Visual Servoing Platform  version 3.3.0
vpMbEdgeMultiTracker Class Reference

#include <vpMbEdgeMultiTracker.h>

+ Inheritance diagram for vpMbEdgeMultiTracker:

Public Types

enum  vpMbtOptimizationMethod { GAUSS_NEWTON_OPT = 0, LEVENBERG_MARQUARDT_OPT = 1 }
 

Public Member Functions

 vpMbEdgeMultiTracker ()
 
 vpMbEdgeMultiTracker (unsigned int nbCameras)
 
 vpMbEdgeMultiTracker (const std::vector< std::string > &cameraNames)
 
virtual ~vpMbEdgeMultiTracker ()
 
Inherited functionalities from vpMbEdgeTracker
std::vector< bool > getScales () const
 
double getGoodMovingEdgesRatioThreshold () const
 
Inherited functionalities from vpMbTracker
virtual double computeCurrentProjectionError (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &_cMo, const vpCameraParameters &_cam)
 
virtual double getAngleAppear () const
 
virtual double getAngleDisappear () const
 
virtual unsigned int getClipping () const
 
virtual vpMatrix getCovarianceMatrix () const
 
virtual double getInitialMu () const
 
virtual double getLambda () const
 
virtual unsigned int getMaxIter () const
 
virtual double getProjectionError () const
 
virtual vpColVector getEstimatedDoF () const
 
virtual double getFarClippingDistance () const
 
virtual double getNearClippingDistance () const
 
virtual vpMbtOptimizationMethod getOptimizationMethod () const
 
virtual vpMbtPolygongetPolygon (unsigned int index)
 
virtual std::pair< std::vector< vpPolygon >, std::vector< std::vector< vpPoint > > > getPolygonFaces (bool orderPolygons=true, bool useVisibility=true, bool clipPolygon=false)
 
virtual void getPose (vpHomogeneousMatrix &cMo) const
 
virtual vpHomogeneousMatrix getPose () const
 
virtual double getStopCriteriaEpsilon () const
 
virtual void initClick (const vpImage< vpRGBa > &I_color, const std::string &initFile, bool displayHelp=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
 
virtual void initClick (const vpImage< vpRGBa > &I_color, const std::vector< vpPoint > &points3D_list, const std::string &displayFile="")
 
virtual void initFromPoints (const vpImage< unsigned char > &I, const std::string &initFile)
 
virtual void initFromPoints (const vpImage< vpRGBa > &I_color, const std::string &initFile)
 
virtual void initFromPoints (const vpImage< unsigned char > &I, const std::vector< vpImagePoint > &points2D_list, const std::vector< vpPoint > &points3D_list)
 
virtual void initFromPoints (const vpImage< vpRGBa > &I_color, const std::vector< vpImagePoint > &points2D_list, const std::vector< vpPoint > &points3D_list)
 
virtual void initFromPose (const vpImage< vpRGBa > &I_color, const std::string &initFile)
 
virtual void initFromPose (const vpImage< vpRGBa > &I_color, const vpHomogeneousMatrix &cMo)
 
virtual void initFromPose (const vpImage< vpRGBa > &I_color, const vpPoseVector &cPo)
 
virtual void setEstimatedDoF (const vpColVector &v)
 
virtual void setInitialMu (double mu)
 
virtual void setLambda (double gain)
 
virtual void setMaxIter (unsigned int max)
 
void setProjectionErrorMovingEdge (const vpMe &me)
 
void setProjectionErrorKernelSize (const unsigned int &size)
 
virtual void setMask (const vpImage< bool > &mask)
 
virtual void setStopCriteriaEpsilon (const double eps)
 
virtual void setProjectionErrorDisplay (bool display)
 
virtual void setProjectionErrorDisplayArrowLength (unsigned int length)
 
virtual void setProjectionErrorDisplayArrowThickness (unsigned int thickness)
 
void savePose (const std::string &filename) const
 
void setPoseSavingFilename (const std::string &filename)
 

Protected Member Functions

Protected Member Functions Inherited from vpMbEdgeMultiTracker
virtual void cleanPyramid (std::map< std::string, std::vector< const vpImage< unsigned char > * > > &pyramid)
 
virtual void computeProjectionError ()
 
virtual void computeVVS (std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, unsigned int lvl)
 
virtual void computeVVSFirstPhasePoseEstimation (unsigned int iter, bool &isoJoIdentity_)
 
virtual void computeVVSInit ()
 
virtual void computeVVSInteractionMatrixAndResidu ()
 
virtual void computeVVSInteractionMatrixAndResidu (std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, std::map< std::string, vpVelocityTwistMatrix > &mapOfVelocityTwist)
 
virtual void computeVVSWeights ()
 
virtual void initPyramid (const std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, std::map< std::string, std::vector< const vpImage< unsigned char > * > > &pyramid)
 
virtual void computeVVSInteractionMatrixAndResidu ()
 
virtual void computeVVSInteractionMatrixAndResidu (const vpImage< unsigned char > &I)
 
virtual void computeVVSWeights (vpRobust &robust, const vpColVector &error, vpColVector &w)
 
Protected Member Functions Inherited from vpMbEdgeTracker
void addCircle (const vpPoint &P1, const vpPoint &P2, const vpPoint &P3, double r, int idFace=-1, const std::string &name="")
 
void addCylinder (const vpPoint &P1, const vpPoint &P2, double r, int idFace=-1, const std::string &name="")
 
void addLine (vpPoint &p1, vpPoint &p2, int polygon=-1, std::string name="")
 
void addPolygon (vpMbtPolygon &p)
 
void cleanPyramid (std::vector< const vpImage< unsigned char > * > &_pyramid)
 
void computeProjectionError (const vpImage< unsigned char > &_I)
 
void computeVVS (const vpImage< unsigned char > &_I, unsigned int lvl)
 
void computeVVSFirstPhase (const vpImage< unsigned char > &I, unsigned int iter, double &count, unsigned int lvl=0)
 
void computeVVSFirstPhaseFactor (const vpImage< unsigned char > &I, unsigned int lvl=0)
 
virtual void computeVVSInteractionMatrixAndResidu (const vpImage< unsigned char > &I)
 
void displayFeaturesOnImage (const vpImage< unsigned char > &I)
 
void displayFeaturesOnImage (const vpImage< vpRGBa > &I)
 
void downScale (const unsigned int _scale)
 
virtual std::vector< std::vector< double > > getFeaturesForDisplayEdge ()
 
virtual void initCircle (const vpPoint &p1, const vpPoint &p2, const vpPoint &p3, double radius, int idFace=0, const std::string &name="")
 
virtual void initCylinder (const vpPoint &p1, const vpPoint &p2, double radius, int idFace=0, const std::string &name="")
 
virtual void initFaceFromCorners (vpMbtPolygon &polygon)
 
virtual void initFaceFromLines (vpMbtPolygon &polygon)
 
unsigned int initMbtTracking (unsigned int &nberrors_lines, unsigned int &nberrors_cylinders, unsigned int &nberrors_circles)
 
void initMovingEdge (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &_cMo)
 
void initPyramid (const vpImage< unsigned char > &_I, std::vector< const vpImage< unsigned char > * > &_pyramid)
 
void reInitLevel (const unsigned int _lvl)
 
void reinitMovingEdge (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &_cMo)
 
void removeCircle (const std::string &name)
 
void removeCylinder (const std::string &name)
 
void removeLine (const std::string &name)
 
void resetMovingEdge ()
 
virtual void testTracking ()
 
void trackMovingEdge (const vpImage< unsigned char > &I)
 
void updateMovingEdge (const vpImage< unsigned char > &I)
 
void updateMovingEdgeWeights ()
 
void upScale (const unsigned int _scale)
 
void visibleFace (const vpImage< unsigned char > &_I, const vpHomogeneousMatrix &_cMo, bool &newvisibleline)
 
Protected Member Functions Inherited from vpMbTracker
void addPolygon (const std::vector< vpPoint > &corners, int idFace=-1, const std::string &polygonName="", bool useLod=false, double minPolygonAreaThreshold=2500.0, double minLineLengthThreshold=50.0)
 
void addPolygon (const vpPoint &p1, const vpPoint &p2, const vpPoint &p3, double radius, int idFace=-1, const std::string &polygonName="", bool useLod=false, double minPolygonAreaThreshold=2500.0)
 
void addPolygon (const vpPoint &p1, const vpPoint &p2, int idFace=-1, const std::string &polygonName="", bool useLod=false, double minLineLengthThreshold=50)
 
void addPolygon (const std::vector< std::vector< vpPoint > > &listFaces, int idFace=-1, const std::string &polygonName="", bool useLod=false, double minLineLengthThreshold=50)
 
virtual void computeVVSWeights (vpRobust &robust, const vpColVector &error, vpColVector &w)
 
virtual void initClick (const vpImage< unsigned char > *const I, const vpImage< vpRGBa > *const I_color, const std::string &initFile, bool displayHelp=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
 
virtual void initClick (const vpImage< unsigned char > *const I, const vpImage< vpRGBa > *const I_color, const std::vector< vpPoint > &points3D_list, const std::string &displayFile="")
 
virtual void initFromPoints (const vpImage< unsigned char > *const I, const vpImage< vpRGBa > *const I_color, const std::string &initFile)
 
virtual void initFromPoints (const vpImage< unsigned char > *const I, const vpImage< vpRGBa > *const I_color, const std::vector< vpImagePoint > &points2D_list, const std::vector< vpPoint > &points3D_list)
 
virtual void initFromPose (const vpImage< unsigned char > *const I, const vpImage< vpRGBa > *const I_color, const std::string &initFile)
 
void addProjectionErrorCircle (const vpPoint &P1, const vpPoint &P2, const vpPoint &P3, double r, int idFace=-1, const std::string &name="")
 
void addProjectionErrorCylinder (const vpPoint &P1, const vpPoint &P2, double r, int idFace=-1, const std::string &name="")
 
void addProjectionErrorLine (vpPoint &p1, vpPoint &p2, int polygon=-1, std::string name="")
 
void addProjectionErrorPolygon (const std::vector< vpPoint > &corners, int idFace=-1, const std::string &polygonName="", bool useLod=false, double minPolygonAreaThreshold=2500.0, const double minLineLengthThreshold=50.0)
 
void addProjectionErrorPolygon (const vpPoint &p1, const vpPoint &p2, const vpPoint &p3, double radius, int idFace=-1, const std::string &polygonName="", bool useLod=false, double minPolygonAreaThreshold=2500.0)
 
void addProjectionErrorPolygon (const vpPoint &p1, const vpPoint &p2, int idFace=-1, const std::string &polygonName="", bool useLod=false, double minLineLengthThreshold=50)
 
void addProjectionErrorPolygon (const std::vector< std::vector< vpPoint > > &listFaces, int idFace=-1, const std::string &polygonName="", bool useLod=false, double minLineLengthThreshold=50)
 
void createCylinderBBox (const vpPoint &p1, const vpPoint &p2, const double &radius, std::vector< std::vector< vpPoint > > &listFaces)
 
virtual void computeCovarianceMatrixVVS (const bool isoJoIdentity_, const vpColVector &w_true, const vpHomogeneousMatrix &cMoPrev, const vpMatrix &L_true, const vpMatrix &LVJ_true, const vpColVector &error)
 
void computeJTR (const vpMatrix &J, const vpColVector &R, vpColVector &JTR) const
 
double computeProjectionErrorImpl (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &_cMo, const vpCameraParameters &_cam, unsigned int &nbFeatures)
 
virtual void computeVVSCheckLevenbergMarquardt (unsigned int iter, vpColVector &error, const vpColVector &m_error_prev, const vpHomogeneousMatrix &cMoPrev, double &mu, bool &reStartFromLastIncrement, vpColVector *const w=NULL, const vpColVector *const m_w_prev=NULL)
 
virtual void computeVVSPoseEstimation (const bool isoJoIdentity_, unsigned int iter, vpMatrix &L, vpMatrix &LTL, vpColVector &R, const vpColVector &error, vpColVector &error_prev, vpColVector &LTR, double &mu, vpColVector &v, const vpColVector *const w=NULL, vpColVector *const m_w_prev=NULL)
 
virtual void extractGroup (SoVRMLGroup *sceneGraphVRML2, vpHomogeneousMatrix &transform, int &idFace)
 
virtual void extractFaces (SoVRMLIndexedFaceSet *face_set, vpHomogeneousMatrix &transform, int &idFace, const std::string &polygonName="")
 
virtual void extractLines (SoVRMLIndexedLineSet *line_set, int &idFace, const std::string &polygonName="")
 
virtual void extractCylinders (SoVRMLIndexedFaceSet *face_set, vpHomogeneousMatrix &transform, int &idFace, const std::string &polygonName="")
 
vpPoint getGravityCenter (const std::vector< vpPoint > &_pts) const
 
void initProjectionErrorCircle (const vpPoint &p1, const vpPoint &p2, const vpPoint &p3, double radius, int idFace=0, const std::string &name="")
 
void initProjectionErrorCylinder (const vpPoint &p1, const vpPoint &p2, double radius, int idFace=0, const std::string &name="")
 
void initProjectionErrorFaceFromCorners (vpMbtPolygon &polygon)
 
void initProjectionErrorFaceFromLines (vpMbtPolygon &polygon)
 
virtual void loadVRMLModel (const std::string &modelFile)
 
virtual void loadCAOModel (const std::string &modelFile, std::vector< std::string > &vectorOfModelFilename, int &startIdFace, bool verbose=false, bool parent=true, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
 
void projectionErrorInitMovingEdge (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &_cMo)
 
void projectionErrorResetMovingEdges ()
 
void projectionErrorVisibleFace (unsigned int width, unsigned int height, const vpHomogeneousMatrix &_cMo)
 
void removeComment (std::ifstream &fileId)
 
std::map< std::string, std::string > parseParameters (std::string &endLine)
 
bool samePoint (const vpPoint &P1, const vpPoint &P2) const
 

Protected Attributes

std::map< std::string, vpHomogeneousMatrixm_mapOfCameraTransformationMatrix
 
std::map< std::string, vpMbEdgeTracker * > m_mapOfEdgeTrackers
 
std::map< std::string, std::vector< const vpImage< unsigned char > * > > m_mapOfPyramidalImages
 
std::string m_referenceCameraName
 
vpMatrix m_L_edgeMulti
 
vpColVector m_error_edgeMulti
 
vpColVector m_w_edgeMulti
 
vpColVector m_weightedError_edgeMulti
 
vpMe me
 
std::vector< std::list< vpMbtDistanceLine * > > lines
 
std::vector< std::list< vpMbtDistanceCircle * > > circles
 
std::vector< std::list< vpMbtDistanceCylinder * > > cylinders
 
unsigned int nline
 
unsigned int ncircle
 
unsigned int ncylinder
 
unsigned int nbvisiblepolygone
 
double percentageGdPt
 
std::vector< bool > scales
 
std::vector< const vpImage< unsigned char > * > Ipyramid
 
unsigned int scaleLevel
 
unsigned int nbFeaturesForProjErrorComputation
 
vpColVector m_factor
 
vpRobust m_robustLines
 
vpRobust m_robustCylinders
 
vpRobust m_robustCircles
 
vpColVector m_wLines
 
vpColVector m_wCylinders
 
vpColVector m_wCircles
 
vpColVector m_errorLines
 
vpColVector m_errorCylinders
 
vpColVector m_errorCircles
 
vpMatrix m_L_edge
 
vpColVector m_error_edge
 
vpColVector m_w_edge
 
vpColVector m_weightedError_edge
 
vpRobust m_robust_edge
 
std::vector< std::vector< double > > m_featuresToBeDisplayedEdge
 
vpCameraParameters m_cam
 
vpHomogeneousMatrix m_cMo
 
vpMatrix oJo
 
bool isoJoIdentity
 
std::string modelFileName
 
bool modelInitialised
 
std::string poseSavingFilename
 
bool computeCovariance
 
vpMatrix covarianceMatrix
 
bool computeProjError
 
double projectionError
 
bool displayFeatures
 
vpMbtOptimizationMethod m_optimizationMethod
 
vpMbHiddenFaces< vpMbtPolygonfaces
 
double angleAppears
 
double angleDisappears
 
double distNearClip
 
double distFarClip
 
unsigned int clippingFlag
 
bool useOgre
 
bool ogreShowConfigDialog
 
bool useScanLine
 
unsigned int nbPoints
 
unsigned int nbLines
 
unsigned int nbPolygonLines
 
unsigned int nbPolygonPoints
 
unsigned int nbCylinders
 
unsigned int nbCircles
 
bool useLodGeneral
 
bool applyLodSettingInConfig
 
double minLineLengthThresholdGeneral
 
double minPolygonAreaThresholdGeneral
 
std::map< std::string, std::string > mapOfParameterNames
 
bool m_computeInteraction
 
double m_lambda
 
unsigned int m_maxIter
 
double m_stopCriteriaEpsilon
 
double m_initialMu
 
std::vector< vpMbtDistanceLine * > m_projectionErrorLines
 
std::vector< vpMbtDistanceCylinder * > m_projectionErrorCylinders
 
std::vector< vpMbtDistanceCircle * > m_projectionErrorCircles
 
vpMbHiddenFaces< vpMbtPolygonm_projectionErrorFaces
 
bool m_projectionErrorOgreShowConfigDialog
 
vpMe m_projectionErrorMe
 
unsigned int m_projectionErrorKernelSize
 
vpMatrix m_SobelX
 
vpMatrix m_SobelY
 
bool m_projectionErrorDisplay
 
unsigned int m_projectionErrorDisplayLength
 
unsigned int m_projectionErrorDisplayThickness
 
vpCameraParameters m_projectionErrorCam
 
const vpImage< bool > * m_mask
 
vpImage< unsigned char > m_I
 

Inherited functionalities from vpMbEdgeMultiTracker

enum  FeatureType { LINE, CYLINDER, CIRCLE }
 
virtual void display (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, unsigned int thickness=1, bool displayFullModel=false)
 
virtual void display (const vpImage< vpRGBa > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, unsigned int thickness=1, bool displayFullModel=false)
 
virtual void display (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, const vpHomogeneousMatrix &c1Mo, const vpHomogeneousMatrix &c2Mo, const vpCameraParameters &cam1, const vpCameraParameters &cam2, const vpColor &col, unsigned int thickness=1, bool displayFullModel=false)
 
virtual void display (const vpImage< vpRGBa > &I1, const vpImage< vpRGBa > &I2, const vpHomogeneousMatrix &c1Mo, const vpHomogeneousMatrix &c2Mo, const vpCameraParameters &cam1, const vpCameraParameters &cam2, const vpColor &col, unsigned int thickness=1, bool displayFullModel=false)
 
virtual void display (const std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, const std::map< std::string, vpHomogeneousMatrix > &mapOfCameraPoses, const std::map< std::string, vpCameraParameters > &mapOfCameraParameters, const vpColor &col, unsigned int thickness=1, bool displayFullModel=false)
 
virtual void display (const std::map< std::string, const vpImage< vpRGBa > * > &mapOfImages, const std::map< std::string, vpHomogeneousMatrix > &mapOfCameraPoses, const std::map< std::string, vpCameraParameters > &mapOfCameraParameters, const vpColor &col, unsigned int thickness=1, bool displayFullModel=false)
 
virtual std::vector< std::vector< double > > getModelForDisplay (unsigned int, unsigned int, const vpHomogeneousMatrix &, const vpCameraParameters &, bool=false)
 
virtual std::vector< std::string > getCameraNames () const
 
virtual void getCameraParameters (vpCameraParameters &camera) const
 
virtual void getCameraParameters (vpCameraParameters &cam1, vpCameraParameters &cam2) const
 
virtual void getCameraParameters (const std::string &cameraName, vpCameraParameters &camera) const
 
virtual void getCameraParameters (std::map< std::string, vpCameraParameters > &mapOfCameraParameters) const
 
virtual unsigned int getClipping (const std::string &cameraName) const
 
virtual vpMbHiddenFaces< vpMbtPolygon > & getFaces ()
 
virtual vpMbHiddenFaces< vpMbtPolygon > & getFaces (const std::string &cameraName)
 
virtual std::map< std::string, vpMbHiddenFaces< vpMbtPolygon > > getFaces () const
 
void getLcircle (std::list< vpMbtDistanceCircle * > &circlesList, unsigned int level=0) const
 
virtual void getLcircle (const std::string &cameraName, std::list< vpMbtDistanceCircle * > &circlesList, unsigned int level=0) const
 
void getLcylinder (std::list< vpMbtDistanceCylinder * > &cylindersList, unsigned int level=0) const
 
virtual void getLcylinder (const std::string &cameraName, std::list< vpMbtDistanceCylinder * > &cylindersList, unsigned int level=0) const
 
void getLline (std::list< vpMbtDistanceLine * > &linesList, unsigned int level=0) const
 
virtual void getLline (const std::string &cameraName, std::list< vpMbtDistanceLine * > &linesList, unsigned int level=0) const
 
virtual void getMovingEdge (vpMe &p_me) const
 
virtual vpMe getMovingEdge () const
 
virtual void getMovingEdge (const std::string &cameraName, vpMe &p_me) const
 
virtual vpMe getMovingEdge (const std::string &cameraName) const
 
virtual unsigned int getNbPoints (unsigned int level=0) const
 
virtual unsigned int getNbPoints (const std::string &cameraName, unsigned int level=0) const
 
virtual unsigned int getNbPolygon () const
 
virtual unsigned int getNbPolygon (const std::string &cameraName) const
 
virtual std::map< std::string, unsigned int > getMultiNbPolygon () const
 
unsigned int getNumberOfCameras () const
 
virtual void getPose (vpHomogeneousMatrix &c1Mo, vpHomogeneousMatrix &c2Mo) const
 
virtual void getPose (const std::string &cameraName, vpHomogeneousMatrix &cMo) const
 
virtual void getPose (std::map< std::string, vpHomogeneousMatrix > &mapOfCameraPoses) const
 
virtual vpColVector getError () const
 
virtual vpColVector getRobustWeights () const
 
void init (const vpImage< unsigned char > &I)
 
virtual void initClick (const vpImage< unsigned char > &I, const std::vector< vpPoint > &points3D_list, const std::string &displayFile="")
 
virtual void initClick (const vpImage< unsigned char > &I, const std::string &initFile, bool displayHelp=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
 
virtual void initClick (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, const std::string &initFile1, const std::string &initFile2, bool displayHelp=false, bool firstCameraIsReference=true)
 
virtual void initClick (const std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, const std::string &initFile, bool displayHelp=false)
 
virtual void initClick (const std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, const std::map< std::string, std::string > &mapOfInitFiles, bool displayHelp=false)
 
virtual void initFromPose (const vpImage< unsigned char > &I, const std::string &initFile)
 
virtual void initFromPose (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo)
 
virtual void initFromPose (const vpImage< unsigned char > &I, const vpPoseVector &cPo)
 
virtual void initFromPose (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, const vpHomogeneousMatrix &c1Mo, const vpHomogeneousMatrix &c2Mo, bool firstCameraIsReference=true)
 
virtual void initFromPose (const std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, const vpHomogeneousMatrix &cMo)
 
virtual void initFromPose (const std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, const std::map< std::string, vpHomogeneousMatrix > &mapOfCameraPoses)
 
virtual void loadConfigFile (const std::string &configFile)
 
virtual void loadConfigFile (const std::string &configFile1, const std::string &configFile2, bool firstCameraIsReference=true)
 
virtual void loadConfigFile (const std::map< std::string, std::string > &mapOfConfigFiles)
 
virtual void loadModel (const std::string &modelFile, bool verbose=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
 
virtual void reInitModel (const vpImage< unsigned char > &I, const std::string &cad_name, const vpHomogeneousMatrix &cMo, bool verbose=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
 
virtual void reInitModel (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, const std::string &cad_name, const vpHomogeneousMatrix &c1Mo, const vpHomogeneousMatrix &c2Mo, bool verbose=false, bool firstCameraIsReference=true)
 
virtual void reInitModel (const std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, const std::string &cad_name, const std::map< std::string, vpHomogeneousMatrix > &mapOfCameraPoses, bool verbose=false)
 
virtual void resetTracker ()
 
virtual void setAngleAppear (const double &a)
 
virtual void setAngleDisappear (const double &a)
 
virtual void setCameraParameters (const vpCameraParameters &camera)
 
virtual void setCameraParameters (const vpCameraParameters &camera1, const vpCameraParameters &camera2, bool firstCameraIsReference=true)
 
virtual void setCameraParameters (const std::string &cameraName, const vpCameraParameters &camera)
 
virtual void setCameraParameters (const std::map< std::string, vpCameraParameters > &mapOfCameraParameters)
 
virtual void setCameraTransformationMatrix (const std::string &cameraName, const vpHomogeneousMatrix &cameraTransformationMatrix)
 
virtual void setCameraTransformationMatrix (const std::map< std::string, vpHomogeneousMatrix > &mapOfTransformationMatrix)
 
virtual void setClipping (const unsigned int &flags)
 
virtual void setClipping (const std::string &cameraName, const unsigned int &flags)
 
virtual void setCovarianceComputation (const bool &flag)
 
virtual void setDisplayFeatures (bool displayF)
 
virtual void setFarClippingDistance (const double &dist)
 
virtual void setFarClippingDistance (const std::string &cameraName, const double &dist)
 
virtual void setGoodMovingEdgesRatioThreshold (double threshold)
 
void setGoodNbRayCastingAttemptsRatio (const double &ratio)
 
void setNbRayCastingAttemptsForVisibility (const unsigned int &attempts)
 
virtual void setLod (bool useLod, const std::string &name="")
 
virtual void setLod (bool useLod, const std::string &cameraName, const std::string &name)
 
virtual void setMinLineLengthThresh (double minLineLengthThresh, const std::string &name="")
 
virtual void setMinLineLengthThresh (double minLineLengthThresh, const std::string &cameraName, const std::string &name)
 
virtual void setMinPolygonAreaThresh (double minPolygonAreaThresh, const std::string &name="")
 
virtual void setMinPolygonAreaThresh (double minPolygonAreaThresh, const std::string &cameraName, const std::string &name)
 
virtual void setMovingEdge (const vpMe &moving_edge)
 
virtual void setMovingEdge (const std::string &cameraName, const vpMe &moving_edge)
 
virtual void setNearClippingDistance (const double &dist)
 
virtual void setNearClippingDistance (const std::string &cameraName, const double &dist)
 
virtual void setOgreShowConfigDialog (bool showConfigDialog)
 
virtual void setOgreVisibilityTest (const bool &v)
 
virtual void setOptimizationMethod (const vpMbtOptimizationMethod &opt)
 
virtual void setPose (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo)
 
virtual void setPose (const vpImage< vpRGBa > &I_color, const vpHomogeneousMatrix &cMo)
 
virtual void setPose (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, const vpHomogeneousMatrix &c1Mo, const vpHomogeneousMatrix &c2Mo, bool firstCameraIsReference=true)
 
virtual void setPose (const std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, const vpHomogeneousMatrix &cMo)
 
virtual void setPose (const std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, const std::map< std::string, vpHomogeneousMatrix > &mapOfCameraPoses)
 
virtual void setProjectionErrorComputation (const bool &flag)
 
virtual void setReferenceCameraName (const std::string &referenceCameraName)
 
virtual void setScales (const std::vector< bool > &scales)
 
virtual void setScanLineVisibilityTest (const bool &v)
 
virtual void setUseEdgeTracking (const std::string &name, const bool &useEdgeTracking)
 
virtual void track (const vpImage< unsigned char > &I)
 
virtual void track (const vpImage< vpRGBa > &I_color)
 
virtual void track (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2)
 
virtual void track (std::map< std::string, const vpImage< unsigned char > * > &mapOfImages)
 
virtual unsigned int getClipping () const
 
virtual void getPose (vpHomogeneousMatrix &cMo) const
 
virtual vpHomogeneousMatrix getPose () const
 
virtual void initClick (const vpImage< unsigned char > &I, const std::string &initFile, bool displayHelp=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
 
virtual void initClick (const vpImage< vpRGBa > &I_color, const std::string &initFile, bool displayHelp=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
 
virtual void initClick (const vpImage< unsigned char > &I, const std::vector< vpPoint > &points3D_list, const std::string &displayFile="")
 
virtual void initClick (const vpImage< vpRGBa > &I_color, const std::vector< vpPoint > &points3D_list, const std::string &displayFile="")
 
virtual void initClick (const vpImage< unsigned char > *const I, const vpImage< vpRGBa > *const I_color, const std::string &initFile, bool displayHelp=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
 
virtual void initClick (const vpImage< unsigned char > *const I, const vpImage< vpRGBa > *const I_color, const std::vector< vpPoint > &points3D_list, const std::string &displayFile="")
 
virtual void initFromPose (const vpImage< unsigned char > &I, const std::string &initFile)
 
virtual void initFromPose (const vpImage< vpRGBa > &I_color, const std::string &initFile)
 
virtual void initFromPose (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo)
 
virtual void initFromPose (const vpImage< vpRGBa > &I_color, const vpHomogeneousMatrix &cMo)
 
virtual void initFromPose (const vpImage< unsigned char > &I, const vpPoseVector &cPo)
 
virtual void initFromPose (const vpImage< vpRGBa > &I_color, const vpPoseVector &cPo)
 
virtual void initFromPose (const vpImage< unsigned char > *const I, const vpImage< vpRGBa > *const I_color, const std::string &initFile)
 
virtual void track (const vpImage< unsigned char > &I)
 
virtual void track (const vpImage< vpRGBa > &I)
 

Detailed Description

Make the complete stereo (or more) tracking of an object by using its CAD model.

Warning
This class is deprecated for user usage. You should rather use the high level vpMbGenericTracker class.

This class allows to track an object or a scene given its 3D model. The Tutorial: Markerless model-based tracking with stereo cameras (deprecated) is also a good starting point to use this class.

The tracker requires the knowledge of the 3D model that could be provided in a vrml or in a cao file. The cao format is described in loadCAOModel(). It may also use an xml file used to tune the behavior of the tracker and an init file used to compute the pose at the very first image.

Examples
mbtEdgeMultiTracking.cpp, tutorial-mb-tracker-stereo-mono.cpp, and tutorial-mb-tracker-stereo.cpp.

Definition at line 72 of file vpMbEdgeMultiTracker.h.

Member Enumeration Documentation

◆ FeatureType

Enumerator
LINE 
CYLINDER 
CIRCLE 

Definition at line 373 of file vpMbEdgeMultiTracker.h.

◆ vpMbtOptimizationMethod

Enumerator
GAUSS_NEWTON_OPT 
LEVENBERG_MARQUARDT_OPT 

Definition at line 106 of file vpMbTracker.h.

Constructor & Destructor Documentation

◆ vpMbEdgeMultiTracker() [1/3]

vpMbEdgeMultiTracker::vpMbEdgeMultiTracker ( )

Basic constructor

Definition at line 54 of file vpMbEdgeMultiTracker.cpp.

◆ vpMbEdgeMultiTracker() [2/3]

vpMbEdgeMultiTracker::vpMbEdgeMultiTracker ( unsigned int  nbCameras)
explicit

Construct a vpMbEdgeMultiTracker with the specified number of cameras.

Parameters
nbCameras: Number of cameras to use.

Definition at line 69 of file vpMbEdgeMultiTracker.cpp.

◆ vpMbEdgeMultiTracker() [3/3]

vpMbEdgeMultiTracker::vpMbEdgeMultiTracker ( const std::vector< std::string > &  cameraNames)
explicit

Construct a vpMbEdgeMultiTracker with the specified list of camera names. By default, the first camera name by alphabetic order is the reference camera.

Parameters
cameraNames: List of camera names.

Definition at line 113 of file vpMbEdgeMultiTracker.cpp.

◆ ~vpMbEdgeMultiTracker()

vpMbEdgeMultiTracker::~vpMbEdgeMultiTracker ( )
virtual

Basic destructor useful to deallocate the memory.

Definition at line 133 of file vpMbEdgeMultiTracker.cpp.

Member Function Documentation

◆ addCircle()

void vpMbEdgeTracker::addCircle ( const vpPoint P1,
const vpPoint P2,
const vpPoint P3,
double  r,
int  idFace = -1,
const std::string &  name = "" 
)
protectedinherited

Add a circle to the list of circles.

Parameters
P1: Center of the circle.
P2,P3: Two points on the plane containing the circle. With the center of the circle we have 3 points defining the plane that contains the circle.
r: Radius of the circle.
idFace: Id of the face that is associated to the circle to handle visibility test.
name: the optional name of the circle.

Definition at line 2050 of file vpMbEdgeTracker.cpp.

◆ addCylinder()

void vpMbEdgeTracker::addCylinder ( const vpPoint P1,
const vpPoint P2,
double  r,
int  idFace = -1,
const std::string &  name = "" 
)
protectedinherited

Add a cylinder to the list of cylinders.

Parameters
P1: The first extremity of the axis.
P2: The second extremity of the axis.
r: The radius of the cylinder.
idFace: The index of the face.
name: the optional name of the cylinder

Definition at line 2109 of file vpMbEdgeTracker.cpp.

◆ addLine()

void vpMbEdgeTracker::addLine ( vpPoint P1,
vpPoint P2,
int  polygon = -1,
std::string  name = "" 
)
protectedinherited

Add a line belonging to the $ index $ the polygon to the list of lines. It is defined by its two extremities.

If the line already exists, the ploygone's index is added to the list of polygon to which it belongs.

Parameters
P1: The first extremity of the line.
P2: The second extremity of the line.
polygon: The index of the polygon to which the line belongs.
name: the optional name of the line

Definition at line 1967 of file vpMbEdgeTracker.cpp.

◆ addPolygon() [1/5]

◆ addPolygon() [2/5]

void vpMbTracker::addPolygon ( const std::vector< vpPoint > &  corners,
int  idFace = -1,
const std::string &  polygonName = "",
bool  useLod = false,
double  minPolygonAreaThreshold = 2500.0,
double  minLineLengthThreshold = 50.0 
)
protectedinherited

◆ addPolygon() [3/5]

◆ addPolygon() [4/5]

◆ addPolygon() [5/5]

void vpMbEdgeTracker::addPolygon ( vpMbtPolygon p)
protectedinherited

Add a polygon to the list of polygons.

Parameters
p: The polygon to add.

Definition at line 2197 of file vpMbEdgeTracker.cpp.

◆ addProjectionErrorCircle()

◆ addProjectionErrorCylinder()

◆ addProjectionErrorLine()

◆ addProjectionErrorPolygon() [1/4]

◆ addProjectionErrorPolygon() [2/4]

void vpMbTracker::addProjectionErrorPolygon ( const std::vector< vpPoint > &  corners,
int  idFace = -1,
const std::string &  polygonName = "",
bool  useLod = false,
double  minPolygonAreaThreshold = 2500.0,
const double  minLineLengthThreshold = 50.0 
)
protectedinherited

◆ addProjectionErrorPolygon() [3/4]

◆ addProjectionErrorPolygon() [4/4]

◆ cleanPyramid() [1/2]

void vpMbEdgeMultiTracker::cleanPyramid ( std::map< std::string, std::vector< const vpImage< unsigned char > * > > &  pyramid)
protectedvirtual

Definition at line 145 of file vpMbEdgeMultiTracker.cpp.

◆ cleanPyramid() [2/2]

void vpMbEdgeTracker::cleanPyramid ( std::vector< const vpImage< unsigned char > * > &  _pyramid)
protectedinherited

Clean the pyramid of image allocated with the initPyramid() method. The vector has a size equal to zero at the end of the method.

Parameters
_pyramid: The pyramid of image to clean.

Definition at line 2769 of file vpMbEdgeTracker.cpp.

◆ computeCovarianceMatrixVVS()

void vpMbTracker::computeCovarianceMatrixVVS ( const bool  isoJoIdentity_,
const vpColVector w_true,
const vpHomogeneousMatrix cMoPrev,
const vpMatrix L_true,
const vpMatrix LVJ_true,
const vpColVector error 
)
protectedvirtualinherited

◆ computeCurrentProjectionError()

double vpMbTracker::computeCurrentProjectionError ( const vpImage< unsigned char > &  I,
const vpHomogeneousMatrix _cMo,
const vpCameraParameters _cam 
)
virtualinherited

Compute projection error given an input image and camera pose, parameters. This projection error uses locations sampled exactly where the model is projected using the camera pose and intrinsic parameters. You may want to use

See also
setProjectionErrorComputation
getProjectionError

to get a projection error computed at the ME locations after a call to track(). It works similarly to vpMbTracker::getProjectionError function:

Get the error angle between the gradient direction of the model features projected at the resulting pose and their normal. The error is expressed in degree between 0 and 90.

Parameters
I: Input grayscale image.
_cMo: Camera pose.
_cam: Camera parameters.

Reimplemented in vpMbGenericTracker.

Examples
mbtGenericTrackingDepthOnly.cpp.

Definition at line 3486 of file vpMbTracker.cpp.

◆ computeJTR()

void vpMbTracker::computeJTR ( const vpMatrix interaction,
const vpColVector error,
vpColVector JTR 
) const
protectedinherited

Compute $ J^T R $, with J the interaction matrix and R the vector of residu.

Exceptions
vpMatrixException::incorrectMatrixSizeErrorif the sizes of the matrices do not allow the computation.
Warning
The JTR vector is resized.
Parameters
interaction: The interaction matrix (size Nx6).
error: The residu vector (size Nx1).
JTR: The resulting JTR column vector (size 6x1).

Definition at line 2853 of file vpMbTracker.cpp.

Referenced by computeVVSFirstPhasePoseEstimation(), vpMbEdgeTracker::computeVVSFirstPhasePoseEstimation(), and vpMbTracker::computeVVSPoseEstimation().

◆ computeProjectionError() [1/2]

void vpMbEdgeMultiTracker::computeProjectionError ( )
protectedvirtual

◆ computeProjectionError() [2/2]

void vpMbEdgeTracker::computeProjectionError ( const vpImage< unsigned char > &  _I)
protectedinherited

Compute the projection error of the model. This approach compares the gradient direction around samples of each lines of the model with their direction. Error is expressed in degrees between 0 and 90.

Parameters
_I: Image in which the model appears.

Definition at line 864 of file vpMbEdgeTracker.cpp.

Referenced by vpMbEdgeKltMultiTracker::postTracking().

◆ computeProjectionErrorImpl()

double vpMbTracker::computeProjectionErrorImpl ( const vpImage< unsigned char > &  I,
const vpHomogeneousMatrix _cMo,
const vpCameraParameters _cam,
unsigned int &  nbFeatures 
)
protectedinherited

Definition at line 3503 of file vpMbTracker.cpp.

References vpMbTracker::clippingFlag, vpMbHiddenFaces< PolygonType >::computeClippedPolygons(), vpCameraParameters::computeFov(), vpMbHiddenFaces< PolygonType >::computeScanLineRender(), vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpMbHiddenFaces< PolygonType >::initOgre(), vpMbHiddenFaces< PolygonType >::isOgreInitialised(), vpMbtDistanceCircle::isTracked(), vpMbtDistanceLine::isTracked(), vpMbtDistanceCylinder::isTracked(), vpMbtDistanceCircle::isVisible(), vpMbtDistanceLine::isVisible(), vpMbtDistanceCylinder::isVisible(), vpMbTracker::m_projectionErrorCam, vpMbTracker::m_projectionErrorCircles, vpMbTracker::m_projectionErrorCylinders, vpMbTracker::m_projectionErrorDisplay, vpMbTracker::m_projectionErrorDisplayLength, vpMbTracker::m_projectionErrorDisplayThickness, vpMbTracker::m_projectionErrorFaces, vpMbTracker::m_projectionErrorLines, vpMbTracker::m_projectionErrorOgreShowConfigDialog, vpMbTracker::m_SobelX, vpMbTracker::m_SobelY, vpMbtDistanceCircle::meEllipse, vpMbtDistanceLine::meline, vpMbtDistanceCylinder::meline1, vpMbtDistanceCylinder::meline2, vpMbTracker::projectionErrorInitMovingEdge(), vpMbTracker::projectionErrorResetMovingEdges(), vpMbTracker::projectionErrorVisibleFace(), vpMbHiddenFaces< PolygonType >::setBackgroundSizeOgre(), vpMbtDistanceCircle::setCameraParameters(), vpMbtDistanceLine::setCameraParameters(), vpMbtDistanceCylinder::setCameraParameters(), vpMbHiddenFaces< PolygonType >::setOgreShowConfigDialog(), vpMbTracker::useOgre, and vpMbTracker::useScanLine.

◆ computeVVS() [1/2]

void vpMbEdgeTracker::computeVVS ( const vpImage< unsigned char > &  _I,
unsigned int  lvl 
)
protectedinherited

Compute the visual servoing loop to get the pose of the feature set.

Exceptions
vpTrackingException::notEnoughPointErrorif the number of detected feature is equal to zero.
Parameters
_I: The current image.
lvl: The level in the pyramid scale.

Definition at line 166 of file vpMbEdgeTracker.cpp.

◆ computeVVS() [2/2]

◆ computeVVSCheckLevenbergMarquardt()

void vpMbTracker::computeVVSCheckLevenbergMarquardt ( unsigned int  iter,
vpColVector error,
const vpColVector m_error_prev,
const vpHomogeneousMatrix cMoPrev,
double &  mu,
bool &  reStartFromLastIncrement,
vpColVector *const  w = NULL,
const vpColVector *const  m_w_prev = NULL 
)
protectedvirtualinherited

◆ computeVVSFirstPhase()

◆ computeVVSFirstPhaseFactor()

◆ computeVVSFirstPhasePoseEstimation()

◆ computeVVSInit()

◆ computeVVSInteractionMatrixAndResidu() [1/5]

void vpMbEdgeMultiTracker::computeVVSInteractionMatrixAndResidu ( )
protectedvirtual

Reimplemented from vpMbEdgeTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 451 of file vpMbEdgeMultiTracker.cpp.

References vpException::fatalError.

Referenced by computeVVS().

◆ computeVVSInteractionMatrixAndResidu() [2/5]

void vpMbEdgeTracker::computeVVSInteractionMatrixAndResidu
protected

Definition at line 767 of file vpMbEdgeTracker.cpp.

◆ computeVVSInteractionMatrixAndResidu() [3/5]

void vpMbEdgeTracker::computeVVSInteractionMatrixAndResidu
protected

Definition at line 774 of file vpMbEdgeTracker.cpp.

◆ computeVVSInteractionMatrixAndResidu() [4/5]

◆ computeVVSInteractionMatrixAndResidu() [5/5]

void vpMbEdgeMultiTracker::computeVVSInteractionMatrixAndResidu ( std::map< std::string, const vpImage< unsigned char > * > &  mapOfImages,
std::map< std::string, vpVelocityTwistMatrix > &  mapOfVelocityTwist 
)
protectedvirtual

◆ computeVVSPoseEstimation()

◆ computeVVSWeights() [1/3]

void vpMbEdgeMultiTracker::computeVVSWeights ( )
protectedvirtual

◆ computeVVSWeights() [2/3]

void vpMbTracker::computeVVSWeights
protected

Definition at line 2987 of file vpMbTracker.cpp.

◆ computeVVSWeights() [3/3]

void vpMbTracker::computeVVSWeights ( vpRobust robust,
const vpColVector error,
vpColVector w 
)
protectedvirtualinherited

◆ createCylinderBBox()

void vpMbTracker::createCylinderBBox ( const vpPoint p1,
const vpPoint p2,
const double &  radius,
std::vector< std::vector< vpPoint > > &  listFaces 
)
protectedinherited

◆ display() [1/6]

void vpMbEdgeMultiTracker::display ( const std::map< std::string, const vpImage< unsigned char > * > &  mapOfImages,
const std::map< std::string, vpHomogeneousMatrix > &  mapOfCameraPoses,
const std::map< std::string, vpCameraParameters > &  mapOfCameraParameters,
const vpColor col,
unsigned int  thickness = 1,
bool  displayFullModel = false 
)
virtual

Display the 3D model from a given position of the camera (multiple cameras configuration).

Parameters
mapOfImages: Map of grayscale images.
mapOfCameraPoses: Map of camera poses.
mapOfCameraParameters: Map of camera parameters.
col: The desired color.
thickness: The thickness of the lines.
displayFullModel: If true, the full model is displayed (even the non visible faces).

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 620 of file vpMbEdgeMultiTracker.cpp.

◆ display() [2/6]

void vpMbEdgeMultiTracker::display ( const std::map< std::string, const vpImage< vpRGBa > * > &  mapOfImages,
const std::map< std::string, vpHomogeneousMatrix > &  mapOfCameraPoses,
const std::map< std::string, vpCameraParameters > &  mapOfCameraParameters,
const vpColor col,
unsigned int  thickness = 1,
bool  displayFullModel = false 
)
virtual

Display the 3D model from a given position of the camera (multiple cameras configuration).

Parameters
mapOfImages: Map of color images.
mapOfCameraPoses: Map of camera poses.
mapOfCameraParameters: Map of camera parameters.
col: The desired color.
thickness: The thickness of the lines.
displayFullModel: If true, the full model is displayed (even the non visible faces).

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 654 of file vpMbEdgeMultiTracker.cpp.

◆ display() [3/6]

void vpMbEdgeMultiTracker::display ( const vpImage< unsigned char > &  I,
const vpHomogeneousMatrix cMo,
const vpCameraParameters cam,
const vpColor col,
unsigned int  thickness = 1,
bool  displayFullModel = false 
)
virtual

Display the 3D model from a given position of the camera.

Parameters
I: The grayscale image.
cMo: Pose used to project the 3D model into the image.
cam: The camera parameters.
col: The desired color.
thickness: The thickness of the lines.
displayFullModel: If true, the full model is displayed (even the non visible faces).

Reimplemented from vpMbEdgeTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 505 of file vpMbEdgeMultiTracker.cpp.

◆ display() [4/6]

void vpMbEdgeMultiTracker::display ( const vpImage< unsigned char > &  I1,
const vpImage< unsigned char > &  I2,
const vpHomogeneousMatrix c1Mo,
const vpHomogeneousMatrix c2Mo,
const vpCameraParameters cam1,
const vpCameraParameters cam2,
const vpColor col,
unsigned int  thickness = 1,
bool  displayFullModel = false 
)
virtual

Display the 3D model from a given position of the camera (stereo cameras configuration).

Parameters
I1: The first grayscale image.
I2: The second grayscale image.
c1Mo: Pose used to project the 3D model into the first image.
c2Mo: Pose used to project the 3D model into the second image.
cam1: The first camera parameters.
cam2: The second camera parameters.
col: The desired color.
thickness: The thickness of the lines.
displayFullModel: If true, the full model is displayed (even the non visible faces).

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 557 of file vpMbEdgeMultiTracker.cpp.

◆ display() [5/6]

void vpMbEdgeMultiTracker::display ( const vpImage< vpRGBa > &  I,
const vpHomogeneousMatrix cMo,
const vpCameraParameters cam,
const vpColor col,
unsigned int  thickness = 1,
bool  displayFullModel = false 
)
virtual

Display the 3D model from a given position of the camera.

Parameters
I: The color image.
cMo: Pose used to project the 3D model into the image.
cam: The camera parameters.
col: The desired color.
thickness: The thickness of the lines.
displayFullModel: If true, the full model is displayed (even the non visible faces).

Reimplemented from vpMbEdgeTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 529 of file vpMbEdgeMultiTracker.cpp.

◆ display() [6/6]

void vpMbEdgeMultiTracker::display ( const vpImage< vpRGBa > &  I1,
const vpImage< vpRGBa > &  I2,
const vpHomogeneousMatrix c1Mo,
const vpHomogeneousMatrix c2Mo,
const vpCameraParameters cam1,
const vpCameraParameters cam2,
const vpColor col,
unsigned int  thickness = 1,
bool  displayFullModel = false 
)
virtual

Display the 3D model from a given position of the camera (stereo cameras configuration).

Parameters
I1: The first color image.
I2: The second color image.
c1Mo: Pose used to project the 3D model into the first image.
c2Mo: Pose used to project the 3D model into the second image.
cam1: The first camera parameters.
cam2: The second camera parameters.
col: The desired color.
thickness: The thickness of the lines.
displayFullModel: If true, the full model is displayed (even the non visible faces).

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 590 of file vpMbEdgeMultiTracker.cpp.

◆ displayFeaturesOnImage() [1/2]

◆ displayFeaturesOnImage() [2/2]

◆ downScale()

void vpMbEdgeTracker::downScale ( const unsigned int  _scale)
protectedinherited

Modify the camera parameters to have them corresponding to the current scale. The new parameters are divided by $ 2^{\_scale} $.

Parameters
_scale: Scale to use.

Definition at line 2855 of file vpMbEdgeTracker.cpp.

◆ extractCylinders()

void vpMbTracker::extractCylinders ( SoVRMLIndexedFaceSet *  face_set,
vpHomogeneousMatrix transform,
int &  idFace,
const std::string &  polygonName = "" 
)
protectedvirtualinherited

Extract a cylinder to track from the VMRL model. This method calls the initCylinder() method implemented in the child class.

Warning
This method extract cylinder described using an indexed face set not a cylinder set since software such as AC3D or blender export a cylinder using this data type. the object name is used, if it begins with "cyl" then this method is called otherwise the extractFaces() is used.
Parameters
face_set: Pointer to the cylinder in the vrml format.
transform: Transformation matrix applied to the cylinder.
idFace: Id of the face.
polygonNameName of the polygon.

Definition at line 2437 of file vpMbTracker.cpp.

◆ extractFaces()

void vpMbTracker::extractFaces ( SoVRMLIndexedFaceSet *  face_set,
vpHomogeneousMatrix transform,
int &  idFace,
const std::string &  polygonName = "" 
)
protectedvirtualinherited

Extract a face of the object to track from the VMRL model. This method calls the initFaceFromCorners() method implemented in the child class.

Parameters
face_set: Pointer to the face in the vrml format.
transform: Transformation matrix applied to the face.
idFace: Face id.
polygonNameName of the polygon.

Definition at line 2384 of file vpMbTracker.cpp.

◆ extractGroup()

void vpMbTracker::extractGroup ( SoVRMLGroup *  sceneGraphVRML2,
vpHomogeneousMatrix transform,
int &  idFace 
)
protectedvirtualinherited

Extract a VRML object Group.

Parameters
sceneGraphVRML2: Current node (either Transform, or Group node).
transform: Transformation matrix for this group.
idFace: Index of the face.

Definition at line 2295 of file vpMbTracker.cpp.

◆ extractLines()

void vpMbTracker::extractLines ( SoVRMLIndexedLineSet *  line_set,
int &  idFace,
const std::string &  polygonName = "" 
)
protectedvirtualinherited

Extract a line of the object to track from the VMRL model. This method calls the initFaceFromCorners() method implemented in the child class.

Parameters
line_set: Pointer to the line in the vrml format.
idFace: Id of the face.
polygonNameName of the polygon.

Definition at line 2522 of file vpMbTracker.cpp.

◆ getAngleAppear()

virtual double vpMbTracker::getAngleAppear ( ) const
inlinevirtualinherited

Return the angle used to test polygons appearance.

Definition at line 233 of file vpMbTracker.h.

◆ getAngleDisappear()

virtual double vpMbTracker::getAngleDisappear ( ) const
inlinevirtualinherited

Return the angle used to test polygons disappearance.

Definition at line 236 of file vpMbTracker.h.

◆ getCameraNames()

std::vector< std::string > vpMbEdgeMultiTracker::getCameraNames ( ) const
virtual

Get the camera names.

Returns
The vector of camera names.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 681 of file vpMbEdgeMultiTracker.cpp.

◆ getCameraParameters() [1/4]

void vpMbEdgeMultiTracker::getCameraParameters ( const std::string &  cameraName,
vpCameraParameters camera 
) const
virtual

Get the camera parameters specified by its name.

Parameters
cameraName: Name of the camera.
camera: Copy of the camera parameters.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 735 of file vpMbEdgeMultiTracker.cpp.

◆ getCameraParameters() [2/4]

void vpMbEdgeMultiTracker::getCameraParameters ( std::map< std::string, vpCameraParameters > &  mapOfCameraParameters) const
virtual

Get all the camera parameters.

Parameters
mapOfCameraParameters: Map of camera parameters.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 750 of file vpMbEdgeMultiTracker.cpp.

◆ getCameraParameters() [3/4]

void vpMbEdgeMultiTracker::getCameraParameters ( vpCameraParameters cam1,
vpCameraParameters cam2 
) const
virtual

Get the camera parameters for the stereo cameras case.

Parameters
cam1: Copy of the camera parameters for the first camera.
cam2: Copy of the camera parameters for the second camera.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 715 of file vpMbEdgeMultiTracker.cpp.

◆ getCameraParameters() [4/4]

void vpMbEdgeMultiTracker::getCameraParameters ( vpCameraParameters camera) const
virtual

Get the camera parameters for the mono/reference camera.

Parameters
camera: Copy of the camera parameters used by the tracker.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 698 of file vpMbEdgeMultiTracker.cpp.

◆ getClipping() [1/3]

virtual unsigned int vpMbTracker::getClipping
inline

Get the clipping used and defined in vpPolygon3D::vpMbtPolygonClippingType.

Returns
Clipping flags.

Definition at line 251 of file vpMbTracker.h.

◆ getClipping() [2/3]

◆ getClipping() [3/3]

unsigned int vpMbEdgeMultiTracker::getClipping ( const std::string &  cameraName) const
virtual

Get the clipping used and defined in vpPolygon3D::vpMbtPolygonClippingType for the given camera name.

Parameters
cameraName: Name of the desired camera.
Returns
Clipping flags.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 770 of file vpMbEdgeMultiTracker.cpp.

◆ getCovarianceMatrix()

virtual vpMatrix vpMbTracker::getCovarianceMatrix ( ) const
inlinevirtualinherited

◆ getError()

virtual vpColVector vpMbEdgeMultiTracker::getError ( ) const
inlinevirtual

Return the error vector $(s-s^*)$ reached after the virtual visual servoing process used to estimate the pose.

The following example shows how to use this function to compute the norm of the residual and the norm of the residual normalized by the number of features that are tracked:

tracker.track(I); std::cout << "Residual: " << sqrt( (tracker.getError()).sumSquare()) << std::endl;
std::cout << "Residual normalized: "
<< sqrt( (tracker.getError()).sumSquare())/tracker.getError().size() << std::endl;
See also
getRobustWeights()

Reimplemented from vpMbEdgeTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 193 of file vpMbEdgeMultiTracker.h.

◆ getEstimatedDoF()

vpColVector vpMbTracker::getEstimatedDoF ( ) const
virtualinherited

Get a 1x6 vpColVector representing the estimated degrees of freedom. vpColVector[0] = 1 if translation on X is estimated, 0 otherwise; vpColVector[1] = 1 if translation on Y is estimated, 0 otherwise; vpColVector[2] = 1 if translation on Z is estimated, 0 otherwise; vpColVector[3] = 1 if rotation on X is estimated, 0 otherwise; vpColVector[4] = 1 if rotation on Y is estimated, 0 otherwise; vpColVector[5] = 1 if rotation on Z is estimated, 0 otherwise;

Returns
1x6 vpColVector representing the estimated degrees of freedom.

Definition at line 3004 of file vpMbTracker.cpp.

◆ getFaces() [1/3]

vpMbHiddenFaces< vpMbtPolygon > & vpMbEdgeMultiTracker::getFaces ( )
virtual

Return a reference to the faces structure.

Returns
Reference to the face structure.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 787 of file vpMbEdgeMultiTracker.cpp.

◆ getFaces() [2/3]

std::map< std::string, vpMbHiddenFaces< vpMbtPolygon > > vpMbEdgeMultiTracker::getFaces ( ) const
virtual

Return a map of faces structure for each camera.

Returns
Reference a map of the face structure for each camera.

Definition at line 819 of file vpMbEdgeMultiTracker.cpp.

◆ getFaces() [3/3]

vpMbHiddenFaces< vpMbtPolygon > & vpMbEdgeMultiTracker::getFaces ( const std::string &  cameraName)
virtual

Return a reference to the faces structure for the given camera name.

Returns
Reference to the face structure.

Definition at line 803 of file vpMbEdgeMultiTracker.cpp.

◆ getFarClippingDistance()

virtual double vpMbTracker::getFarClippingDistance ( ) const
inlinevirtualinherited

Get the far distance for clipping.

Returns
Far clipping value.

Definition at line 334 of file vpMbTracker.h.

◆ getFeaturesForDisplayEdge()

◆ getGoodMovingEdgesRatioThreshold()

double vpMbEdgeTracker::getGoodMovingEdgesRatioThreshold ( ) const
inlineinherited
Returns
The threshold value between 0 and 1 over good moving edges ratio. It allows to decide if the tracker has enough valid moving edges to compute a pose. 1 means that all moving edges should be considered as good to have a valid pose, while 0.1 means that 10% of the moving edge are enough to declare a pose valid.
See also
setGoodMovingEdgesRatioThreshold()

Definition at line 386 of file vpMbEdgeTracker.h.

◆ getGravityCenter()

vpPoint vpMbTracker::getGravityCenter ( const std::vector< vpPoint > &  pts) const
protectedinherited

Compute the center of gravity of a set of point. This is used in the cylinder extraction to find the center of the circles.

Exceptions
vpException::dimensionErrorif the set is empty.
Parameters
pts: Set of point to extract the center of gravity.
Returns
Center of gravity of the set.

Definition at line 2567 of file vpMbTracker.cpp.

◆ getInitialMu()

virtual double vpMbTracker::getInitialMu ( ) const
inlinevirtualinherited

Get the initial value of mu used in the Levenberg Marquardt optimization loop.

Returns
the initial mu value.

Definition at line 279 of file vpMbTracker.h.

◆ getLambda()

virtual double vpMbTracker::getLambda ( ) const
inlinevirtualinherited

Get the value of the gain used to compute the control law.

Returns
the value for the gain.

Definition at line 286 of file vpMbTracker.h.

◆ getLcircle() [1/2]

void vpMbEdgeMultiTracker::getLcircle ( const std::string &  cameraName,
std::list< vpMbtDistanceCircle * > &  circlesList,
unsigned int  level = 0 
) const
virtual

Get the list of the circles tracked for the specified level. Each circle contains the list of the vpMeSite.

Exceptions
vpException::dimensionErrorif the second parameter does not correspond to an used level.
Parameters
cameraName: Camera name for which we want to get the list of vpMbtDistanceCircle.
level: Level corresponding to the list to return.
circlesList: The list of the circles of the model.

Definition at line 862 of file vpMbEdgeMultiTracker.cpp.

◆ getLcircle() [2/2]

void vpMbEdgeMultiTracker::getLcircle ( std::list< vpMbtDistanceCircle * > &  circlesList,
unsigned int  level = 0 
) const

Get the list of the circles tracked for the specified level. Each circle contains the list of the vpMeSite.

Exceptions
vpException::dimensionErrorif the second parameter does not correspond to an used level.
Parameters
level: Level corresponding to the list to return.
circlesList: The list of the circles of the model.

Definition at line 840 of file vpMbEdgeMultiTracker.cpp.

◆ getLcylinder() [1/2]

void vpMbEdgeMultiTracker::getLcylinder ( const std::string &  cameraName,
std::list< vpMbtDistanceCylinder * > &  cylindersList,
unsigned int  level = 0 
) const
virtual

Get the list of the cylinders tracked for the specified level. Each cylinder contains the list of the vpMeSite.

Exceptions
vpException::dimensionErrorif the second parameter does not correspond to an used level.
Parameters
cameraName: Camera name for which we want to get the list of vpMbtDistanceCylinder.
level: Level corresponding to the list to return.
cylindersList: The list of the cylinders of the model.

Definition at line 906 of file vpMbEdgeMultiTracker.cpp.

◆ getLcylinder() [2/2]

void vpMbEdgeMultiTracker::getLcylinder ( std::list< vpMbtDistanceCylinder * > &  cylindersList,
unsigned int  level = 0 
) const

Get the list of the cylinders tracked for the specified level. Each cylinder contains the list of the vpMeSite.

Exceptions
vpException::dimensionErrorif the second parameter does not correspond to an used level.
Parameters
level: Level corresponding to the list to return.
cylindersList: The list of the cylinders of the model.

Definition at line 883 of file vpMbEdgeMultiTracker.cpp.

◆ getLline() [1/2]

void vpMbEdgeMultiTracker::getLline ( const std::string &  cameraName,
std::list< vpMbtDistanceLine * > &  linesList,
unsigned int  level = 0 
) const
virtual

Get the list of the lines tracked for the specified level. Each line contains the list of the vpMeSite.

Exceptions
vpException::dimensionErrorif the second parameter does not correspond to an used level.
Parameters
cameraName: Camera name for which we want to get the list of vpMbtDistanceLine.
level: Level corresponding to the list to return.
linesList: The list of the lines of the model.

Definition at line 950 of file vpMbEdgeMultiTracker.cpp.

◆ getLline() [2/2]

void vpMbEdgeMultiTracker::getLline ( std::list< vpMbtDistanceLine * > &  linesList,
unsigned int  level = 0 
) const

Get the list of the lines tracked for the specified level. Each line contains the list of the vpMeSite.

Exceptions
vpException::dimensionErrorif the second parameter does not correspond to an used level.
Parameters
level: Level corresponding to the list to return.
linesList: The list of the lines of the model.

Definition at line 928 of file vpMbEdgeMultiTracker.cpp.

◆ getMaxIter()

virtual unsigned int vpMbTracker::getMaxIter ( ) const
inlinevirtualinherited

Get the maximum number of iterations of the virtual visual servoing stage.

Returns
the number of iteration

Definition at line 293 of file vpMbTracker.h.

◆ getModelForDisplay()

virtual std::vector<std::vector<double> > vpMbEdgeMultiTracker::getModelForDisplay ( unsigned int  width,
unsigned int  height,
const vpHomogeneousMatrix cMo,
const vpCameraParameters cam,
bool  displayFullModel = false 
)
inlinevirtual

Return a list of primitives parameters to display the model at a given pose and camera parameters.

  • Line parameters are: <primitive id (here 0 for line)>, <pt_start.i()>, <pt_start.j()>, <pt_end.i()>, <pt_end.j()>
  • Ellipse parameters are: <primitive id (here 1 for ellipse)>, <pt_center.i()>, <pt_center.j()>, <mu20>, <mu11>, <mu02>
Parameters
width: Image width.
height: Image height.
cMo: Pose used to project the 3D model into the image.
cam: The camera parameters.
displayFullModel: If true, the line is displayed even if it is not

Reimplemented from vpMbEdgeTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 134 of file vpMbEdgeMultiTracker.h.

◆ getMovingEdge() [1/4]

vpMe vpMbEdgeMultiTracker::getMovingEdge ( ) const
virtual

Get the moving edge parameters for the reference camera.

Returns
an instance of the moving edge parameters used by the tracker.

Reimplemented from vpMbEdgeTracker.

Definition at line 982 of file vpMbEdgeMultiTracker.cpp.

◆ getMovingEdge() [2/4]

vpMe vpMbEdgeMultiTracker::getMovingEdge ( const std::string &  cameraName) const
virtual

Get the moving edge parameters for the specified camera name.

Parameters
cameraName: Name of the camera.
Returns
an instance of the moving edge parameters used by the tracker.

Definition at line 1019 of file vpMbEdgeMultiTracker.cpp.

◆ getMovingEdge() [3/4]

void vpMbEdgeMultiTracker::getMovingEdge ( const std::string &  cameraName,
vpMe p_me 
) const
virtual

Get the moving edge parameters for the specified camera name.

Parameters
cameraName: Name of the camera.
p_me: Moving edge parameters for the specified camera name.

Definition at line 1002 of file vpMbEdgeMultiTracker.cpp.

◆ getMovingEdge() [4/4]

void vpMbEdgeMultiTracker::getMovingEdge ( vpMe p_me) const
virtual

Get the moving edge parameters for the reference camera.

Parameters
p_me: Moving edge parameters for the reference camera.

Reimplemented from vpMbEdgeTracker.

Definition at line 967 of file vpMbEdgeMultiTracker.cpp.

◆ getMultiNbPolygon()

std::map< std::string, unsigned int > vpMbEdgeMultiTracker::getMultiNbPolygon ( ) const
virtual

Get the number of polygons (faces) representing the object to track for all the cameras.

Returns
Number of polygons for the specified camera.

Definition at line 1117 of file vpMbEdgeMultiTracker.cpp.

◆ getNbPoints() [1/2]

unsigned int vpMbEdgeMultiTracker::getNbPoints ( const std::string &  cameraName,
unsigned int  level = 0 
) const
virtual

Return the number of good points (vpMeSite) tracked. A good point is a vpMeSite with its flag "state" equal to 0. Only these points are used during the virtual visual servoing stage.

Parameters
cameraName: Camera name.
level: Pyramid level to consider.
Exceptions
vpException::dimensionErrorif level does not represent a used level.
Returns
the number of good points for the specified camera name.

Definition at line 1066 of file vpMbEdgeMultiTracker.cpp.

◆ getNbPoints() [2/2]

unsigned int vpMbEdgeMultiTracker::getNbPoints ( unsigned int  level = 0) const
virtual

Return the number of good points (vpMeSite) tracked. A good point is a vpMeSite with its flag "state" equal to 0. Only these points are used during the virtual visual servoing stage.

Parameters
level: Pyramid level to consider.
Exceptions
vpException::dimensionErrorif level does not represent a used level.
Returns
the number of good points for the reference camera.

Reimplemented from vpMbEdgeTracker.

Definition at line 1038 of file vpMbEdgeMultiTracker.cpp.

◆ getNbPolygon() [1/2]

unsigned int vpMbEdgeMultiTracker::getNbPolygon ( ) const
virtual

Get the number of polygons (faces) representing the object to track.

Returns
Number of polygons.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1083 of file vpMbEdgeMultiTracker.cpp.

◆ getNbPolygon() [2/2]

unsigned int vpMbEdgeMultiTracker::getNbPolygon ( const std::string &  cameraName) const
virtual

Get the number of polygons (faces) representing the object to track for the specified camera.

Returns
Number of polygons for the specified camera.

Definition at line 1100 of file vpMbEdgeMultiTracker.cpp.

◆ getNearClippingDistance()

virtual double vpMbTracker::getNearClippingDistance ( ) const
inlinevirtualinherited

Get the near distance for clipping.

Returns
Near clipping value.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 370 of file vpMbTracker.h.

◆ getNumberOfCameras()

unsigned int vpMbEdgeMultiTracker::getNumberOfCameras ( ) const
inline

Get the number of cameras.

Returns
The number of cameras.

Definition at line 186 of file vpMbEdgeMultiTracker.h.

◆ getOptimizationMethod()

virtual vpMbtOptimizationMethod vpMbTracker::getOptimizationMethod ( ) const
inlinevirtualinherited

Get the optimization method used during the tracking. 0 = Gauss-Newton approach. 1 = Levenberg-Marquardt approach.

Returns
Optimization method.

Definition at line 379 of file vpMbTracker.h.

◆ getPolygon()

virtual vpMbtPolygon* vpMbTracker::getPolygon ( unsigned int  index)
inlinevirtualinherited

Return the polygon (face) "index".

Exceptions
vpException::dimensionErrorif index does not represent a good polygon.
Parameters
index: Index of the polygon to return.
Returns
Pointer to the polygon index.

Reimplemented in vpMbGenericTracker.

Definition at line 390 of file vpMbTracker.h.

◆ getPolygonFaces()

std::pair< std::vector< vpPolygon >, std::vector< std::vector< vpPoint > > > vpMbTracker::getPolygonFaces ( bool  orderPolygons = true,
bool  useVisibility = true,
bool  clipPolygon = false 
)
virtualinherited

Get the list of polygons faces (a vpPolygon representing the projection of the face in the image and a list of face corners in 3D), with the possibility to order by distance to the camera or to use the visibility check to consider if the polygon face must be retrieved or not.

Parameters
orderPolygons: If true, the resulting list is ordered from the nearest polygon faces to the farther.
useVisibility: If true, only visible faces will be retrieved.
clipPolygon: If true, the polygons will be clipped according to the clipping flags set in vpMbTracker.
Returns
A pair object containing the list of vpPolygon and the list of face corners.

Reimplemented in vpMbGenericTracker.

Examples
testKeyPoint-2.cpp, testKeyPoint-4.cpp, tutorial-detection-object-mbt-deprecated.cpp, and tutorial-detection-object-mbt2-deprecated.cpp.

Definition at line 2601 of file vpMbTracker.cpp.

References vpMbTracker::faces, vpMbHiddenFaces< PolygonType >::getPolygon(), vpMbTracker::m_cam, and vpMbTracker::m_cMo.

◆ getPose() [1/7]

virtual vpHomogeneousMatrix vpMbTracker::getPose
inline

Get the current pose between the object and the camera. cMo is the matrix which can be used to express coordinates from the object frame to camera frame.

Returns
the current pose

Definition at line 418 of file vpMbTracker.h.

◆ getPose() [2/7]

virtual vpHomogeneousMatrix vpMbTracker::getPose ( ) const
inlinevirtualinherited

Get the current pose between the object and the camera. cMo is the matrix which can be used to express coordinates from the object frame to camera frame.

Returns
the current pose

Definition at line 418 of file vpMbTracker.h.

Referenced by vpMbGenericTracker::getPose().

◆ getPose() [3/7]

void vpMbEdgeMultiTracker::getPose ( const std::string &  cameraName,
vpHomogeneousMatrix cMo 
) const
virtual

Get the current pose between the object and the camera. cMo is the matrix which can be used to express coordinates from the object frame to camera frame.

Parameters
cameraName: The name of the camera.
cMo: The camera pose for the specified camera.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1155 of file vpMbEdgeMultiTracker.cpp.

◆ getPose() [4/7]

void vpMbEdgeMultiTracker::getPose ( std::map< std::string, vpHomogeneousMatrix > &  mapOfCameraPoses) const
virtual

Get the current pose between the object and the cameras.

Parameters
mapOfCameraPoses: The map of camera poses for all the cameras.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1170 of file vpMbEdgeMultiTracker.cpp.

◆ getPose() [5/7]

void vpMbEdgeMultiTracker::getPose ( vpHomogeneousMatrix c1Mo,
vpHomogeneousMatrix c2Mo 
) const
virtual

Get the current pose between the object and the cameras.

Parameters
c1Mo: The camera pose for the first camera.
c2Mo: The camera pose for the second camera.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1134 of file vpMbEdgeMultiTracker.cpp.

◆ getPose() [6/7]

virtual void vpMbTracker::getPose
inline

Get the current pose between the object and the camera. cMo is the matrix which can be used to express coordinates from the object frame to camera frame.

Parameters
cMo: the pose

Definition at line 409 of file vpMbTracker.h.

◆ getPose() [7/7]

virtual void vpMbTracker::getPose ( vpHomogeneousMatrix cMo) const
inlinevirtualinherited

Get the current pose between the object and the camera. cMo is the matrix which can be used to express coordinates from the object frame to camera frame.

Parameters
cMo: the pose

Reimplemented in vpMbGenericTracker.

Examples
mbtEdgeKltTracking.cpp, mbtEdgeTracking.cpp, mbtKltTracking.cpp, testKeyPoint-2.cpp, testKeyPoint-4.cpp, tutorial-detection-object-mbt-deprecated.cpp, tutorial-detection-object-mbt2-deprecated.cpp, tutorial-mb-edge-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, tutorial-mb-klt-tracker.cpp, tutorial-mb-tracker-full.cpp, tutorial-mb-tracker-stereo-mono.cpp, and tutorial-mb-tracker.cpp.

Definition at line 409 of file vpMbTracker.h.

◆ getProjectionError()

virtual double vpMbTracker::getProjectionError ( ) const
inlinevirtualinherited

Get the error angle between the gradient direction of the model features projected at the resulting pose and their normal. The error is expressed in degree between 0 and 90. This value is computed if setProjectionErrorComputation() is turned on.

Returns
the value for the error.
See also
setProjectionErrorComputation()
Examples
mbtEdgeKltTracking.cpp, mbtEdgeTracking.cpp, mbtGenericTracking.cpp, mbtGenericTracking2.cpp, mbtGenericTrackingDepth.cpp, mbtGenericTrackingDepthOnly.cpp, tutorial-mb-generic-tracker-live.cpp, and tutorial-mb-generic-tracker-rgbd-realsense.cpp.

Definition at line 305 of file vpMbTracker.h.

◆ getRobustWeights()

virtual vpColVector vpMbEdgeMultiTracker::getRobustWeights ( ) const
inlinevirtual

Return the weights vector $w_i$ computed by the robust scheme.

The following example shows how to use this function to compute the norm of the weighted residual and the norm of the weighted residual normalized by the sum of the weights associated to the features that are tracked:

tracker.track(I);
vpColVector e = tracker.getError();
vpColVector we(w.size());
for(unsigned int i=0; i<w.size(); i++)
we[i] = w[i]*e[i];
std::cout << "Weighted residual: " << sqrt( (we).sumSquare() ) << std::endl;
std::cout << "Weighted residual normalized: " << sqrt( (we).sumSquare() ) / w.sum() << std::endl;
See also
getError()

Reimplemented from vpMbEdgeTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 195 of file vpMbEdgeMultiTracker.h.

◆ getScales()

std::vector<bool> vpMbEdgeTracker::getScales ( ) const
inlineinherited

Return the scales levels used for the tracking.

Returns
The scales levels used for the tracking.

Definition at line 376 of file vpMbEdgeTracker.h.

◆ getStopCriteriaEpsilon()

virtual double vpMbTracker::getStopCriteriaEpsilon ( ) const
inlinevirtualinherited

Definition at line 420 of file vpMbTracker.h.

◆ init()

void vpMbEdgeMultiTracker::init ( const vpImage< unsigned char > &  I)
virtual

Initialize the tracking.

Parameters
I: The image.

Reimplemented from vpMbEdgeTracker.

Definition at line 1183 of file vpMbEdgeMultiTracker.cpp.

◆ initCircle()

void vpMbEdgeTracker::initCircle ( const vpPoint p1,
const vpPoint p2,
const vpPoint p3,
double  radius,
int  idFace = 0,
const std::string &  name = "" 
)
protectedvirtualinherited

Add a circle to track from its center, 3 points (including the center) defining the plane that contain the circle and its radius.

Parameters
p1: Center of the circle.
p2,p3: Two points on the plane containing the circle. With the center of the circle we have 3 points defining the plane that contains the circle.
radius: Radius of the circle.
idFace: Index of the face associated to the circle to handle visibility test.
name: The optional name of the circle.

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker, and vpMbEdgeKltMultiTracker.

Definition at line 2349 of file vpMbEdgeTracker.cpp.

◆ initClick() [1/15]

void vpMbEdgeMultiTracker::initClick ( const std::map< std::string, const vpImage< unsigned char > * > &  mapOfImages,
const std::map< std::string, std::string > &  mapOfInitFiles,
bool  displayHelp = false 
)
virtual

Initialise the tracker by clicking in the reference image on the pixels that correspond to the 3D points whose coordinates are extracted from a file. In this file, comments starting with # character are allowed. Notice that 3D point coordinates are expressed in meter in the object frame with their X, Y and Z values.

The structure of this file is the following:

# 3D point coordinates
4 # Number of points in the file (minimum is four)
0.01 0.01 0.01 # \
... # | 3D coordinates in the object frame (X, Y, Z)
0.01 -0.01 -0.01 # /

The cameras that have not an init file will be automatically initialized but the camera transformation matrices have to be set before.

Parameters
mapOfImages: Map of images.
mapOfInitFiles: map of files containing the points where to click for each camera.
displayHelp: Optional display of an image (ie teabox.ppm). This image may be used to show where to click.
Exceptions
vpException::ioError: The file specified in initFile doesn't exist.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1440 of file vpMbEdgeMultiTracker.cpp.

◆ initClick() [2/15]

void vpMbEdgeMultiTracker::initClick ( const std::map< std::string, const vpImage< unsigned char > * > &  mapOfImages,
const std::string &  initFile,
bool  displayHelp = false 
)
virtual

Initialise the tracker by clicking in the reference image on the pixels that correspond to the 3D points whose coordinates are extracted from a file. In this file, comments starting with # character are allowed. Notice that 3D point coordinates are expressed in meter in the object frame with their X, Y and Z values.

The structure of this file is the following:

# 3D point coordinates
4 # Number of points in the file (minimum is four)
0.01 0.01 0.01 # \
... # | 3D coordinates in the object frame (X, Y, Z)
0.01 -0.01 -0.01 # /
Parameters
mapOfImages: Map of images.
initFile: File containing the points where to click for the reference camera.
displayHelp: Optionnal display of an image that should have the same generic name as the init file (ie teabox.ppm). This image may be used to show where to click. This functionality is only available if visp_io module is used.
Exceptions
vpException::ioError: The file specified in initFile doesn't exist.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1367 of file vpMbEdgeMultiTracker.cpp.

◆ initClick() [3/15]

void vpMbTracker::initClick

Initialise the tracker by clicking in the image on the pixels that correspond to the 3D points whose coordinates are extracted from a file. In this file, comments starting with # character are allowed. Notice that 3D point coordinates are expressed in meter in the object frame with their X, Y and Z values.

The structure of this file is the following:

# 3D point coordinates
4 # Number of points in the file (minimum is four)
0.01 0.01 0.01 # \
... # | 3D coordinates in the object frame (X, Y, Z)
0.01 -0.01 -0.01 # /
Parameters
I: Input grayscale image where the user has to click.
initFile: File containing the coordinates of at least 4 3D points the user has to click in the image. This file should have .init extension (ie teabox.init).
displayHelp: Optionnal display of an image (.ppm, .pgm, .jpg, .jpeg, .png) that should have the same generic name as the init file (ie teabox.ppm). This image may be used to show where to click. This functionality is only available if visp_io module is used.
T: optional transformation matrix to transform 3D points expressed in the original object frame to the desired object frame.
Exceptions
vpException::ioError: The file specified in initFile doesn't exist.

Definition at line 547 of file vpMbTracker.cpp.

◆ initClick() [4/15]

void vpMbEdgeMultiTracker::initClick ( const vpImage< unsigned char > &  I,
const std::string &  initFile,
bool  displayHelp = false,
const vpHomogeneousMatrix T = vpHomogeneousMatrix() 
)
virtual

Initialise the tracker by clicking in the image on the pixels that correspond to the 3D points whose coordinates are extracted from a file. In this file, comments starting with # character are allowed. Notice that 3D point coordinates are expressed in meter in the object frame with their X, Y and Z values.

The structure of this file is the following:

# 3D point coordinates
4 # Number of points in the file (minimum is four)
0.01 0.01 0.01 # \
... # | 3D coordinates in the object frame (X, Y, Z)
0.01 -0.01 -0.01 # /
Parameters
I: Input image where the user has to click.
initFile: File containing the coordinates of at least 4 3D points the user has to click in the image. This file should have .init extension (ie teabox.init).
displayHelp: Optionnal display of an image that should have the same generic name as the init file (ie teabox.ppm). This image may be used to show where to click. This functionality is only available if visp_io module is used.
T: optional transformation matrix to transform 3D points expressed in the original object frame to the desired object frame.
Exceptions
vpException::ioError: The file specified in initFile doesn't exist.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1248 of file vpMbEdgeMultiTracker.cpp.

◆ initClick() [5/15]

void vpMbTracker::initClick

Initialise the tracker by clicking in the image on the pixels that correspond to the 3D points whose coordinates are given in points3D_list.

Parameters
I: Input grayscale image where the user has to click.
points3D_list: List of at least 4 3D points with coordinates expressed in meters in the object frame.
displayFile: Path to the image used to display the help. This image may be used to show where to click. This functionality is only available if visp_io module is used.

Definition at line 771 of file vpMbTracker.cpp.

◆ initClick() [6/15]

void vpMbEdgeMultiTracker::initClick ( const vpImage< unsigned char > &  I,
const std::vector< vpPoint > &  points3D_list,
const std::string &  displayFile = "" 
)
virtual

Initialise the tracker by clicking in the image on the pixels that correspond to the 3D points whose coordinates are given in points3D_list.

Parameters
I: Input image where the user has to click.
points3D_list: List of at least 4 3D points with coordinates expressed in meters in the object frame.
displayFile: Path to the image used to display the help. This image may be used to show where to click. This functionality is only available if visp_io module is used.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1196 of file vpMbEdgeMultiTracker.cpp.

◆ initClick() [7/15]

void vpMbEdgeMultiTracker::initClick ( const vpImage< unsigned char > &  I1,
const vpImage< unsigned char > &  I2,
const std::string &  initFile1,
const std::string &  initFile2,
bool  displayHelp = false,
bool  firstCameraIsReference = true 
)
virtual

Initialise the tracker by clicking in the reference image on the pixels that correspond to the 3D points whose coordinates are extracted from a file. In this file, comments starting with # character are allowed. Notice that 3D point coordinates are expressed in meter in the object frame with their X, Y and Z values.

The structure of this file is the following:

# 3D point coordinates
4 # Number of points in the file (minimum is four)
0.01 0.01 0.01 # \
... # | 3D coordinates in the object frame (X, Y, Z)
0.01 -0.01 -0.01 # /
Parameters
I1: Input image for the first camera.
I2: Input image for the second camera.
initFile1: File containing the coordinates of at least 4 3D points the user has to click in the image acquired by the first camera. This file should have .init extension (ie teabox.init).
initFile2: File containing the coordinates of at least 4 3D points the user has to click in the image acquired by the second camera. This file should have .init extension.
displayHelp: Optionnal display of an image that should have the same generic name as the init file (ie teabox.ppm). This image may be used to show where to click. This functionality is only available if visp_io module is used.
firstCameraIsReference: If true, the first camera is the reference, otherwise it is the second one.
Exceptions
vpException::ioError: The file specified in initFile doesn't exist.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1304 of file vpMbEdgeMultiTracker.cpp.

◆ initClick() [8/15]

void vpMbTracker::initClick

Definition at line 190 of file vpMbTracker.cpp.

◆ initClick() [9/15]

◆ initClick() [10/15]

void vpMbTracker::initClick

Definition at line 590 of file vpMbTracker.cpp.

◆ initClick() [11/15]

◆ initClick() [12/15]

void vpMbTracker::initClick

Initialise the tracker by clicking in the image on the pixels that correspond to the 3D points whose coordinates are extracted from a file. In this file, comments starting with # character are allowed. Notice that 3D point coordinates are expressed in meter in the object frame with their X, Y and Z values.

The structure of this file is the following:

# 3D point coordinates
4 # Number of points in the file (minimum is four)
0.01 0.01 0.01 # \
... # | 3D coordinates in the object frame (X, Y, Z)
0.01 -0.01 -0.01 # /
Parameters
I_color: Input color image where the user has to click.
initFile: File containing the coordinates of at least 4 3D points the user has to click in the image. This file should have .init extension (ie teabox.init).
displayHelp: Optionnal display of an image (.ppm, .pgm, .jpg, .jpeg, .png) that should have the same generic name as the init file (ie teabox.ppm). This image may be used to show where to click. This functionality is only available if visp_io module is used.
T: optional transformation matrix to transform 3D points expressed in the original object frame to the desired object frame.
Exceptions
vpException::ioError: The file specified in initFile doesn't exist.

Definition at line 584 of file vpMbTracker.cpp.

◆ initClick() [13/15]

void vpMbTracker::initClick ( const vpImage< vpRGBa > &  I_color,
const std::string &  initFile,
bool  displayHelp = false,
const vpHomogeneousMatrix T = vpHomogeneousMatrix() 
)
virtualinherited

Initialise the tracker by clicking in the image on the pixels that correspond to the 3D points whose coordinates are extracted from a file. In this file, comments starting with # character are allowed. Notice that 3D point coordinates are expressed in meter in the object frame with their X, Y and Z values.

The structure of this file is the following:

# 3D point coordinates
4 # Number of points in the file (minimum is four)
0.01 0.01 0.01 # \
... # | 3D coordinates in the object frame (X, Y, Z)
0.01 -0.01 -0.01 # /
Parameters
I_color: Input color image where the user has to click.
initFile: File containing the coordinates of at least 4 3D points the user has to click in the image. This file should have .init extension (ie teabox.init).
displayHelp: Optionnal display of an image (.ppm, .pgm, .jpg, .jpeg, .png) that should have the same generic name as the init file (ie teabox.ppm). This image may be used to show where to click. This functionality is only available if visp_io module is used.
T: optional transformation matrix to transform 3D points expressed in the original object frame to the desired object frame.
Exceptions
vpException::ioError: The file specified in initFile doesn't exist.

Definition at line 584 of file vpMbTracker.cpp.

◆ initClick() [14/15]

void vpMbTracker::initClick

Initialise the tracker by clicking in the image on the pixels that correspond to the 3D points whose coordinates are given in points3D_list.

Parameters
I_color: Input color image where the user has to click.
points3D_list: List of at least 4 3D points with coordinates expressed in meters in the object frame.
displayFile: Path to the image used to display the help. This image may be used to show where to click. This functionality is only available if visp_io module is used.

Definition at line 788 of file vpMbTracker.cpp.

◆ initClick() [15/15]

void vpMbTracker::initClick ( const vpImage< vpRGBa > &  I_color,
const std::vector< vpPoint > &  points3D_list,
const std::string &  displayFile = "" 
)
virtualinherited

Initialise the tracker by clicking in the image on the pixels that correspond to the 3D points whose coordinates are given in points3D_list.

Parameters
I_color: Input color image where the user has to click.
points3D_list: List of at least 4 3D points with coordinates expressed in meters in the object frame.
displayFile: Path to the image used to display the help. This image may be used to show where to click. This functionality is only available if visp_io module is used.

Definition at line 788 of file vpMbTracker.cpp.

◆ initCylinder()

void vpMbEdgeTracker::initCylinder ( const vpPoint p1,
const vpPoint p2,
double  radius,
int  idFace = 0,
const std::string &  name = "" 
)
protectedvirtualinherited

Add a cylinder to track from two points on the axis (defining the length of the cylinder) and its radius.

Parameters
p1: First point on the axis.
p2: Second point on the axis.
radius: Radius of the cylinder.
idFace: Id of the face that is associated to the cylinder to handle visibility test.
name: The optional name of the cylinder.

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker, and vpMbEdgeKltMultiTracker.

Definition at line 2365 of file vpMbEdgeTracker.cpp.

◆ initFaceFromCorners()

void vpMbEdgeTracker::initFaceFromCorners ( vpMbtPolygon polygon)
protectedvirtualinherited

Add the lines to track from the polygon description. If the polygon has only two points, it defines a single line that is always visible. If it has three or more corners, it defines a face. In that case the visibility of the face is computed in order to track the corresponding lines only if the face is visible.

The id of the polygon is supposed to be set prior calling this function.

This method is called from the loadModel() one to add a face of the object to track.

Parameters
polygon: The polygon describing the set of lines that has to be tracked.

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker, and vpMbEdgeKltMultiTracker.

Definition at line 2260 of file vpMbEdgeTracker.cpp.

◆ initFaceFromLines()

void vpMbEdgeTracker::initFaceFromLines ( vpMbtPolygon polygon)
protectedvirtualinherited

Add the lines to track from the polygon description. If the polygon has only two points, it defines a single line that is always visible. If it has three or more corners, it defines a face. In that case the visibility of the face is computed in order to track the corresponding lines only if the face is visible.

The id of the polygon is supposed to be set prior calling this function.

This method is called from the loadModel() one to add a face of the object to track.

Parameters
polygon: The polygon describing the set of lines that has to be tracked.

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker, and vpMbEdgeKltMultiTracker.

Definition at line 2284 of file vpMbEdgeTracker.cpp.

◆ initFromPoints() [1/6]

void vpMbTracker::initFromPoints ( const vpImage< unsigned char > &  I,
const std::string &  initFile 
)
virtualinherited

Initialise the tracker by reading 3D point coordinates and the corresponding 2D image point coordinates from a file. Comments starting with # character are allowed. 3D point coordinates are expressed in meter in the object frame with X, Y and Z values. 2D point coordinates are expressied in pixel coordinates, with first the line and then the column of the pixel in the image. The structure of this file is the following.

# 3D point coordinates
4 # Number of 3D points in the file (minimum is four)
0.01 0.01 0.01 # \
... # | 3D coordinates in meters in the object frame
0.01 -0.01 -0.01 # /
# corresponding 2D point coordinates
4 # Number of image points in the file (has to be the same
as the number of 3D points)
100 200 # \
... # | 2D coordinates in pixel in the image
50 10 # /
Parameters
I: Input grayscale image
initFile: Path to the file containing all the points.

Definition at line 966 of file vpMbTracker.cpp.

◆ initFromPoints() [2/6]

void vpMbTracker::initFromPoints ( const vpImage< unsigned char > &  I,
const std::vector< vpImagePoint > &  points2D_list,
const std::vector< vpPoint > &  points3D_list 
)
virtualinherited

Initialise the tracking with the list of image points (points2D_list) and the list of corresponding 3D points (object frame) (points3D_list).

Parameters
I: Input grayscale image
points2D_list: List of image points.
points3D_list: List of 3D points (object frame).

Definition at line 1061 of file vpMbTracker.cpp.

◆ initFromPoints() [3/6]

◆ initFromPoints() [4/6]

void vpMbTracker::initFromPoints ( const vpImage< unsigned char > *const  I,
const vpImage< vpRGBa > *const  I_color,
const std::vector< vpImagePoint > &  points2D_list,
const std::vector< vpPoint > &  points3D_list 
)
protectedvirtualinherited

◆ initFromPoints() [5/6]

void vpMbTracker::initFromPoints ( const vpImage< vpRGBa > &  I_color,
const std::string &  initFile 
)
virtualinherited

Initialise the tracker by reading 3D point coordinates and the corresponding 2D image point coordinates from a file. Comments starting with # character are allowed. 3D point coordinates are expressed in meter in the object frame with X, Y and Z values. 2D point coordinates are expressied in pixel coordinates, with first the line and then the column of the pixel in the image. The structure of this file is the following.

# 3D point coordinates
4 # Number of 3D points in the file (minimum is four)
0.01 0.01 0.01 # \
... # | 3D coordinates in meters in the object frame
0.01 -0.01 -0.01 # /
# corresponding 2D point coordinates
4 # Number of image points in the file (has to be the same
as the number of 3D points)
100 200 # \
... # | 2D coordinates in pixel in the image
50 10 # /
Parameters
I_color: Input color image
initFile: Path to the file containing all the points.

Definition at line 995 of file vpMbTracker.cpp.

◆ initFromPoints() [6/6]

void vpMbTracker::initFromPoints ( const vpImage< vpRGBa > &  I_color,
const std::vector< vpImagePoint > &  points2D_list,
const std::vector< vpPoint > &  points3D_list 
)
virtualinherited

Initialise the tracking with the list of image points (points2D_list) and the list of corresponding 3D points (object frame) (points3D_list).

Parameters
I_color: Input color grayscale image
points2D_list: List of image points.
points3D_list: List of 3D points (object frame).

Definition at line 1075 of file vpMbTracker.cpp.

◆ initFromPose() [1/17]

void vpMbEdgeMultiTracker::initFromPose ( const std::map< std::string, const vpImage< unsigned char > * > &  mapOfImages,
const std::map< std::string, vpHomogeneousMatrix > &  mapOfCameraPoses 
)
virtual

Initialize the tracking thanks to the pose.

Parameters
mapOfImages: Map of images.
mapOfCameraPoses: Map of pose matrix.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1636 of file vpMbEdgeMultiTracker.cpp.

◆ initFromPose() [2/17]

void vpMbEdgeMultiTracker::initFromPose ( const std::map< std::string, const vpImage< unsigned char > * > &  mapOfImages,
const vpHomogeneousMatrix cMo 
)
virtual

Initialize the tracking thanks to the pose. The camera transformation matrices have to be set before.

Parameters
mapOfImages: Map of images.
cMo: Pose matrix for the reference camera.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1622 of file vpMbEdgeMultiTracker.cpp.

◆ initFromPose() [3/17]

void vpMbTracker::initFromPose

Initialise the tracking thanks to the pose in vpPoseVector format, and read in the file initFile. The structure of this file is (without the comments):

// The six value of the pose vector
0.0000 // \
0.0000 // |
1.0000 // | Exemple of value for the pose vector where Z = 1 meter
0.0000 // |
0.0000 // |
0.0000 // /

Where the three firsts lines refer to the translation and the three last to the rotation in thetaU parametrisation (see vpThetaUVector).

Parameters
I: Input grayscale image
initFile: Path to the file containing the pose.

Definition at line 1134 of file vpMbTracker.cpp.

◆ initFromPose() [4/17]

void vpMbEdgeMultiTracker::initFromPose ( const vpImage< unsigned char > &  I,
const std::string &  initFile 
)
virtual

Initialize the tracking thanks to the pose in vpPoseVector format, and read in the file initFile. The structure of this file is (without the comments):

// The six value of the pose vector
0.0000 // \
0.0000 // |
1.0000 // | Example of value for the pose vector where Z = 1 meter
0.0000 // |
0.0000 // |
0.0000 // /

Where the three firsts lines refer to the translation and the three last to the rotation in thetaU parameterization (see vpThetaUVector).

Parameters
I: Input image
initFile: Path to the file containing the pose.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1515 of file vpMbEdgeMultiTracker.cpp.

◆ initFromPose() [5/17]

void vpMbTracker::initFromPose

Initialise the tracking thanks to the pose.

Parameters
I: Input grayscale image
cMo: Pose matrix.

Definition at line 1168 of file vpMbTracker.cpp.

◆ initFromPose() [6/17]

void vpMbEdgeMultiTracker::initFromPose ( const vpImage< unsigned char > &  I,
const vpHomogeneousMatrix cMo 
)
virtual

Initialize the tracking thanks to the pose.

Parameters
I: Input image
cMo: Pose matrix.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1564 of file vpMbEdgeMultiTracker.cpp.

◆ initFromPose() [7/17]

void vpMbTracker::initFromPose

Initialise the tracking thanks to the pose vector.

Parameters
I: Input grayscale image
cPo: Pose vector.

Definition at line 1193 of file vpMbTracker.cpp.

◆ initFromPose() [8/17]

void vpMbEdgeMultiTracker::initFromPose ( const vpImage< unsigned char > &  I,
const vpPoseVector cPo 
)
virtual

Initialize the tracking thanks to the pose vector.

Parameters
I: Input image
cPo: Pose vector.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1590 of file vpMbEdgeMultiTracker.cpp.

◆ initFromPose() [9/17]

void vpMbEdgeMultiTracker::initFromPose ( const vpImage< unsigned char > &  I1,
const vpImage< unsigned char > &  I2,
const vpHomogeneousMatrix c1Mo,
const vpHomogeneousMatrix c2Mo,
bool  firstCameraIsReference = true 
)
virtual

Initialize the tracking thanks to the pose for stereo cameras configuration.

Parameters
I1: Input image for the first camera.
I2: Input image for the second camera.
c1Mo: Pose matrix for the first camera.
c2Mo: Pose matrix for the second camera.
firstCameraIsReference: If true, the first camera is the reference camera, otherwise it is the second one.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1606 of file vpMbEdgeMultiTracker.cpp.

◆ initFromPose() [10/17]

void vpMbTracker::initFromPose

Definition at line 1081 of file vpMbTracker.cpp.

◆ initFromPose() [11/17]

void vpMbTracker::initFromPose ( const vpImage< unsigned char > *const  I,
const vpImage< vpRGBa > *const  I_color,
const std::string &  initFile 
)
protectedvirtualinherited

◆ initFromPose() [12/17]

void vpMbTracker::initFromPose

Initialise the tracking thanks to the pose in vpPoseVector format, and read in the file initFile. The structure of this file is (without the comments):

// The six value of the pose vector
0.0000 // \
0.0000 // |
1.0000 // | Exemple of value for the pose vector where Z = 1 meter
0.0000 // |
0.0000 // |
0.0000 // /

Where the three firsts lines refer to the translation and the three last to the rotation in thetaU parametrisation (see vpThetaUVector).

Parameters
I_color: Input color image
initFile: Path to the file containing the pose.

Definition at line 1157 of file vpMbTracker.cpp.

◆ initFromPose() [13/17]

void vpMbTracker::initFromPose ( const vpImage< vpRGBa > &  I_color,
const std::string &  initFile 
)
virtualinherited

Initialise the tracking thanks to the pose in vpPoseVector format, and read in the file initFile. The structure of this file is (without the comments):

// The six value of the pose vector
0.0000 // \
0.0000 // |
1.0000 // | Exemple of value for the pose vector where Z = 1 meter
0.0000 // |
0.0000 // |
0.0000 // /

Where the three firsts lines refer to the translation and the three last to the rotation in thetaU parametrisation (see vpThetaUVector).

Parameters
I_color: Input color image
initFile: Path to the file containing the pose.

Definition at line 1157 of file vpMbTracker.cpp.

◆ initFromPose() [14/17]

void vpMbTracker::initFromPose

Initialise the tracking thanks to the pose.

Parameters
I_color: Input color image
cMo: Pose matrix.

Definition at line 1180 of file vpMbTracker.cpp.

◆ initFromPose() [15/17]

void vpMbTracker::initFromPose ( const vpImage< vpRGBa > &  I_color,
const vpHomogeneousMatrix cMo 
)
virtualinherited

Initialise the tracking thanks to the pose.

Parameters
I_color: Input color image
cMo: Pose matrix.

Definition at line 1180 of file vpMbTracker.cpp.

◆ initFromPose() [16/17]

void vpMbTracker::initFromPose

Initialise the tracking thanks to the pose vector.

Parameters
I_color: Input color image
cPo: Pose vector.

Definition at line 1205 of file vpMbTracker.cpp.

◆ initFromPose() [17/17]

void vpMbTracker::initFromPose ( const vpImage< vpRGBa > &  I_color,
const vpPoseVector cPo 
)
virtualinherited

Initialise the tracking thanks to the pose vector.

Parameters
I_color: Input color image
cPo: Pose vector.

Definition at line 1205 of file vpMbTracker.cpp.

◆ initMbtTracking()

◆ initMovingEdge()

void vpMbEdgeTracker::initMovingEdge ( const vpImage< unsigned char > &  I,
const vpHomogeneousMatrix _cMo 
)
protectedinherited

Initialize the moving edge thanks to a given pose of the camera. The 3D model is projected into the image to create moving edges along the lines.

Parameters
I: The image.
_cMo: The pose of the camera used to initialize the moving edges.

Definition at line 1522 of file vpMbEdgeTracker.cpp.

Referenced by vpMbEdgeKltMultiTracker::postTracking().

◆ initProjectionErrorCircle()

void vpMbTracker::initProjectionErrorCircle ( const vpPoint p1,
const vpPoint p2,
const vpPoint p3,
double  radius,
int  idFace = 0,
const std::string &  name = "" 
)
protectedinherited

Definition at line 3438 of file vpMbTracker.cpp.

References vpMbTracker::addProjectionErrorCircle().

◆ initProjectionErrorCylinder()

void vpMbTracker::initProjectionErrorCylinder ( const vpPoint p1,
const vpPoint p2,
double  radius,
int  idFace = 0,
const std::string &  name = "" 
)
protectedinherited

Definition at line 3444 of file vpMbTracker.cpp.

References vpMbTracker::addProjectionErrorCylinder().

◆ initProjectionErrorFaceFromCorners()

void vpMbTracker::initProjectionErrorFaceFromCorners ( vpMbtPolygon polygon)
protectedinherited

◆ initProjectionErrorFaceFromLines()

void vpMbTracker::initProjectionErrorFaceFromLines ( vpMbtPolygon polygon)
protectedinherited

◆ initPyramid() [1/2]

void vpMbEdgeMultiTracker::initPyramid ( const std::map< std::string, const vpImage< unsigned char > * > &  mapOfImages,
std::map< std::string, std::vector< const vpImage< unsigned char > * > > &  pyramid 
)
protectedvirtual

◆ initPyramid() [2/2]

void vpMbEdgeTracker::initPyramid ( const vpImage< unsigned char > &  _I,
std::vector< const vpImage< unsigned char > * > &  _pyramid 
)
protectedinherited

Compute the pyramid of image associated to the image in parameter. The scales computed are the ones corresponding to the scales attribute of the class. If OpenCV is detected, the functions used to computed a smoothed pyramid come from OpenCV, otherwise a simple subsampling (no smoothing, no interpolation) is realized.

Warning
The pyramid contains pointers to vpImage. To properly deallocate the pyramid. All the element but the first (which is a pointer to the input image) must be freed. A proper cleaning is implemented in the cleanPyramid() method.
Parameters
_I: The input image.
_pyramid: The pyramid of image to build from the input image.

Definition at line 2724 of file vpMbEdgeTracker.cpp.

Referenced by initPyramid().

◆ loadCAOModel()

void vpMbTracker::loadCAOModel ( const std::string &  modelFile,
std::vector< std::string > &  vectorOfModelFilename,
int &  startIdFace,
bool  verbose = false,
bool  parent = true,
const vpHomogeneousMatrix odTo = vpHomogeneousMatrix() 
)
protectedvirtualinherited

Load a 3D model contained in a *.cao file.

Since ViSP 2.9.1, lines starting with # character are considered as comments. It is also possible to add comment at the end of the lines. No specific character is requested before the comment. In the following example we use "//" but it could be an other character.

Since ViSP 2.9.1, circles are supported.

The structure of the file is :

V1
# Number of points describing the object
8
0.01 0.01 0.01 // point with index 0 \
... // ... | coordinates of the points in the object frame (in m.)
0.01 0.01 0.01 // point with index 7 /
# Number of lines to track.
3
0 2 // line with index 0 \
1 4 // | Index of the points representing the extremitiesof the lines
1 5 // line with index 2 /
# Number of polygon (face) to track using the line previously described
1
3 0 1 2 // Face described as follow : nbLine indexLine1 indexLine2 ... indexLineN
# Number of polygon (face) to track using the points previously described
3
4 0 2 3 4 // Face described as follow : nbPoint IndexPoint1 IndexPoint2 ... IndexPointN
4 1 3 5 7 3 1 5 6
# Number of cylinder
1
6 7 0.05 // Index of the limits points on the axis (used to know the 'height' of the cylinder) and radius of the cyclinder (in m.)
# Number of circle
1
0.5 0 1 2 // radius, index center point, index 2 other points on the plane containing the circle
Parameters
modelFile: Full name of the main *.cao file containing the model.
vectorOfModelFilename: A vector of *.cao files.
startIdFace: Current Id of the face.
verbose: If true, will print additional information with CAO model files which include other CAO model files.
parent: This parameter is set to true when parsing a parent CAO model file, and false when parsing an included CAO model file.
odTo: optional transformation matrix (currently only for .cao) to transform 3D points expressed in the original object frame to the desired object frame.

Definition at line 1688 of file vpMbTracker.cpp.

◆ loadConfigFile() [1/3]

void vpMbEdgeMultiTracker::loadConfigFile ( const std::map< std::string, std::string > &  mapOfConfigFiles)
virtual

Load the xml configuration files for all the cameras. An example of such a file is provided in loadConfigFile(const std::string &) documentation. From the configuration file initialize the parameters corresponding to the objects: moving-edges, camera and visibility angles.

Parameters
mapOfConfigFiles: Map of xml files.
See also
loadConfigFile(const std::string &)

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1785 of file vpMbEdgeMultiTracker.cpp.

◆ loadConfigFile() [2/3]

void vpMbEdgeMultiTracker::loadConfigFile ( const std::string &  configFile)
virtual

Load the xml configuration file. From the configuration file, initialize the parameters corresponding to the objects: moving-edges, camera and visibility angles.

Exceptions
vpException::ioErrorif the file has not been properly parsed (file not found or wrong format for the data).
Parameters
configFile: full name of the xml file.

The XML configuration file has the following form:

<?xml version="1.0"?>
<conf>
<ecm>
<mask>
<size>5</size>
<nb_mask>180</nb_mask>
</mask>
<range>
<tracking>7</tracking>
</range>
<contrast>
<edge_threshold>5000</edge_threshold>
<mu1>0.5</mu1>
<mu2>0.5</mu2>
</contrast>
<sample>
<step>4</step>
</sample>
</ecm>
<face>
<near_clipping>0.01</near_clipping>
<far_clipping>0.90</far_clipping>
<fov_clipping>1</fov_clipping>
</face>
<camera>
<u0>320</u0>
<v0>240</v0>
<px>686.24</px>
<py>686.24</py>
</camera>
</conf>

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1700 of file vpMbEdgeMultiTracker.cpp.

◆ loadConfigFile() [3/3]

void vpMbEdgeMultiTracker::loadConfigFile ( const std::string &  configFile1,
const std::string &  configFile2,
bool  firstCameraIsReference = true 
)
virtual

Load the xml configuration files for the stereo cameras case. An example of such a file is provided in loadConfigFile(const std::string &) documentation. From the configuration file initialize the parameters corresponding to the objects: moving-edges, camera and visibility angles.

Parameters
configFile1: Full name of the xml file for the first camera.
configFile2: Full name of the xml file for the second camera.
firstCameraIsReference: If true, the first camera is the reference, otherwise it is the second one.
See also
loadConfigFile(const std::string &)

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1735 of file vpMbEdgeMultiTracker.cpp.

◆ loadModel()

void vpMbEdgeMultiTracker::loadModel ( const std::string &  modelFile,
bool  verbose = false,
const vpHomogeneousMatrix T = vpHomogeneousMatrix() 
)
virtual

Load a 3D model from the file in parameter. This file must either be a vrml file (.wrl) or a CAO file (.cao). CAO format is described in the loadCAOModel() method.

Warning
When this class is called to load a vrml model, remember that you have to call Call SoDD::finish() before ending the program.
int main()
{
...
#if defined(VISP_HAVE_COIN3D) && (COIN_MAJOR_VERSION >= 2)
SoDB::finish();
#endif
}
Exceptions
vpException::ioErrorif the file cannot be open, or if its extension is not wrl or cao.
Parameters
modelFile: the file containing the the 3D model description. The extension of this file is either .wrl or .cao.
verbose: verbose option to print additional information when loading CAO model files which include other CAO model files.
T: optional transformation matrix (currently only for .cao) to transform 3D points expressed in the original object frame to the desired object frame.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1845 of file vpMbEdgeMultiTracker.cpp.

◆ loadVRMLModel()

void vpMbTracker::loadVRMLModel ( const std::string &  modelFile)
protectedvirtualinherited

Load the 3D model of the object from a vrml file. Only LineSet and FaceSet are extracted from the vrml file.

Warning
When this class is called, remember that you have to call Call SoDD::finish() before ending the program.
int main()
{
...
#if defined(VISP_HAVE_COIN3D) && (COIN_MAJOR_VERSION >= 2)
SoDB::finish();
#endif
}
The cylinders extracted using this method do not use the Cylinder keyword of vrml since vrml exporter such as Blender or AC3D consider a cylinder as an IndexedFaceSet. To test whether an indexedFaceSet is a cylinder or not, the name of the geometry is read. If the name begins with "cyl" then the faceset is supposed to be a cylinder. For example, the line
geometry DEF cyl_cylinder1 IndexedFaceSet
defines a cylinder named cyl_cylinder1.
Exceptions
vpException::fatalErrorif the file cannot be open.
Parameters
modelFile: The full name of the file containing the 3D model.

Definition at line 1526 of file vpMbTracker.cpp.

◆ parseParameters()

std::map< std::string, std::string > vpMbTracker::parseParameters ( std::string &  endLine)
protectedinherited

Definition at line 1587 of file vpMbTracker.cpp.

References vpMbTracker::mapOfParameterNames, and vpIoTools::trim().

◆ projectionErrorInitMovingEdge()

◆ projectionErrorResetMovingEdges()

void vpMbTracker::projectionErrorResetMovingEdges ( )
protectedinherited

◆ projectionErrorVisibleFace()

◆ reInitLevel()

void vpMbEdgeTracker::reInitLevel ( const unsigned int  _lvl)
protectedinherited

Re initialize the moving edges associated to a given level. This method is used to re-initialize the level if the tracking failed on this level but succeeded on the other one.

Parameters
_lvl: The level to re-initialize.

Definition at line 2898 of file vpMbEdgeTracker.cpp.

◆ reInitModel() [1/3]

void vpMbEdgeMultiTracker::reInitModel ( const std::map< std::string, const vpImage< unsigned char > * > &  mapOfImages,
const std::string &  cad_name,
const std::map< std::string, vpHomogeneousMatrix > &  mapOfCameraPoses,
bool  verbose = false 
)
virtual

Re-initialize the model used by the tracker.

Parameters
mapOfImages: Map of images.
cad_name: Path to the file containing the 3D model description.
mapOfCameraPoses: The new vpHomogeneousMatrix between the cameras and the current object position.
verbose: Verbose option to print additional information when loading CAO model files which include other CAO model files.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1940 of file vpMbEdgeMultiTracker.cpp.

◆ reInitModel() [2/3]

void vpMbEdgeMultiTracker::reInitModel ( const vpImage< unsigned char > &  I,
const std::string &  cad_name,
const vpHomogeneousMatrix cMo,
bool  verbose = false,
const vpHomogeneousMatrix T = vpHomogeneousMatrix() 
)
virtual

Re-initialize the model used by the tracker.

Parameters
I: The image containing the object to initialize.
cad_name: Path to the file containing the 3D model description.
cMo: The new vpHomogeneousMatrix between the camera and the new model
verbose: verbose option to print additional information when loading CAO model files which include other CAO model files.
T: optional transformation matrix (currently only for .cao) to transform 3D points expressed in the original object frame to the desired object frame.

Reimplemented from vpMbEdgeTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1868 of file vpMbEdgeMultiTracker.cpp.

◆ reInitModel() [3/3]

void vpMbEdgeMultiTracker::reInitModel ( const vpImage< unsigned char > &  I1,
const vpImage< unsigned char > &  I2,
const std::string &  cad_name,
const vpHomogeneousMatrix c1Mo,
const vpHomogeneousMatrix c2Mo,
bool  verbose = false,
bool  firstCameraIsReference = true 
)
virtual

Re-initialize the model used by the tracker.

Parameters
I1: The image containing the object to initialize for the first camera.
I2: The image containing the object to initialize for the second camera.
cad_name: Path to the file containing the 3D model description.
c1Mo: The new vpHomogeneousMatrix between the first camera and the new model.
c2Mo: The new vpHomogeneousMatrix between the second camera and the new model.
verbose: verbose option to print additional information when loading CAO model files which include other CAO model files.
firstCameraIsReference: If true, the first camera is the reference camera, otherwise it is the second one.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1902 of file vpMbEdgeMultiTracker.cpp.

◆ reinitMovingEdge()

void vpMbEdgeTracker::reinitMovingEdge ( const vpImage< unsigned char > &  I,
const vpHomogeneousMatrix _cMo 
)
protectedinherited

Reinitialize the lines if it is required.

A line is reinitialized if the 2D line do not match enough with the projected 3D line.

Parameters
I: the image.
_cMo: the pose of the used to re-initialize the moving edges

Definition at line 1878 of file vpMbEdgeTracker.cpp.

Referenced by vpMbEdgeKltMultiTracker::postTracking().

◆ removeCircle()

void vpMbEdgeTracker::removeCircle ( const std::string &  name)
protectedinherited

Remove a circle by its name.

Parameters
name: The name of the circle to remove.

Definition at line 2175 of file vpMbEdgeTracker.cpp.

◆ removeComment()

void vpMbTracker::removeComment ( std::ifstream &  fileId)
protectedinherited

Definition at line 1572 of file vpMbTracker.cpp.

References vpException::ioError.

Referenced by vpMbTracker::initClick().

◆ removeCylinder()

void vpMbEdgeTracker::removeCylinder ( const std::string &  name)
protectedinherited

Remove a cylinder by its name.

Parameters
name: The name of the cylinder to remove.

Definition at line 2153 of file vpMbEdgeTracker.cpp.

◆ removeLine()

void vpMbEdgeTracker::removeLine ( const std::string &  name)
protectedinherited

Remove a line using its name.

Parameters
name: The name of the line to remove.

Definition at line 2023 of file vpMbEdgeTracker.cpp.

◆ resetMovingEdge()

void vpMbEdgeTracker::resetMovingEdge ( )
protectedinherited

◆ resetTracker()

void vpMbEdgeMultiTracker::resetTracker ( )
virtual

Reset the tracker. The model is removed and the pose is set to identity. The tracker needs to be initialized with a new model and a new pose.

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1991 of file vpMbEdgeMultiTracker.cpp.

◆ samePoint()

bool vpMbTracker::samePoint ( const vpPoint P1,
const vpPoint P2 
) const
protectedinherited

Check if two vpPoints are similar.

To be similar : $ (X_1 - X_2)^2 + (Y_1 - Y_2)^2 + (Z_1 - Z_2)^2 < epsilon $.

Parameters
P1: The first point to compare
P2: The second point to compare

Definition at line 3142 of file vpMbTracker.cpp.

Referenced by vpMbTracker::addProjectionErrorCircle(), vpMbTracker::addProjectionErrorCylinder(), and vpMbTracker::addProjectionErrorLine().

◆ savePose()

void vpMbTracker::savePose ( const std::string &  filename) const
inherited

Save the pose in the given filename

Parameters
filename: Path to the file used to save the pose.

Definition at line 1217 of file vpMbTracker.cpp.

Referenced by vpMbTracker::initClick().

◆ setAngleAppear()

void vpMbEdgeMultiTracker::setAngleAppear ( const double &  a)
virtual

Set the angle used to test polygons appearance. If the angle between the normal of the polygon and the line going from the camera to the polygon center has a value lower than this parameter, the polygon is considered as appearing. The polygon will then be tracked.

Parameters
a: new angle in radian.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2033 of file vpMbEdgeMultiTracker.cpp.

◆ setAngleDisappear()

void vpMbEdgeMultiTracker::setAngleDisappear ( const double &  a)
virtual

Set the angle used to test polygons disappearance. If the angle between the normal of the polygon and the line going from the camera to the polygon center has a value greater than this parameter, the polygon is considered as disappearing. The tracking of the polygon will then be stopped.

Parameters
a: new angle in radian.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2052 of file vpMbEdgeMultiTracker.cpp.

◆ setCameraParameters() [1/4]

void vpMbEdgeMultiTracker::setCameraParameters ( const std::map< std::string, vpCameraParameters > &  mapOfCameraParameters)
virtual

Set the camera parameters for all the cameras.

Parameters
mapOfCameraParameters: Map of camera parameters.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2147 of file vpMbEdgeMultiTracker.cpp.

◆ setCameraParameters() [2/4]

void vpMbEdgeMultiTracker::setCameraParameters ( const std::string &  cameraName,
const vpCameraParameters cam 
)
virtual

Set the camera parameters for the specified camera.

Parameters
cameraName: Camera name.
cam: The new camera parameters.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2126 of file vpMbEdgeMultiTracker.cpp.

◆ setCameraParameters() [3/4]

void vpMbEdgeMultiTracker::setCameraParameters ( const vpCameraParameters cam)
virtual

Set the camera parameters for the monocular case.

Parameters
cam: The new camera parameters.

Reimplemented from vpMbEdgeTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2067 of file vpMbEdgeMultiTracker.cpp.

◆ setCameraParameters() [4/4]

void vpMbEdgeMultiTracker::setCameraParameters ( const vpCameraParameters camera1,
const vpCameraParameters camera2,
bool  firstCameraIsReference = true 
)
virtual

Set the camera parameters for the stereo cameras case.

Parameters
camera1: The new camera parameters for the first camera.
camera2: The new camera parameters for the second camera.
firstCameraIsReference: If true, the first camera is the reference, otherwise it is the second one.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2096 of file vpMbEdgeMultiTracker.cpp.

◆ setCameraTransformationMatrix() [1/2]

void vpMbEdgeMultiTracker::setCameraTransformationMatrix ( const std::map< std::string, vpHomogeneousMatrix > &  mapOfTransformationMatrix)
virtual

Set the map of camera transformation matrices ( $ _{}^{c_1}\textrm{M}_{c_1}, _{}^{c_2}\textrm{M}_{c_1}, _{}^{c_3}\textrm{M}_{c_1}, \cdots, _{}^{c_n}\textrm{M}_{c_1} $).

Parameters
mapOfTransformationMatrix: map of camera transformation matrices.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2194 of file vpMbEdgeMultiTracker.cpp.

◆ setCameraTransformationMatrix() [2/2]

void vpMbEdgeMultiTracker::setCameraTransformationMatrix ( const std::string &  cameraName,
const vpHomogeneousMatrix cameraTransformationMatrix 
)
virtual

Set the camera transformation matrix for the specified camera ( $ _{}^{c_{current}}\textrm{M}_{c_{reference}} $).

Parameters
cameraName: Camera name.
cameraTransformationMatrix: Camera transformation matrix between the current and the reference camera.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2174 of file vpMbEdgeMultiTracker.cpp.

◆ setClipping() [1/2]

void vpMbEdgeMultiTracker::setClipping ( const std::string &  cameraName,
const unsigned int &  flags 
)
virtual

Specify which clipping to use.

See also
vpMbtPolygonClipping
Parameters
cameraName: Camera to set the clipping.
flags: New clipping flags.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2237 of file vpMbEdgeMultiTracker.cpp.

◆ setClipping() [2/2]

void vpMbEdgeMultiTracker::setClipping ( const unsigned int &  flags)
virtual

Specify which clipping to use.

See also
vpMbtPolygonClipping
Parameters
flags: New clipping flags.

Reimplemented from vpMbEdgeTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2218 of file vpMbEdgeMultiTracker.cpp.

◆ setCovarianceComputation()

void vpMbEdgeMultiTracker::setCovarianceComputation ( const bool &  flag)
virtual

Set if the covariance matrix has to be computed.

Parameters
flag: True if the covariance has to be computed, false otherwise

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2254 of file vpMbEdgeMultiTracker.cpp.

◆ setDisplayFeatures()

void vpMbEdgeMultiTracker::setDisplayFeatures ( bool  displayF)
virtual

Enable to display the features. By features, we mean the moving edges (ME) and the klt points if used.

Note that if present, the moving edges can be displayed with different colors:

  • If green : The ME is a good point.
  • If blue : The ME is removed because of a contrast problem during the tracking phase.
  • If purple : The ME is removed because of a threshold problem during the tracking phase.
  • If red : The ME is removed because it is rejected by the robust approach in the virtual visual servoing scheme.
Parameters
displayF: set it to true to display the features.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2280 of file vpMbEdgeMultiTracker.cpp.

◆ setEstimatedDoF()

void vpMbTracker::setEstimatedDoF ( const vpColVector v)
virtualinherited

Set a 6-dim column vector representing the degrees of freedom in the object frame that are estimated by the tracker. When set to 1, all the 6 dof are estimated.

Below we give the correspondance between the index of the vector and the considered dof:

  • v[0] = 1 if translation along X is estimated, 0 otherwise;
  • v[1] = 1 if translation along Y is estimated, 0 otherwise;
  • v[2] = 1 if translation along Z is estimated, 0 otherwise;
  • v[3] = 1 if rotation along X is estimated, 0 otherwise;
  • v[4] = 1 if rotation along Y is estimated, 0 otherwise;
  • v[5] = 1 if rotation along Z is estimated, 0 otherwise;

Definition at line 3027 of file vpMbTracker.cpp.

◆ setFarClippingDistance() [1/2]

void vpMbEdgeMultiTracker::setFarClippingDistance ( const double &  dist)
virtual

Set the far distance for clipping.

Parameters
dist: Far clipping value.

Reimplemented from vpMbEdgeTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2295 of file vpMbEdgeMultiTracker.cpp.

◆ setFarClippingDistance() [2/2]

void vpMbEdgeMultiTracker::setFarClippingDistance ( const std::string &  cameraName,
const double &  dist 
)
virtual

Set the far distance for clipping for the specified camera.

Parameters
cameraName: Camera to set the far clipping.
dist: Far clipping value.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2311 of file vpMbEdgeMultiTracker.cpp.

◆ setGoodMovingEdgesRatioThreshold()

void vpMbEdgeMultiTracker::setGoodMovingEdgesRatioThreshold ( double  threshold)
virtual

Set the threshold value between 0 and 1 over good moving edges ratio. It allows to decide if the tracker has enough valid moving edges to compute a pose. 1 means that all moving edges should be considered as good to have a valid pose, while 0.1 means that 10% of the moving edge are enough to declare a pose valid.

Parameters
threshold: Value between 0 and 1 that corresponds to the ratio of good moving edges that is necessary to consider that the estimated pose is valid. Default value is 0.4.
See also
getGoodMovingEdgesRatioThreshold()

Definition at line 2334 of file vpMbEdgeMultiTracker.cpp.

◆ setGoodNbRayCastingAttemptsRatio()

void vpMbEdgeMultiTracker::setGoodNbRayCastingAttemptsRatio ( const double &  ratio)
virtual

Set the ratio of visibility attempts that has to be successful to consider a polygon as visible.

See also
setNbRayCastingAttemptsForVisibility(const unsigned int &)
Parameters
ratio: Ratio of succesful attempts that has to be considered. Value has to be between 0.0 (0%) and 1.0 (100%).

Reimplemented from vpMbTracker.

Definition at line 2354 of file vpMbEdgeMultiTracker.cpp.

◆ setInitialMu()

virtual void vpMbTracker::setInitialMu ( double  mu)
inlinevirtualinherited

Set the initial value of mu for the Levenberg Marquardt optimization loop.

Parameters
mu: initial mu.

Definition at line 523 of file vpMbTracker.h.

◆ setLambda()

virtual void vpMbTracker::setLambda ( double  gain)
inlinevirtualinherited

Set the value of the gain used to compute the control law.

Parameters
gain: the desired value for the gain.

Definition at line 530 of file vpMbTracker.h.

◆ setLod() [1/2]

void vpMbEdgeMultiTracker::setLod ( bool  useLod,
const std::string &  cameraName,
const std::string &  name 
)
virtual

Set the flag to consider if the level of detail (LOD) is used for all the cameras.

Parameters
useLod: true if the level of detail must be used, false otherwise. When true, two parameters can be set, see setMinLineLengthThresh() and setMinPolygonAreaThresh().
cameraName: Name of the camera we want to set the LOD.
name: name of the face we want to modify the LOD parameter, if empty all the faces are considered.
See also
setMinLineLengthThresh(), setMinPolygonAreaThresh()

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2411 of file vpMbEdgeMultiTracker.cpp.

◆ setLod() [2/2]

void vpMbEdgeMultiTracker::setLod ( bool  useLod,
const std::string &  name = "" 
)
virtual

Set the flag to consider if the level of detail (LOD) is used for all the cameras.

Parameters
useLod: true if the level of detail must be used, false otherwise. When true, two parameters can be set, see setMinLineLengthThresh() and setMinPolygonAreaThresh().
name: name of the face we want to modify the LOD parameter.
See also
setMinLineLengthThresh(), setMinPolygonAreaThresh()

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2391 of file vpMbEdgeMultiTracker.cpp.

◆ setMask()

virtual void vpMbTracker::setMask ( const vpImage< bool > &  mask)
inlinevirtualinherited

Reimplemented in vpMbGenericTracker.

Definition at line 558 of file vpMbTracker.h.

◆ setMaxIter()

virtual void vpMbTracker::setMaxIter ( unsigned int  max)
inlinevirtualinherited

Set the maximum iteration of the virtual visual servoing stage.

Parameters
max: the desired number of iteration

Definition at line 539 of file vpMbTracker.h.

◆ setMinLineLengthThresh() [1/2]

void vpMbEdgeMultiTracker::setMinLineLengthThresh ( double  minLineLengthThresh,
const std::string &  cameraName,
const std::string &  name 
)
virtual

Set the threshold for the minimum line length to be considered as visible in the LOD case.

Parameters
minLineLengthThresh: threshold for the minimum line length in pixel.
cameraName: name of the camera to consider.
name: name of the face we want to modify the LOD threshold, if empty all the faces are considered.
See also
setLod(), setMinPolygonAreaThresh()

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2450 of file vpMbEdgeMultiTracker.cpp.

◆ setMinLineLengthThresh() [2/2]

void vpMbEdgeMultiTracker::setMinLineLengthThresh ( double  minLineLengthThresh,
const std::string &  name = "" 
)
virtual

Set the threshold for the minimum line length to be considered as visible in the LOD case.

Parameters
minLineLengthThresh: threshold for the minimum line length in pixel.
name: name of the face we want to modify the LOD threshold.
See also
setLod(), setMinPolygonAreaThresh()

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2431 of file vpMbEdgeMultiTracker.cpp.

◆ setMinPolygonAreaThresh() [1/2]

void vpMbEdgeMultiTracker::setMinPolygonAreaThresh ( double  minPolygonAreaThresh,
const std::string &  cameraName,
const std::string &  name 
)
virtual

Set the minimum polygon area to be considered as visible in the LOD case.

Parameters
minPolygonAreaThresh: threshold for the minimum polygon area in pixel.
cameraName: name of the camera to consider.
name: name of the face we want to modify the LOD threshold, if empty all the faces are considered.
See also
setLod(), setMinLineLengthThresh()

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2488 of file vpMbEdgeMultiTracker.cpp.

◆ setMinPolygonAreaThresh() [2/2]

void vpMbEdgeMultiTracker::setMinPolygonAreaThresh ( double  minPolygonAreaThresh,
const std::string &  name = "" 
)
virtual

Set the minimum polygon area to be considered as visible in the LOD case.

Parameters
minPolygonAreaThresh: threshold for the minimum polygon area in pixel.
name: name of the face we want to modify the LOD threshold.
See also
setLod(), setMinLineLengthThresh()

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2470 of file vpMbEdgeMultiTracker.cpp.

◆ setMovingEdge() [1/2]

void vpMbEdgeMultiTracker::setMovingEdge ( const std::string &  cameraName,
const vpMe moving_edge 
)
virtual

Set the moving edge parameters for the specified camera.

Parameters
cameraName: Camera name to set the moving edge parameters.
moving_edge: An instance of vpMe containing all the desired parameters.

Definition at line 2519 of file vpMbEdgeMultiTracker.cpp.

◆ setMovingEdge() [2/2]

void vpMbEdgeMultiTracker::setMovingEdge ( const vpMe moving_edge)
virtual

Set the moving edge parameters.

Parameters
moving_edge: an instance of vpMe containing all the desired parameters.

Definition at line 2505 of file vpMbEdgeMultiTracker.cpp.

◆ setNbRayCastingAttemptsForVisibility()

void vpMbEdgeMultiTracker::setNbRayCastingAttemptsForVisibility ( const unsigned int &  attempts)
virtual

Set the number of rays that will be sent toward each polygon for visibility test. Each ray will go from the optic center of the camera to a random point inside the considered polygon.

See also
setGoodNbRayCastingAttemptsRatio(const unsigned int &)
Parameters
attemptsNumber of rays to be sent.

Reimplemented from vpMbTracker.

Definition at line 2371 of file vpMbEdgeMultiTracker.cpp.

◆ setNearClippingDistance() [1/2]

void vpMbEdgeMultiTracker::setNearClippingDistance ( const double &  dist)
virtual

Set the near distance for clipping.

Parameters
dist: Near clipping value.

Reimplemented from vpMbEdgeTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2534 of file vpMbEdgeMultiTracker.cpp.

◆ setNearClippingDistance() [2/2]

void vpMbEdgeMultiTracker::setNearClippingDistance ( const std::string &  cameraName,
const double &  dist 
)
virtual

Set the near distance for clipping for the specified camera.

Parameters
cameraName: Camera name to set the near clipping distance.
dist: Near clipping value.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2550 of file vpMbEdgeMultiTracker.cpp.

◆ setOgreShowConfigDialog()

void vpMbEdgeMultiTracker::setOgreShowConfigDialog ( bool  showConfigDialog)
virtual

Enable/Disable the appearance of Ogre config dialog on startup.

Warning
This method has only effect when Ogre is used and Ogre visibility test is enabled using setOgreVisibilityTest() with true parameter.
Parameters
showConfigDialog: if true, shows Ogre dialog window (used to set Ogre rendering options) when Ogre visibility is enabled. By default, this functionality is turned off.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2570 of file vpMbEdgeMultiTracker.cpp.

◆ setOgreVisibilityTest()

void vpMbEdgeMultiTracker::setOgreVisibilityTest ( const bool &  v)
virtual

Use Ogre3D for visibility tests

Warning
This function has to be called before the initialization of the tracker.
Parameters
v: True to use it, False otherwise

Reimplemented from vpMbEdgeTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2586 of file vpMbEdgeMultiTracker.cpp.

◆ setOptimizationMethod()

void vpMbEdgeMultiTracker::setOptimizationMethod ( const vpMbtOptimizationMethod opt)
virtual

Set the optimization method used during the tracking.

Parameters
opt: Optimization method to use.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2608 of file vpMbEdgeMultiTracker.cpp.

◆ setPose() [1/5]

void vpMbEdgeMultiTracker::setPose ( const std::map< std::string, const vpImage< unsigned char > * > &  mapOfImages,
const std::map< std::string, vpHomogeneousMatrix > &  mapOfCameraPoses 
)
virtual

Set the pose to be used in entry of the next call to the track() function. This pose will be just used once. Cameras that do not have pose will be automatically handled but the pose for the reference has to be passed in parameter. The camera transformation matrices have to be set before.

Parameters
mapOfImages: Map of images corresponding to the desired pose.
mapOfCameraPoses: Map of poses to affect.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2768 of file vpMbEdgeMultiTracker.cpp.

◆ setPose() [2/5]

void vpMbEdgeMultiTracker::setPose ( const std::map< std::string, const vpImage< unsigned char > * > &  mapOfImages,
const vpHomogeneousMatrix cMo 
)
virtual

Set the pose to be used in entry of the next call to the track() function. This pose will be just used once. The camera transformation matrices have to be set before.

Parameters
mapOfImages: Map of images.
cMo: Pose to affect to the reference camera.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2716 of file vpMbEdgeMultiTracker.cpp.

◆ setPose() [3/5]

void vpMbEdgeMultiTracker::setPose ( const vpImage< unsigned char > &  I,
const vpHomogeneousMatrix cMo 
)
virtual

Set the pose to be used in entry of the next call to the track() function. This pose will be just used once.

Parameters
I: grayscale image corresponding to the desired pose.
cMo: Pose to affect.

Reimplemented from vpMbEdgeTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2625 of file vpMbEdgeMultiTracker.cpp.

◆ setPose() [4/5]

void vpMbEdgeMultiTracker::setPose ( const vpImage< unsigned char > &  I1,
const vpImage< unsigned char > &  I2,
const vpHomogeneousMatrix c1Mo,
const vpHomogeneousMatrix c2Mo,
bool  firstCameraIsReference = true 
)
virtual

Set the pose to be used in entry of the next call to the track() function. This pose will be just used once.

Parameters
I1: First image corresponding to the desired pose.
I2: Second image corresponding to the desired pose.
c1Mo: First pose to affect.
c2Mo: Second pose to affect.
firstCameraIsReference: if true, the first camera is the reference, otherwise it is the second one.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2684 of file vpMbEdgeMultiTracker.cpp.

◆ setPose() [5/5]

void vpMbEdgeMultiTracker::setPose ( const vpImage< vpRGBa > &  I_color,
const vpHomogeneousMatrix cMo 
)
virtual

Set the pose to be used in entry of the next call to the track() function. This pose will be just used once.

Parameters
I_color: color image corresponding to the desired pose.
cMo: Pose to affect.

Reimplemented from vpMbEdgeTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2652 of file vpMbEdgeMultiTracker.cpp.

◆ setPoseSavingFilename()

void vpMbTracker::setPoseSavingFilename ( const std::string &  filename)
inlineinherited

Set the filename used to save the initial pose computed using the initClick() method. It is also used to read a previous pose in the same method. If the file is not set then, the initClick() method will create a .0.pos file in the root directory. This directory is the path to the file given to the method initClick() used to know the coordinates in the object frame.

Parameters
filename: The new filename.

Definition at line 650 of file vpMbTracker.h.

◆ setProjectionErrorComputation()

void vpMbEdgeMultiTracker::setProjectionErrorComputation ( const bool &  flag)
virtual

Set if the projection error criteria has to be computed.

Parameters
flag: True if the projection error criteria has to be computed, false otherwise

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2827 of file vpMbEdgeMultiTracker.cpp.

◆ setProjectionErrorDisplay()

virtual void vpMbTracker::setProjectionErrorDisplay ( bool  display)
inlinevirtualinherited

Display or not gradient and model orientation when computing the projection error.

Reimplemented in vpMbGenericTracker.

Examples
mbtGenericTrackingDepthOnly.cpp.

Definition at line 584 of file vpMbTracker.h.

◆ setProjectionErrorDisplayArrowLength()

virtual void vpMbTracker::setProjectionErrorDisplayArrowLength ( unsigned int  length)
inlinevirtualinherited

Arrow length used to display gradient and model orientation for projection error computation.

Reimplemented in vpMbGenericTracker.

Examples
mbtGenericTrackingDepthOnly.cpp.

Definition at line 589 of file vpMbTracker.h.

◆ setProjectionErrorDisplayArrowThickness()

virtual void vpMbTracker::setProjectionErrorDisplayArrowThickness ( unsigned int  thickness)
inlinevirtualinherited

Arrow thickness used to display gradient and model orientation for projection error computation.

Reimplemented in vpMbGenericTracker.

Examples
mbtGenericTrackingDepthOnly.cpp.

Definition at line 594 of file vpMbTracker.h.

Referenced by vpMbGenericTracker::setProjectionErrorDisplayArrowThickness().

◆ setProjectionErrorKernelSize()

void vpMbTracker::setProjectionErrorKernelSize ( const unsigned int &  size)
inherited

Set kernel size used for projection error computation.

Parameters
size: Kernel size computed as kernel_size = size*2 + 1.

Definition at line 3840 of file vpMbTracker.cpp.

Referenced by vpMbTracker::loadConfigFile().

◆ setProjectionErrorMovingEdge()

void vpMbTracker::setProjectionErrorMovingEdge ( const vpMe me)
inherited

Set Moving-Edges parameters for projection error computation.

Parameters
me: Moving-Edges parameters.

Definition at line 3814 of file vpMbTracker.cpp.

Referenced by vpMbTracker::loadConfigFile().

◆ setReferenceCameraName()

void vpMbEdgeMultiTracker::setReferenceCameraName ( const std::string &  referenceCameraName)
virtual

Set the reference camera name.

Parameters
referenceCameraName: Name of the reference camera.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2844 of file vpMbEdgeMultiTracker.cpp.

◆ setScales()

void vpMbEdgeMultiTracker::setScales ( const std::vector< bool > &  scale)
virtual

Set the scales to use to realize the tracking. The vector of boolean activates or not the scales to set for the object tracking. The first element of the list correspond to the tracking on the full image, the second element corresponds to the tracking on an image subsampled by two.

Using multi scale tracking allows to track the object with greater moves. It requires the computation of a pyramid of images, but the total tracking can be faster than a tracking based only on the full scale. The pose is computed from the smallest image to the biggest. This may be dangerous if the object to track is small in the image, because the subsampled scale(s) will have only few points to compute the pose (it could result in a loss of precision).

Warning
This method must be used before the tracker has been initialized ( before the call of the loadConfigFile() or loadModel() methods).
Not working for the moment. At least one level must be activated.
Parameters
scale: The vector describing the levels to use.

Definition at line 2877 of file vpMbEdgeMultiTracker.cpp.

◆ setScanLineVisibilityTest()

void vpMbEdgeMultiTracker::setScanLineVisibilityTest ( const bool &  v)
virtual

Use Scanline algorithm for visibility tests

Parameters
v: True to use it, False otherwise

Reimplemented from vpMbEdgeTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2891 of file vpMbEdgeMultiTracker.cpp.

◆ setStopCriteriaEpsilon()

virtual void vpMbTracker::setStopCriteriaEpsilon ( const double  eps)
inlinevirtualinherited

Set the minimal error (previous / current estimation) to determine if there is convergence or not.

Parameters
eps: Epsilon threshold.

Definition at line 566 of file vpMbTracker.h.

◆ setUseEdgeTracking()

void vpMbEdgeMultiTracker::setUseEdgeTracking ( const std::string &  name,
const bool &  useEdgeTracking 
)
virtual

Set if the polygons that have the given name have to be considered during the tracking phase.

Parameters
name: name of the polygon(s).
useEdgeTracking: True if it has to be considered, false otherwise.

Definition at line 2909 of file vpMbEdgeMultiTracker.cpp.

◆ testTracking()

void vpMbEdgeTracker::testTracking ( )
protectedvirtualinherited

Check if the tracking failed.

Exceptions
vpTrackingException::fatalErrorif the test fails.

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker, and vpMbEdgeKltTracker.

Definition at line 941 of file vpMbEdgeTracker.cpp.

◆ track() [1/6]

void vpMbEdgeTracker::track

Compute each state of the tracking procedure for all the feature sets.

If the tracking is considered as failed an exception is thrown.

Parameters
I: The image.

Definition at line 1028 of file vpMbEdgeTracker.cpp.

◆ track() [2/6]

void vpMbEdgeMultiTracker::track ( const vpImage< unsigned char > &  I)
virtual

Compute each state of the tracking procedure for all the feature sets.

If the tracking is considered as failed an exception is thrown.

Parameters
I: The grayscale image.

Reimplemented from vpMbEdgeTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2924 of file vpMbEdgeMultiTracker.cpp.

◆ track() [3/6]

void vpMbEdgeMultiTracker::track ( const vpImage< unsigned char > &  I1,
const vpImage< unsigned char > &  I2 
)
virtual

Compute each state of the tracking procedure for all the feature sets.

If the tracking is considered as failed an exception is thrown.

Parameters
I1: The first image.
I2: The second image.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2962 of file vpMbEdgeMultiTracker.cpp.

◆ track() [4/6]

void vpMbEdgeTracker::track

Definition at line 1123 of file vpMbEdgeTracker.cpp.

◆ track() [5/6]

void vpMbEdgeMultiTracker::track ( const vpImage< vpRGBa > &  I_color)
virtual

Not supported interface, this class is deprecated.

Reimplemented from vpMbEdgeTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2949 of file vpMbEdgeMultiTracker.cpp.

◆ track() [6/6]

void vpMbEdgeMultiTracker::track ( std::map< std::string, const vpImage< unsigned char > * > &  mapOfImages)
virtual

Compute each state of the tracking procedure for all the feature sets.

If the tracking is considered as failed an exception is thrown.

Parameters
mapOfImages: Map of images.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2987 of file vpMbEdgeMultiTracker.cpp.

◆ trackMovingEdge()

void vpMbEdgeTracker::trackMovingEdge ( const vpImage< unsigned char > &  I)
protectedinherited

Track the moving edges in the image.

Parameters
I: the image.

Definition at line 1635 of file vpMbEdgeTracker.cpp.

Referenced by vpMbEdgeKltMultiTracker::trackMovingEdges().

◆ updateMovingEdge()

void vpMbEdgeTracker::updateMovingEdge ( const vpImage< unsigned char > &  I)
protectedinherited

Update the moving edges at the end of the virtual visual servoing.

Parameters
I: the image.

Definition at line 1678 of file vpMbEdgeTracker.cpp.

Referenced by vpMbEdgeKltMultiTracker::postTracking().

◆ updateMovingEdgeWeights()

◆ upScale()

void vpMbEdgeTracker::upScale ( const unsigned int  _scale)
protectedinherited

Modify the camera parameters to have them corresponding to the current scale. The new parameters are multiplied by $ 2^{\_scale} $.

Parameters
_scale: Scale to use.

Definition at line 2876 of file vpMbEdgeTracker.cpp.

◆ visibleFace()

void vpMbEdgeTracker::visibleFace ( const vpImage< unsigned char > &  I,
const vpHomogeneousMatrix cMo,
bool &  newvisibleline 
)
protectedinherited

Detect the visible faces in the image and says if a new one appeared.

Warning
If in one iteration one face appears and one disappears, then the function will not detect the new face.
Parameters
I: Image to test if a face is entirely in the image.
cMo: The pose of the camera used to project the 3D model into the image.
newvisibleline: This parameter is set to true if a new face appeared.

Definition at line 2218 of file vpMbEdgeTracker.cpp.

Referenced by vpMbEdgeKltMultiTracker::postTracking().

Member Data Documentation

◆ angleAppears

◆ angleDisappears

◆ applyLodSettingInConfig

bool vpMbTracker::applyLodSettingInConfig
protectedinherited

True if the CAO model is loaded before the call to loadConfigFile, (deduced by the number of polygons)

Definition at line 174 of file vpMbTracker.h.

◆ circles

◆ clippingFlag

◆ computeCovariance

◆ computeProjError

bool vpMbTracker::computeProjError
protectedinherited

Flag used to specify if the gradient error criteria has to be computed or not.

Definition at line 132 of file vpMbTracker.h.

Referenced by computeProjectionError(), vpMbGenericTracker::computeProjectionError(), and vpMbEdgeKltMultiTracker::postTracking().

◆ covarianceMatrix

vpMatrix vpMbTracker::covarianceMatrix
protectedinherited

Covariance matrix.

Definition at line 129 of file vpMbTracker.h.

Referenced by vpMbTracker::computeCovarianceMatrixVVS().

◆ cylinders

◆ displayFeatures

bool vpMbTracker::displayFeatures
protectedinherited

If true, the features are displayed.

Definition at line 137 of file vpMbTracker.h.

Referenced by vpMbDepthNormalTracker::display(), vpMbKltMultiTracker::postTracking(), and vpMbEdgeKltMultiTracker::postTracking().

◆ distFarClip

double vpMbTracker::distFarClip
protectedinherited

◆ distNearClip

double vpMbTracker::distNearClip
protectedinherited

◆ faces

◆ Ipyramid

std::vector<const vpImage<unsigned char> *> vpMbEdgeTracker::Ipyramid
protectedinherited

Pyramid of image associated to the current image. This pyramid is computed in the init() and in the track() methods.

Definition at line 300 of file vpMbEdgeTracker.h.

◆ isoJoIdentity

bool vpMbTracker::isoJoIdentity
protectedinherited

Boolean to know if oJo is identity (for fast computation)

Definition at line 116 of file vpMbTracker.h.

Referenced by vpMbKltMultiTracker::computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), and computeVVS().

◆ lines

◆ m_cam

◆ m_cMo

vpHomogeneousMatrix vpMbTracker::m_cMo
protectedinherited

The current pose.

Definition at line 112 of file vpMbTracker.h.

Referenced by vpMbDepthDenseTracker::computeVisibility(), vpMbDepthNormalTracker::computeVisibility(), vpMbDepthDenseTracker::computeVVS(), vpMbDepthNormalTracker::computeVVS(), vpMbKltMultiTracker::computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), computeVVS(), vpMbGenericTracker::computeVVS(), vpMbTracker::computeVVSCheckLevenbergMarquardt(), vpMbEdgeTracker::computeVVSFirstPhase(), vpMbEdgeTracker::computeVVSFirstPhaseFactor(), computeVVSFirstPhasePoseEstimation(), vpMbEdgeTracker::computeVVSFirstPhasePoseEstimation(), vpMbDepthDenseTracker::computeVVSInteractionMatrixAndResidu(), vpMbDepthNormalTracker::computeVVSInteractionMatrixAndResidu(), vpMbKltMultiTracker::computeVVSInteractionMatrixAndResidu(), computeVVSInteractionMatrixAndResidu(), vpMbEdgeKltMultiTracker::computeVVSInteractionMatrixAndResidu(), vpMbGenericTracker::computeVVSInteractionMatrixAndResidu(), vpMbEdgeTracker::computeVVSInteractionMatrixAndResidu(), vpMbTracker::computeVVSPoseEstimation(), vpMbDepthNormalTracker::getFeaturesForDisplayDepthNormal(), vpMbTracker::getPolygonFaces(), vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), vpMbGenericTracker::init(), vpMbKltTracker::init(), vpMbTracker::initClick(), vpMbGenericTracker::initFromPoints(), vpMbTracker::initFromPoints(), vpMbTracker::initFromPose(), vpMbEdgeKltMultiTracker::initMbtTracking(), vpMbKltMultiTracker::postTracking(), vpMbKltTracker::reinit(), vpMbDepthDenseTracker::reInitModel(), vpMbDepthNormalTracker::reInitModel(), vpMbDepthDenseTracker::resetTracker(), vpMbDepthNormalTracker::resetTracker(), vpMbDepthDenseTracker::segmentPointCloud(), vpMbDepthNormalTracker::segmentPointCloud(), vpMbDepthDenseTracker::setPose(), vpMbDepthNormalTracker::setPose(), vpMbKltTracker::setPose(), and vpMbEdgeKltTracker::trackFirstLoop().

◆ m_computeInteraction

bool vpMbTracker::m_computeInteraction
protectedinherited

If true, compute the interaction matrix at each iteration of the minimization. Otherwise, compute it only on the first iteration

Definition at line 184 of file vpMbTracker.h.

Referenced by vpMbKltMultiTracker::computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), computeVVS(), computeVVSFirstPhasePoseEstimation(), vpMbEdgeTracker::computeVVSFirstPhasePoseEstimation(), vpMbDepthDenseTracker::resetTracker(), and vpMbDepthNormalTracker::resetTracker().

◆ m_error_edge

◆ m_error_edgeMulti

vpColVector vpMbEdgeMultiTracker::m_error_edgeMulti
protected

◆ m_errorCircles

◆ m_errorCylinders

◆ m_errorLines

◆ m_factor

◆ m_featuresToBeDisplayedEdge

std::vector<std::vector<double> > vpMbEdgeTracker::m_featuresToBeDisplayedEdge
protectedinherited

Display features.

Definition at line 332 of file vpMbEdgeTracker.h.

Referenced by vpMbEdgeTracker::displayFeaturesOnImage(), and vpMbEdgeKltMultiTracker::postTracking().

◆ m_I

vpImage<unsigned char> vpMbTracker::m_I
protectedinherited

◆ m_initialMu

double vpMbTracker::m_initialMu
protectedinherited

◆ m_L_edge

◆ m_L_edgeMulti

vpMatrix vpMbEdgeMultiTracker::m_L_edgeMulti
protected

◆ m_lambda

double vpMbTracker::m_lambda
protectedinherited

◆ m_mapOfCameraTransformationMatrix

std::map<std::string, vpHomogeneousMatrix> vpMbEdgeMultiTracker::m_mapOfCameraTransformationMatrix
protected

Map of camera transformation matrix between the current camera frame to the reference camera frame (cCurrent_M_cRef)

Definition at line 77 of file vpMbEdgeMultiTracker.h.

Referenced by computeVVS(), and computeVVSInteractionMatrixAndResidu().

◆ m_mapOfEdgeTrackers

◆ m_mapOfPyramidalImages

std::map<std::string, std::vector<const vpImage<unsigned char> *> > vpMbEdgeMultiTracker::m_mapOfPyramidalImages
protected

Map of pyramidal images for each camera.

Definition at line 83 of file vpMbEdgeMultiTracker.h.

◆ m_mask

const vpImage<bool>* vpMbTracker::m_mask
protectedinherited

◆ m_maxIter

◆ m_optimizationMethod

vpMbtOptimizationMethod vpMbTracker::m_optimizationMethod
protectedinherited

◆ m_projectionErrorCam

vpCameraParameters vpMbTracker::m_projectionErrorCam
protectedinherited

Camera parameters used for projection error computation.

Definition at line 218 of file vpMbTracker.h.

Referenced by vpMbTracker::computeProjectionErrorImpl(), and vpMbTracker::projectionErrorVisibleFace().

◆ m_projectionErrorCircles

std::vector<vpMbtDistanceCircle *> vpMbTracker::m_projectionErrorCircles
protectedinherited

◆ m_projectionErrorCylinders

std::vector<vpMbtDistanceCylinder *> vpMbTracker::m_projectionErrorCylinders
protectedinherited

◆ m_projectionErrorDisplay

bool vpMbTracker::m_projectionErrorDisplay
protectedinherited

Display gradient and model orientation for projection error computation.

Definition at line 212 of file vpMbTracker.h.

Referenced by vpMbTracker::computeProjectionErrorImpl().

◆ m_projectionErrorDisplayLength

unsigned int vpMbTracker::m_projectionErrorDisplayLength
protectedinherited

Length of the arrows used to show the gradient and model orientation.

Definition at line 214 of file vpMbTracker.h.

Referenced by vpMbTracker::computeProjectionErrorImpl().

◆ m_projectionErrorDisplayThickness

unsigned int vpMbTracker::m_projectionErrorDisplayThickness
protectedinherited

Thickness of the arrows used to show the gradient and model orientation.

Definition at line 216 of file vpMbTracker.h.

Referenced by vpMbTracker::computeProjectionErrorImpl().

◆ m_projectionErrorFaces

◆ m_projectionErrorKernelSize

unsigned int vpMbTracker::m_projectionErrorKernelSize
protectedinherited

Kernel size used to compute the gradient orientation.

Definition at line 206 of file vpMbTracker.h.

Referenced by vpMbTracker::loadConfigFile().

◆ m_projectionErrorLines

std::vector<vpMbtDistanceLine *> vpMbTracker::m_projectionErrorLines
protectedinherited

◆ m_projectionErrorMe

vpMe vpMbTracker::m_projectionErrorMe
protectedinherited

◆ m_projectionErrorOgreShowConfigDialog

bool vpMbTracker::m_projectionErrorOgreShowConfigDialog
protectedinherited

Definition at line 202 of file vpMbTracker.h.

Referenced by vpMbTracker::computeProjectionErrorImpl().

◆ m_referenceCameraName

std::string vpMbEdgeMultiTracker::m_referenceCameraName
protected

Name of the reference camera.

Definition at line 86 of file vpMbEdgeMultiTracker.h.

◆ m_robust_edge

vpRobust vpMbEdgeTracker::m_robust_edge
protectedinherited

Robust.

Definition at line 330 of file vpMbEdgeTracker.h.

◆ m_robustCircles

vpRobust vpMbEdgeTracker::m_robustCircles
protectedinherited

◆ m_robustCylinders

vpRobust vpMbEdgeTracker::m_robustCylinders
protectedinherited

◆ m_robustLines

vpRobust vpMbEdgeTracker::m_robustLines
protectedinherited

◆ m_SobelX

vpMatrix vpMbTracker::m_SobelX
protectedinherited

Sobel kernel in X.

Definition at line 208 of file vpMbTracker.h.

Referenced by vpMbTracker::computeProjectionErrorImpl().

◆ m_SobelY

vpMatrix vpMbTracker::m_SobelY
protectedinherited

Sobel kernel in Y.

Definition at line 210 of file vpMbTracker.h.

Referenced by vpMbTracker::computeProjectionErrorImpl().

◆ m_stopCriteriaEpsilon

double vpMbTracker::m_stopCriteriaEpsilon
protectedinherited

Epsilon threshold to stop the VVS optimization loop.

Definition at line 190 of file vpMbTracker.h.

Referenced by vpMbDepthDenseTracker::computeVVS(), vpMbDepthNormalTracker::computeVVS(), and vpMbGenericTracker::computeVVS().

◆ m_w_edge

◆ m_w_edgeMulti

vpColVector vpMbEdgeMultiTracker::m_w_edgeMulti
protected

Robust weights.

Definition at line 92 of file vpMbEdgeMultiTracker.h.

Referenced by computeVVS(), computeVVSFirstPhasePoseEstimation(), computeVVSInit(), and computeVVSWeights().

◆ m_wCircles

vpColVector vpMbEdgeTracker::m_wCircles
protectedinherited

◆ m_wCylinders

vpColVector vpMbEdgeTracker::m_wCylinders
protectedinherited

◆ m_weightedError_edge

vpColVector vpMbEdgeTracker::m_weightedError_edge
protectedinherited

◆ m_weightedError_edgeMulti

vpColVector vpMbEdgeMultiTracker::m_weightedError_edgeMulti
protected

Weighted error.

Definition at line 94 of file vpMbEdgeMultiTracker.h.

Referenced by computeVVS(), computeVVSFirstPhasePoseEstimation(), and computeVVSInit().

◆ m_wLines

vpColVector vpMbEdgeTracker::m_wLines
protectedinherited

◆ mapOfParameterNames

std::map<std::string, std::string> vpMbTracker::mapOfParameterNames
protectedinherited

Map with [map.first]=parameter_names and [map.second]=type (string, number or boolean)

Definition at line 181 of file vpMbTracker.h.

Referenced by vpMbTracker::parseParameters().

◆ me

vpMe vpMbEdgeTracker::me
protectedinherited

The moving edges parameters.

Definition at line 264 of file vpMbEdgeTracker.h.

◆ minLineLengthThresholdGeneral

double vpMbTracker::minLineLengthThresholdGeneral
protectedinherited

Minimum line length threshold for LOD mode (general setting)

Definition at line 176 of file vpMbTracker.h.

Referenced by vpMbTracker::addPolygon(), and vpMbTracker::addProjectionErrorPolygon().

◆ minPolygonAreaThresholdGeneral

double vpMbTracker::minPolygonAreaThresholdGeneral
protectedinherited

Minimum polygon area threshold for LOD mode (general setting)

Definition at line 178 of file vpMbTracker.h.

Referenced by vpMbTracker::addPolygon(), and vpMbTracker::addProjectionErrorPolygon().

◆ modelFileName

std::string vpMbTracker::modelFileName
protectedinherited

The name of the file containing the model (it is used to create a file name.0.pos used to store the compute pose in the initClick method).

Definition at line 119 of file vpMbTracker.h.

◆ modelInitialised

bool vpMbTracker::modelInitialised
protectedinherited

Flag used to ensure that the CAD model is loaded before the initialisation.

Definition at line 122 of file vpMbTracker.h.

Referenced by vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), vpMbEdgeKltMultiTracker::init(), and vpMbKltTracker::init().

◆ nbCircles

unsigned int vpMbTracker::nbCircles
protectedinherited

Number of circles in CAO model.

Definition at line 169 of file vpMbTracker.h.

◆ nbCylinders

unsigned int vpMbTracker::nbCylinders
protectedinherited

Number of cylinders in CAO model.

Definition at line 167 of file vpMbTracker.h.

◆ nbFeaturesForProjErrorComputation

unsigned int vpMbEdgeTracker::nbFeaturesForProjErrorComputation
protectedinherited

Number of features used in the computation of the projection error.

Definition at line 308 of file vpMbEdgeTracker.h.

Referenced by computeProjectionError().

◆ nbLines

unsigned int vpMbTracker::nbLines
protectedinherited

Number of lines in CAO model.

Definition at line 161 of file vpMbTracker.h.

◆ nbPoints

unsigned int vpMbTracker::nbPoints
protectedinherited

Number of points in CAO model.

Definition at line 159 of file vpMbTracker.h.

◆ nbPolygonLines

unsigned int vpMbTracker::nbPolygonLines
protectedinherited

Number of polygon lines in CAO model.

Definition at line 163 of file vpMbTracker.h.

◆ nbPolygonPoints

unsigned int vpMbTracker::nbPolygonPoints
protectedinherited

Number of polygon points in CAO model.

Definition at line 165 of file vpMbTracker.h.

◆ nbvisiblepolygone

unsigned int vpMbEdgeTracker::nbvisiblepolygone
protectedinherited

Number of polygon (face) currently visible.

Definition at line 289 of file vpMbEdgeTracker.h.

◆ ncircle

unsigned int vpMbEdgeTracker::ncircle
protectedinherited

Index of the circle to add, and total number of circles extracted so far.

Definition at line 282 of file vpMbEdgeTracker.h.

◆ ncylinder

unsigned int vpMbEdgeTracker::ncylinder
protectedinherited

Index of the cylinder to add, and total number of cylinders extracted so far.

Definition at line 286 of file vpMbEdgeTracker.h.

◆ nline

unsigned int vpMbEdgeTracker::nline
protectedinherited

Index of the polygon to add, and total number of polygon extracted so far.

Definition at line 278 of file vpMbEdgeTracker.h.

◆ ogreShowConfigDialog

bool vpMbTracker::ogreShowConfigDialog
protectedinherited

◆ oJo

◆ percentageGdPt

double vpMbEdgeTracker::percentageGdPt
protectedinherited

Percentage of good points over total number of points below which tracking is supposed to have failed.

Definition at line 293 of file vpMbEdgeTracker.h.

◆ poseSavingFilename

std::string vpMbTracker::poseSavingFilename
protectedinherited

Filename used to save the initial pose computed using the initClick() method. It is also used to read a previous pose in the same method.

Definition at line 125 of file vpMbTracker.h.

Referenced by vpMbTracker::initClick().

◆ projectionError

double vpMbTracker::projectionError
protectedinherited

Error angle between the gradient direction of the model features projected at the resulting pose and their normal.

Definition at line 135 of file vpMbTracker.h.

Referenced by computeProjectionError(), and vpMbGenericTracker::computeProjectionError().

◆ scaleLevel

unsigned int vpMbEdgeTracker::scaleLevel
protectedinherited

Current scale level used. This attribute must not be modified outside of the downScale() and upScale() methods, as it used to specify to some methods which set of distanceLine use.

Definition at line 305 of file vpMbEdgeTracker.h.

Referenced by vpMbEdgeTracker::computeVVSInteractionMatrixAndResidu(), vpMbEdgeKltTracker::getModelForDisplay(), vpMbEdgeTracker::initMbtTracking(), and vpMbEdgeTracker::updateMovingEdgeWeights().

◆ scales

std::vector<bool> vpMbEdgeTracker::scales
protectedinherited

◆ useLodGeneral

bool vpMbTracker::useLodGeneral
protectedinherited

True if LOD mode is enabled.

Definition at line 171 of file vpMbTracker.h.

◆ useOgre

◆ useScanLine

vpMbEdgeKltTracker::getError
virtual vpColVector getError() const
Definition: vpMbEdgeKltTracker.h:244
vpMbEdgeKltTracker::track
virtual void track(const vpImage< unsigned char > &I)
Definition: vpMbEdgeKltTracker.cpp:880
vpColVector
Implementation of column vector and the associated operations.
Definition: vpColVector.h:129
vpColVector::sum
double sum() const
Definition: vpColVector.cpp:1479
vpMbEdgeKltTracker::getRobustWeights
virtual vpColVector getRobustWeights() const
Definition: vpMbEdgeKltTracker.h:251
vpArray2D::size
unsigned int size() const
Return the number of elements of the 2D array.
Definition: vpArray2D.h:290