vpRBTracker Class Reference

#include <visp3/rbt/vpRBTracker.h>

Public Member Functions
	vpRBTracker ()
	~vpRBTracker ()=default
void	reset ()
void	initClick (const vpImage< unsigned char > &I, const std::string &initFile, bool displayHelp)
Information retrieval
void	getPose (vpHomogeneousMatrix &cMo) const
void	setPose (const vpHomogeneousMatrix &cMo)
vpObjectCentricRenderer &	getRenderer ()
const vpRBFeatureTrackerInput &	getMostRecentFrame () const
const vpRBTrackerLogger &	getLogger () const
vpMatrix	getCovariance () const
Settings
void	addTracker (std::shared_ptr< vpRBFeatureTracker > tracker)
void	setupRenderer (const std::string &file)
std::string	getModelPath () const
void	setModelPath (const std::string &path)
std::vector< std::shared_ptr< vpRBFeatureTracker > >	getFeatureTrackers ()
vpCameraParameters	getCameraParameters () const
void	setCameraParameters (const vpCameraParameters &cam, unsigned h, unsigned w)
unsigned int	getImageWidth () const
unsigned int	getImageHeight () const
vpSilhouettePointsExtractionSettings	getSilhouetteExtractionParameters () const
void	setSilhouetteExtractionParameters (const vpSilhouettePointsExtractionSettings &settings)
double	getOptimizationGain () const
void	setOptimizationGain (double lambda)
unsigned int	getMaxOptimizationIters () const
void	setMaxOptimizationIters (unsigned int iters)
double	getOptimizationInitialMu () const
void	setOptimizationInitialMu (double mu)
double	getOptimizationMuIterFactor () const
void	setOptimizationMuIterFactor (double factor)
std::shared_ptr< vpRBDriftDetector >	getDriftDetector () const
void	setDriftDetector (const std::shared_ptr< vpRBDriftDetector > &detector)
std::shared_ptr< vpObjectMask >	getObjectSegmentationMethod () const
void	setObjectSegmentationMethod (const std::shared_ptr< vpObjectMask > &mask)
std::shared_ptr< vpRBVisualOdometry >	getOdometryMethod () const
void	setOdometryMethod (const std::shared_ptr< vpRBVisualOdometry > &odometry)
bool	getVerbose ()
void	setVerbose (bool verbose)
void	loadConfigurationFile (const std::string &filename)
void	loadConfiguration (const nlohmann::json &j)
Tracking
void	startTracking ()
void	track (const vpImage< unsigned char > &I)
void	track (const vpImage< unsigned char > &I, const vpImage< vpRGBa > &IRGB)
void	track (const vpImage< unsigned char > &I, const vpImage< vpRGBa > &IRGB, const vpImage< float > &depth)
Display
void	displayMask (vpImage< unsigned char > &Imask) const
void	display (const vpImage< unsigned char > &I, const vpImage< vpRGBa > &IRGB, const vpImage< unsigned char > &depth)

Protected Member Functions
void	track (vpRBFeatureTrackerInput &input)
void	updateRender (vpRBFeatureTrackerInput &frame)
std::vector< vpRBSilhouettePoint >	extractSilhouettePoints (const vpImage< vpRGBf > &Inorm, const vpImage< float > &Idepth, const vpImage< vpRGBf > &Ior, const vpImage< unsigned char > &Ivalid, const vpCameraParameters &cam, const vpHomogeneousMatrix &cTcp)
template<typename T >
void	checkDimensionsOrThrow (const vpImage< T > &I, const std::string &imgType) const

Protected Attributes
bool	m_firstIteration
std::vector< std::shared_ptr< vpRBFeatureTracker > >	m_trackers
vpRBFeatureTrackerInput	m_currentFrame
vpRBFeatureTrackerInput	m_previousFrame
std::string	m_modelPath
vpHomogeneousMatrix	m_cMo
vpHomogeneousMatrix	m_cMoPrev
vpCameraParameters	m_cam
double	m_lambda
unsigned	m_vvsIterations
double	m_muInit
double	m_muIterFactor
vpSilhouettePointsExtractionSettings	m_depthSilhouetteSettings
vpPanda3DRenderParameters	m_rendererSettings
vpObjectCentricRenderer	m_renderer
unsigned	m_imageHeight
unsigned	m_imageWidth
vpRBTrackerLogger	m_logger
bool	m_verbose
std::shared_ptr< vpObjectMask >	m_mask
std::shared_ptr< vpRBDriftDetector >	m_driftDetector
std::shared_ptr< vpRBVisualOdometry >	m_odometry

Detailed Description

Examples

catchRBT.cpp, tutorial-rbt-realsense.cpp, and tutorial-rbt-sequence.cpp.

Definition at line 67 of file vpRBTracker.h.

Constructor & Destructor Documentation

vpRBTracker()

BEGIN_VISP_NAMESPACE vpRBTracker::vpRBTracker

(

)

Definition at line 52 of file vpRBTracker.cpp.

References m_driftDetector, m_mask, m_odometry, m_renderer, m_rendererSettings, vpPanda3DRenderParameters::setClippingDistance(), and vpObjectCentricRenderer::setRenderParameters().

~vpRBTracker()

vpRBTracker::~vpRBTracker ( )

default

Member Function Documentation

addTracker()

void vpRBTracker::addTracker

(

std::shared_ptr< vpRBFeatureTracker >

tracker

)

Examples

catchRBT.cpp.

Definition at line 543 of file vpRBTracker.cpp.

References vpException::badValue, and m_trackers.

checkDimensionsOrThrow()

template<typename T >

void vpRBTracker::checkDimensionsOrThrow ( const vpImage< T > &  I, const std::string &  imgType  ) const

inlineprotected

Definition at line 234 of file vpRBTracker.h.

References vpException::dimensionError, vpImage< Type >::getCols(), and vpImage< Type >::getRows().

Referenced by track().

display()

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

Examples

tutorial-rbt-realsense.cpp, and tutorial-rbt-sequence.cpp.

Definition at line 558 of file vpRBTracker.cpp.

References vpRBFeatureTrackerInput::cam, vpImage< Type >::getSize(), m_currentFrame, m_driftDetector, m_trackers, vpRBRenderData::normals, and vpRBFeatureTrackerInput::renders.

displayMask()

void vpRBTracker::displayMask

(

vpImage< unsigned char > &

Imask

)

const

Examples

tutorial-rbt-realsense.cpp, and tutorial-rbt-sequence.cpp.

Definition at line 551 of file vpRBTracker.cpp.

References m_currentFrame, m_mask, and vpRBFeatureTrackerInput::mask.

extractSilhouettePoints()

std::vector< vpRBSilhouettePoint > vpRBTracker::extractSilhouettePoints ( const vpImage< vpRGBf > &  Inorm, const vpImage< float > &  Idepth, const vpImage< vpRGBf > &  Ior, const vpImage< unsigned char > &  Ivalid, const vpCameraParameters &  cam, const vpHomogeneousMatrix &  cTcp  )

protected

Definition at line 480 of file vpRBTracker.cpp.

References vpException::badValue, vpSilhouettePointsExtractionSettings::getSilhouetteCandidates(), m_depthSilhouetteSettings, m_previousFrame, and vpRBFeatureTrackerInput::silhouettePoints.

Referenced by track().

getCameraParameters()

vpCameraParameters vpRBTracker::getCameraParameters

(

)

const

Examples

catchRBT.cpp, and tutorial-rbt-sequence.cpp.

Definition at line 99 of file vpRBTracker.cpp.

References m_cam.

getCovariance()

vpMatrix vpRBTracker::getCovariance

(

)

const

Definition at line 76 of file vpRBTracker.cpp.

References vpException::dimensionError, vpArray2D< Type >::getCols(), vpArray2D< Type >::getRows(), m_lambda, m_trackers, and vpMatrix::pseudoInverse().

getDriftDetector()

std::shared_ptr<vpRBDriftDetector> vpRBTracker::getDriftDetector ( ) const

inline

Definition at line 150 of file vpRBTracker.h.

getFeatureTrackers()

std::vector<std::shared_ptr<vpRBFeatureTracker> > vpRBTracker::getFeatureTrackers ( )

inline

Definition at line 100 of file vpRBTracker.h.

getImageHeight()

unsigned int vpRBTracker::getImageHeight ( ) const

inline

Examples

catchRBT.cpp.

Definition at line 106 of file vpRBTracker.h.

getImageWidth()

unsigned int vpRBTracker::getImageWidth ( ) const

inline

Examples

catchRBT.cpp.

Definition at line 105 of file vpRBTracker.h.

getLogger()

const vpRBTrackerLogger& vpRBTracker::getLogger ( ) const

inline

Definition at line 83 of file vpRBTracker.h.

getMaxOptimizationIters()

unsigned int vpRBTracker::getMaxOptimizationIters ( ) const

inline

Examples

catchRBT.cpp.

Definition at line 123 of file vpRBTracker.h.

getModelPath()

std::string vpRBTracker::getModelPath ( ) const

inline

Examples

catchRBT.cpp.

Definition at line 97 of file vpRBTracker.h.

getMostRecentFrame()

const vpRBFeatureTrackerInput& vpRBTracker::getMostRecentFrame ( ) const

inline

Examples

tutorial-rbt-realsense.cpp, and tutorial-rbt-sequence.cpp.

Definition at line 82 of file vpRBTracker.h.

getObjectSegmentationMethod()

std::shared_ptr<vpObjectMask> vpRBTracker::getObjectSegmentationMethod ( ) const

inline

Definition at line 156 of file vpRBTracker.h.

getOdometryMethod()

std::shared_ptr<vpRBVisualOdometry> vpRBTracker::getOdometryMethod ( ) const

inline

Definition at line 162 of file vpRBTracker.h.

getOptimizationGain()

double vpRBTracker::getOptimizationGain ( ) const

inline

Examples

catchRBT.cpp.

Definition at line 115 of file vpRBTracker.h.

getOptimizationInitialMu()

double vpRBTracker::getOptimizationInitialMu ( ) const

inline

Examples

catchRBT.cpp.

Definition at line 132 of file vpRBTracker.h.

getOptimizationMuIterFactor()

double vpRBTracker::getOptimizationMuIterFactor ( ) const

inline

Examples

catchRBT.cpp.

Definition at line 141 of file vpRBTracker.h.

getPose()

void vpRBTracker::getPose

(

vpHomogeneousMatrix &

cMo

)

const

Examples

catchRBT.cpp, tutorial-rbt-realsense.cpp, and tutorial-rbt-sequence.cpp.

Definition at line 64 of file vpRBTracker.cpp.

References m_cMo.

getRenderer()

vpObjectCentricRenderer & vpRBTracker::getRenderer

(

)

Definition at line 576 of file vpRBTracker.cpp.

References m_renderer.

getSilhouetteExtractionParameters()

vpSilhouettePointsExtractionSettings vpRBTracker::getSilhouetteExtractionParameters ( ) const

inline

Examples

catchRBT.cpp.

Definition at line 108 of file vpRBTracker.h.

getVerbose()

bool vpRBTracker::getVerbose ( )

inline

Get verbosity mode.

Returns

true when verbosity is enabled, false otherwise.

Definition at line 172 of file vpRBTracker.h.

initClick()

void vpRBTracker::initClick	(	const vpImage< unsigned char > &	I,
		const std::string &	initFile,
		bool	displayHelp
	)

Examples

tutorial-rbt-realsense.cpp, and tutorial-rbt-sequence.cpp.

Definition at line 668 of file vpRBTracker.cpp.

References vpRBInitializationHelper::getPose(), vpRBInitializationHelper::initClick(), m_cam, m_cMo, and vpRBInitializationHelper::setCameraParameters().

loadConfiguration()

void vpRBTracker::loadConfiguration

(

const nlohmann::json &

j

)

Examples

catchRBT.cpp.

Definition at line 603 of file vpRBTracker.cpp.

References vpException::badValue, vpDynamicFactory< T >::buildFromJson(), vpObjectMaskFactory::getFactory(), vpRBDriftDetectorFactory::getFactory(), vpRBFeatureTrackerFactory::getFactory(), m_cam, m_depthSilhouetteSettings, m_driftDetector, m_firstIteration, m_imageHeight, m_imageWidth, m_lambda, m_mask, m_muInit, m_muIterFactor, m_trackers, m_verbose, m_vvsIterations, setCameraParameters(), setMaxOptimizationIters(), setModelPath(), setOptimizationGain(), setOptimizationInitialMu(), and setOptimizationMuIterFactor().

Referenced by loadConfigurationFile().

loadConfigurationFile()

void vpRBTracker::loadConfigurationFile

(

const std::string &

filename

)

Examples

tutorial-rbt-realsense.cpp, and tutorial-rbt-sequence.cpp.

Definition at line 582 of file vpRBTracker.cpp.

References vpException::ioError, and loadConfiguration().

reset()

void vpRBTracker::reset

(

)

Definition at line 126 of file vpRBTracker.cpp.

References m_firstIteration.

setCameraParameters()

void vpRBTracker::setCameraParameters	(	const vpCameraParameters &	cam,
		unsigned	h,
		unsigned	w
	)

Examples

catchRBT.cpp, and tutorial-rbt-realsense.cpp.

Definition at line 101 of file vpRBTracker.cpp.

References vpException::badValue, vpCameraParameters::get_projModel(), m_cam, m_imageHeight, m_imageWidth, m_renderer, m_rendererSettings, vpPanda3DRenderParameters::setCameraIntrinsics(), vpPanda3DRenderParameters::setImageResolution(), and vpObjectCentricRenderer::setRenderParameters().

Referenced by loadConfiguration().

setDriftDetector()

void vpRBTracker::setDriftDetector ( const std::shared_ptr< vpRBDriftDetector > &  detector )

inline

Definition at line 151 of file vpRBTracker.h.

setMaxOptimizationIters()

void vpRBTracker::setMaxOptimizationIters ( unsigned int  iters )

inline

Examples

catchRBT.cpp.

Definition at line 124 of file vpRBTracker.h.

References vpException::badValue.

Referenced by loadConfiguration().

setModelPath()

void vpRBTracker::setModelPath

(

const std::string &

path

)

Examples

catchRBT.cpp.

Definition at line 131 of file vpRBTracker.cpp.

References m_modelPath.

Referenced by loadConfiguration().

setObjectSegmentationMethod()

void vpRBTracker::setObjectSegmentationMethod ( const std::shared_ptr< vpObjectMask > &  mask )

inline

Definition at line 157 of file vpRBTracker.h.

setOdometryMethod()

void vpRBTracker::setOdometryMethod ( const std::shared_ptr< vpRBVisualOdometry > &  odometry )

inline

Definition at line 163 of file vpRBTracker.h.

setOptimizationGain()

void vpRBTracker::setOptimizationGain ( double  lambda )

inline

Examples

catchRBT.cpp.

Definition at line 116 of file vpRBTracker.h.

References vpException::badValue.

Referenced by loadConfiguration().

setOptimizationInitialMu()

void vpRBTracker::setOptimizationInitialMu ( double  mu )

inline

Examples

catchRBT.cpp.

Definition at line 133 of file vpRBTracker.h.

References vpException::badValue.

Referenced by loadConfiguration().

setOptimizationMuIterFactor()

void vpRBTracker::setOptimizationMuIterFactor ( double  factor )

inline

Examples

catchRBT.cpp.

Definition at line 142 of file vpRBTracker.h.

References vpException::badValue.

Referenced by loadConfiguration().

setPose()

void vpRBTracker::setPose

(

const vpHomogeneousMatrix &

cMo

)

Examples

catchRBT.cpp, tutorial-rbt-realsense.cpp, and tutorial-rbt-sequence.cpp.

Definition at line 69 of file vpRBTracker.cpp.

References vpHomogeneousMatrix::inverse(), m_cMo, m_cMoPrev, m_renderer, and vpPanda3DRendererSet::setCameraPose().

setSilhouetteExtractionParameters()

void vpRBTracker::setSilhouetteExtractionParameters

(

const vpSilhouettePointsExtractionSettings &

settings

)

Examples

catchRBT.cpp.

Definition at line 121 of file vpRBTracker.cpp.

References m_depthSilhouetteSettings.

setupRenderer()

void vpRBTracker::setupRenderer

(

const std::string &

file

)

Definition at line 136 of file vpRBTracker.cpp.

References vpPanda3DRendererSet::addLight(), vpPanda3DRendererSet::addNodeToScene(), vpPanda3DRendererSet::addSubRenderer(), vpException::badValue, vpIoTools::checkFilename(), vpPanda3DRendererSet::initFramework(), vpPanda3DBaseRenderer::loadObject(), m_renderer, m_trackers, and vpObjectCentricRenderer::setFocusedObject().

Referenced by startTracking().

setVerbose()

void vpRBTracker::setVerbose ( bool  verbose )

inline

Enable/disable verbosity mode.

Parameters

verbose

: When true verbose mode is enabled. When false verbosity is disabled.

Definition at line 181 of file vpRBTracker.h.

startTracking()

void vpRBTracker::startTracking

(

)

Examples

catchRBT.cpp, tutorial-rbt-realsense.cpp, and tutorial-rbt-sequence.cpp.

Definition at line 193 of file vpRBTracker.cpp.

References m_modelPath, and setupRenderer().

track() [1/4]

void vpRBTracker::track

(

const vpImage< unsigned char > &

I

)

Examples

catchRBT.cpp, tutorial-rbt-realsense.cpp, and tutorial-rbt-sequence.cpp.

Definition at line 163 of file vpRBTracker.cpp.

References vpException::badValue, vpRBFeatureTrackerInput::cam, checkDimensionsOrThrow(), vpRBFeatureTrackerInput::I, m_cam, and m_trackers.

Referenced by track().

track() [2/4]

void vpRBTracker::track	(	const vpImage< unsigned char > &	I,
		const vpImage< vpRGBa > &	IRGB
	)

Definition at line 177 of file vpRBTracker.cpp.

References vpException::badValue, vpRBFeatureTrackerInput::cam, checkDimensionsOrThrow(), vpRBFeatureTrackerInput::I, vpRBFeatureTrackerInput::IRGB, m_cam, m_trackers, and track().

track() [3/4]

void vpRBTracker::track	(	const vpImage< unsigned char > &	I,
		const vpImage< vpRGBa > &	IRGB,
		const vpImage< float > &	depth
	)

Definition at line 198 of file vpRBTracker.cpp.

References vpRBFeatureTrackerInput::cam, checkDimensionsOrThrow(), vpRBFeatureTrackerInput::depth, vpRBFeatureTrackerInput::I, vpRBFeatureTrackerInput::IRGB, m_cam, and track().

track() [4/4]

void vpRBTracker::track ( vpRBFeatureTrackerInput &  input )

protected

Check if all trackers have converged

Definition at line 211 of file vpRBTracker.cpp.

References vpRBTrackerLogger::addTrackerVVSTime(), vpException::badValue, vpRBFeatureTrackerInput::cam, vpRBRenderData::depth, vpExponentialMap::direct(), vpRBTrackerLogger::endTimer(), extractSilhouettePoints(), vpMatrix::eye(), vpArray2D< Type >::getRows(), vpImage< Type >::getSize(), vpRBFeatureTrackerInput::I, vpHomogeneousMatrix::inverse(), vpRBFeatureTrackerInput::IRGB, vpRBRenderData::isSilhouette, m_cMo, m_cMoPrev, m_currentFrame, m_driftDetector, m_firstIteration, m_lambda, m_logger, m_mask, m_muInit, m_muIterFactor, m_odometry, m_previousFrame, m_trackers, m_verbose, m_vvsIterations, vpRBFeatureTrackerInput::mask, vpRBRenderData::normals, vpRBFeatureTrackerInput::renders, vpRBTrackerLogger::reset(), vpRBTrackerLogger::setDriftDetectionTime(), vpRBTrackerLogger::setInitVVSTime(), vpRBTrackerLogger::setMaskTime(), vpRBTrackerLogger::setOdometryTime(), vpRBTrackerLogger::setRenderTime(), vpRBTrackerLogger::setTrackerFeatureExtractionTime(), vpRBTrackerLogger::setTrackerFeatureTrackingTime(), vpRBTrackerLogger::setTrackerIterStartTime(), vpRBRenderData::silhouetteCanny, vpRBFeatureTrackerInput::silhouettePoints, vpRBTrackerLogger::startTimer(), and updateRender().

updateRender()

void vpRBTracker::updateRender ( vpRBFeatureTrackerInput &  frame )

protected

Definition at line 408 of file vpRBTracker.cpp.

References vpRBRenderData::boundingBox, vpRBRenderData::cMo, vpObjectCentricRenderer::computeClipping(), vpRBRenderData::depth, vpObjectCentricRenderer::getBoundingBox(), vpPanda3DRendererSet::getRenderer(), vpSilhouettePointsExtractionSettings::getThreshold(), vpHomogeneousMatrix::inverse(), vpRBRenderData::isSilhouette, m_cMo, m_depthSilhouetteSettings, m_imageHeight, m_imageWidth, m_renderer, m_rendererSettings, vpRBRenderData::normals, vpPanda3DBaseRenderer::renderFrame(), vpRBFeatureTrackerInput::renders, vpImage< Type >::resize(), vpPanda3DRendererSet::setCameraPose(), vpPanda3DRenderParameters::setClippingDistance(), vpObjectCentricRenderer::setRenderParameters(), vpRBRenderData::silhouetteCanny, vpSilhouettePointsExtractionSettings::thresholdIsRelative(), vpRBRenderData::zFar, and vpRBRenderData::zNear.

Referenced by track().

Member Data Documentation

m_cam

vpCameraParameters vpRBTracker::m_cam

protected

Definition at line 255 of file vpRBTracker.h.

Referenced by getCameraParameters(), initClick(), loadConfiguration(), setCameraParameters(), and track().

m_cMo

vpHomogeneousMatrix vpRBTracker::m_cMo

protected

Definition at line 253 of file vpRBTracker.h.

Referenced by getPose(), initClick(), setPose(), track(), and updateRender().

m_cMoPrev

vpHomogeneousMatrix vpRBTracker::m_cMoPrev

protected

Definition at line 254 of file vpRBTracker.h.

Referenced by setPose(), and track().

m_currentFrame

vpRBFeatureTrackerInput vpRBTracker::m_currentFrame

protected

List of trackers.

Definition at line 249 of file vpRBTracker.h.

Referenced by display(), displayMask(), and track().

m_depthSilhouetteSettings

vpSilhouettePointsExtractionSettings vpRBTracker::m_depthSilhouetteSettings

protected

Factor with which to multiply mu at every iteration during VVS.

Definition at line 262 of file vpRBTracker.h.

Referenced by extractSilhouettePoints(), loadConfiguration(), setSilhouetteExtractionParameters(), and updateRender().

m_driftDetector

std::shared_ptr<vpRBDriftDetector> vpRBTracker::m_driftDetector

protected

Definition at line 272 of file vpRBTracker.h.

Referenced by display(), loadConfiguration(), track(), and vpRBTracker().

m_firstIteration

bool vpRBTracker::m_firstIteration

protected

Definition at line 245 of file vpRBTracker.h.

Referenced by loadConfiguration(), reset(), and track().

m_imageHeight

unsigned vpRBTracker::m_imageHeight

protected

Definition at line 266 of file vpRBTracker.h.

Referenced by loadConfiguration(), setCameraParameters(), and updateRender().

m_imageWidth

unsigned vpRBTracker::m_imageWidth

protected

Definition at line 266 of file vpRBTracker.h.

Referenced by loadConfiguration(), setCameraParameters(), and updateRender().

m_lambda

double vpRBTracker::m_lambda

protected

Definition at line 257 of file vpRBTracker.h.

Referenced by getCovariance(), loadConfiguration(), and track().

m_logger

vpRBTrackerLogger vpRBTracker::m_logger

protected

Color and render image dimensions.

Definition at line 268 of file vpRBTracker.h.

Referenced by track().

m_mask

std::shared_ptr<vpObjectMask> vpRBTracker::m_mask

protected

Definition at line 271 of file vpRBTracker.h.

Referenced by displayMask(), loadConfiguration(), track(), and vpRBTracker().

m_modelPath

std::string vpRBTracker::m_modelPath

protected

Definition at line 252 of file vpRBTracker.h.

Referenced by setModelPath(), and startTracking().

m_muInit

double vpRBTracker::m_muInit

protected

Max number of VVS iterations.

Definition at line 259 of file vpRBTracker.h.

Referenced by loadConfiguration(), and track().

m_muIterFactor

double vpRBTracker::m_muIterFactor

protected

Initial mu value for Levenberg-Marquardt.

Definition at line 260 of file vpRBTracker.h.

Referenced by loadConfiguration(), and track().

m_odometry

std::shared_ptr<vpRBVisualOdometry> vpRBTracker::m_odometry

protected

Definition at line 273 of file vpRBTracker.h.

Referenced by track(), and vpRBTracker().

m_previousFrame

vpRBFeatureTrackerInput vpRBTracker::m_previousFrame

protected

Definition at line 250 of file vpRBTracker.h.

Referenced by extractSilhouettePoints(), and track().

m_renderer

vpObjectCentricRenderer vpRBTracker::m_renderer

protected

Definition at line 264 of file vpRBTracker.h.

Referenced by getRenderer(), setCameraParameters(), setPose(), setupRenderer(), updateRender(), and vpRBTracker().

m_rendererSettings

vpPanda3DRenderParameters vpRBTracker::m_rendererSettings

protected

Definition at line 263 of file vpRBTracker.h.

Referenced by setCameraParameters(), updateRender(), and vpRBTracker().

m_trackers

std::vector<std::shared_ptr<vpRBFeatureTracker> > vpRBTracker::m_trackers

protected

Whether this is the first iteration.

Definition at line 247 of file vpRBTracker.h.

Referenced by addTracker(), display(), getCovariance(), loadConfiguration(), setupRenderer(), and track().

m_verbose

bool vpRBTracker::m_verbose

protected

Definition at line 269 of file vpRBTracker.h.

Referenced by loadConfiguration(), and track().

m_vvsIterations

unsigned vpRBTracker::m_vvsIterations

protected

VVS gain.

Definition at line 258 of file vpRBTracker.h.

Referenced by loadConfiguration(), and track().