38 #include <visp3/core/vpDebug.h>
39 #include <visp3/core/vpTrackingException.h>
40 #include <visp3/core/vpVelocityTwistMatrix.h>
41 #include <visp3/mbt/vpMbEdgeKltTracker.h>
42 #include <visp3/mbt/vpMbtXmlGenericParser.h>
44 #if defined(VISP_HAVE_MODULE_KLT) && defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_VIDEO)
48 : m_thresholdKLT(2.), m_thresholdMBT(2.), m_maxIterKlt(30), m_w_mbt(), m_w_klt(), m_error_hybrid(), m_w_hybrid()
80 unsigned int i = (
unsigned int)
scales.size();
116 unsigned int i = (
unsigned int)
scales.size();
153 unsigned int i = (
unsigned int)
scales.size();
182 unsigned int nbrow = 0;
183 for (std::list<vpMbtDistanceLine *>::iterator it =
lines[lvl].begin(); it !=
lines[lvl].end(); ++it) {
192 for (std::list<vpMbtDistanceCylinder *>::const_iterator it =
cylinders[lvl].begin(); it !=
cylinders[lvl].end();
202 for (std::list<vpMbtDistanceCircle *>::const_iterator it =
circles[lvl].begin(); it !=
circles[lvl].end(); ++it) {
277 #if defined(VISP_HAVE_PUGIXML)
300 std::cout <<
" *********** Parsing XML for Mb Edge KLT Tracker ************ " << std::endl;
302 xmlp.
parse(configFile.c_str());
305 vpERROR_TRACE(
"Can't open XML file \"%s\"\n ", configFile.c_str());
370 for (std::list<vpMbtDistanceLine *>::const_iterator it =
lines[lvl].begin(); it !=
lines[lvl].end(); ++it) {
377 for (std::list<vpMbtDistanceCylinder *>::const_iterator it =
cylinders[lvl].begin(); it !=
cylinders[lvl].end();
385 for (std::list<vpMbtDistanceCircle *>::const_iterator it =
circles[lvl].begin(); it !=
circles[lvl].end(); ++it) {
426 for (std::list<vpMbtDistanceLine *>::const_iterator it =
lines[lvl].begin(); it !=
lines[lvl].end(); ++it) {
433 for (std::list<vpMbtDistanceCylinder *>::const_iterator it =
cylinders[lvl].begin(); it !=
cylinders[lvl].end();
441 for (std::list<vpMbtDistanceCircle *>::const_iterator it =
circles[lvl].begin(); it !=
circles[lvl].end(); ++it) {
490 for (std::list<vpMbtDistanceLine *>::const_iterator it =
lines[lvl].begin(); it !=
lines[lvl].end(); ++it) {
491 if ((*it)->isTracked()) {
493 unsigned int indexLine = 0;
496 for (
size_t a = 0; a < l->
meline.size(); a++) {
497 std::list<vpMeSite>::iterator itListLine;
499 itListLine = l->
meline[a]->getMeList().begin();
501 for (
unsigned int i = 0; i < l->
nbFeature[a]; i++) {
502 wmean += w[n + indexLine];
504 if (w[n + indexLine] < 0.5) {
530 for (std::list<vpMbtDistanceCylinder *>::const_iterator it =
cylinders[lvl].begin(); it !=
cylinders[lvl].end();
532 if ((*it)->isTracked()) {
535 std::list<vpMeSite>::iterator itListCyl1;
536 std::list<vpMeSite>::iterator itListCyl2;
538 itListCyl1 = cy->
meline1->getMeList().begin();
539 itListCyl2 = cy->
meline2->getMeList().begin();
543 for (
unsigned int i = 0; i < cy->
nbFeaturel1; i++) {
546 if (w[n + i] < 0.5) {
567 for (
unsigned int i = cy->
nbFeaturel1; i < cy->nbFeature; i++) {
570 if (w[n + i] < 0.5) {
596 for (std::list<vpMbtDistanceCircle *>::const_iterator it =
circles[lvl].begin(); it !=
circles[lvl].end(); ++it) {
597 if ((*it)->isTracked()) {
600 std::list<vpMeSite>::iterator itListCir;
603 itListCir = ci->
meEllipse->getMeList().begin();
607 for (
unsigned int i = 0; i < ci->
nbFeature; i++) {
610 if (w[n + i] < 0.5) {
646 unsigned int lvl,
double *edge_residual,
double *klt_residual)
651 if (nbrow < 4 && nbInfos < 4) {
657 unsigned int totalNbRows = nbrow + 2 * nbInfos;
659 double residu_1 = -1;
660 unsigned int iter = 0;
670 L_mbt.
resize(nbrow, 6,
false,
false);
671 R_mbt.
resize(nbrow,
false);
675 L_klt.
resize(2 * nbInfos, 6,
false,
false);
676 R_klt.
resize(2 * nbInfos,
false);
700 if (edge_residual !=
nullptr)
702 if (klt_residual !=
nullptr)
730 while (((
int)((residu - residu_1) * 1e8) != 0) && (iter <
m_maxIter)) {
735 unsigned int shift = 0;
777 unsigned int cpt = 0;
778 while (cpt < (nbrow + 2 * nbInfos)) {
779 if (cpt < (
unsigned)nbrow) {
788 bool reStartFromLastIncrement =
false;
791 if (reStartFromLastIncrement) {
795 if (!reStartFromLastIncrement) {
798 if (edge_residual !=
nullptr) {
800 for (
unsigned int i = 0; i < R_mbt.
getRows(); i++)
801 *edge_residual += fabs(R_mbt[i]);
802 *edge_residual /= R_mbt.
getRows();
808 L.insert(L_mbt, 0, 0);
812 if (klt_residual !=
nullptr) {
814 for (
unsigned int i = 0; i < R_klt.
getRows(); i++)
815 *klt_residual += fabs(R_klt[i]);
816 *klt_residual /= R_klt.
getRows();
822 L.insert(L_klt, nbrow, 0);
826 while (cpt < (nbrow + 2 * nbInfos)) {
827 if (cpt < (
unsigned)nbrow) {
838 if (!isoJoIdentity) {
841 LVJ_true = (L * cVo *
oJo);
850 for (
unsigned int i = 0; i < weighted_error.
getRows(); i++) {
856 for (
unsigned int j = 0; j < 6; j += 1) {
862 residu = sqrt(num / den);
864 computeVVSPoseEstimation(isoJoIdentity, iter, L, LTL, weighted_error,
m_error_hybrid, m_error_prev, LTR, mu, v,
887 "computeVVSInteractionMatrixAndR"
888 "esidu() should not be called!");
919 unsigned int nbrow = 0;
977 unsigned int nbrow = 0;
1024 factor.
resize(nbrow,
false);
1028 for (std::list<vpMbtDistanceLine *>::const_iterator it =
lines[lvl].begin(); it !=
lines[lvl].end(); ++it) {
1029 if ((*it)->isTracked()) {
1036 int index = *itindex;
1047 for (
size_t a = 0; a < l->
meline.size(); a++) {
1048 std::list<vpMeSite>::const_iterator itListLine;
1049 if (l->
meline[a] !=
nullptr) {
1050 itListLine = l->
meline[a]->getMeList().begin();
1052 for (
unsigned int i = 0; i < l->
nbFeature[a]; i++) {
1053 factor[n + i] = fac;
1056 factor[n + i] = 0.2;
1065 for (std::list<vpMbtDistanceCylinder *>::const_iterator it =
cylinders[lvl].begin(); it !=
cylinders[lvl].end();
1067 if ((*it)->isTracked()) {
1072 std::list<vpMeSite>::const_iterator itCyl1;
1073 std::list<vpMeSite>::const_iterator itCyl2;
1075 itCyl1 = cy->
meline1->getMeList().begin();
1076 itCyl2 = cy->
meline2->getMeList().begin();
1079 for (
unsigned int i = 0; i < cy->
nbFeature; i++) {
1080 factor[n + i] = fac;
1082 if (i < cy->nbFeaturel1) {
1091 factor[n + i] = 0.2;
1098 for (std::list<vpMbtDistanceCircle *>::const_iterator it =
circles[lvl].begin(); it !=
circles[lvl].end(); ++it) {
1099 if ((*it)->isTracked()) {
1104 std::list<vpMeSite>::const_iterator itCir;
1106 itCir = ci->
meEllipse->getMeList().begin();
1109 for (
unsigned int i = 0; i < ci->
nbFeature; i++) {
1110 factor[n + i] = fac;
1113 factor[n + i] = 0.2;
1132 for (std::list<vpMbtDistanceLine *>::const_iterator it =
lines[lvl].begin(); it !=
lines[lvl].end(); ++it) {
1133 if ((*it)->isTracked()) {
1137 for (
unsigned int j = 0; j < 6; j++) {
1138 L[n + i][j] = l->
L[i][j];
1139 error[n + i] = l->
error[i];
1146 for (std::list<vpMbtDistanceCylinder *>::const_iterator it =
cylinders[lvl].begin(); it !=
cylinders[lvl].end();
1148 if ((*it)->isTracked()) {
1151 for (
unsigned int i = 0; i < cy->
nbFeature; i++) {
1152 for (
unsigned int j = 0; j < 6; j++) {
1153 L[n + i][j] = cy->
L[i][j];
1154 error[n + i] = cy->
error[i];
1160 for (std::list<vpMbtDistanceCircle *>::const_iterator it =
circles[lvl].begin(); it !=
circles[lvl].end(); ++it) {
1161 if ((*it)->isTracked()) {
1164 for (
unsigned int i = 0; i < ci->
nbFeature; i++) {
1165 for (
unsigned int j = 0; j < 6; j++) {
1166 L[n + i][j] = ci->
L[i][j];
1167 error[n + i] = ci->
error[i];
1223 const std::string &name)
1239 const std::string &name)
1258 bool displayFullModel)
1260 std::vector<std::vector<double> > models =
1263 for (
size_t i = 0; i < models.size(); i++) {
1271 double n20 = models[i][3];
1272 double n11 = models[i][4];
1273 double n02 = models[i][5];
1286 std::stringstream ss;
1293 #ifdef VISP_HAVE_OGRE
1312 bool displayFullModel)
1314 std::vector<std::vector<double> > models =
1317 for (
size_t i = 0; i < models.size(); i++) {
1325 double n20 = models[i][3];
1326 double n11 = models[i][4];
1327 double n02 = models[i][5];
1340 std::stringstream ss;
1347 #ifdef VISP_HAVE_OGRE
1356 bool displayFullModel)
1358 std::vector<std::vector<double> > models;
1360 for (
unsigned int i = 0; i <
scales.size(); i += 1) {
1364 std::vector<std::vector<double> > currentModel =
1365 (*it)->getModelForDisplay(width, height, cMo, cam, displayFullModel);
1366 models.insert(models.end(), currentModel.begin(), currentModel.end());
1369 for (std::list<vpMbtDistanceCylinder *>::const_iterator it =
cylinders[
scaleLevel].begin();
1371 std::vector<std::vector<double> > currentModel =
1372 (*it)->getModelForDisplay(width, height, cMo, cam, displayFullModel);
1373 models.insert(models.end(), currentModel.begin(), currentModel.end());
1376 for (std::list<vpMbtDistanceCircle *>::const_iterator it =
circles[
scaleLevel].begin();
1378 std::vector<double> paramsCircle = (*it)->getModelForDisplay(cMo, cam, displayFullModel);
1379 models.push_back(paramsCircle);
1386 #ifdef VISP_HAVE_OGRE
1412 for (std::list<vpMbtDistanceKltPoints *>::const_iterator it =
kltPolygons.begin(); it !=
kltPolygons.end(); ++it) {
1414 if (kltpoly !=
nullptr) {
1424 if (kltPolyCylinder !=
nullptr) {
1425 delete kltPolyCylinder;
1427 kltPolyCylinder =
nullptr;
1435 if (ci !=
nullptr) {
1449 for (
unsigned int i = 0; i <
scales.size(); i += 1) {
1451 for (std::list<vpMbtDistanceLine *>::const_iterator it =
lines[i].begin(); it !=
lines[i].end(); ++it) {
1458 for (std::list<vpMbtDistanceCylinder *>::const_iterator it =
cylinders[i].begin(); it !=
cylinders[i].end();
1466 for (std::list<vpMbtDistanceCircle *>::const_iterator it =
circles[i].begin(); it !=
circles[i].end(); ++it) {
1495 #elif !defined(VISP_BUILD_SHARED_LIBS)
1498 void dummy_vpMbEdgeKltTracker() { };
void setWindowName(const Ogre::String &n)
void resize(unsigned int nrows, unsigned int ncols, bool flagNullify=true, bool recopy_=true)
unsigned int getRows() const
Generic class defining intrinsic camera parameters.
void computeFov(const unsigned int &w, const unsigned int &h)
Implementation of column vector and the associated operations.
void insert(unsigned int i, const vpColVector &v)
void resize(unsigned int i, bool flagNullify=true)
Class to define RGB colors available for display functionalities.
static void displayLine(const vpImage< unsigned char > &I, const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int thickness=1, bool segment=true)
static void displayEllipse(const vpImage< unsigned char > &I, const vpImagePoint ¢er, const double &coef1, const double &coef2, const double &coef3, bool use_normalized_centered_moments, const vpColor &color, unsigned int thickness=1, bool display_center=false, bool display_arc=false)
static void displayCross(const vpImage< unsigned char > &I, const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
error that can be emitted by ViSP classes.
@ dimensionError
Bad dimension.
static vpHomogeneousMatrix direct(const vpColVector &v)
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpHomogeneousMatrix inverse() const
Implementation of an homography and operations on homographies.
static void convert(const vpImage< unsigned char > &src, vpImage< vpRGBa > &dest)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
unsigned int getWidth() const
unsigned int getHeight() const
void setBlockSize(int blockSize)
void setQuality(double qualityLevel)
void setHarrisFreeParameter(double harris_k)
void setMaxFeatures(int maxCount)
void setMinDistance(double minDistance)
void setWindowSize(int winSize)
void setPyramidLevels(int pyrMaxLevel)
static double rad(double deg)
static double sqr(double x)
static bool equal(double x, double y, double threshold=0.001)
static double deg(double rad)
Implementation of a matrix and operations on matrices.
double m_thresholdKLT
The threshold used in the robust estimation of KLT.
virtual void initCircle(const vpPoint &, const vpPoint &, const vpPoint &, double r, int idFace=0, const std::string &name="") VP_OVERRIDE
void reInitModel(const vpImage< unsigned char > &I, const std::string &cad_name, const vpHomogeneousMatrix &cMo, bool verbose=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix()) VP_OVERRIDE
virtual void display(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, unsigned int thickness=1, bool displayFullModel=false) VP_OVERRIDE
virtual void loadConfigFile(const std::string &configFile, bool verbose=true) VP_OVERRIDE
virtual void init(const vpImage< unsigned char > &I) VP_OVERRIDE
virtual void setNearClippingDistance(const double &dist) VP_OVERRIDE
virtual void computeVVSInit() VP_OVERRIDE
void resetTracker() VP_OVERRIDE
virtual void setCameraParameters(const vpCameraParameters &cam) VP_OVERRIDE
vpColVector m_w_mbt
Robust weights for Edge.
bool postTracking(const vpImage< unsigned char > &I, vpColVector &w_mbt, vpColVector &w_klt, unsigned int lvl=0)
virtual void initFaceFromLines(vpMbtPolygon &polygon) VP_OVERRIDE
unsigned int trackFirstLoop(const vpImage< unsigned char > &I, vpColVector &factor, unsigned int lvl=0)
void postTrackingMbt(vpColVector &w, unsigned int level=0)
void trackSecondLoop(const vpImage< unsigned char > &I, vpMatrix &L, vpColVector &_error, const vpHomogeneousMatrix &cMo, unsigned int lvl=0)
virtual void computeCovarianceMatrixVVS(const bool isoJoIdentity, const vpColVector &w_true, const vpHomogeneousMatrix &cMoPrev, const vpMatrix &L_true, const vpMatrix &LVJ_true, const vpColVector &error)
virtual void computeVVSPoseEstimation(const bool isoJoIdentity, unsigned int iter, vpMatrix &L, vpMatrix <L, vpColVector &R, const vpColVector &error, vpColVector &error_prev, vpColVector <R, double &mu, vpColVector &v, const vpColVector *const w=nullptr, vpColVector *const m_w_prev=nullptr)
unsigned int initMbtTracking(unsigned int level=0)
virtual ~vpMbEdgeKltTracker()
virtual void initFaceFromCorners(vpMbtPolygon &polygon) VP_OVERRIDE
virtual void track(const vpImage< unsigned char > &I) VP_OVERRIDE
vpColVector m_error_hybrid
(s - s*)
virtual void initCylinder(const vpPoint &, const vpPoint &, double r, int idFace, const std::string &name="") VP_OVERRIDE
virtual void setClipping(const unsigned int &flags) VP_OVERRIDE
virtual void setFarClippingDistance(const double &dist) VP_OVERRIDE
vpColVector m_w_klt
Robust weights for KLT.
double m_thresholdMBT
The threshold used in the robust estimation of MBT.
virtual void computeVVSInteractionMatrixAndResidu() VP_OVERRIDE
unsigned int m_maxIterKlt
The maximum iteration of the virtual visual servoing stage.
virtual std::vector< std::vector< double > > getModelForDisplay(unsigned int width, unsigned int height, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, bool displayFullModel=false) VP_OVERRIDE
virtual void setPose(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cdMo) VP_OVERRIDE
vpColVector m_w_hybrid
Robust weights.
void upScale(const unsigned int _scale)
std::vector< std::list< vpMbtDistanceLine * > > lines
vpMe me
The moving edges parameters.
void computeProjectionError(const vpImage< unsigned char > &_I)
void downScale(const unsigned int _scale)
void cleanPyramid(std::vector< const vpImage< unsigned char > * > &_pyramid)
std::vector< std::list< vpMbtDistanceCylinder * > > cylinders
Vector of the tracked cylinders.
void initPyramid(const vpImage< unsigned char > &_I, std::vector< const vpImage< unsigned char > * > &_pyramid)
unsigned int nbvisiblepolygone
Number of polygon (face) currently visible.
std::vector< std::list< vpMbtDistanceCircle * > > circles
Vector of the tracked circles.
void initMovingEdge(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &_cMo)
virtual void initFaceFromLines(vpMbtPolygon &polygon) VP_OVERRIDE
void trackMovingEdge(const vpImage< unsigned char > &I)
std::vector< const vpImage< unsigned char > * > Ipyramid
virtual void initFaceFromCorners(vpMbtPolygon &polygon) VP_OVERRIDE
std::vector< bool > scales
Vector of scale level to use for the multi-scale tracking.
void updateMovingEdge(const vpImage< unsigned char > &I)
void reinitMovingEdge(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &_cMo)
void resetTracker() VP_OVERRIDE
virtual void initCylinder(const vpPoint &p1, const vpPoint &p2, double radius, int idFace=0, const std::string &name="") VP_OVERRIDE
void setMovingEdge(const vpMe &me)
virtual void setCameraParameters(const vpCameraParameters &cam) VP_OVERRIDE
virtual void initCircle(const vpPoint &p1, const vpPoint &p2, const vpPoint &p3, double radius, int idFace=0, const std::string &name="") VP_OVERRIDE
vpAROgre * getOgreContext()
void computeClippedPolygons(const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam)
bool isAppearing(unsigned int i)
vpMbScanLine & getMbScanLineRenderer()
void computeScanLineRender(const vpCameraParameters &cam, const unsigned int &w, const unsigned int &h)
void displayOgre(const vpHomogeneousMatrix &cMo)
std::list< vpMbtDistanceKltCylinder * > kltCylinders
vpHomogeneousMatrix c0Mo
Initial pose.
vpHomogeneousMatrix ctTc0
std::list< vpMbtDistanceKltPoints * > kltPolygons
void resetTracker() VP_OVERRIDE
void setCameraParameters(const vpCameraParameters &cam) VP_OVERRIDE
std::list< vpMbtDistanceCircle * > circles_disp
Vector of the circles used here only to display the full model.
vpKltOpencv tracker
Points tracker.
virtual std::vector< std::vector< double > > getFeaturesForDisplayKlt()
virtual void init(const vpImage< unsigned char > &I) VP_OVERRIDE
void preTracking(const vpImage< unsigned char > &I)
virtual void initCylinder(const vpPoint &, const vpPoint &, double, int, const std::string &name="") VP_OVERRIDE
virtual void initFaceFromCorners(vpMbtPolygon &polygon) VP_OVERRIDE
bool postTracking(const vpImage< unsigned char > &I, vpColVector &w)
virtual void reinit(const vpImage< unsigned char > &I)
virtual void setPose(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cdMo) VP_OVERRIDE
unsigned int maskBorder
Erosion of the mask.
std::vector< std::vector< double > > m_featuresToBeDisplayedKlt
Display features.
virtual void initFaceFromLines(vpMbtPolygon &polygon) VP_OVERRIDE
double m_lambda
Gain of the virtual visual servoing stage.
double minLineLengthThresholdGeneral
Minimum line length threshold for LOD mode (general setting)
virtual void setMinLineLengthThresh(double minLineLengthThresh, const std::string &name="")
vpImage< unsigned char > m_I
Grayscale image buffer, used when passing color images.
bool useLodGeneral
True if LOD mode is enabled.
double minPolygonAreaThresholdGeneral
Minimum polygon area threshold for LOD mode (general setting)
bool m_computeInteraction
vpMatrix oJo
The Degrees of Freedom to estimate.
virtual void setMinPolygonAreaThresh(double minPolygonAreaThresh, const std::string &name="")
double m_initialMu
Initial Mu for Levenberg Marquardt optimization loop.
vpHomogeneousMatrix m_cMo
The current pose.
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)
vpCameraParameters m_cam
The camera parameters.
bool useOgre
Use Ogre3d for visibility tests.
vpMbHiddenFaces< vpMbtPolygon > faces
Set of faces describing the object.
virtual void setLod(bool useLod, const std::string &name="")
bool displayFeatures
If true, the features are displayed.
double angleDisappears
Angle used to detect a face disappearance.
virtual unsigned int getNbPolygon() const
bool applyLodSettingInConfig
bool m_isoJoIdentity
Boolean to know if oJo is identity (for fast computation)
bool useScanLine
Use Scanline for visibility tests.
double angleAppears
Angle used to detect a face appearance.
virtual void loadModel(const std::string &modelFile, bool verbose=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
bool computeCovariance
Flag used to specify if the covariance matrix has to be computed or not.
unsigned int m_maxIter
Maximum number of iterations of the virtual visual servoing stage.
unsigned int clippingFlag
Flags specifying which clipping to used.
virtual void loadConfigFile(const std::string &configFile, bool verbose=true)
Manage a circle used in the model-based tracker.
vpColVector error
The error vector.
unsigned int nbFeature
The number of moving edges.
vpMatrix L
The interaction matrix.
void computeInteractionMatrixError(const vpHomogeneousMatrix &cMo)
void setMeanWeight(double _wmean)
void displayMovingEdges(const vpImage< unsigned char > &I)
bool Reinit
Indicates if the circle has to be reinitialized.
void initInteractionMatrixError()
vpMbtMeEllipse * meEllipse
The moving edge containers.
Manage a cylinder used in the model-based tracker.
void setMeanWeight1(double wmean)
void computeInteractionMatrixError(const vpHomogeneousMatrix &cMo, const vpImage< unsigned char > &I)
vpMbtMeLine * meline2
The moving edge containers (second line of the cylinder)
vpMatrix L
The interaction matrix.
unsigned int nbFeaturel2
The number of moving edges on line 2.
bool Reinit
Indicates if the line has to be reinitialized.
void initInteractionMatrixError()
void setMeanWeight2(double wmean)
unsigned int nbFeaturel1
The number of moving edges on line 1.
vpColVector error
The error vector.
void displayMovingEdges(const vpImage< unsigned char > &I)
unsigned int nbFeature
The number of moving edges.
vpMbtMeLine * meline1
The moving edge containers (first line of the cylinder)
Implementation of a polygon of the model containing points of interest. It is used by the model-based...
void computeInteractionMatrixAndResidu(const vpHomogeneousMatrix &cMc0, vpColVector &_R, vpMatrix &_J)
unsigned int getCurrentNumberPoints() const
bool hasEnoughPoints() const
Implementation of a polygon of the model containing points of interest. It is used by the model-based...
bool hasEnoughPoints() const
void computeInteractionMatrixAndResidu(vpColVector &_R, vpMatrix &_J)
unsigned int getCurrentNumberPoints() const
vpMbtPolygon * polygon
Pointer to the polygon that define a face.
void computeHomography(const vpHomogeneousMatrix &_cTc0, vpHomography &cHc0)
Manage the line of a polygon used in the model-based tracker.
std::vector< unsigned int > nbFeature
The number of moving edges.
void displayMovingEdges(const vpImage< unsigned char > &I)
void computeInteractionMatrixError(const vpHomogeneousMatrix &cMo)
void initInteractionMatrixError()
std::list< int > Lindex_polygon
Index of the faces which contain the line.
unsigned int nbFeatureTotal
The number of moving edges.
bool Reinit
Indicates if the line has to be reinitialized.
vpColVector error
The error vector.
vpMbHiddenFaces< vpMbtPolygon > * hiddenface
Pointer to the list of faces.
bool closeToImageBorder(const vpImage< unsigned char > &I, const unsigned int threshold)
std::vector< vpMbtMeLine * > meline
The moving edge container.
vpMatrix L
The interaction matrix.
void setMeanWeight(double w_mean)
Implementation of a polygon of the model used by the model-based tracker.
virtual bool isVisible(const vpHomogeneousMatrix &cMo, double alpha, const bool &modulo=false, const vpCameraParameters &cam=vpCameraParameters(), unsigned int width=0, unsigned int height=0)
Parse an Xml file to extract configuration parameters of a mbtConfig object.
unsigned int getKltMaxFeatures() const
void setKltMinDistance(const double &mD)
unsigned int getKltBlockSize() const
void getCameraParameters(vpCameraParameters &cam) const
double getAngleAppear() const
void setEdgeMe(const vpMe &ecm)
void setKltMaskBorder(const unsigned int &mb)
void getEdgeMe(vpMe &ecm) const
double getLodMinLineLengthThreshold() const
unsigned int getKltMaskBorder() const
void setAngleDisappear(const double &adisappear)
double getKltQuality() const
double getAngleDisappear() const
void setKltPyramidLevels(const unsigned int &pL)
void setKltWindowSize(const unsigned int &w)
double getKltMinDistance() const
void setKltMaxFeatures(const unsigned int &mF)
void setAngleAppear(const double &aappear)
void setKltBlockSize(const unsigned int &bs)
void setKltHarrisParam(const double &hp)
void parse(const std::string &filename)
double getNearClippingDistance() const
void setKltQuality(const double &q)
bool hasNearClippingDistance() const
bool hasFarClippingDistance() const
unsigned int getKltPyramidLevels() const
double getKltHarrisParam() const
unsigned int getKltWindowSize() const
void setCameraParameters(const vpCameraParameters &cam)
double getFarClippingDistance() const
bool getFovClipping() const
double getLodMinPolygonAreaThreshold() const
void setVerbose(bool verbose)
Performs search in a given direction(normal) for a given distance(pixels) for a given 'site'....
@ M_ESTIMATOR
Point detected as an outlier during virtual visual-servoing.
@ NO_SUPPRESSION
Point successfully tracked.
vpMeSiteState getState() const
void setState(const vpMeSiteState &flag)
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Contains an M-estimator and various influence function.
@ TUKEY
Tukey influence function.
void MEstimator(const vpRobustEstimatorType method, const vpColVector &residues, vpColVector &weights)
void setMinMedianAbsoluteDeviation(double mad_min)
Definition of the vpSubMatrix class that provides a mask on a vpMatrix. All properties of vpMatrix ar...
Error that can be emitted by the vpTracker class and its derivatives.
@ notEnoughPointError
Not enough point to track.
@ fatalError
Tracker fatal error.
vpVelocityTwistMatrix & build(const vpTranslationVector &t, const vpRotationMatrix &R)