 of file vpMbTracker.h.

Referenced by vpMbGenericTracker::getPose().

◆ getPose() [2/2]

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

inlinevirtual

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

Parameters

cMo	: the pose

Reimplemented in vpMbGenericTracker.

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

Definition at line 416 of file vpMbTracker.h.

◆ getProjectionError()

virtual double vpMbTracker::getProjectionError ( ) const

inlinevirtual

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

Returns: the value for the error.

See also: setProjectionErrorComputation()

Examples: mbtEdgeTracking.cpp, mbtGenericTracking.cpp, mbtGenericTracking2.cpp, mbtGenericTrackingDepth.cpp, mbtGenericTrackingDepthOnly.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-rgbd-realsense-json.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, and tutorial-mb-generic-tracker-rgbd-structure-core.cpp.

Definition at line 312 of file vpMbTracker.h.

◆ getRobustWeights()

virtual vpColVector vpMbTracker::getRobustWeights ( ) const

pure virtual

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()

Implemented in vpMbGenericTracker, vpMbEdgeTracker, vpMbDepthNormalTracker, and vpMbDepthDenseTracker.

◆ getStopCriteriaEpsilon()

virtual double vpMbTracker::getStopCriteriaEpsilon ( ) const

inlinevirtual

Definition at line 427 of file vpMbTracker.h.

◆ init()

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

pure virtual

Initialise the tracking.

Parameters

I	: Input image.

Implemented in vpMbGenericTracker, vpMbEdgeTracker, vpMbDepthNormalTracker, and vpMbDepthDenseTracker.

Referenced by initFromPoints(), and initFromPose().

◆ initCircle()

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

protectedpure virtual

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

Parameters

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

Implemented in vpMbGenericTracker, vpMbEdgeTracker, vpMbDepthNormalTracker, and vpMbDepthDenseTracker.

Referenced by loadCAOModel().

◆ initCylinder()

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

protectedpure virtual

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

Parameters

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

Implemented in vpMbGenericTracker, vpMbEdgeTracker, vpMbDepthNormalTracker, and vpMbDepthDenseTracker.

Referenced by extractCylinders(), and loadCAOModel().

◆ initFaceFromCorners()

virtual void vpMbTracker::initFaceFromCorners ( vpMbtPolygon & polygon )

protectedpure virtual

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

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

Parameters

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

Implemented in vpMbGenericTracker, vpMbEdgeTracker, vpMbDepthNormalTracker, and vpMbDepthDenseTracker.

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

◆ initFaceFromLines()

virtual void vpMbTracker::initFaceFromLines ( vpMbtPolygon & polygon )

protectedpure virtual

Implemented in vpMbGenericTracker, vpMbEdgeTracker, vpMbDepthNormalTracker, and vpMbDepthDenseTracker.

Referenced by loadCAOModel().

◆ initFromPoints() [1/6]

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

virtual

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

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

Parameters

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

Definition at line 997 of file vpMbTracker.cpp.

Referenced by initFromPoints().

◆ initFromPoints() [2/6]

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

virtual

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

Parameters

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

Definition at line 1071 of file vpMbTracker.cpp.

References initFromPoints().

◆ initFromPoints() [3/6]

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

protectedvirtual

Definition at line 843 of file vpMbTracker.cpp.

◆ initFromPoints() [4/6]

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

protectedvirtual

Definition at line 1031 of file vpMbTracker.cpp.

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

◆ initFromPoints() [5/6]

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

virtual

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

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

Parameters

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

Definition at line 1026 of file vpMbTracker.cpp.

References initFromPoints().

◆ initFromPoints() [6/6]

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

virtual

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

Parameters

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

Definition at line 1085 of file vpMbTracker.cpp.

References initFromPoints().

◆ initFromPose() [1/7]

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

virtual

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

// The six value of the pose vector
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: mbtEdgeTracking.cpp, testKeyPoint-2.cpp, and testKeyPoint-4.cpp.

Definition at line 1148 of file vpMbTracker.cpp.

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

◆ initFromPose() [2/7]

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

virtual

Initialise the tracking thanks to the pose.

Parameters

I	: Input grayscale image
cMo	: Pose matrix.

Reimplemented in vpMbGenericTracker.

Definition at line 1182 of file vpMbTracker.cpp.

References init(), and m_cMo.

◆ initFromPose() [3/7]

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

virtual

Initialise the tracking thanks to the pose vector.

Parameters

I	: Input grayscale image
cPo	: Pose vector.

Definition at line 1207 of file vpMbTracker.cpp.

References initFromPose().

◆ initFromPose() [4/7]

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

protectedvirtual

Definition at line 1091 of file vpMbTracker.cpp.

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

◆ initFromPose() [5/7]

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

virtual

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

// The six value of the pose vector
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 1171 of file vpMbTracker.cpp.

References initFromPose().

◆ initFromPose() [6/7]

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

virtual

Initialise the tracking thanks to the pose.

Parameters

I_color	: Input color image
cMo	: Pose matrix.

Definition at line 1194 of file vpMbTracker.cpp.

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

◆ initFromPose() [7/7]

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

virtual

Initialise the tracking thanks to the pose vector.

Parameters

I_color	: Input color image
cPo	: Pose vector.

Definition at line 1219 of file vpMbTracker.cpp.

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

◆ initProjectionErrorCircle()

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

protected

Definition at line 3450 of file vpMbTracker.cpp.

References addProjectionErrorCircle().

Referenced by loadCAOModel().

◆ initProjectionErrorCylinder()

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

protected

Definition at line 3456 of file vpMbTracker.cpp.

References addProjectionErrorCylinder().

Referenced by extractCylinders(), and loadCAOModel().

◆ initProjectionErrorFaceFromCorners()

void vpMbTracker::initProjectionErrorFaceFromCorners ( vpMbtPolygon & polygon )

protected

Definition at line 3462 of file vpMbTracker.cpp.

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

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

◆ initProjectionErrorFaceFromLines()

void vpMbTracker::initProjectionErrorFaceFromLines ( vpMbtPolygon & polygon )

protected

Definition at line 3472 of file vpMbTracker.cpp.

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

Referenced by 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()`
	)

protectedvirtual

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

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

Since ViSP 2.9.1, circles are supported.

The structure of the file is :

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

Parameters

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

Definition at line 1679 of file vpMbTracker.cpp.

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

Referenced by loadModel().

◆ loadConfigFile()

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

virtual

Load a config file to parameterise the behavior of the tracker.

Virtual method to adapt to each tracker.

Parameters

configFile	: An xml config file to parse.
verbose	: verbose flag.

Reimplemented in vpMbGenericTracker, vpMbEdgeTracker, vpMbDepthNormalTracker, and vpMbDepthDenseTracker.

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

Definition at line 3805 of file vpMbTracker.cpp.

References vpMbtXmlGenericParser::getProjectionErrorKernelSize(), vpMbtXmlGenericParser::getProjectionErrorMe(), vpException::ioError, m_projectionErrorKernelSize, m_projectionErrorMe, vpMbtXmlGenericParser::parse(), vpMbtXmlGenericParser::PROJECTION_ERROR_PARSER, setProjectionErrorKernelSize(), vpMbtXmlGenericParser::setProjectionErrorKernelSize(), vpMbtXmlGenericParser::setProjectionErrorMe(), setProjectionErrorMovingEdge(), and vpMbtXmlGenericParser::setVerbose().

Referenced by vpMbEdgeTracker::loadConfigFile().

◆ loadModel()

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

virtual

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

Exceptions

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

Parameters

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

Reimplemented in vpMbGenericTracker.

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

Definition at line 1462 of file vpMbTracker.cpp.

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

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

◆ loadVRMLModel()

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

protectedvirtual

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

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

defines a cylinder named cyl_cylinder1.

Exceptions

vpException::fatalError if the file cannot be open.

Parameters

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

Definition at line 1514 of file vpMbTracker.cpp.

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

Referenced by loadModel().

◆ parseParameters()

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

protected

Definition at line 1577 of file vpMbTracker.cpp.

References mapOfParameterNames, and vpIoTools::trim().

Referenced by loadCAOModel().

◆ projectionErrorInitMovingEdge()

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

protected

Definition at line 3695 of file vpMbTracker.cpp.

Referenced by computeProjectionErrorImpl().

◆ projectionErrorResetMovingEdges()

void vpMbTracker::projectionErrorResetMovingEdges ( )

protected

Definition at line 3653 of file vpMbTracker.cpp.

References m_projectionErrorCircles, m_projectionErrorCylinders, and m_projectionErrorLines.

Referenced by computeProjectionErrorImpl().

◆ projectionErrorVisibleFace()

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

protected

Definition at line 3634 of file vpMbTracker.cpp.

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

Referenced by computeProjectionErrorImpl().

◆ removeComment()

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

protected

Definition at line 1562 of file vpMbTracker.cpp.

References vpException::ioError.

Referenced by loadCAOModel().

◆ resetTracker()

virtual void vpMbTracker::resetTracker ( )

pure virtual

Reset the tracker.

Implemented in vpMbGenericTracker, vpMbEdgeTracker, vpMbDepthNormalTracker, and vpMbDepthDenseTracker.

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

◆ samePoint()

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

protected

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 3153 of file vpMbTracker.cpp.

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

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

◆ savePose()

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

Save the pose in the given filename

Parameters

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

Definition at line 1231 of file vpMbTracker.cpp.

References vpPoseVector::buildFrom(), and m_cMo.

◆ setAngleAppear()

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

inlinevirtual

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

Parameters

a	: new angle in radian.

Reimplemented in vpMbGenericTracker.

Examples: mbtGenericTracking.cpp, mbtGenericTracking2.cpp, mbtGenericTrackingDepth.cpp, mbtGenericTrackingDepthOnly.cpp, testKeyPoint-2.cpp, testKeyPoint-4.cpp, tutorial-detection-object-mbt-deprecated.cpp, tutorial-detection-object-mbt2-deprecated.cpp, tutorial-mb-edge-tracker.cpp, and tutorial-mb-tracker-full.cpp.

Definition at line 472 of file vpMbTracker.h.

Referenced by vpMbGenericTracker::setAngleAppear().

◆ setAngleDisappear()

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

inlinevirtual

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

Parameters

a	: new angle in radian.

Reimplemented in vpMbGenericTracker.

Examples: mbtGenericTracking.cpp, mbtGenericTracking2.cpp, mbtGenericTrackingDepth.cpp, mbtGenericTrackingDepthOnly.cpp, testKeyPoint-2.cpp, testKeyPoint-4.cpp, tutorial-detection-object-mbt-deprecated.cpp, tutorial-detection-object-mbt2-deprecated.cpp, tutorial-mb-edge-tracker.cpp, and tutorial-mb-tracker-full.cpp.

Definition at line 483 of file vpMbTracker.h.

Referenced by vpMbGenericTracker::setAngleDisappear().

◆ setCameraParameters()

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

inlinevirtual

Set the camera parameters.

Parameters

cam	: The new camera parameters.

Reimplemented in vpMbGenericTracker, vpMbDepthNormalTracker, vpMbDepthDenseTracker, and vpMbEdgeTracker.

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

Definition at line 490 of file vpMbTracker.h.

Referenced by vpMbGenericTracker::setCameraParameters().

◆ setClipping()

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

virtual

Specify which clipping to use.

See also: vpMbtPolygonClipping

Parameters

flags : New clipping flags.

Reimplemented in vpMbGenericTracker, and vpMbEdgeTracker.

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

Definition at line 2851 of file vpMbTracker.cpp.

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

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

◆ setCovarianceComputation()

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

inlinevirtual

Set if the covariance matrix has to be computed.

Parameters

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

See also: getCovarianceMatrix()

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

Definition at line 502 of file vpMbTracker.h.

◆ setDisplayFeatures()

virtual void vpMbTracker::setDisplayFeatures ( bool displayF )

inlinevirtual

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

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

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

Parameters

displayF : set it to true to display the features.

Reimplemented in vpMbGenericTracker.

Examples: mbtEdgeTracking.cpp, mbtGenericTracking.cpp, mbtGenericTracking2.cpp, mbtGenericTrackingDepth.cpp, mbtGenericTrackingDepthOnly.cpp, tutorial-detection-object-mbt-deprecated.cpp, tutorial-detection-object-mbt2-deprecated.cpp, tutorial-mb-edge-tracker.cpp, tutorial-mb-tracker-full.cpp, and tutorial-mb-tracker.cpp.

Definition at line 520 of file vpMbTracker.h.

Referenced by vpMbGenericTracker::setDisplayFeatures().

◆ setEstimatedDoF()

void vpMbTracker::setEstimatedDoF ( const vpColVector & v )

virtual

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

Below we give the 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 3037 of file vpMbTracker.cpp.

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

◆ setFarClippingDistance()

void vpMbTracker::setFarClippingDistance ( const double & dist )

virtual

Set the far distance for clipping.

Parameters

dist	: Far clipping value.

Reimplemented in vpMbGenericTracker, and vpMbEdgeTracker.

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

Definition at line 2745 of file vpMbTracker.cpp.

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

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

◆ setGoodNbRayCastingAttemptsRatio()

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

inlinevirtual

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

See also: setNbRayCastingAttemptsForVisibility(const unsigned int &)

Parameters

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

Reimplemented in vpMbGenericTracker.

Definition at line 626 of file vpMbTracker.h.

References vpMbHiddenFaces< PolygonType >::setGoodNbRayCastingAttemptsRatio().

◆ setInitialMu()

virtual void vpMbTracker::setInitialMu ( double mu )

inlinevirtual

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

Parameters

mu	: initial mu.

Definition at line 531 of file vpMbTracker.h.

Referenced by vpMbGenericTracker::loadConfigFileJSON().

◆ setLambda()

virtual void vpMbTracker::setLambda ( double gain )

inlinevirtual

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

Parameters

gain	: the desired value for the gain.

Definition at line 538 of file vpMbTracker.h.

Referenced by vpMbGenericTracker::loadConfigFileJSON().

◆ setLod()

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

virtual

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

Parameters

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

See also: setMinLineLengthThresh(), setMinPolygonAreaThresh()

Reimplemented in vpMbGenericTracker.

Definition at line 2775 of file vpMbTracker.cpp.

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

Referenced by vpMbEdgeTracker::loadConfigFile().

◆ setMask()

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

inlinevirtual

Reimplemented in vpMbGenericTracker.

Definition at line 566 of file vpMbTracker.h.

Referenced by vpMbGenericTracker::setMask().

◆ setMaxIter()

virtual void vpMbTracker::setMaxIter ( unsigned int max )

inlinevirtual

Set the maximum iteration of the virtual visual servoing stage.

Parameters

max	: the desired number of iteration

Definition at line 547 of file vpMbTracker.h.

Referenced by vpMbGenericTracker::loadConfigFileJSON().

◆ setMinLineLengthThresh()

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

virtual

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

Parameters

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

See also: setLod(), setMinPolygonAreaThresh()

Reimplemented in vpMbGenericTracker.

Definition at line 2793 of file vpMbTracker.cpp.

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

Referenced by vpMbEdgeTracker::loadConfigFile().

◆ setMinPolygonAreaThresh()

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

virtual

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

Parameters

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

See also: setLod(), setMinLineLengthThresh()

Reimplemented in vpMbGenericTracker.

Definition at line 2810 of file vpMbTracker.cpp.

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

Referenced by vpMbEdgeTracker::loadConfigFile().

◆ setNbRayCastingAttemptsForVisibility()

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

inlinevirtual

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

See also: setGoodNbRayCastingAttemptsRatio(const unsigned int &)

Parameters

attempts Number of rays to be sent.

Reimplemented in vpMbGenericTracker.

Definition at line 636 of file vpMbTracker.h.

References vpMbHiddenFaces< PolygonType >::setNbRayCastingAttemptsForVisibility().

◆ setNearClippingDistance()

void vpMbTracker::setNearClippingDistance ( const double & dist )

virtual

Set the near distance for clipping.

Parameters

dist	: Near clipping value.

Reimplemented in vpMbGenericTracker, and vpMbEdgeTracker.

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

Definition at line 2824 of file vpMbTracker.cpp.

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

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

◆ setOgreShowConfigDialog()

virtual void vpMbTracker::setOgreShowConfigDialog ( bool showConfigDialog )

inlinevirtual

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

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

Parameters

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

Reimplemented in vpMbGenericTracker.

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

Definition at line 652 of file vpMbTracker.h.

Referenced by vpMbGenericTracker::setOgreShowConfigDialog().

◆ setOgreVisibilityTest()

void vpMbTracker::setOgreVisibilityTest ( const bool & v )

virtual

Use Ogre3D for visibility tests

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

Parameters

v	: True to use it, False otherwise

Reimplemented in vpMbGenericTracker, vpMbEdgeTracker, vpMbDepthNormalTracker, and vpMbDepthDenseTracker.

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

Definition at line 2727 of file vpMbTracker.cpp.

References useOgre.

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

◆ setOptimizationMethod()

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

inlinevirtual

Set the optimization method used during the tracking.

Parameters

opt	: Optimization method to use.

Reimplemented in vpMbGenericTracker.

Definition at line 560 of file vpMbTracker.h.

Referenced by vpMbGenericTracker::setOptimizationMethod().

◆ setPose() [1/2]

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

pure virtual

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

Warning: This function has to be called after the initialisation of the tracker.

Parameters

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

Implemented in vpMbGenericTracker, vpMbEdgeTracker, vpMbDepthNormalTracker, and vpMbDepthDenseTracker.

◆ setPose() [2/2]

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

pure virtual

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

Warning: This function has to be called after the initialisation of the tracker.

Parameters

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

Implemented in vpMbGenericTracker, vpMbEdgeTracker, vpMbDepthNormalTracker, and vpMbDepthDenseTracker.

◆ setPoseSavingFilename()

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

inline

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

Parameters

filename : The new filename.

Definition at line 664 of file vpMbTracker.h.

◆ setProjectionErrorComputation()

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

inlinevirtual

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

Parameters

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

See also: getProjectionError()

Reimplemented in vpMbGenericTracker.

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

Definition at line 587 of file vpMbTracker.h.

Referenced by vpMbGenericTracker::setProjectionErrorComputation().

◆ setProjectionErrorDisplay()

virtual void vpMbTracker::setProjectionErrorDisplay ( bool display )

inlinevirtual

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

Reimplemented in vpMbGenericTracker.

Examples: mbtGenericTrackingDepthOnly.cpp.

Definition at line 592 of file vpMbTracker.h.

Referenced by vpMbGenericTracker::setProjectionErrorDisplay().

◆ setProjectionErrorDisplayArrowLength()

virtual void vpMbTracker::setProjectionErrorDisplayArrowLength ( unsigned int length )

inlinevirtual

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

Reimplemented in vpMbGenericTracker.

Examples: mbtGenericTrackingDepthOnly.cpp.

Definition at line 597 of file vpMbTracker.h.

Referenced by vpMbGenericTracker::setProjectionErrorDisplayArrowLength().

◆ setProjectionErrorDisplayArrowThickness()

virtual void vpMbTracker::setProjectionErrorDisplayArrowThickness ( unsigned int thickness )

inlinevirtual

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

Reimplemented in vpMbGenericTracker.

Examples: mbtGenericTrackingDepthOnly.cpp.

Definition at line 605 of file vpMbTracker.h.

Referenced by vpMbGenericTracker::setProjectionErrorDisplayArrowThickness().

◆ setProjectionErrorKernelSize()

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

Set kernel size used for projection error computation.

Parameters

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

Definition at line 3868 of file vpMbTracker.cpp.

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

Referenced by loadConfigFile().

◆ setProjectionErrorMovingEdge()

void vpMbTracker::setProjectionErrorMovingEdge ( const vpMe & me )

Set Moving-Edges parameters for projection error computation.

Parameters

me	: Moving-Edges parameters.

Definition at line 3840 of file vpMbTracker.cpp.

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

Referenced by loadConfigFile().

◆ setScanLineVisibilityTest()

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

inlinevirtual

Reimplemented in vpMbGenericTracker, vpMbEdgeTracker, vpMbDepthNormalTracker, and vpMbDepthDenseTracker.

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

Definition at line 610 of file vpMbTracker.h.

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

◆ setStopCriteriaEpsilon()

virtual void vpMbTracker::setStopCriteriaEpsilon ( const double eps )

inlinevirtual

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

Parameters

eps	: Epsilon threshold.

Definition at line 574 of file vpMbTracker.h.

◆ testTracking()

virtual void vpMbTracker::testTracking ( )

pure virtual

Test the quality of the tracking.

Exceptions

vpException if the test fail.

Implemented in vpMbGenericTracker, vpMbEdgeTracker, vpMbDepthNormalTracker, and vpMbDepthDenseTracker.

◆ track() [1/2]

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

pure virtual

Track the object in the given image

Parameters

I	: The current image.

Implemented in vpMbGenericTracker, vpMbEdgeTracker, vpMbDepthNormalTracker, and vpMbDepthDenseTracker.

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

◆ track() [2/2]

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

pure virtual

Track the object in the given image

Parameters

I	: The current image.

Implemented in vpMbGenericTracker, vpMbDepthNormalTracker, vpMbEdgeTracker, and vpMbDepthDenseTracker.

Member Data Documentation

◆ angleAppears

double vpMbTracker::angleAppears

protected

Angle used to detect a face appearance.

Definition at line 147 of file vpMbTracker.h.

Referenced by vpMbDepthDenseTracker::computeVisibility(), vpMbDepthNormalTracker::computeVisibility(), vpMbDepthDenseTracker::getModelForDisplay(), vpMbDepthNormalTracker::getModelForDisplay(), vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), vpMbDepthDenseTracker::loadConfigFile(), vpMbDepthNormalTracker::loadConfigFile(), vpMbEdgeTracker::loadConfigFile(), vpMbGenericTracker::loadConfigFile(), vpMbGenericTracker::loadConfigFileJSON(), vpMbGenericTracker::loadConfigFileXML(), projectionErrorVisibleFace(), vpMbDepthDenseTracker::resetTracker(), vpMbDepthNormalTracker::resetTracker(), vpMbEdgeTracker::resetTracker(), vpMbGenericTracker::resetTracker(), vpMbGenericTracker::setAngleAppear(), and vpMbEdgeTracker::visibleFace().

◆ angleDisappears

double vpMbTracker::angleDisappears

protected

Angle used to detect a face disappearance.

Definition at line 149 of file vpMbTracker.h.

Referenced by vpMbDepthDenseTracker::computeVisibility(), vpMbDepthNormalTracker::computeVisibility(), vpMbDepthNormalTracker::computeVVSInteractionMatrixAndResidu(), vpMbDepthDenseTracker::getModelForDisplay(), vpMbDepthNormalTracker::getModelForDisplay(), vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), vpMbDepthDenseTracker::loadConfigFile(), vpMbDepthNormalTracker::loadConfigFile(), vpMbEdgeTracker::loadConfigFile(), vpMbGenericTracker::loadConfigFile(), vpMbGenericTracker::loadConfigFileJSON(), vpMbGenericTracker::loadConfigFileXML(), projectionErrorVisibleFace(), vpMbDepthDenseTracker::resetTracker(), vpMbDepthNormalTracker::resetTracker(), vpMbEdgeTracker::resetTracker(), vpMbGenericTracker::resetTracker(), vpMbGenericTracker::setAngleDisappear(), and vpMbEdgeTracker::visibleFace().

◆ applyLodSettingInConfig

bool vpMbTracker::applyLodSettingInConfig

protected

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

Definition at line 177 of file vpMbTracker.h.

Referenced by loadCAOModel(), and vpMbEdgeTracker::loadConfigFile().

◆ clippingFlag

unsigned int vpMbTracker::clippingFlag

protected

Flags specifying which clipping to used.

Definition at line 155 of file vpMbTracker.h.

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

◆ computeCovariance

bool vpMbTracker::computeCovariance

protected

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

Definition at line 130 of file vpMbTracker.h.

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

◆ computeProjError

bool vpMbTracker::computeProjError

protected

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

Definition at line 135 of file vpMbTracker.h.

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

◆ covarianceMatrix

vpMatrix vpMbTracker::covarianceMatrix

protected

Covariance matrix.

Definition at line 132 of file vpMbTracker.h.

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

◆ displayFeatures

bool vpMbTracker::displayFeatures

protected

If true, the features are displayed.

Definition at line 140 of file vpMbTracker.h.

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

◆ distFarClip

double vpMbTracker::distFarClip

protected

Distance for near clipping.

Definition at line 153 of file vpMbTracker.h.

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

◆ distNearClip

double vpMbTracker::distNearClip

protected

Distance for near clipping.

Definition at line 151 of file vpMbTracker.h.

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

◆ faces

vpMbHiddenFaces<vpMbtPolygon> vpMbTracker::faces

protected

Set of faces describing the object.

Definition at line 145 of file vpMbTracker.h.

Referenced by vpMbEdgeTracker::addCircle(), vpMbEdgeTracker::addCylinder(), vpMbDepthDenseTracker::addFace(), vpMbDepthNormalTracker::addFace(), vpMbEdgeTracker::addLine(), addPolygon(), vpMbDepthDenseTracker::computeVisibility(), vpMbDepthNormalTracker::computeVisibility(), vpMbEdgeTracker::display(), extractFaces(), extractLines(), vpMbGenericTracker::getFaces(), getPolygonFaces(), vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), vpMbEdgeTracker::init(), loadCAOModel(), loadModel(), loadVRMLModel(), vpMbEdgeTracker::reInitModel(), vpMbDepthDenseTracker::resetTracker(), vpMbDepthNormalTracker::resetTracker(), vpMbEdgeTracker::resetTracker(), setClipping(), setFarClippingDistance(), setLod(), setMinLineLengthThresh(), setMinPolygonAreaThresh(), setNearClippingDistance(), vpMbDepthDenseTracker::setOgreVisibilityTest(), vpMbDepthNormalTracker::setOgreVisibilityTest(), vpMbEdgeTracker::setUseEdgeTracking(), vpMbEdgeTracker::track(), vpMbEdgeTracker::visibleFace(), vpMbDepthDenseTracker::vpMbDepthDenseTracker(), vpMbDepthNormalTracker::vpMbDepthNormalTracker(), and vpMbEdgeTracker::vpMbEdgeTracker().

◆ m_cam

vpCameraParameters vpMbTracker::m_cam

protected

The camera parameters.

Definition at line 113 of file vpMbTracker.h.

Referenced by vpMbEdgeTracker::addCircle(), vpMbEdgeTracker::addCylinder(), vpMbDepthDenseTracker::addFace(), vpMbDepthNormalTracker::addFace(), vpMbEdgeTracker::addLine(), addProjectionErrorCircle(), addProjectionErrorCylinder(), addProjectionErrorLine(), vpMbDepthDenseTracker::computeVisibility(), vpMbDepthNormalTracker::computeVisibility(), vpMbEdgeTracker::computeVVSFirstPhase(), vpMbEdgeTracker::computeVVSInit(), vpMbEdgeTracker::downScale(), vpMbDepthNormalTracker::getFeaturesForDisplayDepthNormal(), getPolygonFaces(), vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), vpMbEdgeTracker::init(), vpMbGenericTracker::initFromPoints(), initFromPoints(), vpMbGenericTracker::initFromPose(), vpMbDepthDenseTracker::loadConfigFile(), vpMbDepthNormalTracker::loadConfigFile(), vpMbEdgeTracker::loadConfigFile(), vpMbGenericTracker::loadConfigFile(), vpMbGenericTracker::loadConfigFileJSON(), vpMbGenericTracker::loadConfigFileXML(), vpMbDepthDenseTracker::setCameraParameters(), vpMbDepthNormalTracker::setCameraParameters(), vpMbGenericTracker::setCameraParameters(), vpMbEdgeTracker::track(), vpMbEdgeTracker::upScale(), and vpMbEdgeTracker::visibleFace().

◆ m_cMo

vpHomogeneousMatrix vpMbTracker::m_cMo

protected

The current pose.

Definition at line 115 of file vpMbTracker.h.

◆ m_computeInteraction

bool vpMbTracker::m_computeInteraction

protected

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

Definition at line 187 of file vpMbTracker.h.

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

◆ m_I

vpImage<unsigned char> vpMbTracker::m_I

protected

Grayscale image buffer, used when passing color images.

Definition at line 225 of file vpMbTracker.h.

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

◆ m_initialMu

double vpMbTracker::m_initialMu

protected

Initial Mu for Levenberg Marquardt optimization loop.

Definition at line 195 of file vpMbTracker.h.

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

◆ m_isoJoIdentity

bool vpMbTracker::m_isoJoIdentity

protected

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

Definition at line 119 of file vpMbTracker.h.

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

◆ m_lambda

double vpMbTracker::m_lambda

protected

Gain of the virtual visual servoing stage.

Definition at line 189 of file vpMbTracker.h.

Referenced by computeVVSPoseEstimation(), vpMbDepthDenseTracker::resetTracker(), vpMbDepthNormalTracker::resetTracker(), vpMbEdgeTracker::resetTracker(), vpMbGenericTracker::resetTracker(), and vpMbGenericTracker::saveConfigFile().

◆ m_mask

const vpImage<bool>* vpMbTracker::m_mask

protected

Mask used to disable tracking on a part of image.

Definition at line 223 of file vpMbTracker.h.

Referenced by vpMbEdgeTracker::initMovingEdge(), projectionErrorInitMovingEdge(), vpMbEdgeTracker::reInitLevel(), vpMbEdgeTracker::reinitMovingEdge(), vpMbDepthDenseTracker::segmentPointCloud(), vpMbDepthNormalTracker::segmentPointCloud(), and vpMbEdgeTracker::trackMovingEdge().

◆ m_maxIter

unsigned int vpMbTracker::m_maxIter

protected

Maximum number of iterations of the virtual visual servoing stage.

Definition at line 191 of file vpMbTracker.h.

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

◆ m_optimizationMethod

vpMbtOptimizationMethod vpMbTracker::m_optimizationMethod

protected

Optimization method used.

Definition at line 142 of file vpMbTracker.h.

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

◆ m_projectionErrorCam

vpCameraParameters vpMbTracker::m_projectionErrorCam

protected

Camera parameters used for projection error computation.

Definition at line 221 of file vpMbTracker.h.

Referenced by computeProjectionErrorImpl(), and projectionErrorVisibleFace().

◆ m_projectionErrorCircles

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

protected

Distance circle primitive for projection error.

Definition at line 202 of file vpMbTracker.h.

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

◆ m_projectionErrorCylinders

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

protected

Distance cylinder primitives for projection error.

Definition at line 200 of file vpMbTracker.h.

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

◆ m_projectionErrorDisplay

bool vpMbTracker::m_projectionErrorDisplay

protected

Display gradient and model orientation for projection error computation.

Definition at line 215 of file vpMbTracker.h.

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

◆ m_projectionErrorDisplayLength

unsigned int vpMbTracker::m_projectionErrorDisplayLength

protected

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

Definition at line 217 of file vpMbTracker.h.

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

◆ m_projectionErrorDisplayThickness

unsigned int vpMbTracker::m_projectionErrorDisplayThickness

protected

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

Definition at line 219 of file vpMbTracker.h.

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

◆ m_projectionErrorFaces

vpMbHiddenFaces<vpMbtPolygon> vpMbTracker::m_projectionErrorFaces

protected

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

Definition at line 204 of file vpMbTracker.h.

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

◆ m_projectionErrorKernelSize

unsigned int vpMbTracker::m_projectionErrorKernelSize

protected

Kernel size used to compute the gradient orientation.

Definition at line 209 of file vpMbTracker.h.

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

◆ m_projectionErrorLines

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

protected

Distance line primitives for projection error.

Definition at line 198 of file vpMbTracker.h.

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

◆ m_projectionErrorMe

vpMe vpMbTracker::m_projectionErrorMe

protected

Moving-Edges parameters for projection error.

Definition at line 207 of file vpMbTracker.h.

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

◆ m_projectionErrorOgreShowConfigDialog

bool vpMbTracker::m_projectionErrorOgreShowConfigDialog

protected

Definition at line 205 of file vpMbTracker.h.

Referenced by computeProjectionErrorImpl().

◆ m_rand

vpUniRand vpMbTracker::m_rand

protected

Random number generator used in vpMbtDistanceLine::buildFrom()

Definition at line 229 of file vpMbTracker.h.

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

◆ m_SobelX

vpMatrix vpMbTracker::m_SobelX

protected

Sobel kernel in X.

Definition at line 211 of file vpMbTracker.h.

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

◆ m_SobelY

vpMatrix vpMbTracker::m_SobelY

protected

Sobel kernel in Y.

Definition at line 213 of file vpMbTracker.h.

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

◆ m_sodb_init_called

bool vpMbTracker::m_sodb_init_called

protected

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

Definition at line 227 of file vpMbTracker.h.

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

◆ m_stopCriteriaEpsilon

double vpMbTracker::m_stopCriteriaEpsilon

protected

Epsilon threshold to stop the VVS optimization loop.

Definition at line 193 of file vpMbTracker.h.

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

◆ mapOfParameterNames

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

protected

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

Definition at line 184 of file vpMbTracker.h.

Referenced by parseParameters(), and vpMbTracker().

◆ minLineLengthThresholdGeneral

double vpMbTracker::minLineLengthThresholdGeneral

protected

Minimum line length threshold for LOD mode (general setting)

Definition at line 179 of file vpMbTracker.h.

Referenced by addPolygon(), addProjectionErrorPolygon(), loadCAOModel(), and vpMbEdgeTracker::loadConfigFile().

◆ minPolygonAreaThresholdGeneral

double vpMbTracker::minPolygonAreaThresholdGeneral

protected

Minimum polygon area threshold for LOD mode (general setting)

Definition at line 181 of file vpMbTracker.h.

Referenced by addPolygon(), addProjectionErrorPolygon(), loadCAOModel(), and vpMbEdgeTracker::loadConfigFile().

◆ modelFileName

std::string vpMbTracker::modelFileName

protected

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

Definition at line 122 of file vpMbTracker.h.

Referenced by loadModel().

◆ modelInitialised

bool vpMbTracker::modelInitialised

protected

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

Definition at line 125 of file vpMbTracker.h.

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

◆ nbCircles

unsigned int vpMbTracker::nbCircles

protected

Number of circles in CAO model.

Definition at line 172 of file vpMbTracker.h.

Referenced by loadCAOModel(), and loadModel().

◆ nbCylinders

unsigned int vpMbTracker::nbCylinders

protected

Number of cylinders in CAO model.

Definition at line 170 of file vpMbTracker.h.

Referenced by loadCAOModel(), and loadModel().

◆ nbLines

unsigned int vpMbTracker::nbLines

protected

Number of lines in CAO model.

Definition at line 164 of file vpMbTracker.h.

Referenced by loadCAOModel(), and loadModel().

◆ nbPoints

unsigned int vpMbTracker::nbPoints

protected

Number of points in CAO model.

Definition at line 162 of file vpMbTracker.h.

Referenced by loadCAOModel(), and loadModel().

◆ nbPolygonLines

unsigned int vpMbTracker::nbPolygonLines

protected

Number of polygon lines in CAO model.

Definition at line 166 of file vpMbTracker.h.

Referenced by loadCAOModel(), and loadModel().

◆ nbPolygonPoints

unsigned int vpMbTracker::nbPolygonPoints

protected

Number of polygon points in CAO model.

Definition at line 168 of file vpMbTracker.h.

Referenced by loadCAOModel(), and loadModel().

◆ ogreShowConfigDialog

bool vpMbTracker::ogreShowConfigDialog

protected

Definition at line 158 of file vpMbTracker.h.

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

◆ oJo

vpMatrix vpMbTracker::oJo

protected

The Degrees of Freedom to estimate.

Definition at line 117 of file vpMbTracker.h.

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

◆ poseSavingFilename

std::string vpMbTracker::poseSavingFilename

protected

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

Definition at line 128 of file vpMbTracker.h.

◆ projectionError

double vpMbTracker::projectionError

protected

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

Definition at line 138 of file vpMbTracker.h.

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

◆ useLodGeneral

bool vpMbTracker::useLodGeneral

protected

True if LOD mode is enabled.

Definition at line 174 of file vpMbTracker.h.

Referenced by loadCAOModel(), and vpMbEdgeTracker::loadConfigFile().

◆ useOgre

bool vpMbTracker::useOgre

protected

Use Ogre3d for visibility tests.

Definition at line 157 of file vpMbTracker.h.

Referenced by computeProjectionErrorImpl(), vpMbEdgeTracker::display(), vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), vpMbEdgeTracker::init(), vpMbGenericTracker::loadConfigFileJSON(), projectionErrorVisibleFace(), vpMbDepthDenseTracker::resetTracker(), vpMbDepthNormalTracker::resetTracker(), vpMbEdgeTracker::resetTracker(), vpMbGenericTracker::resetTracker(), setOgreVisibilityTest(), and vpMbEdgeTracker::visibleFace().

◆ useScanLine

bool vpMbTracker::useScanLine

protected

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ vpMbtOptimizationMethod

Constructor & Destructor Documentation

◆ vpMbTracker()

◆ ~vpMbTracker()

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()

◆ computeJTR()

◆ computeProjectionErrorImpl()

◆ computeVVSCheckLevenbergMarquardt()

◆ computeVVSInit()

◆ computeVVSInteractionMatrixAndResidu()

◆ computeVVSPoseEstimation()

◆ computeVVSWeights()

◆ createCylinderBBox()

◆ display() [1/2]

◆ display() [2/2]

◆ extractCylinders()

◆ extractFaces()

◆ extractGroup()

◆ extractLines()

◆ getAngleAppear()

◆ getAngleDisappear()

◆ getCameraParameters()

◆ getClipping()

◆ getCovarianceMatrix()

◆ getError()

◆ getEstimatedDoF()

◆ getFaces()

◆ getFarClippingDistance()

◆ getGravityCenter()

◆ getInitialMu()

◆ getLambda()

◆ getMaxIter()

◆ getModelForDisplay()

◆ getNbPolygon()

◆ getNearClippingDistance()

◆ getOptimizationMethod()

◆ getPolygon()

◆ getPolygonFaces()

◆ getPose() [1/2]

◆ getPose() [2/2]

◆ getProjectionError()

◆ getRobustWeights()

◆ getStopCriteriaEpsilon()

◆ init()

◆ initCircle()

◆ initCylinder()

◆ initFaceFromCorners()

◆ initFaceFromLines()

◆ initFromPoints() [1/6]

◆ initFromPoints() [2/6]

◆ initFromPoints() [3/6]

◆ initFromPoints() [4/6]

◆ initFromPoints() [5/6]

◆ initFromPoints() [6/6]

◆ initFromPose() [1/7]

◆ initFromPose() [2/7]

◆ initFromPose() [3/7]

◆ initFromPose() [4/7]

◆ initFromPose() [5/7]

◆ initFromPose() [6/7]

◆ initFromPose() [7/7]