#include <visp3/rbt/vpRBSilhouetteCCDTracker.h>

Inheritance diagram for vpRBSilhouetteCCDTracker:

Public Member Functions
	vpRBSilhouetteCCDTracker ()

virtual	~vpRBSilhouetteCCDTracker ()=default

bool	requiresRGB () const VP_OVERRIDE

bool	requiresDepth () const VP_OVERRIDE

bool	requiresSilhouetteCandidates () const VP_OVERRIDE

void	onTrackingIterStart () VP_OVERRIDE

void	onTrackingIterEnd () VP_OVERRIDE

double	getVVSTrackerWeight () const VP_OVERRIDE

void	extractFeatures (const vpRBFeatureTrackerInput &frame, const vpRBFeatureTrackerInput &previousFrame, const vpHomogeneousMatrix &cMo) VP_OVERRIDE

void	trackFeatures (const vpRBFeatureTrackerInput &, const vpRBFeatureTrackerInput &, const vpHomogeneousMatrix &) VP_OVERRIDE

void	initVVS (const vpRBFeatureTrackerInput &frame, const vpRBFeatureTrackerInput &previousFrame, const vpHomogeneousMatrix &cMo) VP_OVERRIDE

void	computeVVSIter (const vpRBFeatureTrackerInput &frame, const vpHomogeneousMatrix &cMo, unsigned int iteration) VP_OVERRIDE

void	updateCovariance (const double) VP_OVERRIDE

void	display (const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpImage< vpRGBa > &IRGB, const vpImage< unsigned char > &depth) const VP_OVERRIDE

virtual void	loadJsonConfiguration (const nlohmann::json &j) VP_OVERRIDE

unsigned	getNumFeatures () const

bool	vvsHasConverged () const

void	setTrackerWeight (double weight)

virtual vpMatrix	getLTL () const

virtual vpColVector	getLTR () const

const vpColVector &	getWeightedError () const

Settings
void	setCCDParameters (const vpCCDParameters &parameters)

vpCCDParameters	getCCDParameters () const

double	getTemporalSmoothingFactor () const

void	setTemporalSmoothingFactor (double factor)

bool	shouldUseMask () const

void	setShouldUseMask (bool useMask)

float	getMinimumMaskConfidence () const

void	setMinimumMaskConfidence (float confidence)

void	setDisplayType (vpRBSilhouetteCCDDisplayType type)

Display
bool	featuresShouldBeDisplayed () const

void	setFeaturesShouldBeDisplayed (bool enableDisplay)

Covariance computation
virtual const vpMatrix	getCovariance () const

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 Member Functions
void	updateCCDPoints (const vpHomogeneousMatrix &cMo)

void	computeLocalStatistics (const vpImage< vpRGBa > &I, vpCCDStatistics &stats)

void	computeErrorAndInteractionMatrix ()

double	computeMaskGradient (const vpImage< float > &mask, const vpRBSilhouetteControlPoint &pccd) const

Protected Attributes
vpCCDParameters	m_ccdParameters

std::vector< vpRBSilhouetteControlPoint >	m_controlPoints

vpRobust	m_robust

vpCCDStatistics	m_stats

vpCCDStatistics	m_prevStats

vpMatrix	m_sigma

double	m_vvsConvergenceThreshold

double	tol

std::vector< vpColVector >	m_gradients

std::vector< vpMatrix >	m_hessians

vpColVector	m_gradient

vpMatrix	m_hessian

double	m_temporalSmoothingFac

bool	m_useMask

double	m_minMaskConfidence

vpRBSilhouetteCCDDisplayType	m_displayType

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

Tracking based on the Contracting Curve Density algorithm.

Examples: catchRBT.cpp.

Definition at line 191 of file vpRBSilhouetteCCDTracker.h.

Constructor & Destructor Documentation

◆ vpRBSilhouetteCCDTracker()

vpRBSilhouetteCCDTracker::vpRBSilhouetteCCDTracker ( )

Definition at line 144 of file vpRBSilhouetteCCDTracker.cpp.

◆ ~vpRBSilhouetteCCDTracker()

virtual vpRBSilhouetteCCDTracker::~vpRBSilhouetteCCDTracker ( )

virtualdefault

Member Function Documentation

◆ computeCovarianceMatrix()

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

staticinherited

Definition at line 76 of file vpRBFeatureTracker.cpp.

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

Referenced by vpRBFeatureTracker::updateCovariance().

◆ computeErrorAndInteractionMatrix()

void vpRBSilhouetteCCDTracker::computeErrorAndInteractionMatrix ( )

protected

Definition at line 585 of file vpRBSilhouetteCCDTracker.cpp.

References vpCCDStatistics::cov_vic, vpCCDParameters::covarianceIterDecreaseFactor, vpArray2D< Type >::data, FastMat63< T >::data, vpCCDParameters::delta_h, vpCameraParameters::get_px(), vpRBSilhouetteControlPoint::getCameraParameters(), vpArray2D< Type >::getCols(), vpArray2D< Type >::getRows(), vpCCDParameters::h, vpCCDStatistics::imgPoints, FastMat33< T >::inverse(), vpMatrix::inverseByCholesky(), vpRBSilhouetteControlPoint::isValid(), m_ccdParameters, m_controlPoints, vpRBFeatureTracker::m_error, m_gradient, m_gradients, m_hessian, m_hessians, vpRBFeatureTracker::m_L, vpRBFeatureTracker::m_LTL, vpRBFeatureTracker::m_LTR, m_prevStats, m_robust, m_sigma, m_stats, m_temporalSmoothingFac, vpRBFeatureTracker::m_weighted_error, vpRBFeatureTracker::m_weights, vpCCDStatistics::mean_vic, vpRobust::MEstimator(), FastVec3< T >::multiply(), FastMat63< T >::multiply(), FastMat63< T >::multiplyBTranspose(), vpCCDStatistics::nv, vpColVector::resize(), vpArray2D< Type >::resize(), vpCCDStatistics::vic, vpRBSilhouetteControlPoint::xs, vpRBSilhouetteControlPoint::ys, and vpRBSilhouetteControlPoint::Zs.

Referenced by computeVVSIter().

◆ computeJTR()

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

staticinherited

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().

◆ computeLocalStatistics()

void vpRBSilhouetteCCDTracker::computeLocalStatistics	(	const vpImage< vpRGBa > &	I,
		vpCCDStatistics &	stats
	)

protected

Definition at line 345 of file vpRBSilhouetteCCDTracker.cpp.

References vpCCDParameters::alpha, vpRGBa::B, vpCCDStatistics::cov_vic, vpCCDParameters::delta_h, vpException::fatalError, vpRGBa::G, vpCCDParameters::gamma_1, vpCCDParameters::gamma_2, vpCCDParameters::gamma_3, vpCCDParameters::gamma_4, vpImagePoint::get_i(), vpImagePoint::get_j(), vpImagePoint::get_u(), vpImagePoint::get_v(), vpImage< Type >::getHeight(), vpRBSilhouetteControlPoint::getTheta(), vpImage< Type >::getWidth(), vpCCDParameters::h, vpRBSilhouetteControlPoint::icpoint, vpCCDStatistics::imgPoints, vpRBSilhouetteControlPoint::isValid(), vpCCDParameters::kappa, m_ccdParameters, m_controlPoints, vpCCDStatistics::mean_vic, vpCCDStatistics::nv, vpRBSilhouetteControlPoint::nxs, vpRBSilhouetteControlPoint::nys, vpRGBa::R, vpRBSilhouetteControlPoint::setValid(), vpCCDStatistics::vic, and vpRBSilhouetteControlPoint::xs.

Referenced by computeVVSIter(), and initVVS().

◆ computeMaskGradient()

double vpRBSilhouetteCCDTracker::computeMaskGradient	(	const vpImage< float > &	mask,
		const vpRBSilhouetteControlPoint &	pccd
	)		const

protected

Definition at line 180 of file vpRBSilhouetteCCDTracker.cpp.

References vpImagePoint::get_i(), vpImagePoint::get_j(), vpRBSilhouetteControlPoint::getTheta(), vpCCDParameters::h, vpRBSilhouetteControlPoint::icpoint, and m_ccdParameters.

Referenced by extractFeatures().

◆ computeVVSIter()

void vpRBSilhouetteCCDTracker::computeVVSIter	(	const vpRBFeatureTrackerInput &	frame,
		const vpHomogeneousMatrix &	cMo,
		unsigned int	iteration
	)

virtual

Implements vpRBFeatureTracker.

Definition at line 236 of file vpRBSilhouetteCCDTracker.cpp.

References computeErrorAndInteractionMatrix(), computeLocalStatistics(), vpRBFeatureTrackerInput::IRGB, m_controlPoints, m_stats, vpRBFeatureTracker::m_vvsConverged, m_vvsConvergenceThreshold, tol, and updateCCDPoints().

◆ display()

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

virtual

◆ extractFeatures()

void vpRBSilhouetteCCDTracker::extractFeatures	(	const vpRBFeatureTrackerInput &	frame,
		const vpRBFeatureTrackerInput &	previousFrame,
		const vpHomogeneousMatrix &	cMo
	)

virtual

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

Implements vpRBFeatureTracker.

Definition at line 147 of file vpRBSilhouetteCCDTracker.cpp.

References vpRBSilhouetteControlPoint::buildSilhouettePoint(), vpRBFeatureTrackerInput::cam, vpRBRenderData::cMo, computeMaskGradient(), vpRBRenderData::depth, vpRBSilhouetteControlPoint::detectSilhouette(), vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpCCDParameters::h, vpRBFeatureTrackerInput::hasMask(), vpRBFeatureTrackerInput::I, vpRBSilhouettePoint::i, vpHomogeneousMatrix::inverse(), vpRBSilhouetteControlPoint::isSilhouette(), vpRBSilhouetteControlPoint::isValid(), vpRBSilhouettePoint::j, m_ccdParameters, m_controlPoints, m_minMaskConfidence, m_useMask, vpRBFeatureTrackerInput::mask, vpRBSilhouettePoint::normal, vpRBSilhouettePoint::orientation, vpRBFeatureTrackerInput::renders, vpRBFeatureTrackerInput::silhouettePoints, and vpRBSilhouettePoint::Z.

◆ featuresShouldBeDisplayed()

bool vpRBFeatureTracker::featuresShouldBeDisplayed ( ) const

inlineinherited

Definition at line 145 of file vpRBFeatureTracker.h.

◆ getCCDParameters()

vpCCDParameters vpRBSilhouetteCCDTracker::getCCDParameters ( ) const

inline

Examples: catchRBT.cpp.

Definition at line 207 of file vpRBSilhouetteCCDTracker.h.

◆ getCovariance()

virtual const vpMatrix vpRBFeatureTracker::getCovariance ( ) const

inlinevirtualinherited

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

inlinevirtualinherited

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

inlinevirtualinherited

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

Definition at line 200 of file vpRBFeatureTracker.h.

◆ getMinimumMaskConfidence()

float vpRBSilhouetteCCDTracker::getMinimumMaskConfidence ( ) const

inline

Returns the minimum mask gradient required for a silhouette point to be considered.

This value is between 0 and 1

Definition at line 244 of file vpRBSilhouetteCCDTracker.h.

◆ getNumFeatures()

unsigned vpRBFeatureTracker::getNumFeatures ( ) const

inlineinherited

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.

◆ getTemporalSmoothingFactor()

double vpRBSilhouetteCCDTracker::getTemporalSmoothingFactor ( ) const

inline

Returns the amount of temporal smoothing applied when computing the tracking error and its jacobian. This factor is used to interpolate with the error computed on the previous frame for the features selected at the current iteration Temporal smoothing may help smooth out the motion and reduce jitter.

Examples: catchRBT.cpp.

Definition at line 215 of file vpRBSilhouetteCCDTracker.h.

◆ getVVSTrackerWeight()

double vpRBSilhouetteCCDTracker::getVVSTrackerWeight ( ) const

inlinevirtual

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

Reimplemented from vpRBFeatureTracker.

Definition at line 263 of file vpRBSilhouetteCCDTracker.h.

◆ getWeightedError()

const vpColVector& vpRBFeatureTracker::getWeightedError ( ) const

inlineinherited

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()

void vpRBSilhouetteCCDTracker::initVVS	(	const vpRBFeatureTrackerInput &	frame,
		const vpRBFeatureTrackerInput &	previousFrame,
		const vpHomogeneousMatrix &	cMo
	)

virtual

◆ loadJsonConfiguration()

virtual void vpRBSilhouetteCCDTracker::loadJsonConfiguration ( const nlohmann::json & j )

inlinevirtual

Reimplemented from vpRBFeatureTracker.

Examples: catchRBT.cpp.

Definition at line 278 of file vpRBSilhouetteCCDTracker.h.

References vpRBFeatureTracker::loadJsonConfiguration().

◆ onTrackingIterEnd()

void vpRBSilhouetteCCDTracker::onTrackingIterEnd ( )

inlinevirtual

Method called after the tracking iteration has finished.

Implements vpRBFeatureTracker.

Definition at line 261 of file vpRBSilhouetteCCDTracker.h.

◆ onTrackingIterStart()

void vpRBSilhouetteCCDTracker::onTrackingIterStart ( )

inlinevirtual

Method called when starting a tracking iteration.

Implements vpRBFeatureTracker.

Definition at line 260 of file vpRBSilhouetteCCDTracker.h.

◆ requiresDepth()

bool vpRBSilhouetteCCDTracker::requiresDepth ( ) const

inlinevirtual

Whether this tracker requires depth image to extract features.

Implements vpRBFeatureTracker.

Definition at line 199 of file vpRBSilhouetteCCDTracker.h.

◆ requiresRGB()

bool vpRBSilhouetteCCDTracker::requiresRGB ( ) const

inlinevirtual

Whether this tracker requires RGB image to extract features.

Returns: true if the tracker requires an RGB image; false otherwise

Implements vpRBFeatureTracker.

Definition at line 198 of file vpRBSilhouetteCCDTracker.h.

◆ requiresSilhouetteCandidates()

bool vpRBSilhouetteCCDTracker::requiresSilhouetteCandidates ( ) const

inlinevirtual

Whether this tracker requires Silhouette candidates.

Implements vpRBFeatureTracker.

Definition at line 200 of file vpRBSilhouetteCCDTracker.h.

◆ setCCDParameters()

void vpRBSilhouetteCCDTracker::setCCDParameters ( const vpCCDParameters & parameters )

inline

Examples: catchRBT.cpp.

Definition at line 206 of file vpRBSilhouetteCCDTracker.h.

◆ setDisplayType()

void vpRBSilhouetteCCDTracker::setDisplayType ( vpRBSilhouetteCCDDisplayType type )

inline

Definition at line 251 of file vpRBSilhouetteCCDTracker.h.

◆ setFeaturesShouldBeDisplayed()

void vpRBFeatureTracker::setFeaturesShouldBeDisplayed ( bool enableDisplay )

inlineinherited

Definition at line 146 of file vpRBFeatureTracker.h.

◆ setMinimumMaskConfidence()

void vpRBSilhouetteCCDTracker::setMinimumMaskConfidence ( float confidence )

inline

Definition at line 245 of file vpRBSilhouetteCCDTracker.h.

◆ setShouldUseMask()

void vpRBSilhouetteCCDTracker::setShouldUseMask ( bool useMask )

inline

Definition at line 237 of file vpRBSilhouetteCCDTracker.h.

◆ setTemporalSmoothingFactor()

void vpRBSilhouetteCCDTracker::setTemporalSmoothingFactor ( double factor )

inline

Sets the temporal smoothing factor.

See also: getTemporalSmoothingFactor

Parameters

factor the new temporal smoothing factor. Should be greater than 0

Examples: catchRBT.cpp.

Definition at line 223 of file vpRBSilhouetteCCDTracker.h.

References vpException::badValue.

◆ setTrackerWeight()

void vpRBFeatureTracker::setTrackerWeight ( double weight )

inlineinherited

Definition at line 190 of file vpRBFeatureTracker.h.

◆ shouldUseMask()

bool vpRBSilhouetteCCDTracker::shouldUseMask ( ) const

inline

Returns whether the tracking algorithm should filter out points that are unlikely to be on the object according to the mask. If the mask is not computed beforehand, then it has no effect.

Definition at line 236 of file vpRBSilhouetteCCDTracker.h.

◆ trackFeatures()

void vpRBSilhouetteCCDTracker::trackFeatures	(	const vpRBFeatureTrackerInput &	frame,
		const vpRBFeatureTrackerInput &	previousFrame,
		const vpHomogeneousMatrix &	cMo
	)