Visual Servoing Platform  version 3.6.1 under development (2025-03-13)
Public Member Functions | Static Public Member Functions | Protected Attributes | List of all members
vpRBFeatureTracker Class Referenceabstract
tracker: ViSP trackers » RBT: Render-Based Tracker module » Trackable features

#include <visp3/rbt/vpRBFeatureTracker.h>

+ Inheritance diagram for vpRBFeatureTracker:

Public Member Functions

 vpRBFeatureTracker ()
 
unsigned getNumFeatures () const
 
bool vvsHasConverged () const
 
virtual double getVVSTrackerWeight () const
 
void setTrackerWeight (double weight)
 
virtual vpMatrix getLTL () const
 
virtual vpColVector getLTR () const
 
const vpColVector & getWeightedError () const
 
virtual void loadJsonConfiguration (const nlohmann::json &j)
 
Required inputs
virtual bool requiresRGB () const =0
 
virtual bool requiresDepth () const =0
 
virtual bool requiresSilhouetteCandidates () const =0
 
Core Tracking methods
virtual void onTrackingIterStart ()=0
 
virtual void onTrackingIterEnd ()=0
 
virtual void extractFeatures (const vpRBFeatureTrackerInput &frame, const vpRBFeatureTrackerInput &previousFrame, const vpHomogeneousMatrix &cMo)=0
 
virtual void trackFeatures (const vpRBFeatureTrackerInput &frame, const vpRBFeatureTrackerInput &previousFrame, const vpHomogeneousMatrix &cMo)=0
 
virtual void initVVS (const vpRBFeatureTrackerInput &frame, const vpRBFeatureTrackerInput &previousFrame, const vpHomogeneousMatrix &cMo)=0
 
virtual void computeVVSIter (const vpRBFeatureTrackerInput &frame, const vpHomogeneousMatrix &cMo, unsigned int iteration)=0
 
Display
bool featuresShouldBeDisplayed () const
 
void setFeaturesShouldBeDisplayed (bool enableDisplay)
 
virtual void display (const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpImage< vpRGBa > &IRGB, const vpImage< unsigned char > &depth) const =0
 
Covariance computation
virtual const vpMatrix getCovariance () const
 
virtual void updateCovariance (const double lambda)
 

Static Public Member Functions

static void computeJTR (const vpMatrix &interaction, const vpColVector &error, vpColVector &JTR)
 
static vpMatrix computeCovarianceMatrix (const vpMatrix &A, const vpColVector &b, const vpMatrix &W)
 

Protected Attributes

vpMatrix m_L
 
vpMatrix m_LTL
 
vpColVector m_LTR
 
vpMatrix m_cov
 
vpColVector m_covWeightDiag
 
vpColVector m_error
 
vpColVector m_weighted_error
 
vpColVector m_weights
 
unsigned m_numFeatures
 
double m_userVvsWeight
 
bool m_vvsConverged
 
bool m_enableDisplay
 

Detailed Description

A base class for all features that can be used and tracked in the vpRBTracker.

Definition at line 60 of file vpRBFeatureTracker.h.

Constructor & Destructor Documentation

◆ vpRBFeatureTracker()

BEGIN_VISP_NAMESPACE vpRBFeatureTracker::vpRBFeatureTracker ( )

Definition at line 39 of file vpRBFeatureTracker.cpp.

References m_enableDisplay, m_numFeatures, m_userVvsWeight, and m_vvsConverged.

Member Function Documentation

◆ computeCovarianceMatrix()

vpMatrix vpRBFeatureTracker::computeCovarianceMatrix ( const vpMatrix &  A,
const vpColVector &  b,
const vpMatrix &  W 
)
static

Definition at line 76 of file vpRBFeatureTracker.cpp.

References vpArray2D< Type >::getRows(), vpColVector::t(), and vpMatrix::t().

Referenced by updateCovariance().

◆ computeJTR()

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

Definition at line 54 of file vpRBFeatureTracker.cpp.

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

Referenced by vpRBDenseDepthTracker::computeVVSIter(), and vpRBSilhouetteMeTracker::computeVVSIter().

◆ computeVVSIter()

virtual void vpRBFeatureTracker::computeVVSIter ( const vpRBFeatureTrackerInput &  frame,
const vpHomogeneousMatrix &  cMo,
unsigned int  iteration 
)
pure virtual

Implemented in vpRBSilhouetteMeTracker, vpRBSilhouetteCCDTracker, vpRBKltTracker, and vpRBDenseDepthTracker.

◆ display()

virtual void vpRBFeatureTracker::display ( const vpCameraParameters &  cam,
const vpImage< unsigned char > &  I,
const vpImage< vpRGBa > &  IRGB,
const vpImage< unsigned char > &  depth 
) const
pure virtual

Implemented in vpRBSilhouetteMeTracker, vpRBSilhouetteCCDTracker, vpRBKltTracker, and vpRBDenseDepthTracker.

◆ extractFeatures()

virtual void vpRBFeatureTracker::extractFeatures ( const vpRBFeatureTrackerInput &  frame,
const vpRBFeatureTrackerInput &  previousFrame,
const vpHomogeneousMatrix &  cMo 
)
pure virtual

Extract features from the frame data and the current pose estimate.

Implemented in vpRBSilhouetteMeTracker, vpRBSilhouetteCCDTracker, vpRBKltTracker, and vpRBDenseDepthTracker.

◆ featuresShouldBeDisplayed()

bool vpRBFeatureTracker::featuresShouldBeDisplayed ( ) const
inline

Definition at line 145 of file vpRBFeatureTracker.h.

◆ getCovariance()

virtual const vpMatrix vpRBFeatureTracker::getCovariance ( ) const
inlinevirtual

Retrieve the 6 x 6 pose covariance matrix, computed from the weights associated to each feature.

The updateCovariance method should have been called before

Definition at line 168 of file vpRBFeatureTracker.h.

◆ getLTL()

virtual vpMatrix vpRBFeatureTracker::getLTL ( ) const
inlinevirtual

Get the left-side term of the Gauss-Newton optimization term.

Definition at line 195 of file vpRBFeatureTracker.h.

◆ getLTR()

virtual vpColVector vpRBFeatureTracker::getLTR ( ) const
inlinevirtual

Get the right-side term of the Gauss-Newton optimization term.

Definition at line 200 of file vpRBFeatureTracker.h.

◆ getNumFeatures()

unsigned vpRBFeatureTracker::getNumFeatures ( ) const
inline

Return the type of feature that is used by this tracker.

Returns
vpRBFeatureType

Get the number of features used to compute the pose update

Definition at line 76 of file vpRBFeatureTracker.h.

◆ getVVSTrackerWeight()

virtual double vpRBFeatureTracker::getVVSTrackerWeight ( ) const
inlinevirtual

Get the importance of this tracker in the optimization step. The default computation is the following: $ w / N $, where $ w$ is the weight defined by setTrackerWeight, and $ N $ is the number of features.

Reimplemented in vpRBSilhouetteCCDTracker, and vpRBDenseDepthTracker.

Definition at line 189 of file vpRBFeatureTracker.h.

◆ getWeightedError()

const vpColVector& vpRBFeatureTracker::getWeightedError ( ) const
inline

Get a weighted version of the error vector. This should not include the userVVSWeight, but may include reweighting to remove outliers, occlusions, etc.

Definition at line 206 of file vpRBFeatureTracker.h.

◆ initVVS()

virtual void vpRBFeatureTracker::initVVS ( const vpRBFeatureTrackerInput &  frame,
const vpRBFeatureTrackerInput &  previousFrame,
const vpHomogeneousMatrix &  cMo 
)
pure virtual

Implemented in vpRBSilhouetteMeTracker, vpRBSilhouetteCCDTracker, vpRBKltTracker, and vpRBDenseDepthTracker.

◆ loadJsonConfiguration()

virtual void vpRBFeatureTracker::loadJsonConfiguration ( const nlohmann::json &  j)
inlinevirtual

Reimplemented in vpRBSilhouetteMeTracker, vpRBSilhouetteCCDTracker, vpRBKltTracker, and vpRBDenseDepthTracker.

Definition at line 209 of file vpRBFeatureTracker.h.

Referenced by vpRBDenseDepthTracker::loadJsonConfiguration(), vpRBKltTracker::loadJsonConfiguration(), vpRBSilhouetteCCDTracker::loadJsonConfiguration(), and vpRBSilhouetteMeTracker::loadJsonConfiguration().

◆ onTrackingIterEnd()

virtual void vpRBFeatureTracker::onTrackingIterEnd ( )
pure virtual

Method called after the tracking iteration has finished.

Implemented in vpRBSilhouetteMeTracker, vpRBSilhouetteCCDTracker, vpRBKltTracker, and vpRBDenseDepthTracker.

◆ onTrackingIterStart()

virtual void vpRBFeatureTracker::onTrackingIterStart ( )
pure virtual

Method called when starting a tracking iteration.

Implemented in vpRBSilhouetteMeTracker, vpRBSilhouetteCCDTracker, vpRBKltTracker, and vpRBDenseDepthTracker.

◆ requiresDepth()

virtual bool vpRBFeatureTracker::requiresDepth ( ) const
pure virtual

Whether this tracker requires depth image to extract features.

Implemented in vpRBSilhouetteMeTracker, vpRBSilhouetteCCDTracker, vpRBKltTracker, and vpRBDenseDepthTracker.

◆ requiresRGB()

virtual bool vpRBFeatureTracker::requiresRGB ( ) const
pure virtual

Whether this tracker requires RGB image to extract features.

Returns
true if the tracker requires an RGB image
false otherwise

Implemented in vpRBSilhouetteMeTracker, vpRBSilhouetteCCDTracker, vpRBKltTracker, and vpRBDenseDepthTracker.

◆ requiresSilhouetteCandidates()

virtual bool vpRBFeatureTracker::requiresSilhouetteCandidates ( ) const
pure virtual

Whether this tracker requires Silhouette candidates.

Implemented in vpRBSilhouetteMeTracker, vpRBSilhouetteCCDTracker, vpRBKltTracker, and vpRBDenseDepthTracker.

◆ setFeaturesShouldBeDisplayed()

void vpRBFeatureTracker::setFeaturesShouldBeDisplayed ( bool  enableDisplay)
inline

Definition at line 146 of file vpRBFeatureTracker.h.

◆ setTrackerWeight()

void vpRBFeatureTracker::setTrackerWeight ( double  weight)
inline

Definition at line 190 of file vpRBFeatureTracker.h.

◆ trackFeatures()

virtual void vpRBFeatureTracker::trackFeatures ( const vpRBFeatureTrackerInput &  frame,
const vpRBFeatureTrackerInput &  previousFrame,
const vpHomogeneousMatrix &  cMo 
)
pure virtual

Track the features.

Implemented in vpRBSilhouetteMeTracker, vpRBKltTracker, vpRBSilhouetteCCDTracker, and vpRBDenseDepthTracker.

◆ updateCovariance()

void vpRBFeatureTracker::updateCovariance ( const double  lambda)
virtual

Update the covariance matrix.

Parameters
lambdathe visual servoing gain

Reimplemented in vpRBSilhouetteCCDTracker.

Definition at line 47 of file vpRBFeatureTracker.cpp.

References computeCovarianceMatrix(), m_cov, m_covWeightDiag, m_error, and m_L.

◆ vvsHasConverged()

bool vpRBFeatureTracker::vvsHasConverged ( ) const
inline

Returns whether the tracker is considered as having converged to the desired pose.

Definition at line 182 of file vpRBFeatureTracker.h.

Member Data Documentation

◆ m_cov

vpMatrix vpRBFeatureTracker::m_cov
protected

Right side of the Gauss Newton minimization.

Definition at line 225 of file vpRBFeatureTracker.h.

Referenced by vpRBDenseDepthTracker::computeVVSIter(), vpRBDenseDepthTracker::extractFeatures(), vpRBSilhouetteCCDTracker::initVVS(), and updateCovariance().

◆ m_covWeightDiag

vpColVector vpRBFeatureTracker::m_covWeightDiag
protected

Covariance matrix.

Definition at line 226 of file vpRBFeatureTracker.h.

Referenced by vpRBDenseDepthTracker::computeVVSIter(), vpRBSilhouetteMeTracker::computeVVSIter(), vpRBDenseDepthTracker::extractFeatures(), vpRBSilhouetteMeTracker::initVVS(), and updateCovariance().

◆ m_enableDisplay

bool vpRBFeatureTracker::m_enableDisplay
protected

Whether VVS has converged, should be updated every VVS iteration.

Definition at line 238 of file vpRBFeatureTracker.h.

Referenced by vpRBFeatureTracker().

◆ m_error

vpColVector vpRBFeatureTracker::m_error
protected

Definition at line 228 of file vpRBFeatureTracker.h.

Referenced by vpRBSilhouetteCCDTracker::computeErrorAndInteractionMatrix(), vpRBDenseDepthTracker::computeVVSIter(), vpRBSilhouetteMeTracker::computeVVSIter(), vpRBSilhouetteCCDTracker::display(), vpRBDenseDepthTracker::extractFeatures(), vpRBSilhouetteMeTracker::initVVS(), and updateCovariance().

◆ m_L

vpMatrix vpRBFeatureTracker::m_L
protected

Definition at line 222 of file vpRBFeatureTracker.h.

Referenced by vpRBSilhouetteCCDTracker::computeErrorAndInteractionMatrix(), vpRBDenseDepthTracker::computeVVSIter(), vpRBSilhouetteMeTracker::computeVVSIter(), vpRBDenseDepthTracker::extractFeatures(), vpRBSilhouetteMeTracker::initVVS(), and updateCovariance().

◆ m_LTL

vpMatrix vpRBFeatureTracker::m_LTL
protected

Error jacobian (In VS terms, the interaction matrix)

Definition at line 223 of file vpRBFeatureTracker.h.

Referenced by vpRBSilhouetteCCDTracker::computeErrorAndInteractionMatrix(), vpRBDenseDepthTracker::computeVVSIter(), and vpRBSilhouetteMeTracker::computeVVSIter().

◆ m_LTR

vpColVector vpRBFeatureTracker::m_LTR
protected

Left side of the Gauss newton minimization.

Definition at line 224 of file vpRBFeatureTracker.h.

Referenced by vpRBSilhouetteCCDTracker::computeErrorAndInteractionMatrix(), vpRBDenseDepthTracker::computeVVSIter(), and vpRBSilhouetteMeTracker::computeVVSIter().

◆ m_numFeatures

unsigned vpRBFeatureTracker::m_numFeatures
protected

Error weights.

Definition at line 233 of file vpRBFeatureTracker.h.

Referenced by vpRBDenseDepthTracker::computeVVSIter(), vpRBSilhouetteMeTracker::computeVVSIter(), vpRBDenseDepthTracker::extractFeatures(), vpRBSilhouetteMeTracker::extractFeatures(), vpRBSilhouetteCCDTracker::initVVS(), vpRBSilhouetteMeTracker::initVVS(), and vpRBFeatureTracker().

◆ m_userVvsWeight

double vpRBFeatureTracker::m_userVvsWeight
protected

Number of considered features.

Definition at line 234 of file vpRBFeatureTracker.h.

Referenced by vpRBFeatureTracker().

◆ m_vvsConverged

bool vpRBFeatureTracker::m_vvsConverged
protected

User-defined weight for this specific type of feature.

Definition at line 236 of file vpRBFeatureTracker.h.

Referenced by vpRBDenseDepthTracker::computeVVSIter(), vpRBSilhouetteCCDTracker::computeVVSIter(), vpRBSilhouetteMeTracker::computeVVSIter(), vpRBSilhouetteCCDTracker::initVVS(), vpRBSilhouetteMeTracker::initVVS(), and vpRBFeatureTracker().

◆ m_weighted_error

vpColVector vpRBFeatureTracker::m_weighted_error
protected

Raw VS Error vector.

Definition at line 229 of file vpRBFeatureTracker.h.

Referenced by vpRBSilhouetteCCDTracker::computeErrorAndInteractionMatrix(), vpRBDenseDepthTracker::computeVVSIter(), vpRBSilhouetteMeTracker::computeVVSIter(), vpRBDenseDepthTracker::extractFeatures(), and vpRBSilhouetteMeTracker::initVVS().

◆ m_weights

vpColVector vpRBFeatureTracker::m_weights
protected

Weighted VS error.

Definition at line 230 of file vpRBFeatureTracker.h.

Referenced by vpRBSilhouetteCCDTracker::computeErrorAndInteractionMatrix(), vpRBDenseDepthTracker::computeVVSIter(), vpRBSilhouetteMeTracker::computeVVSIter(), vpRBDenseDepthTracker::display(), vpRBSilhouetteCCDTracker::display(), vpRBDenseDepthTracker::extractFeatures(), vpRBSilhouetteCCDTracker::initVVS(), and vpRBSilhouetteMeTracker::initVVS().