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Visual Servoing Platform
version 3.3.0
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#include <vpMbKltMultiTracker.h>
Public Types | |
enum | vpMbtOptimizationMethod { GAUSS_NEWTON_OPT = 0, LEVENBERG_MARQUARDT_OPT = 1 } |
Public Member Functions | |
vpMbKltMultiTracker () | |
vpMbKltMultiTracker (unsigned int nbCameras) | |
vpMbKltMultiTracker (const std::vector< std::string > &cameraNames) | |
virtual | ~vpMbKltMultiTracker () |
Inherited functionalities from vpMbKltMultiTracker | |
virtual void | addCircle (const vpPoint &P1, const vpPoint &P2, const vpPoint &P3, double r, const std::string &name="") |
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 &color, 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 &color, 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 |
virtual std::list< vpMbtDistanceCircle * > & | getFeaturesCircle () |
virtual std::list< vpMbtDistanceCircle * > & | getFeaturesCircle (const std::string &cameraName) |
virtual std::list< vpMbtDistanceKltPoints * > & | getFeaturesKlt () |
virtual std::list< vpMbtDistanceKltPoints * > & | getFeaturesKlt (const std::string &cameraName) |
virtual std::list< vpMbtDistanceKltCylinder * > & | getFeaturesKltCylinder () |
virtual std::list< vpMbtDistanceKltCylinder * > & | getFeaturesKltCylinder (const std::string &cameraName) |
virtual std::map< std::string, std::vector< vpImagePoint > > | getKltImagePoints () const |
virtual std::map< std::string, std::map< int, vpImagePoint > > | getKltImagePointsWithId () const |
virtual std::map< std::string, vpKltOpencv > | getKltOpencv () const |
virtual std::map< std::string, std::vector< cv::Point2f > > | getKltPoints () const |
virtual std::map< std::string, int > | getKltNbPoints () const |
virtual unsigned int | getNbPolygon () 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 |
virtual 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) |
void | setGoodNbRayCastingAttemptsRatio (const double &ratio) |
void | setNbRayCastingAttemptsForVisibility (const unsigned int &attempts) |
virtual void | setKltMaskBorder (const unsigned int &e) |
virtual void | setKltOpencv (const vpKltOpencv &t) |
virtual void | setKltOpencv (const std::map< std::string, vpKltOpencv > &mapOfOpenCVTrackers) |
virtual void | setKltThresholdAcceptation (double th) |
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 | setMinPolygonAreaThresh (double minPolygonAreaThresh, const std::string &name="") |
virtual void | setMinPolygonAreaThresh (double minPolygonAreaThresh, const std::string &cameraName, const std::string &name) |
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 | setReferenceCameraName (const std::string &referenceCameraName) |
virtual void | setScanLineVisibilityTest (const bool &v) |
virtual void | setUseKltTracking (const std::string &name, const bool &useKltTracking) |
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 | setPose (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cdMo) |
virtual void | setPose (const vpImage< vpRGBa > &I_color, const vpHomogeneousMatrix &cdMo) |
virtual void | setPose (const vpImage< unsigned char > *const I, const vpImage< vpRGBa > *const I_color, const vpHomogeneousMatrix &cdMo) |
Deprecated functions | |
virtual std::map< std::string, int > | getNbKltPoints () const |
virtual void | setMaskBorder (const unsigned int &e) |
virtual void | setThresholdAcceptation (double th) |
Inherited functionalities from vpMbKltTracker | |
unsigned int | getKltMaskBorder () const |
double | getKltThresholdAcceptation () const |
virtual void | setProjectionErrorComputation (const bool &flag) |
virtual void | testTracking () |
Deprecated functions | |
unsigned int | getMaskBorder () const |
double | getThresholdAcceptation () 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 vpMbtPolygon * | getPolygon (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 vpMbKltMultiTracker | |
virtual void | computeVVS () |
virtual void | computeVVSInit () |
virtual void | computeVVSInteractionMatrixAndResidu () |
virtual void | computeVVSInteractionMatrixAndResidu (std::map< std::string, vpVelocityTwistMatrix > &mapOfVelocityTwist) |
virtual void | computeVVSWeights () |
virtual void | postTracking (std::map< std::string, const vpImage< unsigned char > * > &mapOfImages) |
virtual void | preTracking (std::map< std::string, const vpImage< unsigned char > * > &mapOfImages) |
virtual void | reinit () |
virtual void | computeVVSWeights (vpRobust &robust, const vpColVector &error, vpColVector &w) |
virtual void | reinit (const vpImage< unsigned char > &I) |
Protected Member Functions Inherited from vpMbKltTracker | |
virtual void | setPose (const vpImage< unsigned char > *const I, const vpImage< vpRGBa > *const I_color, const vpHomogeneousMatrix &cdMo) |
virtual std::vector< std::vector< double > > | getFeaturesForDisplayKlt () |
virtual void | initFaceFromCorners (vpMbtPolygon &polygon) |
virtual void | initFaceFromLines (vpMbtPolygon &polygon) |
virtual void | initCircle (const vpPoint &, const vpPoint &, const vpPoint &, double, int, const std::string &name="") |
virtual void | initCylinder (const vpPoint &, const vpPoint &, double, int, const std::string &name="") |
void | preTracking (const vpImage< unsigned char > &I) |
bool | postTracking (const vpImage< unsigned char > &I, vpColVector &w) |
virtual void | reinit (const vpImage< unsigned char > &I) |
Protected Member Functions Inherited from vpMbTracker | |
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 | 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) |
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 <L, vpColVector &R, const vpColVector &error, vpColVector &error_prev, vpColVector <R, double &mu, vpColVector &v, const vpColVector *const w=NULL, vpColVector *const m_w_prev=NULL) |
virtual void | computeVVSWeights (vpRobust &robust, const vpColVector &error, vpColVector &w) |
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 |
Model based stereo (or more) tracker using only KLT.
The Tutorial: Markerless model-based tracking with stereo cameras (deprecated) is 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.
Definition at line 74 of file vpMbKltMultiTracker.h.
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inherited |
Enumerator | |
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GAUSS_NEWTON_OPT | |
LEVENBERG_MARQUARDT_OPT |
Definition at line 106 of file vpMbTracker.h.
vpMbKltMultiTracker::vpMbKltMultiTracker | ( | ) |
Basic constructor
Definition at line 56 of file vpMbKltMultiTracker.cpp.
vpMbKltMultiTracker::vpMbKltMultiTracker | ( | unsigned int | nbCameras | ) |
Construct a vpMbKltMultiTracker with the specified number of cameras.
nbCameras | : Number of cameras to use. |
Definition at line 71 of file vpMbKltMultiTracker.cpp.
vpMbKltMultiTracker::vpMbKltMultiTracker | ( | const std::vector< std::string > & | cameraNames | ) |
Construct a vpMbKltMultiTracker with the specified list of camera names.
cameraNames | : List of camera names. |
Definition at line 113 of file vpMbKltMultiTracker.cpp.
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virtual |
Basic destructor useful to deallocate the memory.
Definition at line 132 of file vpMbKltMultiTracker.cpp.
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Add a circle to the list of circles.
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. |
name | : Name of the circle. |
Definition at line 148 of file vpMbKltMultiTracker.cpp.
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Definition at line 1406 of file vpMbTracker.cpp.
References vpPolygon3D::addPoint(), vpMbHiddenFaces< PolygonType >::addPolygon(), vpMbTracker::clippingFlag, vpMbTracker::distFarClip, vpMbTracker::distNearClip, vpMbTracker::faces, vpPolygon3D::FAR_CLIPPING, vpMbHiddenFaces< PolygonType >::getPolygon(), vpMbTracker::minPolygonAreaThresholdGeneral, vpPolygon3D::NEAR_CLIPPING, vpPolygon3D::NO_CLIPPING, vpMbtPolygon::setIndex(), vpMbtPolygon::setIsPolygonOriented(), vpMbtPolygon::setLod(), vpMbtPolygon::setMinLineLengthThresh(), vpMbtPolygon::setMinPolygonAreaThresh(), vpMbtPolygon::setName(), and vpPolygon3D::setNbPoint().
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Definition at line 1231 of file vpMbTracker.cpp.
References vpPolygon3D::addPoint(), vpMbHiddenFaces< PolygonType >::addPolygon(), vpMbTracker::clippingFlag, vpMbTracker::distFarClip, vpMbTracker::distNearClip, vpMbTracker::faces, vpPolygon3D::FAR_CLIPPING, vpMbHiddenFaces< PolygonType >::getPolygon(), vpPolygon3D::NEAR_CLIPPING, vpPolygon3D::NO_CLIPPING, vpMbtPolygon::setIndex(), vpMbtPolygon::setLod(), vpMbtPolygon::setMinLineLengthThresh(), vpMbtPolygon::setMinPolygonAreaThresh(), vpMbtPolygon::setName(), and vpPolygon3D::setNbPoint().
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Definition at line 1287 of file vpMbTracker.cpp.
References vpPolygon3D::addPoint(), vpMbHiddenFaces< PolygonType >::addPolygon(), vpMbTracker::clippingFlag, vpColVector::crossProd(), vpMbTracker::distFarClip, vpMbTracker::distNearClip, vpMbTracker::faces, vpPolygon3D::FAR_CLIPPING, vpPoint::get_oX(), vpPoint::get_oY(), vpPoint::get_oZ(), vpPlane::getA(), vpPlane::getB(), vpPlane::getC(), vpMbHiddenFaces< PolygonType >::getPolygon(), vpMbTracker::minLineLengthThresholdGeneral, vpPolygon3D::NEAR_CLIPPING, vpPolygon3D::NO_CLIPPING, vpPlane::object_frame, vpMath::rad(), vpMbtPolygon::setIndex(), vpMbtPolygon::setLod(), vpMbtPolygon::setMinLineLengthThresh(), vpMbtPolygon::setMinPolygonAreaThresh(), vpMbtPolygon::setName(), vpPolygon3D::setNbPoint(), vpPoint::setWorldCoordinates(), and vpMath::sqr().
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Definition at line 1368 of file vpMbTracker.cpp.
References vpPolygon3D::addPoint(), vpMbHiddenFaces< PolygonType >::addPolygon(), vpMbTracker::clippingFlag, vpMbTracker::distFarClip, vpMbTracker::distNearClip, vpMbTracker::faces, vpPolygon3D::FAR_CLIPPING, vpMbHiddenFaces< PolygonType >::getPolygon(), vpMbTracker::minPolygonAreaThresholdGeneral, vpPolygon3D::NEAR_CLIPPING, vpPolygon3D::NO_CLIPPING, vpMbtPolygon::setIndex(), vpMbtPolygon::setLod(), vpMbtPolygon::setMinLineLengthThresh(), vpMbtPolygon::setMinPolygonAreaThresh(), vpMbtPolygon::setName(), and vpPolygon3D::setNbPoint().
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Definition at line 3378 of file vpMbTracker.cpp.
References vpMbtDistanceCircle::buildFrom(), vpMbtDistanceCircle::hiddenface, vpMbtDistanceCircle::index_polygon, vpMbTracker::m_cam, vpMbTracker::m_projectionErrorCircles, vpMbTracker::m_projectionErrorFaces, vpMbTracker::m_projectionErrorMe, vpMath::maximum(), vpMbtDistanceCircle::p1, vpMbtDistanceCircle::p2, vpMbtDistanceCircle::p3, vpMbtDistanceCircle::radius, vpMbTracker::samePoint(), vpMbtDistanceCircle::setCameraParameters(), vpMbtDistanceCircle::setIndex(), vpMbtDistanceCircle::setMovingEdge(), and vpMbtDistanceCircle::setName().
Referenced by vpMbTracker::initProjectionErrorCircle().
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Definition at line 3408 of file vpMbTracker.cpp.
References vpMbtDistanceCylinder::buildFrom(), vpMbtDistanceCylinder::hiddenface, vpMbtDistanceCylinder::index_polygon, vpMbTracker::m_cam, vpMbTracker::m_projectionErrorCylinders, vpMbTracker::m_projectionErrorFaces, vpMbTracker::m_projectionErrorMe, vpMath::maximum(), vpMbtDistanceCylinder::p1, vpMbtDistanceCylinder::p2, vpMbtDistanceCylinder::radius, vpMbTracker::samePoint(), vpMbtDistanceCylinder::setCameraParameters(), vpMbtDistanceCylinder::setIndex(), vpMbtDistanceCylinder::setMovingEdge(), and vpMbtDistanceCylinder::setName().
Referenced by vpMbTracker::initProjectionErrorCylinder().
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Definition at line 3336 of file vpMbTracker.cpp.
References vpMbtDistanceLine::addPolygon(), vpMbtDistanceLine::buildFrom(), vpMbTracker::clippingFlag, vpMbTracker::distFarClip, vpMbTracker::distNearClip, vpPolygon3D::FAR_CLIPPING, vpMbtDistanceLine::getPolygon(), vpMbtDistanceLine::hiddenface, vpMbTracker::m_cam, vpMbTracker::m_projectionErrorFaces, vpMbTracker::m_projectionErrorLines, vpMbTracker::m_projectionErrorMe, vpPolygon3D::NEAR_CLIPPING, vpPolygon3D::NO_CLIPPING, vpMbtDistanceLine::p1, vpMbtDistanceLine::p2, vpMbTracker::samePoint(), vpMbtDistanceLine::setCameraParameters(), vpPolygon3D::setClipping(), vpPolygon3D::setFarClippingDistance(), vpMbtDistanceLine::setIndex(), vpMbtDistanceLine::setMovingEdge(), vpMbtDistanceLine::setName(), vpPolygon3D::setNearClippingDistance(), vpMbtDistanceLine::useScanLine, and vpMbTracker::useScanLine.
Referenced by vpMbTracker::initProjectionErrorFaceFromCorners(), and vpMbTracker::initProjectionErrorFaceFromLines().
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Definition at line 3304 of file vpMbTracker.cpp.
References vpPolygon3D::addPoint(), vpMbHiddenFaces< PolygonType >::addPolygon(), vpMbTracker::clippingFlag, vpMbTracker::distFarClip, vpMbTracker::distNearClip, vpPolygon3D::FAR_CLIPPING, vpMbHiddenFaces< PolygonType >::getPolygon(), vpMbTracker::m_projectionErrorFaces, vpMbTracker::minPolygonAreaThresholdGeneral, vpPolygon3D::NEAR_CLIPPING, vpPolygon3D::NO_CLIPPING, vpMbtPolygon::setIndex(), vpMbtPolygon::setIsPolygonOriented(), vpMbtPolygon::setLod(), vpMbtPolygon::setMinLineLengthThresh(), vpMbtPolygon::setMinPolygonAreaThresh(), vpMbtPolygon::setName(), and vpPolygon3D::setNbPoint().
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Definition at line 3155 of file vpMbTracker.cpp.
References vpPolygon3D::addPoint(), vpMbHiddenFaces< PolygonType >::addPolygon(), vpMbTracker::clippingFlag, vpMbTracker::distFarClip, vpMbTracker::distNearClip, vpPolygon3D::FAR_CLIPPING, vpMbHiddenFaces< PolygonType >::getPolygon(), vpMbTracker::m_projectionErrorFaces, vpPolygon3D::NEAR_CLIPPING, vpPolygon3D::NO_CLIPPING, vpMbtPolygon::setIndex(), vpMbtPolygon::setLod(), vpMbtPolygon::setMinLineLengthThresh(), vpMbtPolygon::setMinPolygonAreaThresh(), vpMbtPolygon::setName(), and vpPolygon3D::setNbPoint().
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Definition at line 3197 of file vpMbTracker.cpp.
References vpPolygon3D::addPoint(), vpMbHiddenFaces< PolygonType >::addPolygon(), vpMbTracker::clippingFlag, vpColVector::crossProd(), vpMbTracker::distFarClip, vpMbTracker::distNearClip, vpPolygon3D::FAR_CLIPPING, vpPoint::get_oX(), vpPoint::get_oY(), vpPoint::get_oZ(), vpPlane::getA(), vpPlane::getB(), vpPlane::getC(), vpMbHiddenFaces< PolygonType >::getPolygon(), vpMbTracker::m_projectionErrorFaces, vpMbTracker::minLineLengthThresholdGeneral, vpPolygon3D::NEAR_CLIPPING, vpPolygon3D::NO_CLIPPING, vpPlane::object_frame, vpMath::rad(), vpMbtPolygon::setIndex(), vpMbtPolygon::setLod(), vpMbtPolygon::setMinLineLengthThresh(), vpMbtPolygon::setMinPolygonAreaThresh(), vpMbtPolygon::setName(), vpPolygon3D::setNbPoint(), vpPoint::setWorldCoordinates(), and vpMath::sqr().
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Definition at line 3272 of file vpMbTracker.cpp.
References vpPolygon3D::addPoint(), vpMbHiddenFaces< PolygonType >::addPolygon(), vpMbTracker::clippingFlag, vpMbTracker::distFarClip, vpMbTracker::distNearClip, vpPolygon3D::FAR_CLIPPING, vpMbHiddenFaces< PolygonType >::getPolygon(), vpMbTracker::m_projectionErrorFaces, vpMbTracker::minPolygonAreaThresholdGeneral, vpPolygon3D::NEAR_CLIPPING, vpPolygon3D::NO_CLIPPING, vpMbtPolygon::setIndex(), vpMbtPolygon::setLod(), vpMbtPolygon::setMinLineLengthThresh(), vpMbtPolygon::setMinPolygonAreaThresh(), vpMbtPolygon::setName(), and vpPolygon3D::setNbPoint().
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Definition at line 2822 of file vpMbTracker.cpp.
References vpMbTracker::computeCovariance, vpMatrix::computeCovarianceMatrixVVS(), and vpMbTracker::covarianceMatrix.
Referenced by vpMbDepthDenseTracker::computeVVS(), vpMbDepthNormalTracker::computeVVS(), computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVS(), and vpMbGenericTracker::computeVVS().
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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
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.
I | : Input grayscale image. |
_cMo | : Camera pose. |
_cam | : Camera parameters. |
Reimplemented in vpMbGenericTracker.
Definition at line 3486 of file vpMbTracker.cpp.
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Compute , with J the interaction matrix and R the vector of residu.
vpMatrixException::incorrectMatrixSizeError | if the sizes of the matrices do not allow the computation. |
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 vpMbEdgeMultiTracker::computeVVSFirstPhasePoseEstimation(), vpMbEdgeTracker::computeVVSFirstPhasePoseEstimation(), and vpMbTracker::computeVVSPoseEstimation().
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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.
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Definition at line 157 of file vpMbKltMultiTracker.cpp.
References vpVelocityTwistMatrix::buildFrom(), vpMbKltTracker::c0Mo, vpMbTracker::computeCovariance, vpMbTracker::computeCovarianceMatrixVVS(), vpMbTracker::computeVVSCheckLevenbergMarquardt(), computeVVSInit(), vpMbKltTracker::computeVVSInit(), computeVVSInteractionMatrixAndResidu(), vpMbTracker::computeVVSPoseEstimation(), computeVVSWeights(), vpMbKltTracker::ctTc0, vpExponentialMap::direct(), vpArray2D< Type >::getRows(), vpHomogeneousMatrix::inverse(), vpMbTracker::isoJoIdentity, vpMbTracker::m_cMo, vpMbTracker::m_computeInteraction, m_error_kltMulti, vpMbTracker::m_initialMu, m_L_kltMulti, m_mapOfCameraTransformationMatrix, m_mapOfKltTrackers, vpMbTracker::m_maxIter, m_w_kltMulti, m_weightedError_kltMulti, and vpMbTracker::oJo.
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Definition at line 2902 of file vpMbTracker.cpp.
References vpTrackingException::fatalError, vpArray2D< Type >::getRows(), vpMbTracker::LEVENBERG_MARQUARDT_OPT, vpMbTracker::m_cMo, vpMbTracker::m_optimizationMethod, and vpColVector::sumSquare().
Referenced by vpMbDepthDenseTracker::computeVVS(), vpMbDepthNormalTracker::computeVVS(), computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVS(), and vpMbGenericTracker::computeVVS().
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Reimplemented from vpMbKltTracker.
Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 241 of file vpMbKltMultiTracker.cpp.
References m_error_kltMulti, m_L_kltMulti, vpMbKltTracker::m_nbInfos, m_w_kltMulti, m_weightedError_kltMulti, vpArray2D< Type >::resize(), and vpColVector::resize().
Referenced by computeVVS().
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Reimplemented from vpMbKltTracker.
Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 251 of file vpMbKltMultiTracker.cpp.
References vpException::fatalError.
Referenced by computeVVS().
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Definition at line 258 of file vpMbKltMultiTracker.cpp.
References vpMbKltTracker::computeVVSInteractionMatrixAndResidu(), vpMbKltTracker::ctTc0, vpArray2D< Type >::getRows(), vpColVector::insert(), vpMatrix::insert(), vpHomogeneousMatrix::inverse(), vpMbTracker::m_cMo, vpMbKltTracker::m_error_klt, m_error_kltMulti, vpMbKltTracker::m_L_klt, m_L_kltMulti, m_mapOfCameraTransformationMatrix, and m_mapOfKltTrackers.
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Definition at line 2924 of file vpMbTracker.cpp.
References vpVelocityTwistMatrix::buildFrom(), vpMbTracker::computeJTR(), vpMatrix::eye(), vpMbTracker::GAUSS_NEWTON_OPT, vpArray2D< Type >::getCols(), vpArray2D< Type >::getRows(), vpMbTracker::LEVENBERG_MARQUARDT_OPT, vpMbTracker::m_cMo, vpMbTracker::m_lambda, vpMbTracker::m_optimizationMethod, vpMbTracker::oJo, and vpMatrix::pseudoInverse().
Referenced by vpMbDepthDenseTracker::computeVVS(), vpMbDepthNormalTracker::computeVVS(), computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVS(), and vpMbGenericTracker::computeVVS().
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Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 287 of file vpMbKltMultiTracker.cpp.
References vpMbTracker::computeVVSWeights(), vpArray2D< Type >::getRows(), vpColVector::insert(), vpMbKltTracker::m_error_klt, m_mapOfKltTrackers, vpMbKltTracker::m_robust_klt, vpMbKltTracker::m_w_klt, and m_w_kltMulti.
Referenced by computeVVS().
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Definition at line 2987 of file vpMbTracker.cpp.
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Definition at line 2987 of file vpMbTracker.cpp.
References vpRobust::MEstimator(), and vpRobust::TUKEY.
Referenced by vpMbDepthNormalTracker::computeVVS(), computeVVSWeights(), and vpMbEdgeKltMultiTracker::computeVVSWeights().
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Definition at line 3043 of file vpMbTracker.cpp.
References vpException::badValue, vpColVector::clear(), vpColVector::crossProd(), vpColVector::frobeniusNorm(), vpPoint::get_oX(), vpPoint::get_oY(), vpPoint::get_oZ(), and vpColVector::normalize().
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Display the 3D model from a given position of the camera.
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 419 of file vpMbKltMultiTracker.cpp.
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Display the 3D model from a given position of the camera.
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 452 of file vpMbKltMultiTracker.cpp.
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Display the 3D model from a given position of the camera.
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 vpMbKltTracker.
Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 311 of file vpMbKltMultiTracker.cpp.
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Display the 3D model from a given position of the camera.
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. |
color | : 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 360 of file vpMbKltMultiTracker.cpp.
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Display the 3D model from a given position of the camera.
I | : The color image. |
cMo | : Pose used to project the 3D model into the image. |
cam | : The camera parameters. |
color | : The desired color. |
thickness | : The thickness of the lines. |
displayFullModel | : If true, the full model is displayed (even the non visible faces). |
Reimplemented from vpMbKltTracker.
Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 334 of file vpMbKltMultiTracker.cpp.
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Display the 3D model from a given position of the camera.
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. |
color | : 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 391 of file vpMbKltMultiTracker.cpp.
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Extract a cylinder to track from the VMRL model. This method calls the initCylinder() method implemented in the child class.
face_set | : Pointer to the cylinder in the vrml format. |
transform | : Transformation matrix applied to the cylinder. |
idFace | : Id of the face. |
polygonName | Name of the polygon. |
Definition at line 2437 of file vpMbTracker.cpp.
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Extract a face of the object to track from the VMRL model. This method calls the initFaceFromCorners() method implemented in the child class.
face_set | : Pointer to the face in the vrml format. |
transform | : Transformation matrix applied to the face. |
idFace | : Face id. |
polygonName | Name of the polygon. |
Definition at line 2384 of file vpMbTracker.cpp.
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Extract a VRML object Group.
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.
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Extract a line of the object to track from the VMRL model. This method calls the initFaceFromCorners() method implemented in the child class.
line_set | : Pointer to the line in the vrml format. |
idFace | : Id of the face. |
polygonName | Name of the polygon. |
Definition at line 2522 of file vpMbTracker.cpp.
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Return the angle used to test polygons appearance.
Definition at line 233 of file vpMbTracker.h.
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Return the angle used to test polygons disappearance.
Definition at line 236 of file vpMbTracker.h.
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Get the camera names
Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 479 of file vpMbKltMultiTracker.cpp.
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Get the camera parameters specified by its name.
cameraName | : Name of the camera. |
camera | : Copy of the camera parameters. |
Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 533 of file vpMbKltMultiTracker.cpp.
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Get all the camera parameters.
mapOfCameraParameters | : Map of camera parameters. |
Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 548 of file vpMbKltMultiTracker.cpp.
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Get the camera parameters for the stereo cameras case.
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 513 of file vpMbKltMultiTracker.cpp.
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Get the camera parameters for the reference camera.
camera | : Copy of the camera parameters used by the tracker. |
Reimplemented from vpMbTracker.
Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 496 of file vpMbKltMultiTracker.cpp.
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Get the clipping used and defined in vpPolygon3D::vpMbtPolygonClippingType.
Definition at line 251 of file vpMbTracker.h.
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Get the clipping used and defined in vpPolygon3D::vpMbtPolygonClippingType.
Definition at line 251 of file vpMbTracker.h.
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Get the clipping used and defined in vpPolygon3D::vpMbtPolygonClippingType for the given camera name.
cameraName | : Name of the desired camera. |
Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 568 of file vpMbKltMultiTracker.cpp.
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Get the covariance matrix. This matrix is only computed if setCovarianceComputation() is turned on.
Definition at line 260 of file vpMbTracker.h.
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Return the error vector 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:
Reimplemented from vpMbKltTracker.
Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 193 of file vpMbKltMultiTracker.h.
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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;
Definition at line 3004 of file vpMbTracker.cpp.
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Return a reference to the faces structure.
Reimplemented from vpMbTracker.
Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 585 of file vpMbKltMultiTracker.cpp.
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Return a map of faces structure for each camera.
Definition at line 617 of file vpMbKltMultiTracker.cpp.
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Return a reference to the faces structure for the given camera name.
Definition at line 601 of file vpMbKltMultiTracker.cpp.
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Get the far distance for clipping.
Definition at line 334 of file vpMbTracker.h.
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Return the address of the circle feature list.
Reimplemented from vpMbKltTracker.
Definition at line 633 of file vpMbKltMultiTracker.cpp.
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Return the address of the circle feature list for the given camera.
cameraName | : Camera name. |
Definition at line 652 of file vpMbKltMultiTracker.cpp.
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Definition at line 1180 of file vpMbKltTracker.cpp.
References vpMbtDistanceKltPoints::getFeaturesForDisplay(), vpMbtDistanceKltCylinder::getFeaturesForDisplay(), vpMbtDistanceKltCylinder::hasEnoughPoints(), vpMbtDistanceKltPoints::hasEnoughPoints(), vpMbtDistanceKltCylinder::isTracked(), vpMbtDistanceKltPoints::isTracked(), vpMbtPolygon::isVisible(), vpMbKltTracker::kltCylinders, vpMbKltTracker::kltPolygons, and vpMbtDistanceKltPoints::polygon.
Referenced by postTracking().
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Return the address of the Klt feature list.
Reimplemented from vpMbKltTracker.
Definition at line 671 of file vpMbKltMultiTracker.cpp.
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virtual |
Return the address of the Klt feature list for the given camera.
cameraName | : Camera name. |
Definition at line 691 of file vpMbKltMultiTracker.cpp.
|
virtual |
Return the address of the cylinder feature list.
Reimplemented from vpMbKltTracker.
Definition at line 709 of file vpMbKltMultiTracker.cpp.
|
virtual |
Return the address of the cylinder feature list for the given camera.
cameraName | : Camera name. |
Definition at line 728 of file vpMbKltMultiTracker.cpp.
|
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.
vpException::dimensionError | if the set is empty. |
pts | : Set of point to extract the center of gravity. |
Definition at line 2567 of file vpMbTracker.cpp.
|
inlinevirtualinherited |
Get the initial value of mu used in the Levenberg Marquardt optimization loop.
Definition at line 279 of file vpMbTracker.h.
|
virtual |
Get the current list of KLT points for each camera.
Definition at line 749 of file vpMbKltMultiTracker.cpp.
|
virtual |
Get the current list of KLT points and their id for each camera.
Definition at line 770 of file vpMbKltMultiTracker.cpp.
|
inlineinherited |
Get the erosion of the mask used on the Model faces.
Definition at line 315 of file vpMbKltTracker.h.
|
virtual |
Get the current number of klt points for each camera.
Definition at line 835 of file vpMbKltMultiTracker.cpp.
|
virtual |
Get the klt tracker at the current state for each camera.
Definition at line 787 of file vpMbKltMultiTracker.cpp.
|
virtual |
Get the current list of KLT points.
Definition at line 805 of file vpMbKltMultiTracker.cpp.
References m_mapOfKltTrackers.
|
inlineinherited |
Get the threshold for the acceptation of a point.
Definition at line 330 of file vpMbKltTracker.h.
|
inlinevirtualinherited |
Get the value of the gain used to compute the control law.
Definition at line 286 of file vpMbTracker.h.
|
inlineinherited |
Get the erosion of the mask used on the Model faces.
Definition at line 434 of file vpMbKltTracker.h.
|
inlinevirtualinherited |
Get the maximum number of iterations of the virtual visual servoing stage.
Definition at line 293 of file vpMbTracker.h.
|
inlinevirtual |
Return a list of primitives parameters to display the model at a given pose and camera parameters.
<primitive id (here 0 for line)>
, <pt_start.i()>
, <pt_start.j()>
, <pt_end.i()>
, <pt_end.j()>
<primitive id (here 1 for ellipse)>
, <pt_center.i()>
, <pt_center.j()>
, <mu20>
, <mu11>
, <mu02>
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 vpMbKltTracker.
Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 132 of file vpMbKltMultiTracker.h.
|
virtual |
Get the number of polygons (faces) representing the object to track for all the cameras.
Definition at line 869 of file vpMbKltMultiTracker.cpp.
|
virtual |
Get the current number of klt points for each camera.
Definition at line 2846 of file vpMbKltMultiTracker.cpp.
|
virtual |
Get the number of polygons (faces) representing the object to track.
Reimplemented from vpMbTracker.
Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 852 of file vpMbKltMultiTracker.cpp.
|
inlinevirtualinherited |
Get the near distance for clipping.
Reimplemented in vpMbEdgeKltTracker.
Definition at line 370 of file vpMbTracker.h.
|
inline |
Get the number of cameras.
Definition at line 186 of file vpMbKltMultiTracker.h.
|
inlinevirtualinherited |
Get the optimization method used during the tracking. 0 = Gauss-Newton approach. 1 = Levenberg-Marquardt approach.
Definition at line 379 of file vpMbTracker.h.
|
inlinevirtualinherited |
Return the polygon (face) "index".
vpException::dimensionError | if index does not represent a good polygon. |
index | : Index of the polygon to return. |
Reimplemented in vpMbGenericTracker.
Definition at line 390 of file vpMbTracker.h.
|
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.
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. |
Reimplemented in vpMbGenericTracker.
Definition at line 2601 of file vpMbTracker.cpp.
References vpMbTracker::faces, vpMbHiddenFaces< PolygonType >::getPolygon(), vpMbTracker::m_cam, and vpMbTracker::m_cMo.
|
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.
Definition at line 418 of file vpMbTracker.h.
|
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.
Definition at line 418 of file vpMbTracker.h.
Referenced by vpMbGenericTracker::getPose().
|
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.
cameraName | : The name of the camera. |
cMo_ | : The camera pose for the specified camera. |
Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 907 of file vpMbKltMultiTracker.cpp.
|
virtual |
Get the current pose between the object and the cameras.
mapOfCameraPoses | : The map of camera poses for all the cameras. |
Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 922 of file vpMbKltMultiTracker.cpp.
|
virtual |
Get the current pose between the object and the cameras.
c1Mo | : The camera pose for the first camera. |
c2Mo | : The camera pose for the second camera. |
Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 886 of file vpMbKltMultiTracker.cpp.
|
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.
cMo | : the pose |
Definition at line 409 of file vpMbTracker.h.
|
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.
cMo | : the pose |
Reimplemented in vpMbGenericTracker.
Definition at line 409 of file vpMbTracker.h.
|
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.
Definition at line 305 of file vpMbTracker.h.
|
inlinevirtual |
Return the weights vector 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:
Reimplemented from vpMbKltTracker.
Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 195 of file vpMbKltMultiTracker.h.
|
inlinevirtualinherited |
Definition at line 420 of file vpMbTracker.h.
|
inlineinherited |
Get the threshold for the acceptation of a point.
Definition at line 450 of file vpMbKltTracker.h.
|
virtual |
Initialise the tracking.
I | : Input image. |
Reimplemented from vpMbKltTracker.
Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 935 of file vpMbKltMultiTracker.cpp.
|
protectedvirtualinherited |
Add a circle to display (not for tracking) from its center, 3 points (including the center) defining the plane that contain the circle and its radius.
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. |
name | : The optional name of the circle. |
Implements vpMbTracker.
Reimplemented in vpMbEdgeKltTracker, and vpMbEdgeKltMultiTracker.
Definition at line 1340 of file vpMbKltTracker.cpp.
|
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:
The cameras that have not an init file will be automatically initialized but the camera transformation matrices have to be set before.
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. |
vpException::ioError | : The file specified in initFile doesn't exist. |
Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 1214 of file vpMbKltMultiTracker.cpp.
|
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:
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. |
vpException::ioError | : The file specified in initFile doesn't exist. |
Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 1137 of file vpMbKltMultiTracker.cpp.
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:
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. |
vpException::ioError | : The file specified in initFile doesn't exist. |
Definition at line 547 of file vpMbTracker.cpp.
|
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:
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. |
vpException::ioError | : The file specified in initFile doesn't exist. |
Reimplemented from vpMbTracker.
Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 1004 of file vpMbKltMultiTracker.cpp.
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.
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.
|
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.
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 948 of file vpMbKltMultiTracker.cpp.
|
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:
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. |
vpException::ioError | : The file specified in initFile doesn't exist. |
Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 1066 of file vpMbKltMultiTracker.cpp.
void vpMbTracker::initClick |
Definition at line 190 of file vpMbTracker.cpp.
|
protectedvirtualinherited |
Definition at line 190 of file vpMbTracker.cpp.
References vpPose::addPoint(), vpException::badValue, vpHomogeneousMatrix::buildFrom(), vpMouseButton::button1, vpIoTools::checkFilename(), vpPose::clearPoint(), vpPose::computePose(), vpPose::computeResidual(), vpImageConvert::convert(), vpPixelMeterConversion::convertPoint(), vpPose::DEMENTHON, vpImage< Type >::display, vpMbTracker::display(), vpDisplay::display(), vpDisplay::displayCross(), vpDisplay::displayFrame(), vpDisplay::displayText(), vpHomogeneousMatrix::eye(), vpDisplay::flush(), vpDisplay::getClick(), vpImage< Type >::getWidth(), vpDisplay::getWindowXPosition(), vpDisplay::getWindowYPosition(), vpColor::green, vpMbTracker::init(), vpException::ioError, vpPose::LAGRANGE, vpMbTracker::m_cam, vpMbTracker::m_cMo, vpMbTracker::m_I, vpMbTracker::poseSavingFilename, vpImageIo::read(), vpColor::red, vpMbTracker::removeComment(), vpMbTracker::savePose(), and vpPose::VIRTUAL_VS.
void vpMbTracker::initClick |
Definition at line 590 of file vpMbTracker.cpp.
|
protectedvirtualinherited |
Definition at line 590 of file vpMbTracker.cpp.
References vpPose::addPoint(), vpMouseButton::button1, vpIoTools::checkFilename(), vpPose::clearPoint(), vpPose::computePose(), vpPose::computeResidual(), vpImageConvert::convert(), vpPixelMeterConversion::convertPoint(), vpPose::DEMENTHON, vpImage< Type >::display, vpMbTracker::display(), vpDisplay::display(), vpDisplay::displayCross(), vpDisplay::displayFrame(), vpDisplay::displayPoint(), vpDisplay::displayText(), vpDisplay::flush(), vpDisplay::getClick(), vpImage< Type >::getWidth(), vpDisplay::getWindowXPosition(), vpDisplay::getWindowYPosition(), vpColor::green, vpMbTracker::init(), vpPose::LAGRANGE, vpMbTracker::m_cam, vpMbTracker::m_cMo, vpMbTracker::m_I, vpImageIo::read(), vpColor::red, and vpPose::VIRTUAL_VS.
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:
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. |
vpException::ioError | : The file specified in initFile doesn't exist. |
Definition at line 584 of file vpMbTracker.cpp.
|
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:
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. |
vpException::ioError | : The file specified in initFile doesn't exist. |
Definition at line 584 of file vpMbTracker.cpp.
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.
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.
|
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.
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.
|
protectedvirtualinherited |
Add a cylinder to display (not for tracking) from two points on the axis (defining the length of the cylinder) and its radius.
p1 | : First point on the axis. |
p2 | : Second point on the axis. |
radius | : Radius of the cylinder. |
idFace | : Identifier of the polygon representing the revolution axis of the cylinder. |
name | : The optional name of the cylinder. |
Implements vpMbTracker.
Reimplemented in vpMbEdgeKltTracker, and vpMbEdgeKltMultiTracker.
Definition at line 1310 of file vpMbKltTracker.cpp.
|
protectedvirtualinherited |
Initialise a new face from the coordinates given in parameter.
polygon | : The polygon describing the set of lines that has to be tracked. |
Implements vpMbTracker.
Reimplemented in vpMbEdgeKltTracker, and vpMbEdgeKltMultiTracker.
Definition at line 647 of file vpMbKltTracker.cpp.
|
protectedvirtualinherited |
Initialise a new face from the coordinates given in parameter.
polygon | : The polygon describing the set of lines that has to be tracked. |
Implements vpMbTracker.
Reimplemented in vpMbEdgeKltTracker, and vpMbEdgeKltMultiTracker.
Definition at line 662 of file vpMbKltTracker.cpp.
|
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.
I | : Input grayscale image |
initFile | : Path to the file containing all the points. |
Definition at line 966 of file vpMbTracker.cpp.
|
virtualinherited |
Initialise the tracking with the list of image points (points2D_list) and the list of corresponding 3D points (object frame) (points3D_list).
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.
|
protectedvirtualinherited |
Definition at line 795 of file vpMbTracker.cpp.
References vpPose::addPoint(), vpException::badValue, vpPose::computePose(), vpPose::computeResidual(), vpImageConvert::convert(), vpPixelMeterConversion::convertPoint(), vpPose::DEMENTHON, vpMbTracker::init(), vpException::ioError, vpPose::LAGRANGE, vpMbTracker::m_cam, vpMbTracker::m_cMo, vpMbTracker::m_I, vpPoint::set_x(), vpPoint::set_y(), vpPoint::setWorldCoordinates(), and vpPose::VIRTUAL_VS.
|
protectedvirtualinherited |
Definition at line 1000 of file vpMbTracker.cpp.
References vpPose::addPoint(), vpPose::computePose(), vpPose::computeResidual(), vpImageConvert::convert(), vpPixelMeterConversion::convertPoint(), vpPose::DEMENTHON, vpMbTracker::init(), vpPose::LAGRANGE, vpMbTracker::m_cam, vpMbTracker::m_cMo, vpMbTracker::m_I, vpPose::VIRTUAL_VS, and vpERROR_TRACE.
|
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.
I_color | : Input color image |
initFile | : Path to the file containing all the points. |
Definition at line 995 of file vpMbTracker.cpp.
|
virtualinherited |
Initialise the tracking with the list of image points (points2D_list) and the list of corresponding 3D points (object frame) (points3D_list).
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.
|
virtual |
Initialize the tracking thanks to the pose.
mapOfImages | : Map of images. |
mapOfCameraPoses | : Map of pose matrix. |
Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 1456 of file vpMbKltMultiTracker.cpp.
|
virtual |
Initialize the tracking thanks to the pose. The camera transformation matrices have to be set before.
mapOfImages | : Map of images. |
cMo | : Pose matrix for the reference camera. |
Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 1410 of file vpMbKltMultiTracker.cpp.
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):
Where the three firsts lines refer to the translation and the three last to the rotation in thetaU parametrisation (see vpThetaUVector).
I | : Input grayscale image |
initFile | : Path to the file containing the pose. |
Definition at line 1134 of file vpMbTracker.cpp.
|
virtual |
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):
Where the three firsts lines refer to the translation and the three last to the rotation in thetaU parametrisation (see vpThetaUVector).
I | : Input image |
initFile | : Path to the file containing the pose. |
Reimplemented from vpMbTracker.
Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 1290 of file vpMbKltMultiTracker.cpp.
void vpMbTracker::initFromPose |
Initialise the tracking thanks to the pose.
I | : Input grayscale image |
cMo | : Pose matrix. |
Definition at line 1168 of file vpMbTracker.cpp.
|
virtual |
Initialise the tracking thanks to the pose.
I | : Input image |
cMo | : Pose matrix. |
Reimplemented from vpMbTracker.
Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 1339 of file vpMbKltMultiTracker.cpp.
void vpMbTracker::initFromPose |
Initialise the tracking thanks to the pose vector.
I | : Input grayscale image |
cPo | : Pose vector. |
Definition at line 1193 of file vpMbTracker.cpp.
|
virtual |
Initialise the tracking thanks to the pose vector.
I | : Input image |
cPo | : Pose vector. |
Reimplemented from vpMbTracker.
Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 1360 of file vpMbKltMultiTracker.cpp.
|
virtual |
Initialize the tracking thanks to the pose for stereo cameras configuration.
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 1376 of file vpMbKltMultiTracker.cpp.
void vpMbTracker::initFromPose |
Definition at line 1081 of file vpMbTracker.cpp.
|
protectedvirtualinherited |
Definition at line 1081 of file vpMbTracker.cpp.
References vpHomogeneousMatrix::buildFrom(), vpImageConvert::convert(), vpMbTracker::init(), vpException::ioError, vpMbTracker::m_cMo, and vpMbTracker::m_I.
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):
Where the three firsts lines refer to the translation and the three last to the rotation in thetaU parametrisation (see vpThetaUVector).
I_color | : Input color image |
initFile | : Path to the file containing the pose. |
Definition at line 1157 of file vpMbTracker.cpp.
|
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):
Where the three firsts lines refer to the translation and the three last to the rotation in thetaU parametrisation (see vpThetaUVector).
I_color | : Input color image |
initFile | : Path to the file containing the pose. |
Definition at line 1157 of file vpMbTracker.cpp.
void vpMbTracker::initFromPose |
Initialise the tracking thanks to the pose.
I_color | : Input color image |
cMo | : Pose matrix. |
Definition at line 1180 of file vpMbTracker.cpp.
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virtualinherited |
Initialise the tracking thanks to the pose.
I_color | : Input color image |
cMo | : Pose matrix. |
Definition at line 1180 of file vpMbTracker.cpp.
void vpMbTracker::initFromPose |
Initialise the tracking thanks to the pose vector.
I_color | : Input color image |
cPo | : Pose vector. |
Definition at line 1205 of file vpMbTracker.cpp.
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virtualinherited |
Initialise the tracking thanks to the pose vector.
I_color | : Input color image |
cPo | : Pose vector. |
Definition at line 1205 of file vpMbTracker.cpp.
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protectedinherited |
Definition at line 3438 of file vpMbTracker.cpp.
References vpMbTracker::addProjectionErrorCircle().
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protectedinherited |
Definition at line 3444 of file vpMbTracker.cpp.
References vpMbTracker::addProjectionErrorCylinder().
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protectedinherited |
Definition at line 3450 of file vpMbTracker.cpp.
References vpMbTracker::addProjectionErrorLine(), vpMbtPolygon::getIndex(), vpMbtPolygon::getName(), vpPolygon3D::getNbPoint(), and vpPolygon3D::p.
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protectedinherited |
Definition at line 3460 of file vpMbTracker.cpp.
References vpMbTracker::addProjectionErrorLine(), vpMbtPolygon::getIndex(), vpMbtPolygon::getName(), vpPolygon3D::getNbPoint(), and vpPolygon3D::p.
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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 :
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.
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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: KLT, camera.
mapOfConfigFiles | : Map of xml files. |
Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 1628 of file vpMbKltMultiTracker.cpp.
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virtual |
Load the xml configuration file. From the configuration file initialize the parameters corresponding to the objects: KLT, camera.
vpException::ioError | if the file has not been properly parsed (file not found or wrong format for the data). |
configFile | : full name of the xml file. |
The XML configuration file has the following form:
Reimplemented from vpMbKltTracker.
Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 1552 of file vpMbKltMultiTracker.cpp.
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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: KLT, camera.
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. |
Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 1584 of file vpMbKltMultiTracker.cpp.
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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.
vpException::ioError | if the file cannot be open, or if its extension is not wrl or cao. |
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 1685 of file vpMbKltMultiTracker.cpp.
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protectedvirtualinherited |
Load the 3D model of the object from a vrml file. Only LineSet and FaceSet are extracted from the vrml file.
vpException::fatalError | if the file cannot be open. |
modelFile | : The full name of the file containing the 3D model. |
Definition at line 1526 of file vpMbTracker.cpp.
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protectedinherited |
Definition at line 1587 of file vpMbTracker.cpp.
References vpMbTracker::mapOfParameterNames, and vpIoTools::trim().
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protectedinherited |
Realize the post tracking operations. Mostly visibility tests
Definition at line 715 of file vpMbKltTracker.cpp.
Referenced by postTracking().
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protectedvirtual |
Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 1714 of file vpMbKltMultiTracker.cpp.
References vpMbTracker::displayFeatures, vpMbKltTracker::getFeaturesForDisplayKlt(), vpMbTracker::m_cMo, vpMbKltTracker::m_featuresToBeDisplayedKlt, m_mapOfCameraTransformationMatrix, m_mapOfKltTrackers, vpMbKltTracker::m_nbInfos, m_referenceCameraName, vpMbKltTracker::m_w_klt, vpMbKltTracker::postTracking(), reinit(), and vpMbKltTracker::reinit().
Referenced by vpMbEdgeKltMultiTracker::postTracking().
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protectedinherited |
Achieve the tracking of the KLT features and associate the features to the faces.
I | : The input image. |
Definition at line 678 of file vpMbKltTracker.cpp.
Referenced by preTracking().
|
protectedvirtual |
Definition at line 1696 of file vpMbKltMultiTracker.cpp.
References m_mapOfKltTrackers, vpMbKltTracker::m_nbFaceUsed, vpMbKltTracker::m_nbInfos, and vpMbKltTracker::preTracking().
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protectedinherited |
Definition at line 3677 of file vpMbTracker.cpp.
References vpMbtDistanceCircle::hiddenface, vpMbtDistanceLine::hiddenface, vpMbtDistanceCylinder::hiddenface, vpMbtDistanceCircle::index_polygon, vpMbtDistanceCylinder::index_polygon, vpMbtDistanceCircle::initMovingEdge(), vpMbtDistanceLine::initMovingEdge(), vpMbtDistanceCylinder::initMovingEdge(), vpMbtDistanceCircle::isTracked(), vpMbtDistanceLine::isTracked(), vpMbtDistanceCylinder::isTracked(), vpMbHiddenFaces< PolygonType >::isVisible(), vpMbtDistanceLine::Lindex_polygon, vpMbTracker::m_mask, vpMbTracker::m_projectionErrorCircles, vpMbTracker::m_projectionErrorCylinders, vpMbTracker::m_projectionErrorLines, vpMbtDistanceCircle::meEllipse, vpMbtDistanceLine::meline, vpMbtDistanceCylinder::meline1, vpMbtDistanceCylinder::meline2, vpMbtDistanceCircle::nbFeature, vpMbtDistanceLine::nbFeature, vpMbtDistanceCylinder::nbFeature, vpMbtDistanceCylinder::nbFeaturel1, vpMbtDistanceCylinder::nbFeaturel2, vpMbtDistanceLine::nbFeatureTotal, vpMbtDistanceCircle::setVisible(), vpMbtDistanceLine::setVisible(), vpMbtDistanceCylinder::setVisible(), and vpMbtDistanceLine::updateTracked().
Referenced by vpMbTracker::computeProjectionErrorImpl().
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protectedinherited |
Definition at line 3637 of file vpMbTracker.cpp.
References vpMbTracker::m_projectionErrorCircles, vpMbTracker::m_projectionErrorCylinders, and vpMbTracker::m_projectionErrorLines.
Referenced by vpMbTracker::computeProjectionErrorImpl().
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protectedinherited |
Definition at line 3622 of file vpMbTracker.cpp.
References vpMbTracker::angleAppears, vpMbTracker::angleDisappears, vpMbTracker::m_projectionErrorCam, vpMbTracker::m_projectionErrorFaces, vpMbHiddenFaces< PolygonType >::setVisible(), vpMbHiddenFaces< PolygonType >::setVisibleOgre(), and vpMbTracker::useOgre.
Referenced by vpMbTracker::computeProjectionErrorImpl().
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protectedvirtual |
The parameter is not used.
Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 1741 of file vpMbKltMultiTracker.cpp.
Referenced by postTracking(), and vpMbEdgeKltMultiTracker::reinit().
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protected |
Definition at line 155 of file vpMbKltTracker.cpp.
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protectedvirtualinherited |
Definition at line 155 of file vpMbKltTracker.cpp.
References vpMbKltTracker::c0Mo, vpPolygon3D::changeFrame(), vpMbHiddenFaces< PolygonType >::computeClippedPolygons(), vpCameraParameters::computeFov(), vpPolygon3D::computePolygonClipped(), vpMbHiddenFaces< PolygonType >::computeScanLineRender(), vpImageConvert::convert(), vpMbKltTracker::ctTc0, vpMbKltTracker::cur, vpHomogeneousMatrix::eye(), vpMbTracker::faces, vpImage< Type >::getCols(), vpImage< Type >::getHeight(), vpMbHiddenFaces< PolygonType >::getMbScanLineRenderer(), vpPolygon3D::getNbPoint(), vpImage< Type >::getRows(), vpImage< Type >::getWidth(), vpMbtDistanceKltPoints::init(), vpMbtDistanceKltCylinder::init(), vpKltOpencv::initTracking(), vpMbtDistanceKltCylinder::isTracked(), vpMbtDistanceKltPoints::isTracked(), vpMbtPolygon::isVisible(), vpMbKltTracker::kltCylinders, vpMbKltTracker::kltPolygons, vpMbtDistanceKltCylinder::listIndicesCylinderBBox, vpMbTracker::m_cam, vpMbTracker::m_cMo, vpMbTracker::m_mask, vpMbKltTracker::maskBorder, vpMbtDistanceKltPoints::polygon, vpMbKltTracker::tracker, vpMbtDistanceKltCylinder::updateMask(), vpMbtDistanceKltPoints::updateMask(), and vpMbTracker::useScanLine.
Referenced by vpMbKltTracker::init(), and postTracking().
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virtual |
Re-initialize the model used by the tracker.
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 1840 of file vpMbKltMultiTracker.cpp.
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virtual |
Re-initialize the model used by the tracker.
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 vpMbKltTracker.
Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 1759 of file vpMbKltMultiTracker.cpp.
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virtual |
Re-initialize the model used by the tracker.
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 1799 of file vpMbKltMultiTracker.cpp.
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protectedinherited |
Definition at line 1572 of file vpMbTracker.cpp.
References vpException::ioError.
Referenced by vpMbTracker::initClick().
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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 1894 of file vpMbKltMultiTracker.cpp.
Check if two vpPoints are similar.
To be similar : .
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().
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inherited |
Save the pose in the given filename
filename | : Path to the file used to save the pose. |
Definition at line 1217 of file vpMbTracker.cpp.
Referenced by vpMbTracker::initClick().
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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.
a | : new angle in radian. |
Reimplemented from vpMbTracker.
Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 1939 of file vpMbKltMultiTracker.cpp.
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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.
a | : new angle in radian. |
Reimplemented from vpMbTracker.
Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 1958 of file vpMbKltMultiTracker.cpp.
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virtual |
Set the camera parameters for all the cameras.
mapOfCameraParameters | : Map of camera parameters. |
Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 2053 of file vpMbKltMultiTracker.cpp.
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virtual |
Set the camera parameters for the specified camera.
cameraName | : Camera name. |
cam | : The new camera parameters. |
Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 2032 of file vpMbKltMultiTracker.cpp.
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virtual |
Set the camera parameters for the monocular case.
cam | : The new camera parameters. |
Reimplemented from vpMbTracker.
Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 1973 of file vpMbKltMultiTracker.cpp.
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virtual |
Set the camera parameters for the stereo cameras case.
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 2002 of file vpMbKltMultiTracker.cpp.
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virtual |
Set the map of camera transformation matrices ( ).
mapOfTransformationMatrix | : map of camera transformation matrices. |
Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 2100 of file vpMbKltMultiTracker.cpp.
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virtual |
Set the camera transformation matrix for the specified camera ( ).
cameraName | : Camera name. |
cameraTransformationMatrix | : Camera transformation matrix between the current and the reference camera. |
Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 2080 of file vpMbKltMultiTracker.cpp.
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virtual |
Specify which clipping to use for the specified camera.
cameraName | : Camera to set the clipping. |
flags | : New clipping flags. |
Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 2142 of file vpMbKltMultiTracker.cpp.
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virtual |
Specify which clipping to use.
flags | : New clipping flags. |
Reimplemented from vpMbTracker.
Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 2124 of file vpMbKltMultiTracker.cpp.
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virtual |
Set if the covariance matrix has to be computed.
flag | : True if the covariance has to be computed, false otherwise |
Reimplemented from vpMbTracker.
Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 2157 of file vpMbKltMultiTracker.cpp.
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virtual |
Enable to display the KLT features.
displayF | : set it to true to display the features. |
Reimplemented from vpMbTracker.
Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 2172 of file vpMbKltMultiTracker.cpp.
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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:
Definition at line 3027 of file vpMbTracker.cpp.
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virtual |
Set the far distance for clipping.
dist | : Far clipping value. |
Reimplemented from vpMbTracker.
Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 2187 of file vpMbKltMultiTracker.cpp.
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virtual |
Set the far distance for clipping for the specified camera.
cameraName | : Camera to set the far clipping. |
dist | : Far clipping value. |
Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 2203 of file vpMbKltMultiTracker.cpp.
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virtual |
Set the ratio of visibility attempts that has to be successful to consider a polygon as visible.
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 2223 of file vpMbKltMultiTracker.cpp.
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inlinevirtualinherited |
Set the initial value of mu for the Levenberg Marquardt optimization loop.
mu | : initial mu. |
Definition at line 523 of file vpMbTracker.h.
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virtual |
Set the erosion of the mask used on the Model faces.
e | : The desired erosion. |
Definition at line 2327 of file vpMbKltMultiTracker.cpp.
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virtual |
Set the new value of the klt tracker for the specified cameras.
mapOfOpenCVTrackers | : Map of Klt trackers containing the new values. |
Definition at line 2267 of file vpMbKltMultiTracker.cpp.
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virtual |
Set the new value of the klt tracker.
t | : Klt tracker containing the new values. |
Reimplemented from vpMbKltTracker.
Definition at line 2254 of file vpMbKltMultiTracker.cpp.
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virtual |
Set the threshold for the acceptation of a point.
th | : Threshold for the weight below which a point is rejected. |
Definition at line 2728 of file vpMbKltMultiTracker.cpp.
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inlinevirtualinherited |
Set the value of the gain used to compute the control law.
gain | : the desired value for the gain. |
Definition at line 530 of file vpMbTracker.h.
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virtual |
Set the flag to consider if the level of detail (LOD) is used for all the cameras.
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. |
Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 2311 of file vpMbKltMultiTracker.cpp.
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virtual |
Set the flag to consider if the level of detail (LOD) is used for all the cameras.
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. |
Reimplemented from vpMbTracker.
Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 2291 of file vpMbKltMultiTracker.cpp.
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inlinevirtualinherited |
Reimplemented in vpMbGenericTracker.
Definition at line 558 of file vpMbTracker.h.
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virtual |
Set the erosion of the mask used on the Model faces.
e | : The desired erosion. |
Definition at line 2854 of file vpMbKltMultiTracker.cpp.
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inlinevirtualinherited |
Set the maximum iteration of the virtual visual servoing stage.
max | : the desired number of iteration |
Definition at line 539 of file vpMbTracker.h.
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virtual |
Useless for KLT tracker.
Reimplemented from vpMbTracker.
Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 2340 of file vpMbKltMultiTracker.cpp.
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virtual |
Set the minimum polygon area to be considered as visible in the LOD case.
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. |
Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 2371 of file vpMbKltMultiTracker.cpp.
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virtual |
Set the minimum polygon area to be considered as visible in the LOD case.
minPolygonAreaThresh | : threshold for the minimum polygon area in pixel. |
name | : name of the face we want to modify the LOD threshold. |
Reimplemented from vpMbTracker.
Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 2353 of file vpMbKltMultiTracker.cpp.
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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.
attempts | Number of rays to be sent. |
Reimplemented from vpMbTracker.
Definition at line 2240 of file vpMbKltMultiTracker.cpp.
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virtual |
Set the near distance for clipping.
dist | : Near clipping value. |
Reimplemented from vpMbTracker.
Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 2388 of file vpMbKltMultiTracker.cpp.
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virtual |
Set the near distance for clipping for the specified camera.
cameraName | : Camera name to set the near clipping distance. |
dist | : Near clipping value. |
Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 2447 of file vpMbKltMultiTracker.cpp.
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virtual |
Enable/Disable the appearance of Ogre config dialog on startup.
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 2408 of file vpMbKltMultiTracker.cpp.
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virtual |
Use Ogre3D for visibility tests
v | : True to use it, False otherwise |
Reimplemented from vpMbKltTracker.
Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 2424 of file vpMbKltMultiTracker.cpp.
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virtual |
Set the optimization method used during the tracking.
opt | : Optimization method to use. |
Reimplemented from vpMbTracker.
Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 2462 of file vpMbKltMultiTracker.cpp.
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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.
mapOfImages | : Map of images corresponding to the desired pose. |
mapOfCameraPoses | : Map of poses to affect. |
Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 2634 of file vpMbKltMultiTracker.cpp.
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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.
mapOfImages | : Map of images. |
cMo | : Pose to affect to the reference camera. |
Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 2579 of file vpMbKltMultiTracker.cpp.
void vpMbKltTracker::setPose |
Set the pose to be used in entry (as guess) of the next call to the track() function. This pose will be just used once.
I | : grayscale image corresponding to the desired pose. |
cdMo | : Pose to affect. |
Definition at line 622 of file vpMbKltTracker.cpp.
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virtual |
Set the pose to be used in entry of the next call to the track() function. This pose will be just used once.
I | : grayscale image corresponding to the desired pose. |
cMo | : Pose to affect. |
Reimplemented from vpMbKltTracker.
Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 2479 of file vpMbKltMultiTracker.cpp.
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virtual |
Set the pose to be used in entry of the next call to the track() function. This pose will be just used once.
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 2544 of file vpMbKltMultiTracker.cpp.
void vpMbKltTracker::setPose |
Definition at line 408 of file vpMbKltTracker.cpp.
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protectedvirtualinherited |
Definition at line 408 of file vpMbKltTracker.cpp.
References vpMbTracker::angleAppears, vpMbTracker::angleDisappears, vpMbKltTracker::c0Mo, vpPolygon3D::changeFrame(), vpPlane::changeFrame(), vpMbHiddenFaces< PolygonType >::computeClippedPolygons(), vpCameraParameters::computeFov(), vpPolygon3D::computePolygonClipped(), vpMbHiddenFaces< PolygonType >::computeScanLineRender(), vpImageConvert::convert(), vpMbKltTracker::ctTc0, vpMbKltTracker::cur, vpException::divideByZeroError, vpHomogeneousMatrix::extract(), vpHomogeneousMatrix::eye(), vpMbTracker::faces, vpCameraParameters::get_K(), vpCameraParameters::get_K_inverse(), vpMbtDistanceKltPoints::getCurrentNumberPoints(), vpMbtDistanceKltPoints::getCurrentPoints(), vpMbtDistanceKltPoints::getCurrentPointsInd(), vpPlane::getD(), vpImage< Type >::getHeight(), vpKltOpencv::getMaxFeatures(), vpPolygon3D::getNbPoint(), vpPlane::getNormal(), vpImage< Type >::getWidth(), vpMbtDistanceKltPoints::init(), vpMbKltTracker::init(), vpHomogeneousMatrix::inverse(), vpMbtPolygon::isVisible(), vpMbKltTracker::kltCylinders, vpMbKltTracker::kltPolygons, vpMbTracker::m_cam, vpMbTracker::m_cMo, vpMbTracker::m_I, vpMbTracker::m_mask, vpColVector::normalize(), vpPolygon3D::p, vpMbtDistanceKltPoints::polygon, vpKltOpencv::setInitialGuess(), vpMbHiddenFaces< PolygonType >::setVisible(), vpMbHiddenFaces< PolygonType >::setVisibleOgre(), vpMbKltTracker::tracker, vpMbTracker::useOgre, and vpMbTracker::useScanLine.
void vpMbKltTracker::setPose |
Set the pose to be used in entry (as guess) of the next call to the track() function. This pose will be just used once.
I_color | : color image corresponding to the desired pose. |
cdMo | : Pose to affect. |
Definition at line 636 of file vpMbKltTracker.cpp.
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virtual |
Set the pose to be used in entry of the next call to the track() function. This pose will be just used once.
I_color | : color image corresponding to the desired pose. |
cMo | : Pose to affect. |
Reimplemented from vpMbKltTracker.
Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 2509 of file vpMbKltMultiTracker.cpp.
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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.
filename | : The new filename. |
Definition at line 650 of file vpMbTracker.h.
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inlinevirtualinherited |
Set if the projection error criteria has to be computed.
flag | : True if the projection error criteria has to be computed, false otherwise |
Reimplemented from vpMbTracker.
Reimplemented in vpMbEdgeKltMultiTracker, and vpMbEdgeKltTracker.
Definition at line 409 of file vpMbKltTracker.h.
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inlinevirtualinherited |
Display or not gradient and model orientation when computing the projection error.
Reimplemented in vpMbGenericTracker.
Definition at line 584 of file vpMbTracker.h.
|
inlinevirtualinherited |
Arrow length used to display gradient and model orientation for projection error computation.
Reimplemented in vpMbGenericTracker.
Definition at line 589 of file vpMbTracker.h.
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inlinevirtualinherited |
Arrow thickness used to display gradient and model orientation for projection error computation.
Reimplemented in vpMbGenericTracker.
Definition at line 594 of file vpMbTracker.h.
Referenced by vpMbGenericTracker::setProjectionErrorDisplayArrowThickness().
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inherited |
Set kernel size used for projection error computation.
size | : Kernel size computed as kernel_size = size*2 + 1. |
Definition at line 3840 of file vpMbTracker.cpp.
Referenced by vpMbTracker::loadConfigFile().
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inherited |
Set Moving-Edges parameters for projection error computation.
me | : Moving-Edges parameters. |
Definition at line 3814 of file vpMbTracker.cpp.
Referenced by vpMbTracker::loadConfigFile().
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virtual |
Set the reference camera name
referenceCameraName | : Name of the reference camera. |
Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 2695 of file vpMbKltMultiTracker.cpp.
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virtual |
Use Scanline algorithm for visibility tests
v | : True to use it, False otherwise |
Reimplemented from vpMbKltTracker.
Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 2712 of file vpMbKltMultiTracker.cpp.
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inlinevirtualinherited |
Set the minimal error (previous / current estimation) to determine if there is convergence or not.
eps | : Epsilon threshold. |
Definition at line 566 of file vpMbTracker.h.
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virtual |
Set the threshold for the acceptation of a point.
th | : Threshold for the weight below which a point is rejected. |
Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 2861 of file vpMbKltMultiTracker.cpp.
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virtual |
Set if the polygons that have the given name have to be considered during the tracking phase.
name | : name of the polygon(s). |
useKltTracking | : True if it has to be considered, False otherwise. |
Definition at line 2745 of file vpMbKltMultiTracker.cpp.
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virtualinherited |
Test the quality of the tracking. The tracking is supposed to fail if less than 10 points are tracked.
vpTrackingException::fatalError | if the test fails. |
Implements vpMbTracker.
Reimplemented in vpMbEdgeKltMultiTracker, and vpMbEdgeKltTracker.
Definition at line 1274 of file vpMbKltTracker.cpp.
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virtual |
Realize the tracking of the object in the image
vpException | : if the tracking is supposed to have failed |
I | : the input grayscale image |
Reimplemented from vpMbKltTracker.
Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 2760 of file vpMbKltMultiTracker.cpp.
|
virtual |
Realize the tracking of the object in the image
vpException | : if the tracking is supposed to have failed |
I1 | : The first image. |
I2 | : The second image. |
Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 2792 of file vpMbKltMultiTracker.cpp.
Not supported interface, this class is deprecated.
Reimplemented from vpMbKltTracker.
Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 2779 of file vpMbKltMultiTracker.cpp.
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virtual |
Realize the tracking of the object in the image
vpException | : if the tracking is supposed to have failed |
mapOfImages | : Map of images. |
Reimplemented in vpMbEdgeKltMultiTracker.
Definition at line 2816 of file vpMbKltMultiTracker.cpp.
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protectedinherited |
Angle used to detect a face appearance.
Definition at line 144 of file vpMbTracker.h.
Referenced by vpMbDepthDenseTracker::computeVisibility(), vpMbDepthNormalTracker::computeVisibility(), vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), vpMbKltTracker::init(), vpMbDepthDenseTracker::loadConfigFile(), vpMbDepthNormalTracker::loadConfigFile(), vpMbTracker::projectionErrorVisibleFace(), vpMbDepthDenseTracker::resetTracker(), vpMbDepthNormalTracker::resetTracker(), and vpMbKltTracker::setPose().
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protectedinherited |
Angle used to detect a face disappearance.
Definition at line 146 of file vpMbTracker.h.
Referenced by vpMbDepthDenseTracker::computeVisibility(), vpMbDepthNormalTracker::computeVisibility(), vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), vpMbKltTracker::init(), vpMbDepthDenseTracker::loadConfigFile(), vpMbDepthNormalTracker::loadConfigFile(), vpMbTracker::projectionErrorVisibleFace(), vpMbDepthDenseTracker::resetTracker(), vpMbDepthNormalTracker::resetTracker(), and vpMbKltTracker::setPose().
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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.
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protectedinherited |
Initial pose.
Definition at line 228 of file vpMbKltTracker.h.
Referenced by computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), vpMbEdgeKltMultiTracker::computeVVSInteractionMatrixAndResidu(), vpMbKltTracker::reinit(), and vpMbKltTracker::setPose().
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protectedinherited |
Vector of the circles used here only to display the full model.
Definition at line 250 of file vpMbKltTracker.h.
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protectedinherited |
Flags specifying which clipping to used.
Definition at line 152 of file vpMbTracker.h.
Referenced by vpMbDepthDenseTracker::addFace(), vpMbDepthNormalTracker::addFace(), vpMbTracker::addPolygon(), vpMbTracker::addProjectionErrorLine(), vpMbTracker::addProjectionErrorPolygon(), vpMbTracker::computeProjectionErrorImpl(), vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), vpMbDepthDenseTracker::loadConfigFile(), vpMbDepthNormalTracker::loadConfigFile(), vpMbDepthDenseTracker::resetTracker(), and vpMbDepthNormalTracker::resetTracker().
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protectedinherited |
Flag used to specify if the covariance matrix has to be computed or not.
Definition at line 127 of file vpMbTracker.h.
Referenced by vpMbTracker::computeCovarianceMatrixVVS(), vpMbDepthDenseTracker::computeVVS(), vpMbDepthNormalTracker::computeVVS(), computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVS(), vpMbGenericTracker::computeVVS(), vpMbDepthDenseTracker::resetTracker(), vpMbDepthNormalTracker::resetTracker(), and vpMbEdgeKltTracker::vpMbEdgeKltTracker().
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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 vpMbEdgeMultiTracker::computeProjectionError(), vpMbGenericTracker::computeProjectionError(), and vpMbEdgeKltMultiTracker::postTracking().
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protectedinherited |
Covariance matrix.
Definition at line 129 of file vpMbTracker.h.
Referenced by vpMbTracker::computeCovarianceMatrixVVS().
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protectedinherited |
The estimated displacement of the pose between the current instant and the initial position.
Definition at line 242 of file vpMbKltTracker.h.
Referenced by computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), computeVVSInteractionMatrixAndResidu(), vpMbEdgeKltMultiTracker::computeVVSInteractionMatrixAndResidu(), vpMbKltTracker::computeVVSInteractionMatrixAndResidu(), vpMbKltTracker::reinit(), and vpMbKltTracker::setPose().
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protectedinherited |
Temporary OpenCV image for fast conversion.
Definition at line 223 of file vpMbKltTracker.h.
Referenced by vpMbKltTracker::reinit(), and vpMbKltTracker::setPose().
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protectedinherited |
If true, the features are displayed.
Definition at line 137 of file vpMbTracker.h.
Referenced by vpMbDepthNormalTracker::display(), postTracking(), and vpMbEdgeKltMultiTracker::postTracking().
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protectedinherited |
Distance for near clipping.
Definition at line 150 of file vpMbTracker.h.
Referenced by vpMbDepthDenseTracker::addFace(), vpMbDepthNormalTracker::addFace(), vpMbTracker::addPolygon(), vpMbTracker::addProjectionErrorLine(), and vpMbTracker::addProjectionErrorPolygon().
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protectedinherited |
Distance for near clipping.
Definition at line 148 of file vpMbTracker.h.
Referenced by vpMbDepthDenseTracker::addFace(), vpMbDepthNormalTracker::addFace(), vpMbTracker::addPolygon(), vpMbTracker::addProjectionErrorLine(), and vpMbTracker::addProjectionErrorPolygon().
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protectedinherited |
Set of faces describing the object.
Definition at line 142 of file vpMbTracker.h.
Referenced by vpMbDepthDenseTracker::addFace(), vpMbDepthNormalTracker::addFace(), vpMbTracker::addPolygon(), vpMbDepthDenseTracker::computeVisibility(), vpMbDepthNormalTracker::computeVisibility(), vpMbEdgeKltMultiTracker::getFaces(), vpMbEdgeKltTracker::getModelForDisplay(), vpMbTracker::getPolygonFaces(), vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), vpMbKltTracker::init(), vpMbEdgeKltMultiTracker::postTracking(), vpMbKltTracker::reinit(), vpMbDepthDenseTracker::resetTracker(), vpMbDepthNormalTracker::resetTracker(), vpMbDepthDenseTracker::setOgreVisibilityTest(), vpMbDepthNormalTracker::setOgreVisibilityTest(), vpMbKltTracker::setPose(), vpMbDepthDenseTracker::vpMbDepthDenseTracker(), vpMbDepthNormalTracker::vpMbDepthNormalTracker(), vpMbEdgeKltTracker::vpMbEdgeKltTracker(), and vpMbKltTracker::vpMbKltTracker().
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protectedinherited |
Flag to specify whether the init method is called the first or not (specific calls to realize in this case).
Definition at line 231 of file vpMbKltTracker.h.
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protectedinherited |
Boolean to know if oJo is identity (for fast computation)
Definition at line 116 of file vpMbTracker.h.
Referenced by computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), and vpMbEdgeMultiTracker::computeVVS().
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protectedinherited |
Definition at line 248 of file vpMbKltTracker.h.
Referenced by vpMbKltTracker::computeVVSInteractionMatrixAndResidu(), vpMbKltTracker::getFeaturesForDisplayKlt(), vpMbKltTracker::reinit(), and vpMbKltTracker::setPose().
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protectedinherited |
Definition at line 246 of file vpMbKltTracker.h.
Referenced by vpMbKltTracker::computeVVSInteractionMatrixAndResidu(), vpMbKltTracker::getFeaturesForDisplayKlt(), vpMbKltTracker::reinit(), and vpMbKltTracker::setPose().
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protectedinherited |
The camera parameters.
Definition at line 110 of file vpMbTracker.h.
Referenced by vpMbDepthDenseTracker::addFace(), vpMbDepthNormalTracker::addFace(), vpMbTracker::addProjectionErrorCircle(), vpMbTracker::addProjectionErrorCylinder(), vpMbTracker::addProjectionErrorLine(), vpMbDepthDenseTracker::computeVisibility(), vpMbDepthNormalTracker::computeVisibility(), vpMbEdgeTracker::computeVVSFirstPhase(), vpMbKltTracker::computeVVSInit(), vpMbEdgeTracker::computeVVSInit(), vpMbDepthNormalTracker::getFeaturesForDisplayDepthNormal(), vpMbTracker::getPolygonFaces(), vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), vpMbKltTracker::init(), vpMbTracker::initClick(), vpMbTracker::initFromPoints(), vpMbDepthDenseTracker::loadConfigFile(), vpMbDepthNormalTracker::loadConfigFile(), vpMbKltTracker::reinit(), vpMbDepthDenseTracker::setCameraParameters(), vpMbDepthNormalTracker::setCameraParameters(), and vpMbKltTracker::setPose().
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protectedinherited |
The current pose.
Definition at line 112 of file vpMbTracker.h.
Referenced by vpMbDepthDenseTracker::computeVisibility(), vpMbDepthNormalTracker::computeVisibility(), vpMbDepthDenseTracker::computeVVS(), vpMbDepthNormalTracker::computeVVS(), computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVS(), vpMbGenericTracker::computeVVS(), vpMbTracker::computeVVSCheckLevenbergMarquardt(), vpMbEdgeTracker::computeVVSFirstPhase(), vpMbEdgeTracker::computeVVSFirstPhaseFactor(), vpMbEdgeMultiTracker::computeVVSFirstPhasePoseEstimation(), vpMbEdgeTracker::computeVVSFirstPhasePoseEstimation(), vpMbDepthDenseTracker::computeVVSInteractionMatrixAndResidu(), vpMbDepthNormalTracker::computeVVSInteractionMatrixAndResidu(), computeVVSInteractionMatrixAndResidu(), vpMbEdgeMultiTracker::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(), postTracking(), vpMbKltTracker::reinit(), vpMbDepthDenseTracker::reInitModel(), vpMbDepthNormalTracker::reInitModel(), vpMbDepthDenseTracker::resetTracker(), vpMbDepthNormalTracker::resetTracker(), vpMbDepthDenseTracker::segmentPointCloud(), vpMbDepthNormalTracker::segmentPointCloud(), vpMbDepthDenseTracker::setPose(), vpMbDepthNormalTracker::setPose(), vpMbKltTracker::setPose(), and vpMbEdgeKltTracker::trackFirstLoop().
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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 computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVSFirstPhasePoseEstimation(), vpMbEdgeTracker::computeVVSFirstPhasePoseEstimation(), vpMbDepthDenseTracker::resetTracker(), and vpMbDepthNormalTracker::resetTracker().
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protectedinherited |
(s - s*)
Definition at line 258 of file vpMbKltTracker.h.
Referenced by vpMbKltTracker::computeVVSInit(), computeVVSInteractionMatrixAndResidu(), vpMbEdgeKltMultiTracker::computeVVSInteractionMatrixAndResidu(), vpMbKltTracker::computeVVSInteractionMatrixAndResidu(), computeVVSWeights(), vpMbEdgeKltMultiTracker::computeVVSWeights(), and vpMbKltTracker::getError().
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protected |
(s - s*)
Definition at line 89 of file vpMbKltMultiTracker.h.
Referenced by computeVVS(), computeVVSInit(), and computeVVSInteractionMatrixAndResidu().
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protectedinherited |
|
protectedinherited |
Grayscale image buffer, used when passing color images.
Definition at line 222 of file vpMbTracker.h.
Referenced by vpMbTracker::initClick(), vpMbTracker::initFromPoints(), vpMbTracker::initFromPose(), vpMbDepthDenseTracker::setPose(), vpMbDepthNormalTracker::setPose(), vpMbKltTracker::setPose(), and vpMbEdgeTracker::track().
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protectedinherited |
Initial Mu for Levenberg Marquardt optimization loop.
Definition at line 192 of file vpMbTracker.h.
Referenced by vpMbDepthDenseTracker::computeVVS(), vpMbDepthNormalTracker::computeVVS(), computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVS(), and vpMbGenericTracker::computeVVS().
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protectedinherited |
Interaction matrix.
Definition at line 256 of file vpMbKltTracker.h.
Referenced by vpMbKltTracker::computeVVSInit(), computeVVSInteractionMatrixAndResidu(), vpMbEdgeKltMultiTracker::computeVVSInteractionMatrixAndResidu(), and vpMbKltTracker::computeVVSInteractionMatrixAndResidu().
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protected |
Interaction matrix.
Definition at line 87 of file vpMbKltMultiTracker.h.
Referenced by computeVVS(), computeVVSInit(), and computeVVSInteractionMatrixAndResidu().
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protectedinherited |
Gain of the virtual visual servoing stage.
Definition at line 186 of file vpMbTracker.h.
Referenced by vpMbTracker::computeVVSPoseEstimation(), vpMbDepthDenseTracker::resetTracker(), vpMbDepthNormalTracker::resetTracker(), vpMbEdgeKltTracker::vpMbEdgeKltTracker(), and vpMbKltTracker::vpMbKltTracker().
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protected |
Map of camera transformation matrix between the current camera frame to the reference camera frame (cCurrent_M_cRef)
Definition at line 79 of file vpMbKltMultiTracker.h.
Referenced by computeVVS(), computeVVSInteractionMatrixAndResidu(), and postTracking().
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protected |
Map of Model-based klt trackers.
Definition at line 82 of file vpMbKltMultiTracker.h.
Referenced by computeVVS(), vpMbEdgeKltMultiTracker::computeVVSInit(), computeVVSInteractionMatrixAndResidu(), vpMbEdgeKltMultiTracker::computeVVSInteractionMatrixAndResidu(), computeVVSWeights(), vpMbEdgeKltMultiTracker::computeVVSWeights(), getKltPoints(), postTracking(), and preTracking().
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protectedinherited |
Mask used to disable tracking on a part of image.
Definition at line 220 of file vpMbTracker.h.
Referenced by vpMbTracker::projectionErrorInitMovingEdge(), vpMbKltTracker::reinit(), vpMbDepthDenseTracker::segmentPointCloud(), vpMbDepthNormalTracker::segmentPointCloud(), and vpMbKltTracker::setPose().
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protectedinherited |
Maximum number of iterations of the virtual visual servoing stage.
Definition at line 188 of file vpMbTracker.h.
Referenced by vpMbDepthDenseTracker::computeVVS(), vpMbDepthNormalTracker::computeVVS(), computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVS(), vpMbGenericTracker::computeVVS(), vpMbDepthDenseTracker::resetTracker(), vpMbEdgeKltTracker::vpMbEdgeKltTracker(), and vpMbKltTracker::vpMbKltTracker().
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protectedinherited |
Definition at line 254 of file vpMbKltTracker.h.
Referenced by preTracking().
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protectedinherited |
Definition at line 252 of file vpMbKltTracker.h.
Referenced by vpMbEdgeKltMultiTracker::computeVVS(), computeVVSInit(), vpMbEdgeKltMultiTracker::computeVVSInit(), vpMbKltTracker::computeVVSInit(), vpMbEdgeKltMultiTracker::computeVVSInteractionMatrixAndResidu(), postTracking(), and preTracking().
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protectedinherited |
Optimization method used.
Definition at line 139 of file vpMbTracker.h.
Referenced by vpMbTracker::computeVVSCheckLevenbergMarquardt(), vpMbTracker::computeVVSPoseEstimation(), vpMbDepthDenseTracker::resetTracker(), and vpMbDepthNormalTracker::resetTracker().
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protectedinherited |
Camera parameters used for projection error computation.
Definition at line 218 of file vpMbTracker.h.
Referenced by vpMbTracker::computeProjectionErrorImpl(), and vpMbTracker::projectionErrorVisibleFace().
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protectedinherited |
Distance circle primitive for projection error.
Definition at line 199 of file vpMbTracker.h.
Referenced by vpMbTracker::addProjectionErrorCircle(), vpMbTracker::computeProjectionErrorImpl(), vpMbTracker::projectionErrorInitMovingEdge(), vpMbTracker::projectionErrorResetMovingEdges(), and vpMbTracker::~vpMbTracker().
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protectedinherited |
Distance cylinder primitives for projection error.
Definition at line 197 of file vpMbTracker.h.
Referenced by vpMbTracker::addProjectionErrorCylinder(), vpMbTracker::computeProjectionErrorImpl(), vpMbTracker::projectionErrorInitMovingEdge(), vpMbTracker::projectionErrorResetMovingEdges(), and vpMbTracker::~vpMbTracker().
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protectedinherited |
Display gradient and model orientation for projection error computation.
Definition at line 212 of file vpMbTracker.h.
Referenced by vpMbTracker::computeProjectionErrorImpl().
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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().
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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().
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protectedinherited |
Set of faces describing the object, used for projection error.
Definition at line 201 of file vpMbTracker.h.
Referenced by vpMbTracker::addProjectionErrorCircle(), vpMbTracker::addProjectionErrorCylinder(), vpMbTracker::addProjectionErrorLine(), vpMbTracker::addProjectionErrorPolygon(), vpMbTracker::computeProjectionErrorImpl(), and vpMbTracker::projectionErrorVisibleFace().
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protectedinherited |
Kernel size used to compute the gradient orientation.
Definition at line 206 of file vpMbTracker.h.
Referenced by vpMbTracker::loadConfigFile().
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protectedinherited |
Distance line primitives for projection error.
Definition at line 195 of file vpMbTracker.h.
Referenced by vpMbTracker::addProjectionErrorLine(), vpMbTracker::computeProjectionErrorImpl(), vpMbTracker::projectionErrorInitMovingEdge(), vpMbTracker::projectionErrorResetMovingEdges(), and vpMbTracker::~vpMbTracker().
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protectedinherited |
Moving-Edges parameters for projection error.
Definition at line 204 of file vpMbTracker.h.
Referenced by vpMbTracker::addProjectionErrorCircle(), vpMbTracker::addProjectionErrorCylinder(), vpMbTracker::addProjectionErrorLine(), and vpMbTracker::loadConfigFile().
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protectedinherited |
Definition at line 202 of file vpMbTracker.h.
Referenced by vpMbTracker::computeProjectionErrorImpl().
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protected |
Name of the reference camera.
Definition at line 85 of file vpMbKltMultiTracker.h.
Referenced by postTracking().
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protectedinherited |
Robust.
Definition at line 264 of file vpMbKltTracker.h.
Referenced by vpMbKltTracker::computeVVSInit(), computeVVSWeights(), and vpMbEdgeKltMultiTracker::computeVVSWeights().
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protectedinherited |
Sobel kernel in X.
Definition at line 208 of file vpMbTracker.h.
Referenced by vpMbTracker::computeProjectionErrorImpl().
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protectedinherited |
Sobel kernel in Y.
Definition at line 210 of file vpMbTracker.h.
Referenced by vpMbTracker::computeProjectionErrorImpl().
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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().
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protectedinherited |
Robust weights.
Definition at line 260 of file vpMbKltTracker.h.
Referenced by vpMbKltTracker::computeVVSInit(), computeVVSWeights(), vpMbEdgeKltMultiTracker::computeVVSWeights(), vpMbKltTracker::getRobustWeights(), and postTracking().
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protected |
Robust weights.
Definition at line 91 of file vpMbKltMultiTracker.h.
Referenced by computeVVS(), computeVVSInit(), and computeVVSWeights().
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protectedinherited |
Weighted error.
Definition at line 262 of file vpMbKltTracker.h.
Referenced by vpMbKltTracker::computeVVSInit().
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protected |
Weighted error.
Definition at line 93 of file vpMbKltMultiTracker.h.
Referenced by computeVVS(), and computeVVSInit().
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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().
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protectedinherited |
Erosion of the mask.
Definition at line 233 of file vpMbKltTracker.h.
Referenced by vpMbKltTracker::reinit().
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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().
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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().
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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.
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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().
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protectedinherited |
Number of circles in CAO model.
Definition at line 169 of file vpMbTracker.h.
|
protectedinherited |
Number of cylinders in CAO model.
Definition at line 167 of file vpMbTracker.h.
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protectedinherited |
Number of lines in CAO model.
Definition at line 161 of file vpMbTracker.h.
|
protectedinherited |
Number of points in CAO model.
Definition at line 159 of file vpMbTracker.h.
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protectedinherited |
Number of polygon lines in CAO model.
Definition at line 163 of file vpMbTracker.h.
|
protectedinherited |
Number of polygon points in CAO model.
Definition at line 165 of file vpMbTracker.h.
|
protectedinherited |
Definition at line 155 of file vpMbTracker.h.
Referenced by vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), and vpMbKltTracker::init().
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protectedinherited |
The Degrees of Freedom to estimate.
Definition at line 114 of file vpMbTracker.h.
Referenced by vpMbDepthDenseTracker::computeVVS(), vpMbDepthNormalTracker::computeVVS(), computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVS(), vpMbGenericTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVSFirstPhasePoseEstimation(), vpMbEdgeTracker::computeVVSFirstPhasePoseEstimation(), and vpMbTracker::computeVVSPoseEstimation().
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protectedinherited |
Percentage of good points, according to the initial number, that must have the tracker.
Definition at line 239 of file vpMbKltTracker.h.
|
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().
|
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 vpMbEdgeMultiTracker::computeProjectionError(), and vpMbGenericTracker::computeProjectionError().
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protectedinherited |
Threshold below which the weight associated to a point to consider this one as an outlier.
Definition at line 236 of file vpMbKltTracker.h.
|
protectedinherited |
Points tracker.
Definition at line 244 of file vpMbKltTracker.h.
Referenced by vpMbKltTracker::getKltPoints(), vpMbKltTracker::reinit(), vpMbKltTracker::setPose(), and vpMbKltTracker::vpMbKltTracker().
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protectedinherited |
True if LOD mode is enabled.
Definition at line 171 of file vpMbTracker.h.
|
protectedinherited |
Use Ogre3d for visibility tests.
Definition at line 154 of file vpMbTracker.h.
Referenced by vpMbTracker::computeProjectionErrorImpl(), vpMbEdgeKltTracker::getModelForDisplay(), vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), vpMbKltTracker::init(), vpMbTracker::projectionErrorVisibleFace(), vpMbDepthDenseTracker::resetTracker(), vpMbDepthNormalTracker::resetTracker(), and vpMbKltTracker::setPose().
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protectedinherited |
Use Scanline for visibility tests.
Definition at line 157 of file vpMbTracker.h.
Referenced by vpMbDepthDenseTracker::addFace(), vpMbDepthNormalTracker::addFace(), vpMbTracker::addProjectionErrorLine(), vpMbTracker::computeProjectionErrorImpl(), vpMbDepthDenseTracker::computeVisibility(), vpMbDepthNormalTracker::computeVisibility(), vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), vpMbEdgeKltMultiTracker::postTracking(), vpMbKltTracker::reinit(), vpMbDepthDenseTracker::resetTracker(), vpMbDepthNormalTracker::resetTracker(), and vpMbKltTracker::setPose().