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)
47 : m_thresholdKLT(2.), m_thresholdMBT(2.), m_maxIterKlt(30), m_w_mbt(), m_w_klt(), m_error_hybrid(), m_w_hybrid()
79 unsigned int i = (
unsigned int)
scales.size();
115 unsigned int i = (
unsigned int)
scales.size();
152 unsigned int i = (
unsigned int)
scales.size();
181 unsigned int nbrow = 0;
182 for (std::list<vpMbtDistanceLine *>::iterator it =
lines[lvl].begin(); it !=
lines[lvl].end(); ++it) {
191 for (std::list<vpMbtDistanceCylinder *>::const_iterator it =
cylinders[lvl].begin(); it !=
cylinders[lvl].end();
201 for (std::list<vpMbtDistanceCircle *>::const_iterator it =
circles[lvl].begin(); it !=
circles[lvl].end(); ++it) {
298 std::cout <<
" *********** Parsing XML for Mb Edge KLT Tracker ************ " << std::endl;
300 xmlp.
parse(configFile.c_str());
303 vpERROR_TRACE(
"Can't open XML file \"%s\"\n ", configFile.c_str());
363 for (std::list<vpMbtDistanceLine *>::const_iterator it =
lines[lvl].begin(); it !=
lines[lvl].end(); ++it) {
370 for (std::list<vpMbtDistanceCylinder *>::const_iterator it =
cylinders[lvl].begin(); it !=
cylinders[lvl].end();
378 for (std::list<vpMbtDistanceCircle *>::const_iterator it =
circles[lvl].begin(); it !=
circles[lvl].end(); ++it) {
419 for (std::list<vpMbtDistanceLine *>::const_iterator it =
lines[lvl].begin(); it !=
lines[lvl].end(); ++it) {
426 for (std::list<vpMbtDistanceCylinder *>::const_iterator it =
cylinders[lvl].begin(); it !=
cylinders[lvl].end();
434 for (std::list<vpMbtDistanceCircle *>::const_iterator it =
circles[lvl].begin(); it !=
circles[lvl].end(); ++it) {
483 for (std::list<vpMbtDistanceLine *>::const_iterator it =
lines[lvl].begin(); it !=
lines[lvl].end(); ++it) {
484 if ((*it)->isTracked()) {
486 unsigned int indexLine = 0;
489 for (
size_t a = 0; a < l->
meline.size(); a++) {
490 std::list<vpMeSite>::iterator itListLine;
492 itListLine = l->
meline[a]->getMeList().begin();
494 for (
unsigned int i = 0; i < l->
nbFeature[a]; i++) {
495 wmean += w[n + indexLine];
497 if (w[n + indexLine] < 0.5) {
523 for (std::list<vpMbtDistanceCylinder *>::const_iterator it =
cylinders[lvl].begin(); it !=
cylinders[lvl].end();
525 if ((*it)->isTracked()) {
528 std::list<vpMeSite>::iterator itListCyl1;
529 std::list<vpMeSite>::iterator itListCyl2;
531 itListCyl1 = cy->
meline1->getMeList().begin();
532 itListCyl2 = cy->
meline2->getMeList().begin();
536 for (
unsigned int i = 0; i < cy->
nbFeaturel1; i++) {
539 if (w[n + i] < 0.5) {
560 for (
unsigned int i = cy->
nbFeaturel1; i < cy->nbFeature; i++) {
563 if (w[n + i] < 0.5) {
589 for (std::list<vpMbtDistanceCircle *>::const_iterator it =
circles[lvl].begin(); it !=
circles[lvl].end(); ++it) {
590 if ((*it)->isTracked()) {
593 std::list<vpMeSite>::iterator itListCir;
596 itListCir = ci->
meEllipse->getMeList().begin();
600 for (
unsigned int i = 0; i < ci->
nbFeature; i++) {
603 if (w[n + i] < 0.5) {
639 unsigned int lvl,
double *edge_residual,
double *klt_residual)
644 if (nbrow < 4 && nbInfos < 4) {
650 unsigned int totalNbRows = nbrow + 2 * nbInfos;
652 double residu_1 = -1;
653 unsigned int iter = 0;
663 L_mbt.
resize(nbrow, 6,
false,
false);
664 R_mbt.
resize(nbrow,
false);
668 L_klt.
resize(2 * nbInfos, 6,
false,
false);
669 R_klt.
resize(2 * nbInfos,
false);
693 if (edge_residual !=
nullptr)
695 if (klt_residual !=
nullptr)
723 while (((
int)((residu - residu_1) * 1e8) != 0) && (iter <
m_maxIter)) {
728 unsigned int shift = 0;
770 unsigned int cpt = 0;
771 while (cpt < (nbrow + 2 * nbInfos)) {
772 if (cpt < (
unsigned)nbrow) {
781 bool reStartFromLastIncrement =
false;
784 if (reStartFromLastIncrement) {
788 if (!reStartFromLastIncrement) {
791 if (edge_residual !=
nullptr) {
793 for (
unsigned int i = 0; i < R_mbt.
getRows(); i++)
794 *edge_residual += fabs(R_mbt[i]);
795 *edge_residual /= R_mbt.
getRows();
801 L.insert(L_mbt, 0, 0);
805 if (klt_residual !=
nullptr) {
807 for (
unsigned int i = 0; i < R_klt.
getRows(); i++)
808 *klt_residual += fabs(R_klt[i]);
809 *klt_residual /= R_klt.
getRows();
815 L.insert(L_klt, nbrow, 0);
819 while (cpt < (nbrow + 2 * nbInfos)) {
820 if (cpt < (
unsigned)nbrow) {
831 if (!isoJoIdentity) {
834 LVJ_true = (L * cVo *
oJo);
843 for (
unsigned int i = 0; i < weighted_error.
getRows(); i++) {
849 for (
unsigned int j = 0; j < 6; j += 1) {
855 residu = sqrt(num / den);
857 computeVVSPoseEstimation(isoJoIdentity, iter, L, LTL, weighted_error,
m_error_hybrid, m_error_prev, LTR, mu, v,
880 "computeVVSInteractionMatrixAndR"
881 "esidu() should not be called!");
912 unsigned int nbrow = 0;
970 unsigned int nbrow = 0;
1017 factor.
resize(nbrow,
false);
1021 for (std::list<vpMbtDistanceLine *>::const_iterator it =
lines[lvl].begin(); it !=
lines[lvl].end(); ++it) {
1022 if ((*it)->isTracked()) {
1029 int index = *itindex;
1040 for (
size_t a = 0; a < l->
meline.size(); a++) {
1041 std::list<vpMeSite>::const_iterator itListLine;
1042 if (l->
meline[a] !=
nullptr) {
1043 itListLine = l->
meline[a]->getMeList().begin();
1045 for (
unsigned int i = 0; i < l->
nbFeature[a]; i++) {
1046 factor[n + i] = fac;
1049 factor[n + i] = 0.2;
1058 for (std::list<vpMbtDistanceCylinder *>::const_iterator it =
cylinders[lvl].begin(); it !=
cylinders[lvl].end();
1060 if ((*it)->isTracked()) {
1065 std::list<vpMeSite>::const_iterator itCyl1;
1066 std::list<vpMeSite>::const_iterator itCyl2;
1068 itCyl1 = cy->
meline1->getMeList().begin();
1069 itCyl2 = cy->
meline2->getMeList().begin();
1072 for (
unsigned int i = 0; i < cy->
nbFeature; i++) {
1073 factor[n + i] = fac;
1075 if (i < cy->nbFeaturel1) {
1084 factor[n + i] = 0.2;
1091 for (std::list<vpMbtDistanceCircle *>::const_iterator it =
circles[lvl].begin(); it !=
circles[lvl].end(); ++it) {
1092 if ((*it)->isTracked()) {
1097 std::list<vpMeSite>::const_iterator itCir;
1099 itCir = ci->
meEllipse->getMeList().begin();
1102 for (
unsigned int i = 0; i < ci->
nbFeature; i++) {
1103 factor[n + i] = fac;
1106 factor[n + i] = 0.2;
1125 for (std::list<vpMbtDistanceLine *>::const_iterator it =
lines[lvl].begin(); it !=
lines[lvl].end(); ++it) {
1126 if ((*it)->isTracked()) {
1130 for (
unsigned int j = 0; j < 6; j++) {
1131 L[n + i][j] = l->
L[i][j];
1132 error[n + i] = l->
error[i];
1139 for (std::list<vpMbtDistanceCylinder *>::const_iterator it =
cylinders[lvl].begin(); it !=
cylinders[lvl].end();
1141 if ((*it)->isTracked()) {
1144 for (
unsigned int i = 0; i < cy->
nbFeature; i++) {
1145 for (
unsigned int j = 0; j < 6; j++) {
1146 L[n + i][j] = cy->
L[i][j];
1147 error[n + i] = cy->
error[i];
1153 for (std::list<vpMbtDistanceCircle *>::const_iterator it =
circles[lvl].begin(); it !=
circles[lvl].end(); ++it) {
1154 if ((*it)->isTracked()) {
1157 for (
unsigned int i = 0; i < ci->
nbFeature; i++) {
1158 for (
unsigned int j = 0; j < 6; j++) {
1159 L[n + i][j] = ci->
L[i][j];
1160 error[n + i] = ci->
error[i];
1216 const std::string &name)
1232 const std::string &name)
1251 bool displayFullModel)
1253 std::vector<std::vector<double> > models =
1256 for (
size_t i = 0; i < models.size(); i++) {
1264 double n20 = models[i][3];
1265 double n11 = models[i][4];
1266 double n02 = models[i][5];
1279 std::stringstream ss;
1286 #ifdef VISP_HAVE_OGRE
1305 bool displayFullModel)
1307 std::vector<std::vector<double> > models =
1310 for (
size_t i = 0; i < models.size(); i++) {
1318 double n20 = models[i][3];
1319 double n11 = models[i][4];
1320 double n02 = models[i][5];
1333 std::stringstream ss;
1340 #ifdef VISP_HAVE_OGRE
1349 bool displayFullModel)
1351 std::vector<std::vector<double> > models;
1353 for (
unsigned int i = 0; i <
scales.size(); i += 1) {
1357 std::vector<std::vector<double> > currentModel =
1358 (*it)->getModelForDisplay(width, height, cMo, cam, displayFullModel);
1359 models.insert(models.end(), currentModel.begin(), currentModel.end());
1362 for (std::list<vpMbtDistanceCylinder *>::const_iterator it =
cylinders[
scaleLevel].begin();
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<vpMbtDistanceCircle *>::const_iterator it =
circles[
scaleLevel].begin();
1371 std::vector<double> paramsCircle = (*it)->getModelForDisplay(cMo, cam, displayFullModel);
1372 models.push_back(paramsCircle);
1379 #ifdef VISP_HAVE_OGRE
1405 for (std::list<vpMbtDistanceKltPoints *>::const_iterator it =
kltPolygons.begin(); it !=
kltPolygons.end(); ++it) {
1407 if (kltpoly !=
nullptr) {
1417 if (kltPolyCylinder !=
nullptr) {
1418 delete kltPolyCylinder;
1420 kltPolyCylinder =
nullptr;
1428 if (ci !=
nullptr) {
1442 for (
unsigned int i = 0; i <
scales.size(); i += 1) {
1444 for (std::list<vpMbtDistanceLine *>::const_iterator it =
lines[i].begin(); it !=
lines[i].end(); ++it) {
1451 for (std::list<vpMbtDistanceCylinder *>::const_iterator it =
cylinders[i].begin(); it !=
cylinders[i].end();
1459 for (std::list<vpMbtDistanceCircle *>::const_iterator it =
circles[i].begin(); it !=
circles[i].end(); ++it) {
1488 #elif !defined(VISP_BUILD_SHARED_LIBS)
1491 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 initFaceFromLines(vpMbtPolygon &polygon) override
virtual void setCameraParameters(const vpCameraParameters &cam) override
virtual void initCircle(const vpPoint &, const vpPoint &, const vpPoint &, double r, int idFace=0, const std::string &name="") override
void resetTracker() 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) override
virtual void initCylinder(const vpPoint &, const vpPoint &, double r, int idFace, const std::string &name="") override
virtual void setPose(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cdMo) override
virtual void track(const vpImage< unsigned char > &I) override
virtual std::vector< std::vector< double > > getModelForDisplay(unsigned int width, unsigned int height, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, bool displayFullModel=false) override
virtual void initFaceFromCorners(vpMbtPolygon &polygon) override
virtual void loadConfigFile(const std::string &configFile, bool verbose=true) override
virtual void setClipping(const unsigned int &flags) 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)
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 computeVVSInteractionMatrixAndResidu() override
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 setNearClippingDistance(const double &dist) override
vpColVector m_error_hybrid
(s - s*)
virtual void computeVVSInit() override
vpColVector m_w_klt
Robust weights for KLT.
double m_thresholdMBT
The threshold used in the robust estimation of MBT.
virtual void setFarClippingDistance(const double &dist) override
unsigned int m_maxIterKlt
The maximum iteration of the virtual visual servoing stage.
void reInitModel(const vpImage< unsigned char > &I, const std::string &cad_name, const vpHomogeneousMatrix &cMo, bool verbose=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix()) override
virtual void init(const vpImage< unsigned char > &I) 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)
virtual void initFaceFromLines(vpMbtPolygon &polygon) override
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.
virtual void setCameraParameters(const vpCameraParameters &cam) override
std::vector< std::list< vpMbtDistanceCircle * > > circles
Vector of the tracked circles.
void initMovingEdge(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &_cMo)
virtual void initCylinder(const vpPoint &p1, const vpPoint &p2, double radius, int idFace=0, const std::string &name="") override
void trackMovingEdge(const vpImage< unsigned char > &I)
std::vector< const vpImage< unsigned char > * > Ipyramid
virtual void initCircle(const vpPoint &p1, const vpPoint &p2, const vpPoint &p3, double radius, int idFace=0, const std::string &name="") override
std::vector< bool > scales
Vector of scale level to use for the multi-scale tracking.
virtual void initFaceFromCorners(vpMbtPolygon &polygon) override
void updateMovingEdge(const vpImage< unsigned char > &I)
void reinitMovingEdge(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &_cMo)
void setMovingEdge(const vpMe &me)
void resetTracker() 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)
virtual void initFaceFromLines(vpMbtPolygon &polygon) override
std::list< vpMbtDistanceKltCylinder * > kltCylinders
vpHomogeneousMatrix c0Mo
Initial pose.
vpHomogeneousMatrix ctTc0
std::list< vpMbtDistanceKltPoints * > kltPolygons
void resetTracker() override
std::list< vpMbtDistanceCircle * > circles_disp
Vector of the circles used here only to display the full model.
virtual void initCylinder(const vpPoint &, const vpPoint &, double, int, const std::string &name="") override
vpKltOpencv tracker
Points tracker.
virtual std::vector< std::vector< double > > getFeaturesForDisplayKlt()
void preTracking(const vpImage< unsigned char > &I)
bool postTracking(const vpImage< unsigned char > &I, vpColVector &w)
virtual void reinit(const vpImage< unsigned char > &I)
virtual void initFaceFromCorners(vpMbtPolygon &polygon) override
virtual void setPose(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cdMo) override
unsigned int maskBorder
Erosion of the mask.
std::vector< std::vector< double > > m_featuresToBeDisplayedKlt
Display features.
void setCameraParameters(const vpCameraParameters &cam) override
virtual void init(const vpImage< unsigned char > &I) 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 removed during virtual visual-servoing because considered as an outlier.
@ NO_SUPPRESSION
Point used by the tracker.
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 vpSubMatrix class provides a mask on a vpMatrix all properties of vpMat...
Error that can be emitted by the vpTracker class and its derivatives.
@ notEnoughPointError
Not enough point to track.
@ fatalError
Tracker fatal error.
vpVelocityTwistMatrix buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)