Visual Servoing Platform  version 3.2.0
vpMbKltMultiTracker Class Reference

#include <vpMbKltMultiTracker.h>

+ Inheritance diagram for vpMbKltMultiTracker:

Public Types

enum  vpMbtOptimizationMethod { GAUSS_NEWTON_OPT = 0, LEVENBERG_MARQUARDT_OPT = 1 }
 

Public Member Functions

 vpMbKltMultiTracker ()
 
 vpMbKltMultiTracker (const 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, const double r, const std::string &name="")
 
virtual void display (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo_, const vpCameraParameters &cam_, const vpColor &col, const unsigned int thickness=1, const bool displayFullModel=false)
 
virtual void display (const vpImage< vpRGBa > &I, const vpHomogeneousMatrix &cMo_, const vpCameraParameters &cam_, const vpColor &col, const unsigned int thickness=1, const 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, const unsigned int thickness=1, const 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, const unsigned int thickness=1, const 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, const unsigned int thickness=1, const 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, const unsigned int thickness=1, const bool displayFullModel=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, vpKltOpencvgetKltOpencv () 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, const 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, const bool displayHelp=false, const bool firstCameraIsReference=true)
 
virtual void initClick (const std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, const std::string &initFile, const bool displayHelp=false)
 
virtual void initClick (const std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, const std::map< std::string, std::string > &mapOfInitFiles, const 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, const 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, const bool firstCameraIsReference=true)
 
virtual void loadConfigFile (const std::map< std::string, std::string > &mapOfConfigFiles)
 
virtual void loadModel (const std::string &modelFile, const bool verbose=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
 
virtual void reInitModel (const vpImage< unsigned char > &I, const std::string &cad_name, const vpHomogeneousMatrix &cMo_, const 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, const bool verbose=false, const 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, const 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, const 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 (const 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 (const double th)
 
virtual void setLod (const bool useLod, const std::string &name="")
 
virtual void setLod (const bool useLod, const std::string &cameraName, const std::string &name)
 
virtual void setMinLineLengthThresh (const double minLineLengthThresh, const std::string &name="")
 
virtual void setMinPolygonAreaThresh (const double minPolygonAreaThresh, const std::string &name="")
 
virtual void setMinPolygonAreaThresh (const 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 (const 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< unsigned char > &I1, const vpImage< unsigned char > &I2, const vpHomogeneousMatrix &c1Mo, const vpHomogeneousMatrix &c2Mo, const 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< 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
 
Deprecated functions
virtual std::map< std::string, int > getNbKltPoints () const
 
virtual void setMaskBorder (const unsigned int &e)
 
virtual void setThresholdAcceptation (const 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 vpMbtPolygongetPolygon (const unsigned int index)
 
virtual std::pair< std::vector< vpPolygon >, std::vector< std::vector< vpPoint > > > getPolygonFaces (const bool orderPolygons=true, const bool useVisibility=true, const bool clipPolygon=false)
 
virtual void getPose (vpHomogeneousMatrix &cMo_) const
 
virtual vpHomogeneousMatrix getPose () const
 
virtual double getStopCriteriaEpsilon () const
 
virtual void initFromPoints (const vpImage< unsigned char > &I, 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 setEstimatedDoF (const vpColVector &v)
 
virtual void setInitialMu (const double mu)
 
virtual void setLambda (const double gain)
 
virtual void setMaxIter (const 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 (const bool display)
 
virtual void setProjectionErrorDisplayArrowLength (const unsigned int length)
 
virtual void setProjectionErrorDisplayArrowThickness (const 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 initFaceFromCorners (vpMbtPolygon &polygon)
 
virtual void initFaceFromLines (vpMbtPolygon &polygon)
 
virtual void initCircle (const vpPoint &, const vpPoint &, const vpPoint &, const double, const int, const std::string &name="")
 
virtual void initCylinder (const vpPoint &, const vpPoint &, const double, const 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
void addPolygon (const std::vector< vpPoint > &corners, const int idFace=-1, const std::string &polygonName="", const bool useLod=false, const double minPolygonAreaThreshold=2500.0, const double minLineLengthThreshold=50.0)
 
void addPolygon (const vpPoint &p1, const vpPoint &p2, const vpPoint &p3, const double radius, const int idFace=-1, const std::string &polygonName="", const bool useLod=false, const double minPolygonAreaThreshold=2500.0)
 
void addPolygon (const vpPoint &p1, const vpPoint &p2, const int idFace=-1, const std::string &polygonName="", const bool useLod=false, const double minLineLengthThreshold=50)
 
void addPolygon (const std::vector< std::vector< vpPoint > > &listFaces, const int idFace=-1, const std::string &polygonName="", const bool useLod=false, const double minLineLengthThreshold=50)
 
void addProjectionErrorCircle (const vpPoint &P1, const vpPoint &P2, const vpPoint &P3, const double r, int idFace=-1, const std::string &name="")
 
void addProjectionErrorCylinder (const vpPoint &P1, const vpPoint &P2, const 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, const int idFace=-1, const std::string &polygonName="", const bool useLod=false, const double minPolygonAreaThreshold=2500.0, const double minLineLengthThreshold=50.0)
 
void addProjectionErrorPolygon (const vpPoint &p1, const vpPoint &p2, const vpPoint &p3, const double radius, const int idFace=-1, const std::string &polygonName="", const bool useLod=false, const double minPolygonAreaThreshold=2500.0)
 
void addProjectionErrorPolygon (const vpPoint &p1, const vpPoint &p2, const int idFace=-1, const std::string &polygonName="", const bool useLod=false, const double minLineLengthThreshold=50)
 
void addProjectionErrorPolygon (const std::vector< std::vector< vpPoint > > &listFaces, const int idFace=-1, const std::string &polygonName="", const bool useLod=false, const 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 (const 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_, const unsigned int iter, vpMatrix &L, vpMatrix &LTL, vpColVector &R, const vpColVector &error, vpColVector &error_prev, vpColVector &LTR, double &mu, vpColVector &v, const vpColVector *const w=NULL, vpColVector *const m_w_prev=NULL)
 
virtual void 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, const double radius, const int idFace=0, const std::string &name="")
 
void initProjectionErrorCylinder (const vpPoint &p1, const vpPoint &p2, const double radius, const 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, const bool verbose=false, const bool parent=true, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
 
void projectionErrorInitMovingEdge (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &_cMo)
 
void projectionErrorResetMovingEdges ()
 
void projectionErrorVisibleFace (const vpImage< unsigned char > &_I, const vpHomogeneousMatrix &_cMo)
 
void removeComment (std::ifstream &fileId)
 
bool parseBoolean (std::string &input)
 
std::map< std::string, std::string > parseParameters (std::string &endLine)
 
std::string & ltrim (std::string &s) const
 
std::string & rtrim (std::string &s) const
 
std::string & trim (std::string &s) const
 
bool samePoint (const vpPoint &P1, const vpPoint &P2) const
 

Protected Attributes

std::map< std::string, vpHomogeneousMatrixm_mapOfCameraTransformationMatrix
 
std::map< std::string, vpMbKltTracker * > m_mapOfKltTrackers
 
std::string m_referenceCameraName
 
vpMatrix m_L_kltMulti
 
vpColVector m_error_kltMulti
 
vpColVector m_w_kltMulti
 
vpColVector m_weightedError_kltMulti
 
cv::Mat cur
 
vpHomogeneousMatrix c0Mo
 
bool firstInitialisation
 
unsigned int maskBorder
 
double threshold_outlier
 
double percentGood
 
vpHomogeneousMatrix ctTc0
 
vpKltOpencv tracker
 
std::list< vpMbtDistanceKltPoints * > kltPolygons
 
std::list< vpMbtDistanceKltCylinder * > kltCylinders
 
std::list< vpMbtDistanceCircle * > circles_disp
 
unsigned int m_nbInfos
 
unsigned int m_nbFaceUsed
 
vpMatrix m_L_klt
 
vpColVector m_error_klt
 
vpColVector m_w_klt
 
vpColVector m_weightedError_klt
 
vpRobust m_robust_klt
 
vpCameraParameters cam
 
vpHomogeneousMatrix cMo
 
vpMatrix oJo
 
bool isoJoIdentity
 
std::string modelFileName
 
bool modelInitialised
 
std::string poseSavingFilename
 
bool computeCovariance
 
vpMatrix covarianceMatrix
 
bool computeProjError
 
double projectionError
 
bool displayFeatures
 
vpMbtOptimizationMethod m_optimizationMethod
 
vpMbHiddenFaces< vpMbtPolygonfaces
 
double angleAppears
 
double angleDisappears
 
double distNearClip
 
double distFarClip
 
unsigned int clippingFlag
 
bool useOgre
 
bool ogreShowConfigDialog
 
bool useScanLine
 
unsigned int nbPoints
 
unsigned int nbLines
 
unsigned int nbPolygonLines
 
unsigned int nbPolygonPoints
 
unsigned int nbCylinders
 
unsigned int nbCircles
 
bool useLodGeneral
 
bool applyLodSettingInConfig
 
double minLineLengthThresholdGeneral
 
double minPolygonAreaThresholdGeneral
 
std::map< std::string, std::string > mapOfParameterNames
 
bool m_computeInteraction
 
double m_lambda
 
unsigned int m_maxIter
 
double m_stopCriteriaEpsilon
 
double m_initialMu
 
std::vector< vpMbtDistanceLine * > m_projectionErrorLines
 
std::vector< vpMbtDistanceCylinder * > m_projectionErrorCylinders
 
std::vector< vpMbtDistanceCircle * > m_projectionErrorCircles
 
vpMbHiddenFaces< vpMbtPolygonm_projectionErrorFaces
 
bool m_projectionErrorOgreShowConfigDialog
 
vpMe m_projectionErrorMe
 
unsigned int m_projectionErrorKernelSize
 
vpMatrix m_SobelX
 
vpMatrix m_SobelY
 
bool m_projectionErrorDisplay
 
unsigned int m_projectionErrorDisplayLength
 
unsigned int m_projectionErrorDisplayThickness
 
vpCameraParameters m_projectionErrorCam
 
const vpImage< bool > * m_mask
 

Detailed Description

Model based stereo (or more) tracker using only KLT.

Warning
This class is deprecated for user usage. You should rather use the high level vpMbGenericTracker class.
This class is only available if OpenCV is installed, and used.

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.

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

Definition at line 74 of file vpMbKltMultiTracker.h.

Member Enumeration Documentation

◆ vpMbtOptimizationMethod

Enumerator
GAUSS_NEWTON_OPT 
LEVENBERG_MARQUARDT_OPT 

Definition at line 112 of file vpMbTracker.h.

Constructor & Destructor Documentation

◆ vpMbKltMultiTracker() [1/3]

vpMbKltMultiTracker::vpMbKltMultiTracker ( )

Basic constructor

Definition at line 56 of file vpMbKltMultiTracker.cpp.

◆ vpMbKltMultiTracker() [2/3]

vpMbKltMultiTracker::vpMbKltMultiTracker ( const unsigned int  nbCameras)

Construct a vpMbKltMultiTracker with the specified number of cameras.

Parameters
nbCameras: Number of cameras to use.

Definition at line 71 of file vpMbKltMultiTracker.cpp.

◆ vpMbKltMultiTracker() [3/3]

vpMbKltMultiTracker::vpMbKltMultiTracker ( const std::vector< std::string > &  cameraNames)

Construct a vpMbKltMultiTracker with the specified list of camera names.

Parameters
cameraNames: List of camera names.

Definition at line 113 of file vpMbKltMultiTracker.cpp.

◆ ~vpMbKltMultiTracker()

vpMbKltMultiTracker::~vpMbKltMultiTracker ( )
virtual

Basic destructor useful to deallocate the memory.

Definition at line 132 of file vpMbKltMultiTracker.cpp.

Member Function Documentation

◆ addCircle()

void vpMbKltMultiTracker::addCircle ( const vpPoint P1,
const vpPoint P2,
const vpPoint P3,
const double  r,
const std::string &  name = "" 
)
virtual

Add a circle to the list of circles.

Parameters
P1: Center of the circle.
P2,P3: Two points on the plane containing the circle. With the center of the circle we have 3 points defining the plane that contains the circle.
r: Radius of the circle.
name: Name of the circle.

Definition at line 148 of file vpMbKltMultiTracker.cpp.

◆ addPolygon() [1/4]

◆ addPolygon() [2/4]

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

◆ addPolygon() [3/4]

◆ addPolygon() [4/4]

◆ addProjectionErrorCircle()

◆ addProjectionErrorCylinder()

◆ addProjectionErrorLine()

◆ addProjectionErrorPolygon() [1/4]

◆ addProjectionErrorPolygon() [2/4]

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

◆ addProjectionErrorPolygon() [3/4]

◆ addProjectionErrorPolygon() [4/4]

◆ computeCovarianceMatrixVVS()

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

◆ computeCurrentProjectionError()

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

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

See also
setProjectionErrorComputation
getProjectionError

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

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

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

Reimplemented in vpMbGenericTracker.

Examples
mbtGenericTrackingDepthOnly.cpp.

Definition at line 3108 of file vpMbTracker.cpp.

◆ computeJTR()

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

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

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

Definition at line 2475 of file vpMbTracker.cpp.

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

◆ computeProjectionErrorImpl()

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

Definition at line 3125 of file vpMbTracker.cpp.

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

◆ computeVVS()

◆ computeVVSCheckLevenbergMarquardt()

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

◆ computeVVSInit()

void vpMbKltMultiTracker::computeVVSInit ( )
protectedvirtual

◆ computeVVSInteractionMatrixAndResidu() [1/2]

void vpMbKltMultiTracker::computeVVSInteractionMatrixAndResidu ( )
protectedvirtual

Reimplemented from vpMbKltTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 251 of file vpMbKltMultiTracker.cpp.

References vpException::fatalError.

Referenced by computeVVS().

◆ computeVVSInteractionMatrixAndResidu() [2/2]

◆ computeVVSPoseEstimation()

◆ computeVVSWeights() [1/3]

◆ computeVVSWeights() [2/3]

void vpMbTracker::computeVVSWeights
protected

Definition at line 2609 of file vpMbTracker.cpp.

◆ computeVVSWeights() [3/3]

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

◆ createCylinderBBox()

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

◆ display() [1/6]

void vpMbKltMultiTracker::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,
const unsigned int  thickness = 1,
const bool  displayFullModel = false 
)
virtual

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

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 419 of file vpMbKltMultiTracker.cpp.

◆ display() [2/6]

void vpMbKltMultiTracker::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,
const unsigned int  thickness = 1,
const bool  displayFullModel = false 
)
virtual

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

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 452 of file vpMbKltMultiTracker.cpp.

◆ display() [3/6]

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

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

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

Reimplemented from vpMbKltTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 311 of file vpMbKltMultiTracker.cpp.

◆ display() [4/6]

void vpMbKltMultiTracker::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,
const unsigned int  thickness = 1,
const bool  displayFullModel = false 
)
virtual

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

Parameters
I1: The first grayscale image.
I2: The second grayscale image.
c1Mo: Pose used to project the 3D model into the first image.
c2Mo: Pose used to project the 3D model into the second image.
cam1: The first camera parameters.
cam2: The second camera parameters.
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.

◆ display() [5/6]

void vpMbKltMultiTracker::display ( const vpImage< vpRGBa > &  I,
const vpHomogeneousMatrix cMo_,
const vpCameraParameters cam_,
const vpColor color,
const unsigned int  thickness = 1,
const bool  displayFullModel = false 
)
virtual

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

Parameters
I: The color image.
cMo_: Pose used to project the 3D model into the image.
cam_: The camera parameters.
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.

◆ display() [6/6]

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

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

Parameters
I1: The first color image.
I2: The second color image.
c1Mo: Pose used to project the 3D model into the first image.
c2Mo: Pose used to project the 3D model into the second image.
cam1: The first camera parameters.
cam2: The second camera parameters.
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.

◆ extractCylinders()

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

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

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

Definition at line 2059 of file vpMbTracker.cpp.

◆ extractFaces()

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

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

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

Definition at line 2006 of file vpMbTracker.cpp.

◆ extractGroup()

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

Extract a VRML object Group.

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

Definition at line 1917 of file vpMbTracker.cpp.

◆ extractLines()

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

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

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

Definition at line 2144 of file vpMbTracker.cpp.

◆ getAngleAppear()

virtual double vpMbTracker::getAngleAppear ( ) const
inlinevirtualinherited

Return the angle used to test polygons appearance.

Definition at line 237 of file vpMbTracker.h.

◆ getAngleDisappear()

virtual double vpMbTracker::getAngleDisappear ( ) const
inlinevirtualinherited

Return the angle used to test polygons disappearance.

Definition at line 240 of file vpMbTracker.h.

◆ getCameraNames()

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

Get the camera names

Returns
The vector of camera names.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 479 of file vpMbKltMultiTracker.cpp.

◆ getCameraParameters() [1/4]

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

Get the camera parameters specified by its name.

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 533 of file vpMbKltMultiTracker.cpp.

◆ getCameraParameters() [2/4]

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

Get all the camera parameters.

Parameters
mapOfCameraParameters: Map of camera parameters.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 548 of file vpMbKltMultiTracker.cpp.

◆ getCameraParameters() [3/4]

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

Get the camera parameters for the stereo cameras case.

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 513 of file vpMbKltMultiTracker.cpp.

◆ getCameraParameters() [4/4]

void vpMbKltMultiTracker::getCameraParameters ( vpCameraParameters camera) const
virtual

Get the camera parameters for the reference camera.

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

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 496 of file vpMbKltMultiTracker.cpp.

◆ getClipping() [1/3]

virtual unsigned int vpMbTracker::getClipping
inline

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

Returns
Clipping flags.

Definition at line 255 of file vpMbTracker.h.

◆ getClipping() [2/3]

◆ getClipping() [3/3]

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

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

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 568 of file vpMbKltMultiTracker.cpp.

◆ getCovarianceMatrix()

virtual vpMatrix vpMbTracker::getCovarianceMatrix ( ) const
inlinevirtualinherited

◆ getError()

virtual vpColVector vpMbKltMultiTracker::getError ( ) const
inlinevirtual

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

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

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

Reimplemented from vpMbKltTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 184 of file vpMbKltMultiTracker.h.

◆ getEstimatedDoF()

vpColVector vpMbTracker::getEstimatedDoF ( ) const
virtualinherited

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

Returns
1x6 vpColVector representing the estimated degrees of freedom.

Definition at line 2626 of file vpMbTracker.cpp.

◆ getFaces() [1/3]

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

Return a reference to the faces structure.

Returns
Reference to the face structure.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 585 of file vpMbKltMultiTracker.cpp.

◆ getFaces() [2/3]

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

Return a map of faces structure for each camera.

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

Definition at line 617 of file vpMbKltMultiTracker.cpp.

◆ getFaces() [3/3]

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

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

Returns
Reference to the face structure.

Definition at line 601 of file vpMbKltMultiTracker.cpp.

◆ getFarClippingDistance()

virtual double vpMbTracker::getFarClippingDistance ( ) const
inlinevirtualinherited

Get the far distance for clipping.

Returns
Far clipping value.

Definition at line 338 of file vpMbTracker.h.

◆ getFeaturesCircle() [1/2]

std::list< vpMbtDistanceCircle * > & vpMbKltMultiTracker::getFeaturesCircle ( )
virtual

Return the address of the circle feature list.

Returns
The address of the circle feature list.

Reimplemented from vpMbKltTracker.

Definition at line 633 of file vpMbKltMultiTracker.cpp.

◆ getFeaturesCircle() [2/2]

std::list< vpMbtDistanceCircle * > & vpMbKltMultiTracker::getFeaturesCircle ( const std::string &  cameraName)
virtual

Return the address of the circle feature list for the given camera.

Parameters
cameraName: Camera name.
Returns
The address of the circle feature list.

Definition at line 652 of file vpMbKltMultiTracker.cpp.

◆ getFeaturesKlt() [1/2]

std::list< vpMbtDistanceKltPoints * > & vpMbKltMultiTracker::getFeaturesKlt ( )
virtual

Return the address of the Klt feature list.

Returns
The address of the Klt feature list.

Reimplemented from vpMbKltTracker.

Definition at line 671 of file vpMbKltMultiTracker.cpp.

◆ getFeaturesKlt() [2/2]

std::list< vpMbtDistanceKltPoints * > & vpMbKltMultiTracker::getFeaturesKlt ( const std::string &  cameraName)
virtual

Return the address of the Klt feature list for the given camera.

Parameters
cameraName: Camera name.
Returns
The address of the Klt feature list.

Definition at line 691 of file vpMbKltMultiTracker.cpp.

◆ getFeaturesKltCylinder() [1/2]

std::list< vpMbtDistanceKltCylinder * > & vpMbKltMultiTracker::getFeaturesKltCylinder ( )
virtual

Return the address of the cylinder feature list.

Returns
The address of the cylinder feature list.

Reimplemented from vpMbKltTracker.

Definition at line 709 of file vpMbKltMultiTracker.cpp.

◆ getFeaturesKltCylinder() [2/2]

std::list< vpMbtDistanceKltCylinder * > & vpMbKltMultiTracker::getFeaturesKltCylinder ( const std::string &  cameraName)
virtual

Return the address of the cylinder feature list for the given camera.

Parameters
cameraName: Camera name.
Returns
The address of the cylinder feature list.

Definition at line 728 of file vpMbKltMultiTracker.cpp.

◆ getGravityCenter()

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

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

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

Definition at line 2189 of file vpMbTracker.cpp.

◆ getInitialMu()

virtual double vpMbTracker::getInitialMu ( ) const
inlinevirtualinherited

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

Returns
the initial mu value.

Definition at line 283 of file vpMbTracker.h.

◆ getKltImagePoints()

std::map< std::string, std::vector< vpImagePoint > > vpMbKltMultiTracker::getKltImagePoints ( ) const
virtual

Get the current list of KLT points for each camera.

Warning
Contrary to getKltPoints which returns a pointer on CvPoint2D32f. This function convert and copy the openCV KLT points into vpImagePoints.
Returns
the list of KLT points through vpKltOpencv for each camera.

Definition at line 749 of file vpMbKltMultiTracker.cpp.

◆ getKltImagePointsWithId()

std::map< std::string, std::map< int, vpImagePoint > > vpMbKltMultiTracker::getKltImagePointsWithId ( ) const
virtual

Get the current list of KLT points and their id for each camera.

Warning
Contrary to getKltPoints which returns a pointer on CvPoint2D32f. This function convert and copy the openCV KLT points into vpImagePoints.
Returns
the list of KLT points and their id through vpKltOpencv for each camera.

Definition at line 770 of file vpMbKltMultiTracker.cpp.

◆ getKltMaskBorder()

unsigned int vpMbKltTracker::getKltMaskBorder ( ) const
inlineinherited

Get the erosion of the mask used on the Model faces.

Returns
The erosion.

Definition at line 329 of file vpMbKltTracker.h.

◆ getKltNbPoints()

std::map< std::string, int > vpMbKltMultiTracker::getKltNbPoints ( ) const
virtual

Get the current number of klt points for each camera.

Returns
The number of features

Definition at line 835 of file vpMbKltMultiTracker.cpp.

◆ getKltOpencv()

std::map< std::string, vpKltOpencv > vpMbKltMultiTracker::getKltOpencv ( ) const
virtual

Get the klt tracker at the current state for each camera.

Returns
klt tracker.

Definition at line 787 of file vpMbKltMultiTracker.cpp.

◆ getKltPoints()

std::map< std::string, std::vector< cv::Point2f > > vpMbKltMultiTracker::getKltPoints ( ) const
virtual

Get the current list of KLT points.

Returns
The list of KLT points through vpKltOpencv.

Definition at line 805 of file vpMbKltMultiTracker.cpp.

References m_mapOfKltTrackers.

◆ getKltThresholdAcceptation()

double vpMbKltTracker::getKltThresholdAcceptation ( ) const
inlineinherited

Get the threshold for the acceptation of a point.

Returns
threshold_outlier : Threshold for the weight below which a point is rejected.

Definition at line 344 of file vpMbKltTracker.h.

◆ getLambda()

virtual double vpMbTracker::getLambda ( ) const
inlinevirtualinherited

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

Returns
the value for the gain.

Definition at line 290 of file vpMbTracker.h.

◆ getMaskBorder()

unsigned int vpMbKltTracker::getMaskBorder ( ) const
inlineinherited

Get the erosion of the mask used on the Model faces.

Deprecated:
Use rather getkltMaskBorder()
Returns
The erosion.

Definition at line 441 of file vpMbKltTracker.h.

◆ getMaxIter()

virtual unsigned int vpMbTracker::getMaxIter ( ) const
inlinevirtualinherited

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

Returns
the number of iteration

Definition at line 297 of file vpMbTracker.h.

◆ getMultiNbPolygon()

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

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

Returns
Number of polygons for the specified camera.

Definition at line 869 of file vpMbKltMultiTracker.cpp.

◆ getNbKltPoints()

std::map< std::string, int > vpMbKltMultiTracker::getNbKltPoints ( ) const
virtual

Get the current number of klt points for each camera.

Deprecated:
Use rather getKltNbPoints()
Returns
The number of features

Definition at line 2815 of file vpMbKltMultiTracker.cpp.

◆ getNbPolygon()

unsigned int vpMbKltMultiTracker::getNbPolygon ( ) const
virtual

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

Returns
Number of polygons.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 852 of file vpMbKltMultiTracker.cpp.

◆ getNearClippingDistance()

virtual double vpMbTracker::getNearClippingDistance ( ) const
inlinevirtualinherited

Get the near distance for clipping.

Returns
Near clipping value.

Reimplemented in vpMbEdgeKltTracker.

Definition at line 374 of file vpMbTracker.h.

◆ getNumberOfCameras()

unsigned int vpMbKltMultiTracker::getNumberOfCameras ( ) const
inline

Get the number of cameras.

Returns
The number of cameras.

Definition at line 177 of file vpMbKltMultiTracker.h.

◆ getOptimizationMethod()

virtual vpMbtOptimizationMethod vpMbTracker::getOptimizationMethod ( ) const
inlinevirtualinherited

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

Returns
Optimization method.

Definition at line 383 of file vpMbTracker.h.

◆ getPolygon()

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

Return the polygon (face) "index".

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

Reimplemented in vpMbGenericTracker.

Definition at line 394 of file vpMbTracker.h.

◆ getPolygonFaces()

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

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

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

Reimplemented in vpMbGenericTracker.

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

Definition at line 2223 of file vpMbTracker.cpp.

References vpMbTracker::cam, vpMbTracker::cMo, vpMbTracker::faces, and vpMbHiddenFaces< PolygonType >::getPolygon().

◆ getPose() [1/7]

virtual vpHomogeneousMatrix vpMbTracker::getPose
inline

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

Returns
the current pose

Definition at line 422 of file vpMbTracker.h.

◆ getPose() [2/7]

virtual vpHomogeneousMatrix vpMbTracker::getPose ( ) const
inlinevirtualinherited

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

Returns
the current pose

Definition at line 422 of file vpMbTracker.h.

◆ getPose() [3/7]

void vpMbKltMultiTracker::getPose ( const std::string &  cameraName,
vpHomogeneousMatrix cMo_ 
) const
virtual

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

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 907 of file vpMbKltMultiTracker.cpp.

◆ getPose() [4/7]

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

Get the current pose between the object and the cameras.

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 922 of file vpMbKltMultiTracker.cpp.

◆ getPose() [5/7]

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

Get the current pose between the object and the cameras.

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 886 of file vpMbKltMultiTracker.cpp.

◆ getPose() [6/7]

virtual void vpMbTracker::getPose
inline

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

Parameters
cMo_: the pose

Definition at line 413 of file vpMbTracker.h.

◆ getPose() [7/7]

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

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

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

Definition at line 413 of file vpMbTracker.h.

◆ getProjectionError()

virtual double vpMbTracker::getProjectionError ( ) const
inlinevirtualinherited

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

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

Definition at line 309 of file vpMbTracker.h.

◆ getRobustWeights()

virtual vpColVector vpMbKltMultiTracker::getRobustWeights ( ) const
inlinevirtual

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

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

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

Reimplemented from vpMbKltTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 186 of file vpMbKltMultiTracker.h.

◆ getStopCriteriaEpsilon()

virtual double vpMbTracker::getStopCriteriaEpsilon ( ) const
inlinevirtualinherited

Definition at line 424 of file vpMbTracker.h.

◆ getThresholdAcceptation()

double vpMbKltTracker::getThresholdAcceptation ( ) const
inlineinherited

Get the threshold for the acceptation of a point.

Deprecated:
Use rather getKltThresholdAcceptation()
Returns
threshold_outlier : Threshold for the weight below which a point is rejected.

Definition at line 457 of file vpMbKltTracker.h.

◆ init()

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

Initialise the tracking.

Parameters
I: Input image.

Reimplemented from vpMbKltTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 935 of file vpMbKltMultiTracker.cpp.

◆ initCircle()

void vpMbKltTracker::initCircle ( const vpPoint p1,
const vpPoint p2,
const vpPoint p3,
const double  radius,
const int  ,
const std::string &  name = "" 
)
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.

Parameters
p1: Center of the circle.
p2,p3: Two points on the plane containing the circle. With the center of the circle we have 3 points defining the plane that contains the circle.
radius: Radius of the circle.
name: The optional name of the circle.

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker, and vpMbEdgeKltTracker.

Definition at line 1219 of file vpMbKltTracker.cpp.

◆ initClick() [1/5]

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

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

The structure of this file is the following:

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

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

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1214 of file vpMbKltMultiTracker.cpp.

◆ initClick() [2/5]

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

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

The structure of this file is the following:

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1137 of file vpMbKltMultiTracker.cpp.

◆ initClick() [3/5]

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

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

The structure of this file is the following:

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

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1004 of file vpMbKltMultiTracker.cpp.

◆ initClick() [4/5]

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

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

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

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 948 of file vpMbKltMultiTracker.cpp.

◆ initClick() [5/5]

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

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

The structure of this file is the following:

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1066 of file vpMbKltMultiTracker.cpp.

◆ initCylinder()

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

Add a cylinder to display (not for tracking) from two points on the axis (defining the length of the cylinder) and its radius.

Parameters
p1: First point on the axis.
p2: Second point on the axis.
radius: Radius of the cylinder.
idFace: Identifier of the polygon representing the revolution axis of the cylinder.
name: The optional name of the cylinder.

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker, and vpMbEdgeKltTracker.

Definition at line 1189 of file vpMbKltTracker.cpp.

◆ initFaceFromCorners()

void vpMbKltTracker::initFaceFromCorners ( vpMbtPolygon polygon)
protectedvirtualinherited

Initialise a new face from the coordinates given in parameter.

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

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker, and vpMbEdgeKltMultiTracker.

Definition at line 605 of file vpMbKltTracker.cpp.

◆ initFaceFromLines()

void vpMbKltTracker::initFaceFromLines ( vpMbtPolygon polygon)
protectedvirtualinherited

Initialise a new face from the coordinates given in parameter.

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

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltTracker, and vpMbEdgeKltMultiTracker.

Definition at line 620 of file vpMbKltTracker.cpp.

◆ initFromPoints() [1/2]

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

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

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

Definition at line 627 of file vpMbTracker.cpp.

◆ initFromPoints() [2/2]

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

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

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

Definition at line 776 of file vpMbTracker.cpp.

◆ initFromPose() [1/6]

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

Initialize the tracking thanks to the pose.

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1456 of file vpMbKltMultiTracker.cpp.

◆ initFromPose() [2/6]

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

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

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1410 of file vpMbKltMultiTracker.cpp.

◆ initFromPose() [3/6]

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

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

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

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

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1290 of file vpMbKltMultiTracker.cpp.

◆ initFromPose() [4/6]

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

Initialise the tracking thanks to the pose.

Parameters
I: Input image
cMo_: Pose matrix.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1339 of file vpMbKltMultiTracker.cpp.

◆ initFromPose() [5/6]

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

Initialise the tracking thanks to the pose vector.

Parameters
I: Input image
cPo: Pose vector.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1360 of file vpMbKltMultiTracker.cpp.

◆ initFromPose() [6/6]

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

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

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1376 of file vpMbKltMultiTracker.cpp.

◆ initProjectionErrorCircle()

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

Definition at line 3060 of file vpMbTracker.cpp.

References vpMbTracker::addProjectionErrorCircle().

◆ initProjectionErrorCylinder()

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

Definition at line 3066 of file vpMbTracker.cpp.

References vpMbTracker::addProjectionErrorCylinder().

◆ initProjectionErrorFaceFromCorners()

void vpMbTracker::initProjectionErrorFaceFromCorners ( vpMbtPolygon polygon)
protectedinherited

◆ initProjectionErrorFaceFromLines()

void vpMbTracker::initProjectionErrorFaceFromLines ( vpMbtPolygon polygon)
protectedinherited

◆ loadCAOModel()

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

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

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

Since ViSP 2.9.1, circles are supported.

The structure of the file is :

V1
# Number of points describing the object
8
0.01 0.01 0.01 // point with index 0 \
... // ... | coordinates of the points in the object frame (in m.)
0.01 0.01 0.01 // point with index 7 /
# Number of lines to track.
3
0 2 // line with index 0 \
1 4 // | Index of the points representing the extremitiesof the lines
1 5 // line with index 2 /
# Number of polygon (face) to track using the line previously described
1
3 0 1 2 // Face described as follow : nbLine indexLine1 indexLine2 ... indexLineN
# Number of polygon (face) to track using the points previously described
3
4 0 2 3 4 // Face described as follow : nbPoint IndexPoint1 IndexPoint2 ... IndexPointN
4 1 3 5 7 3 1 5 6
# Number of cylinder
1
6 7 0.05 // Index of the limits points on the axis (used to know the 'height' of the cylinder) and radius of the cyclinder (in m.)
# Number of circle
1
0.5 0 1 2 // radius, index center point, index 2 other points on the plane containing the circle
Parameters
modelFile: Full name of the main *.cao file containing the model.
vectorOfModelFilename: A vector of *.cao files.
startIdFace: Current Id of the face.
verbose: If true, will print additional information with CAO model files which include other CAO model files.
parent: This parameter is set to true when parsing a parent CAO model file, and false when parsing an included CAO model file.
T: 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 1371 of file vpMbTracker.cpp.

◆ loadConfigFile() [1/3]

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

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

Warning
To clean up memory allocated by the xml library, the user has to call vpXmlParser::cleanup() before the exit().
Parameters
mapOfConfigFiles: Map of xml files.
See also
loadConfigFile(const std::string &), vpXmlParser::cleanup()

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1639 of file vpMbKltMultiTracker.cpp.

◆ loadConfigFile() [2/3]

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

Load the xml configuration file. From the configuration file initialize the parameters corresponding to the objects: KLT, camera.

Warning
To clean up memory allocated by the xml library, the user has to call vpXmlParser::cleanup() before the exit().
Exceptions
vpException::ioErrorif the file has not been properly parsed (file not found or wrong format for the data).
Parameters
configFile: full name of the xml file.

The XML configuration file has the following form:

<?xml version="1.0"?>
<conf>
<camera>
<width>640</width>
<height>480</height>
<u0>320</u0>
<v0>240</v0>
<px>686.24</px>
<py>686.24</py>
</camera>
<face>
<angle_appear>65</angle_appear>
<angle_disappear>85</angle_disappear>
<near_clipping>0.01</near_clipping>
<far_clipping>0.90</far_clipping>
<fov_clipping>1</fov_clipping>
</face>
<klt>
<mask_border>10</mask_border>
<max_features>10000</max_features>
<window_size>5</window_size>
<quality>0.02</quality>
<min_distance>10</min_distance>
<harris>0.02</harris>
<size_block>3</size_block>
<pyramid_lvl>3</pyramid_lvl>
</klt>
</conf>
See also
vpXmlParser::cleanup()

Reimplemented from vpMbKltTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1557 of file vpMbKltMultiTracker.cpp.

◆ loadConfigFile() [3/3]

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

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

Warning
To clean up memory allocated by the xml library, the user has to call vpXmlParser::cleanup() before the exit().
Parameters
configFile1: Full name of the xml file for the first camera.
configFile2: Full name of the xml file for the second camera.
firstCameraIsReference: If true, the first camera is the reference, otherwise it is the second one.
See also
loadConfigFile(const std::string &), vpXmlParser::cleanup()

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1592 of file vpMbKltMultiTracker.cpp.

◆ loadModel()

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

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

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

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1696 of file vpMbKltMultiTracker.cpp.

◆ loadVRMLModel()

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

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

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

Definition at line 1208 of file vpMbTracker.cpp.

◆ ltrim()

std::string& vpMbTracker::ltrim ( std::string &  s) const
inlineprotectedinherited

Definition at line 859 of file vpMbTracker.h.

◆ parseBoolean()

bool vpMbTracker::parseBoolean ( std::string &  input)
inlineprotectedinherited

Definition at line 846 of file vpMbTracker.h.

◆ parseParameters()

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

Definition at line 1269 of file vpMbTracker.cpp.

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

◆ postTracking() [1/2]

bool vpMbKltTracker::postTracking ( const vpImage< unsigned char > &  I,
vpColVector w 
)
protectedinherited

Realize the post tracking operations. Mostly visibility tests

Definition at line 673 of file vpMbKltTracker.cpp.

Referenced by postTracking().

◆ postTracking() [2/2]

void vpMbKltMultiTracker::postTracking ( std::map< std::string, const vpImage< unsigned char > * > &  mapOfImages)
protectedvirtual

◆ preTracking() [1/2]

void vpMbKltTracker::preTracking ( const vpImage< unsigned char > &  I)
protectedinherited

Achieve the tracking of the KLT features and associate the features to the faces.

Parameters
I: The input image.

Definition at line 636 of file vpMbKltTracker.cpp.

Referenced by preTracking().

◆ preTracking() [2/2]

void vpMbKltMultiTracker::preTracking ( std::map< std::string, const vpImage< unsigned char > * > &  mapOfImages)
protectedvirtual

◆ projectionErrorInitMovingEdge()

◆ projectionErrorResetMovingEdges()

void vpMbTracker::projectionErrorResetMovingEdges ( )
protectedinherited

◆ projectionErrorVisibleFace()

◆ reinit() [1/3]

void vpMbKltMultiTracker::reinit ( )
protectedvirtual

The parameter is not used.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1749 of file vpMbKltMultiTracker.cpp.

Referenced by postTracking(), and vpMbEdgeKltMultiTracker::reinit().

◆ reinit() [2/3]

void vpMbKltTracker::reinit
protected

Definition at line 157 of file vpMbKltTracker.cpp.

◆ reinit() [3/3]

◆ reInitModel() [1/3]

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

Re-initialize the model used by the tracker.

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1848 of file vpMbKltMultiTracker.cpp.

◆ reInitModel() [2/3]

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

Re-initialize the model used by the tracker.

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

Reimplemented from vpMbKltTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1767 of file vpMbKltMultiTracker.cpp.

◆ reInitModel() [3/3]

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

Re-initialize the model used by the tracker.

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1807 of file vpMbKltMultiTracker.cpp.

◆ removeComment()

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

Definition at line 1254 of file vpMbTracker.cpp.

References vpException::ioError.

◆ resetTracker()

void vpMbKltMultiTracker::resetTracker ( )
virtual

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

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1902 of file vpMbKltMultiTracker.cpp.

◆ rtrim()

std::string& vpMbTracker::rtrim ( std::string &  s) const
inlineprotectedinherited

Definition at line 865 of file vpMbTracker.h.

◆ samePoint()

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

Check if two vpPoints are similar.

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

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

Definition at line 2764 of file vpMbTracker.cpp.

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

◆ savePose()

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

Save the pose in the given filename

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

Definition at line 899 of file vpMbTracker.cpp.

◆ setAngleAppear()

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

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

Parameters
a: new angle in radian.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1947 of file vpMbKltMultiTracker.cpp.

◆ setAngleDisappear()

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

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

Parameters
a: new angle in radian.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1966 of file vpMbKltMultiTracker.cpp.

◆ setCameraParameters() [1/4]

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

Set the camera parameters for all the cameras.

Parameters
mapOfCameraParameters: Map of camera parameters.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2061 of file vpMbKltMultiTracker.cpp.

◆ setCameraParameters() [2/4]

void vpMbKltMultiTracker::setCameraParameters ( const std::string &  cameraName,
const vpCameraParameters camera 
)
virtual

Set the camera parameters for the specified camera.

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2040 of file vpMbKltMultiTracker.cpp.

◆ setCameraParameters() [3/4]

void vpMbKltMultiTracker::setCameraParameters ( const vpCameraParameters camera)
virtual

Set the camera parameters for the monocular case.

Parameters
camera: The new camera parameters.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 1981 of file vpMbKltMultiTracker.cpp.

◆ setCameraParameters() [4/4]

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

Set the camera parameters for the stereo cameras case.

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2010 of file vpMbKltMultiTracker.cpp.

◆ setCameraTransformationMatrix() [1/2]

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

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

Parameters
mapOfTransformationMatrix: map of camera transformation matrices.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2108 of file vpMbKltMultiTracker.cpp.

◆ setCameraTransformationMatrix() [2/2]

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

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

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2088 of file vpMbKltMultiTracker.cpp.

◆ setClipping() [1/2]

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

Specify which clipping to use for the specified camera.

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2150 of file vpMbKltMultiTracker.cpp.

◆ setClipping() [2/2]

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

Specify which clipping to use.

See also
vpMbtPolygonClipping
Parameters
flags: New clipping flags.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2132 of file vpMbKltMultiTracker.cpp.

◆ setCovarianceComputation()

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

Set if the covariance matrix has to be computed.

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

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2165 of file vpMbKltMultiTracker.cpp.

◆ setDisplayFeatures()

void vpMbKltMultiTracker::setDisplayFeatures ( const bool  displayF)
virtual

Enable to display the KLT features.

Parameters
displayF: set it to true to display the features.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2180 of file vpMbKltMultiTracker.cpp.

◆ setEstimatedDoF()

void vpMbTracker::setEstimatedDoF ( const vpColVector v)
virtualinherited

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

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

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

Definition at line 2649 of file vpMbTracker.cpp.

◆ setFarClippingDistance() [1/2]

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

Set the far distance for clipping.

Parameters
dist: Far clipping value.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2195 of file vpMbKltMultiTracker.cpp.

◆ setFarClippingDistance() [2/2]

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

Set the far distance for clipping for the specified camera.

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2211 of file vpMbKltMultiTracker.cpp.

◆ setGoodNbRayCastingAttemptsRatio()

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

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

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

Reimplemented from vpMbTracker.

Definition at line 2231 of file vpMbKltMultiTracker.cpp.

◆ setInitialMu()

virtual void vpMbTracker::setInitialMu ( const double  mu)
inlinevirtualinherited

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

Parameters
mu: initial mu.

Definition at line 513 of file vpMbTracker.h.

◆ setKltMaskBorder()

void vpMbKltMultiTracker::setKltMaskBorder ( const unsigned int &  e)
virtual

Set the erosion of the mask used on the Model faces.

Parameters
e: The desired erosion.

Definition at line 2335 of file vpMbKltMultiTracker.cpp.

◆ setKltOpencv() [1/2]

void vpMbKltMultiTracker::setKltOpencv ( const std::map< std::string, vpKltOpencv > &  mapOfOpenCVTrackers)
virtual

Set the new value of the klt tracker for the specified cameras.

Parameters
mapOfOpenCVTrackers: Map of Klt trackers containing the new values.

Definition at line 2275 of file vpMbKltMultiTracker.cpp.

◆ setKltOpencv() [2/2]

void vpMbKltMultiTracker::setKltOpencv ( const vpKltOpencv t)
virtual

Set the new value of the klt tracker.

Parameters
t: Klt tracker containing the new values.

Reimplemented from vpMbKltTracker.

Definition at line 2262 of file vpMbKltMultiTracker.cpp.

◆ setKltThresholdAcceptation()

void vpMbKltMultiTracker::setKltThresholdAcceptation ( const double  th)
virtual

Set the threshold for the acceptation of a point.

Parameters
th: Threshold for the weight below which a point is rejected.

Definition at line 2705 of file vpMbKltMultiTracker.cpp.

◆ setLambda()

virtual void vpMbTracker::setLambda ( const double  gain)
inlinevirtualinherited

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

Parameters
gain: the desired value for the gain.

Definition at line 520 of file vpMbTracker.h.

◆ setLod() [1/2]

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

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

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2319 of file vpMbKltMultiTracker.cpp.

◆ setLod() [2/2]

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

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

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

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2299 of file vpMbKltMultiTracker.cpp.

◆ setMask()

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

Reimplemented in vpMbGenericTracker.

Definition at line 548 of file vpMbTracker.h.

◆ setMaskBorder()

void vpMbKltMultiTracker::setMaskBorder ( const unsigned int &  e)
virtual

Set the erosion of the mask used on the Model faces.

Deprecated:
Use rather setKltMaskBorder()
Parameters
e: The desired erosion.

Definition at line 2823 of file vpMbKltMultiTracker.cpp.

◆ setMaxIter()

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

Set the maximum iteration of the virtual visual servoing stage.

Parameters
max: the desired number of iteration

Definition at line 529 of file vpMbTracker.h.

◆ setMinLineLengthThresh()

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

Useless for KLT tracker.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2348 of file vpMbKltMultiTracker.cpp.

◆ setMinPolygonAreaThresh() [1/2]

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

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

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2379 of file vpMbKltMultiTracker.cpp.

◆ setMinPolygonAreaThresh() [2/2]

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

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

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

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2361 of file vpMbKltMultiTracker.cpp.

◆ setNbRayCastingAttemptsForVisibility()

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

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

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

Reimplemented from vpMbTracker.

Definition at line 2248 of file vpMbKltMultiTracker.cpp.

◆ setNearClippingDistance() [1/2]

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

Set the near distance for clipping.

Parameters
dist: Near clipping value.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2396 of file vpMbKltMultiTracker.cpp.

◆ setNearClippingDistance() [2/2]

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

Set the near distance for clipping for the specified camera.

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2455 of file vpMbKltMultiTracker.cpp.

◆ setOgreShowConfigDialog()

void vpMbKltMultiTracker::setOgreShowConfigDialog ( const bool  showConfigDialog)
virtual

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

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

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2416 of file vpMbKltMultiTracker.cpp.

◆ setOgreVisibilityTest()

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

Use Ogre3D for visibility tests

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

Reimplemented from vpMbKltTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2432 of file vpMbKltMultiTracker.cpp.

◆ setOptimizationMethod()

void vpMbKltMultiTracker::setOptimizationMethod ( const vpMbtOptimizationMethod opt)
virtual

Set the optimization method used during the tracking.

Parameters
opt: Optimization method to use.

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2470 of file vpMbKltMultiTracker.cpp.

◆ setPose() [1/4]

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

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

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2611 of file vpMbKltMultiTracker.cpp.

◆ setPose() [2/4]

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

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

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2556 of file vpMbKltMultiTracker.cpp.

◆ setPose() [3/4]

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

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

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

Reimplemented from vpMbKltTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2487 of file vpMbKltMultiTracker.cpp.

◆ setPose() [4/4]

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

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

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

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2521 of file vpMbKltMultiTracker.cpp.

◆ setPoseSavingFilename()

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

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

Parameters
filename: The new filename.

Definition at line 640 of file vpMbTracker.h.

◆ setProjectionErrorComputation()

virtual void vpMbKltTracker::setProjectionErrorComputation ( const bool &  flag)
inlinevirtualinherited

Set if the projection error criteria has to be computed.

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

Reimplemented from vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker, and vpMbEdgeKltTracker.

Definition at line 417 of file vpMbKltTracker.h.

◆ setProjectionErrorDisplay()

virtual void vpMbTracker::setProjectionErrorDisplay ( const bool  display)
inlinevirtualinherited

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

Reimplemented in vpMbGenericTracker.

Examples
mbtGenericTrackingDepthOnly.cpp.

Definition at line 574 of file vpMbTracker.h.

◆ setProjectionErrorDisplayArrowLength()

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

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

Reimplemented in vpMbGenericTracker.

Examples
mbtGenericTrackingDepthOnly.cpp.

Definition at line 579 of file vpMbTracker.h.

◆ setProjectionErrorDisplayArrowThickness()

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

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

Reimplemented in vpMbGenericTracker.

Examples
mbtGenericTrackingDepthOnly.cpp.

Definition at line 584 of file vpMbTracker.h.

Referenced by vpMbGenericTracker::setProjectionErrorDisplayArrowThickness().

◆ setProjectionErrorKernelSize()

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

Set kernel size used for projection error computation.

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

Definition at line 3462 of file vpMbTracker.cpp.

Referenced by vpMbTracker::loadConfigFile().

◆ setProjectionErrorMovingEdge()

void vpMbTracker::setProjectionErrorMovingEdge ( const vpMe me)
inherited

Set Moving-Edges parameters for projection error computation.

Parameters
me: Moving-Edges parameters.

Definition at line 3436 of file vpMbTracker.cpp.

Referenced by vpMbTracker::loadConfigFile().

◆ setReferenceCameraName()

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

Set the reference camera name

Parameters
referenceCameraName: Name of the reference camera.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2672 of file vpMbKltMultiTracker.cpp.

◆ setScanLineVisibilityTest()

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

Use Scanline algorithm for visibility tests

Parameters
v: True to use it, False otherwise

Reimplemented from vpMbKltTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2689 of file vpMbKltMultiTracker.cpp.

◆ setStopCriteriaEpsilon()

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

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

Parameters
eps: Epsilon threshold.

Definition at line 556 of file vpMbTracker.h.

◆ setThresholdAcceptation()

void vpMbKltMultiTracker::setThresholdAcceptation ( const double  th)
virtual

Set the threshold for the acceptation of a point.

Parameters
th: Threshold for the weight below which a point is rejected.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2830 of file vpMbKltMultiTracker.cpp.

◆ setUseKltTracking()

void vpMbKltMultiTracker::setUseKltTracking ( const std::string &  name,
const bool &  useKltTracking 
)
virtual

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

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

Definition at line 2722 of file vpMbKltMultiTracker.cpp.

◆ testTracking()

void vpMbKltTracker::testTracking ( )
virtualinherited

Test the quality of the tracking. The tracking is supposed to fail if less than 10 points are tracked.

Todo:
Find a efficient way to test the quality.
Exceptions
vpTrackingException::fatalErrorif the test fails.

Implements vpMbTracker.

Reimplemented in vpMbEdgeKltMultiTracker, and vpMbEdgeKltTracker.

Definition at line 1153 of file vpMbKltTracker.cpp.

◆ track() [1/3]

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

Realize the tracking of the object in the image

Exceptions
vpException: if the tracking is supposed to have failed
Parameters
I: the input image

Reimplemented from vpMbKltTracker.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2737 of file vpMbKltMultiTracker.cpp.

◆ track() [2/3]

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

Realize the tracking of the object in the image

Exceptions
vpException: if the tracking is supposed to have failed
Parameters
I1: The first image.
I2: The second image.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2761 of file vpMbKltMultiTracker.cpp.

◆ track() [3/3]

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

Realize the tracking of the object in the image

Exceptions
vpException: if the tracking is supposed to have failed
Parameters
mapOfImages: Map of images.

Reimplemented in vpMbEdgeKltMultiTracker.

Definition at line 2785 of file vpMbKltMultiTracker.cpp.

◆ trim()

std::string& vpMbTracker::trim ( std::string &  s) const
inlineprotectedinherited

Definition at line 871 of file vpMbTracker.h.

Referenced by vpMbTracker::parseParameters().

Member Data Documentation

◆ angleAppears

◆ angleDisappears

◆ applyLodSettingInConfig

bool vpMbTracker::applyLodSettingInConfig
protectedinherited

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

Definition at line 180 of file vpMbTracker.h.

◆ c0Mo

◆ cam

◆ circles_disp

std::list<vpMbtDistanceCircle *> vpMbKltTracker::circles_disp
protectedinherited

Vector of the circles used here only to display the full model.

Definition at line 266 of file vpMbKltTracker.h.

◆ clippingFlag

◆ cMo

vpHomogeneousMatrix vpMbTracker::cMo
protectedinherited

The current pose.

Definition at line 118 of file vpMbTracker.h.

Referenced by vpMbDepthDenseTracker::computeVisibility(), vpMbDepthNormalTracker::computeVisibility(), vpMbDepthDenseTracker::computeVVS(), vpMbDepthNormalTracker::computeVVS(), computeVVS(), vpMbEdgeMultiTracker::computeVVS(), vpMbEdgeKltMultiTracker::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(), vpMbTracker::getPolygonFaces(), vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), vpMbGenericTracker::init(), vpMbKltTracker::init(), vpMbGenericTracker::initFromPoints(), vpMbEdgeKltMultiTracker::initMbtTracking(), postTracking(), vpMbKltTracker::reinit(), vpMbDepthDenseTracker::reInitModel(), vpMbDepthNormalTracker::reInitModel(), vpMbDepthDenseTracker::resetTracker(), vpMbDepthNormalTracker::resetTracker(), vpMbDepthDenseTracker::segmentPointCloud(), vpMbDepthNormalTracker::segmentPointCloud(), vpMbDepthDenseTracker::setPose(), vpMbDepthNormalTracker::setPose(), and vpMbEdgeKltTracker::trackFirstLoop().

◆ computeCovariance

◆ computeProjError

bool vpMbTracker::computeProjError
protectedinherited

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

Definition at line 138 of file vpMbTracker.h.

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

◆ covarianceMatrix

vpMatrix vpMbTracker::covarianceMatrix
protectedinherited

Covariance matrix.

Definition at line 135 of file vpMbTracker.h.

Referenced by vpMbTracker::computeCovarianceMatrixVVS().

◆ ctTc0

vpHomogeneousMatrix vpMbKltTracker::ctTc0
protectedinherited

◆ cur

cv::Mat vpMbKltTracker::cur
protectedinherited

Temporary OpenCV image for fast conversion.

Definition at line 239 of file vpMbKltTracker.h.

Referenced by vpMbKltTracker::reinit().

◆ displayFeatures

bool vpMbTracker::displayFeatures
protectedinherited

If true, the features are displayed.

Definition at line 143 of file vpMbTracker.h.

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

◆ distFarClip

double vpMbTracker::distFarClip
protectedinherited

◆ distNearClip

double vpMbTracker::distNearClip
protectedinherited

◆ faces

◆ firstInitialisation

bool vpMbKltTracker::firstInitialisation
protectedinherited

Flag to specify whether the init method is called the first or not (specific calls to realize in this case).

Definition at line 247 of file vpMbKltTracker.h.

◆ isoJoIdentity

bool vpMbTracker::isoJoIdentity
protectedinherited

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

Definition at line 122 of file vpMbTracker.h.

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

◆ kltCylinders

std::list<vpMbtDistanceKltCylinder *> vpMbKltTracker::kltCylinders
protectedinherited

◆ kltPolygons

std::list<vpMbtDistanceKltPoints *> vpMbKltTracker::kltPolygons
protectedinherited

◆ m_computeInteraction

bool vpMbTracker::m_computeInteraction
protectedinherited

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

Definition at line 190 of file vpMbTracker.h.

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

◆ m_error_klt

◆ m_error_kltMulti

vpColVector vpMbKltMultiTracker::m_error_kltMulti
protected

(s - s*)

Definition at line 89 of file vpMbKltMultiTracker.h.

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

◆ m_initialMu

double vpMbTracker::m_initialMu
protectedinherited

◆ m_L_klt

◆ m_L_kltMulti

vpMatrix vpMbKltMultiTracker::m_L_kltMulti
protected

Interaction matrix.

Definition at line 87 of file vpMbKltMultiTracker.h.

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

◆ m_lambda

double vpMbTracker::m_lambda
protectedinherited

◆ m_mapOfCameraTransformationMatrix

std::map<std::string, vpHomogeneousMatrix> vpMbKltMultiTracker::m_mapOfCameraTransformationMatrix
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().

◆ m_mapOfKltTrackers

◆ m_mask

const vpImage<bool>* vpMbTracker::m_mask
protectedinherited

◆ m_maxIter

◆ m_nbFaceUsed

unsigned int vpMbKltTracker::m_nbFaceUsed
protectedinherited

Definition at line 270 of file vpMbKltTracker.h.

Referenced by preTracking().

◆ m_nbInfos

◆ m_optimizationMethod

vpMbtOptimizationMethod vpMbTracker::m_optimizationMethod
protectedinherited

◆ m_projectionErrorCam

vpCameraParameters vpMbTracker::m_projectionErrorCam
protectedinherited

Camera parameters used for projection error computation.

Definition at line 224 of file vpMbTracker.h.

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

◆ m_projectionErrorCircles

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

◆ m_projectionErrorCylinders

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

◆ m_projectionErrorDisplay

bool vpMbTracker::m_projectionErrorDisplay
protectedinherited

Display gradient and model orientation for projection error computation.

Definition at line 218 of file vpMbTracker.h.

Referenced by vpMbTracker::computeProjectionErrorImpl().

◆ m_projectionErrorDisplayLength

unsigned int vpMbTracker::m_projectionErrorDisplayLength
protectedinherited

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

Definition at line 220 of file vpMbTracker.h.

Referenced by vpMbTracker::computeProjectionErrorImpl().

◆ m_projectionErrorDisplayThickness

unsigned int vpMbTracker::m_projectionErrorDisplayThickness
protectedinherited

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

Definition at line 222 of file vpMbTracker.h.

Referenced by vpMbTracker::computeProjectionErrorImpl().

◆ m_projectionErrorFaces

◆ m_projectionErrorKernelSize

unsigned int vpMbTracker::m_projectionErrorKernelSize
protectedinherited

Kernel size used to compute the gradient orientation.

Definition at line 212 of file vpMbTracker.h.

Referenced by vpMbTracker::loadConfigFile().

◆ m_projectionErrorLines

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

◆ m_projectionErrorMe

vpMe vpMbTracker::m_projectionErrorMe
protectedinherited

◆ m_projectionErrorOgreShowConfigDialog

bool vpMbTracker::m_projectionErrorOgreShowConfigDialog
protectedinherited

Definition at line 208 of file vpMbTracker.h.

Referenced by vpMbTracker::computeProjectionErrorImpl().

◆ m_referenceCameraName

std::string vpMbKltMultiTracker::m_referenceCameraName
protected

Name of the reference camera.

Definition at line 85 of file vpMbKltMultiTracker.h.

Referenced by postTracking().

◆ m_robust_klt

vpRobust vpMbKltTracker::m_robust_klt
protectedinherited

◆ m_SobelX

vpMatrix vpMbTracker::m_SobelX
protectedinherited

Sobel kernel in X.

Definition at line 214 of file vpMbTracker.h.

Referenced by vpMbTracker::computeProjectionErrorImpl().

◆ m_SobelY

vpMatrix vpMbTracker::m_SobelY
protectedinherited

Sobel kernel in Y.

Definition at line 216 of file vpMbTracker.h.

Referenced by vpMbTracker::computeProjectionErrorImpl().

◆ m_stopCriteriaEpsilon

double vpMbTracker::m_stopCriteriaEpsilon
protectedinherited

Epsilon threshold to stop the VVS optimization loop.

Definition at line 196 of file vpMbTracker.h.

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

◆ m_w_klt

vpColVector vpMbKltTracker::m_w_klt
protectedinherited

◆ m_w_kltMulti

vpColVector vpMbKltMultiTracker::m_w_kltMulti
protected

Robust weights.

Definition at line 91 of file vpMbKltMultiTracker.h.

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

◆ m_weightedError_klt

vpColVector vpMbKltTracker::m_weightedError_klt
protectedinherited

Weighted error.

Definition at line 278 of file vpMbKltTracker.h.

Referenced by vpMbKltTracker::computeVVSInit().

◆ m_weightedError_kltMulti

vpColVector vpMbKltMultiTracker::m_weightedError_kltMulti
protected

Weighted error.

Definition at line 93 of file vpMbKltMultiTracker.h.

Referenced by computeVVS(), and computeVVSInit().

◆ mapOfParameterNames

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

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

Definition at line 187 of file vpMbTracker.h.

Referenced by vpMbTracker::parseParameters().

◆ maskBorder

unsigned int vpMbKltTracker::maskBorder
protectedinherited

Erosion of the mask.

Definition at line 249 of file vpMbKltTracker.h.

Referenced by vpMbKltTracker::reinit().

◆ minLineLengthThresholdGeneral

double vpMbTracker::minLineLengthThresholdGeneral
protectedinherited

Minimum line length threshold for LOD mode (general setting)

Definition at line 182 of file vpMbTracker.h.

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

◆ minPolygonAreaThresholdGeneral

double vpMbTracker::minPolygonAreaThresholdGeneral
protectedinherited

Minimum polygon area threshold for LOD mode (general setting)

Definition at line 184 of file vpMbTracker.h.

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

◆ modelFileName

std::string vpMbTracker::modelFileName
protectedinherited

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

Definition at line 125 of file vpMbTracker.h.

◆ modelInitialised

bool vpMbTracker::modelInitialised
protectedinherited

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

Definition at line 128 of file vpMbTracker.h.

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

◆ nbCircles

unsigned int vpMbTracker::nbCircles
protectedinherited

Number of circles in CAO model.

Definition at line 175 of file vpMbTracker.h.

◆ nbCylinders

unsigned int vpMbTracker::nbCylinders
protectedinherited

Number of cylinders in CAO model.

Definition at line 173 of file vpMbTracker.h.

◆ nbLines

unsigned int vpMbTracker::nbLines
protectedinherited

Number of lines in CAO model.

Definition at line 167 of file vpMbTracker.h.

◆ nbPoints

unsigned int vpMbTracker::nbPoints
protectedinherited

Number of points in CAO model.

Definition at line 165 of file vpMbTracker.h.

◆ nbPolygonLines

unsigned int vpMbTracker::nbPolygonLines
protectedinherited

Number of polygon lines in CAO model.

Definition at line 169 of file vpMbTracker.h.

◆ nbPolygonPoints

unsigned int vpMbTracker::nbPolygonPoints
protectedinherited

Number of polygon points in CAO model.

Definition at line 171 of file vpMbTracker.h.

◆ ogreShowConfigDialog

bool vpMbTracker::ogreShowConfigDialog
protectedinherited

◆ oJo

◆ percentGood

double vpMbKltTracker::percentGood
protectedinherited

Percentage of good points, according to the initial number, that must have the tracker.

Definition at line 255 of file vpMbKltTracker.h.

◆ poseSavingFilename

std::string vpMbTracker::poseSavingFilename
protectedinherited

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

Definition at line 131 of file vpMbTracker.h.

◆ projectionError

double vpMbTracker::projectionError
protectedinherited

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

Definition at line 141 of file vpMbTracker.h.

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

◆ threshold_outlier

double vpMbKltTracker::threshold_outlier
protectedinherited

Threshold below which the weight associated to a point to consider this one as an outlier.

Definition at line 252 of file vpMbKltTracker.h.

◆ tracker

vpKltOpencv vpMbKltTracker::tracker
protectedinherited

Points tracker.

Definition at line 260 of file vpMbKltTracker.h.

Referenced by vpMbKltTracker::getKltPoints(), vpMbKltTracker::reinit(), and vpMbKltTracker::vpMbKltTracker().

◆ useLodGeneral

bool vpMbTracker::useLodGeneral
protectedinherited

True if LOD mode is enabled.

Definition at line 177 of file vpMbTracker.h.

◆ useOgre

◆ useScanLine

vpKltOpencv::track
void track(const cv::Mat &I)
Definition: vpKltOpencv.cpp:146
vpMbKltTracker::tracker
vpKltOpencv tracker
Points tracker.
Definition: vpMbKltTracker.h:260
vpColVector
Implementation of column vector and the associated operations.
Definition: vpColVector.h:71
vpColVector::sum
double sum() const
Definition: vpColVector.cpp:1393
vpArray2D::size
unsigned int size() const
Return the number of elements of the 2D array.
Definition: vpArray2D.h:157