Visual Servoing Platform  version 3.2.0
vpMbDepthDenseTracker Class Reference

#include <vpMbDepthDenseTracker.h>

+ Inheritance diagram for vpMbDepthDenseTracker:

Public Types

enum  vpMbtOptimizationMethod { GAUSS_NEWTON_OPT = 0, LEVENBERG_MARQUARDT_OPT = 1 }
 

Public Member Functions

 vpMbDepthDenseTracker ()
 
virtual ~vpMbDepthDenseTracker ()
 
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 vpColVector getError () const
 
virtual vpColVector getRobustWeights () const
 
virtual void init (const vpImage< unsigned char > &I)
 
virtual void loadConfigFile (const std::string &configFile)
 
void reInitModel (const vpImage< unsigned char > &I, const std::string &cad_name, const vpHomogeneousMatrix &cMo_, const bool verbose=false)
 
void reInitModel (const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &point_cloud, const std::string &cad_name, const vpHomogeneousMatrix &cMo_, const bool verbose=false)
 
virtual void resetTracker ()
 
virtual void setCameraParameters (const vpCameraParameters &camera)
 
virtual void setDepthDenseFilteringMaxDistance (const double maxDistance)
 
virtual void setDepthDenseFilteringMethod (const int method)
 
virtual void setDepthDenseFilteringMinDistance (const double minDistance)
 
virtual void setDepthDenseFilteringOccupancyRatio (const double occupancyRatio)
 
void setDepthDenseSamplingStep (const unsigned int stepX, const unsigned int stepY)
 
virtual void setOgreVisibilityTest (const bool &v)
 
virtual void setPose (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cdMo)
 
virtual void setPose (const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &point_cloud, const vpHomogeneousMatrix &cdMo)
 
virtual void setScanLineVisibilityTest (const bool &v)
 
void setUseDepthDenseTracking (const std::string &name, const bool &useDepthDenseTracking)
 
virtual void testTracking ()
 
virtual void track (const vpImage< unsigned char > &)
 
virtual void track (const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &point_cloud)
 
virtual void track (const std::vector< vpColVector > &point_cloud, const unsigned int width, const unsigned int height)
 
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 void getCameraParameters (vpCameraParameters &camera) 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 vpMbHiddenFaces< vpMbtPolygon > & getFaces ()
 
virtual double getFarClippingDistance () const
 
virtual unsigned int getNbPolygon () 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 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 > &I, const std::vector< vpPoint > &points3D_list, const std::string &displayFile="")
 
virtual void initFromPoints (const vpImage< unsigned char > &I, const std::string &initFile)
 
virtual void initFromPoints (const vpImage< unsigned char > &I, const std::vector< vpImagePoint > &points2D_list, const std::vector< vpPoint > &points3D_list)
 
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 loadModel (const std::string &modelFile, const bool verbose=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
 
virtual void setAngleAppear (const double &a)
 
virtual void setAngleDisappear (const double &a)
 
virtual void setClipping (const unsigned int &flags)
 
virtual void setCovarianceComputation (const bool &flag)
 
virtual void setDisplayFeatures (const bool displayF)
 
virtual void setEstimatedDoF (const vpColVector &v)
 
virtual void setFarClippingDistance (const double &dist)
 
virtual void setInitialMu (const double mu)
 
virtual void setLambda (const double gain)
 
virtual void setLod (const bool useLod, const std::string &name="")
 
virtual void setMaxIter (const unsigned int max)
 
virtual void setMinLineLengthThresh (const double minLineLengthThresh, const std::string &name="")
 
virtual void setMinPolygonAreaThresh (const double minPolygonAreaThresh, const std::string &name="")
 
virtual void setNearClippingDistance (const double &dist)
 
virtual void setOptimizationMethod (const vpMbtOptimizationMethod &opt)
 
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 setProjectionErrorComputation (const bool &flag)
 
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
 
virtual void setGoodNbRayCastingAttemptsRatio (const double &ratio)
 
virtual void setNbRayCastingAttemptsForVisibility (const unsigned int &attempts)
 
virtual void setOgreShowConfigDialog (const bool showConfigDialog)
 
void setPoseSavingFilename (const std::string &filename)
 

Protected Member Functions

void addFace (vpMbtPolygon &polygon, const bool alreadyClose)
 
void computeVisibility (const unsigned int width, const unsigned int height)
 
void computeVVS ()
 
virtual void computeVVSInit ()
 
virtual void computeVVSInteractionMatrixAndResidu ()
 
virtual void computeVVSWeights ()
 
virtual void initCircle (const vpPoint &p1, const vpPoint &p2, const vpPoint &p3, const double radius, const int idFace=0, const std::string &name="")
 
virtual void initCylinder (const vpPoint &p1, const vpPoint &p2, const double radius, const int idFace=0, const std::string &name="")
 
virtual void initFaceFromCorners (vpMbtPolygon &polygon)
 
virtual void initFaceFromLines (vpMbtPolygon &polygon)
 
void segmentPointCloud (const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &point_cloud)
 
void segmentPointCloud (const std::vector< vpColVector > &point_cloud, const unsigned int width, const unsigned int height)
 
virtual void computeVVSWeights (vpRobust &robust, const vpColVector &error, vpColVector &w)
 
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

vpMbHiddenFaces< vpMbtPolygonm_depthDenseHiddenFacesDisplay
 
vpImage< unsigned char > m_depthDenseI_dummyVisibility
 
std::vector< vpMbtFaceDepthDense * > m_depthDenseListOfActiveFaces
 
unsigned int m_denseDepthNbFeatures
 
std::vector< vpMbtFaceDepthDense * > m_depthDenseFaces
 
unsigned int m_depthDenseSamplingStepX
 
unsigned int m_depthDenseSamplingStepY
 
vpColVector m_error_depthDense
 
vpMatrix m_L_depthDense
 
vpMbtTukeyEstimator< double > m_robust_depthDense
 
vpColVector m_w_depthDense
 
vpColVector m_weightedError_depthDense
 
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

Definition at line 47 of file vpMbDepthDenseTracker.h.

Member Enumeration Documentation

◆ vpMbtOptimizationMethod

Enumerator
GAUSS_NEWTON_OPT 
LEVENBERG_MARQUARDT_OPT 

Definition at line 112 of file vpMbTracker.h.

Constructor & Destructor Documentation

◆ vpMbDepthDenseTracker()

vpMbDepthDenseTracker::vpMbDepthDenseTracker ( )

◆ ~vpMbDepthDenseTracker()

vpMbDepthDenseTracker::~vpMbDepthDenseTracker ( )
virtual

Definition at line 74 of file vpMbDepthDenseTracker.cpp.

References m_depthDenseFaces.

Member Function Documentation

◆ addFace()

◆ 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.

◆ computeVisibility()

◆ 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()

◆ computeVVSInteractionMatrixAndResidu()

void vpMbDepthDenseTracker::computeVVSInteractionMatrixAndResidu ( )
protectedvirtual

◆ computeVVSPoseEstimation()

◆ computeVVSWeights() [1/3]

void vpMbDepthDenseTracker::computeVVSWeights ( )
protectedvirtual

Definition at line 284 of file vpMbDepthDenseTracker.cpp.

References m_error_depthDense, m_robust_depthDense, and m_w_depthDense.

Referenced by computeVVS().

◆ 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() [1/2]

void vpMbDepthDenseTracker::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 at a given position using the given camera parameters on a grey level image.

Parameters
I: The 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 surfaces).

Implements vpMbTracker.

Definition at line 289 of file vpMbDepthDenseTracker.cpp.

References vpMbTracker::angleAppears, vpMbTracker::angleDisappears, vpMbHiddenFaces< PolygonType >::computeClippedPolygons(), vpCameraParameters::computeFov(), vpMbHiddenFaces< PolygonType >::computeScanLineRender(), vpMbtFaceDepthDense::display(), vpMbtFaceDepthDense::displayFeature(), vpMbTracker::displayFeatures, vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), m_depthDenseFaces, m_depthDenseHiddenFacesDisplay, vpMbHiddenFaces< PolygonType >::setVisible(), and vpMbTracker::useScanLine.

◆ display() [2/2]

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

Display the 3D model at a given position using the given camera parameters on a color (RGBa) image.

Parameters
I: The 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 surfaces).

Implements vpMbTracker.

Definition at line 316 of file vpMbDepthDenseTracker.cpp.

References vpMbTracker::angleAppears, vpMbTracker::angleDisappears, vpMbHiddenFaces< PolygonType >::computeClippedPolygons(), vpCameraParameters::computeFov(), vpMbHiddenFaces< PolygonType >::computeScanLineRender(), vpImageConvert::convert(), vpMbtFaceDepthDense::display(), vpMbtFaceDepthDense::displayFeature(), vpMbTracker::displayFeatures, vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), m_depthDenseFaces, m_depthDenseHiddenFacesDisplay, vpMbHiddenFaces< PolygonType >::setVisible(), and vpMbTracker::useScanLine.

◆ 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.

◆ getCameraParameters()

◆ getClipping()

◆ getCovarianceMatrix()

virtual vpMatrix vpMbTracker::getCovarianceMatrix ( ) const
inlinevirtualinherited

◆ getError()

virtual vpColVector vpMbDepthDenseTracker::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()

Implements vpMbTracker.

Definition at line 91 of file vpMbDepthDenseTracker.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()

virtual vpMbHiddenFaces<vpMbtPolygon>& vpMbTracker::getFaces ( )
inlinevirtualinherited

Return a reference to the faces structure.

Reimplemented in vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, vpMbKltMultiTracker, and vpMbGenericTracker.

Definition at line 331 of file vpMbTracker.h.

◆ 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.

◆ 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.

◆ 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.

◆ 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.

◆ getNbPolygon()

virtual unsigned int vpMbTracker::getNbPolygon ( ) const
inlinevirtualinherited

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

Returns
Number of polygons.

Reimplemented in vpMbGenericTracker, vpMbKltMultiTracker, vpMbEdgeMultiTracker, and vpMbEdgeKltMultiTracker.

Definition at line 367 of file vpMbTracker.h.

◆ 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.

◆ 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() [1/2]

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() [2/2]

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 vpMbDepthDenseTracker::getRobustWeights ( ) const
inlinevirtual

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

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

tracker.track(I);
vpColVector 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()

Implements vpMbTracker.

Definition at line 93 of file vpMbDepthDenseTracker.h.

◆ getStopCriteriaEpsilon()

virtual double vpMbTracker::getStopCriteriaEpsilon ( ) const
inlinevirtualinherited

Definition at line 424 of file vpMbTracker.h.

◆ init()

◆ initCircle()

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

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

Parameters
p1: Center of the circle.
p2: A point on the plane containing the circle.
p3: An other point on the plane containing the circle. With the center of the circle p1, p2 and p3 we have 3 points defining the plane that contains the circle.
radius: Radius of the circle.
idFace: Id of the face associated to the circle.
name: Name of the circle.

Implements vpMbTracker.

Definition at line 720 of file vpMbDepthDenseTracker.cpp.

References vpException::fatalError.

◆ initClick() [1/2]

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

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

The structure of this file is the following:

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

Reimplemented in vpMbEdgeMultiTracker, vpMbKltMultiTracker, and vpMbEdgeKltMultiTracker.

Examples
mbtEdgeKltTracking.cpp, mbtEdgeTracking.cpp, mbtKltTracking.cpp, testKeyPoint-2.cpp, testKeyPoint-4.cpp, tutorial-detection-object-mbt-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 222 of file vpMbTracker.cpp.

◆ initClick() [2/2]

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

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

Parameters
I: 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 in vpMbEdgeMultiTracker, vpMbKltMultiTracker, and vpMbEdgeKltMultiTracker.

Definition at line 485 of file vpMbTracker.cpp.

◆ initCylinder()

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

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

Parameters
p1: First point on the axis.
p2: Second point on the axis.
radius: Radius of the cylinder.
idFace: Id of the face associated to the cylinder.
name: Name of the cylinder.

Implements vpMbTracker.

Definition at line 726 of file vpMbDepthDenseTracker.cpp.

References vpException::fatalError.

◆ initFaceFromCorners()

void vpMbDepthDenseTracker::initFaceFromCorners ( vpMbtPolygon polygon)
protectedvirtual

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

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

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

Implements vpMbTracker.

Definition at line 732 of file vpMbDepthDenseTracker.cpp.

References addFace().

◆ initFaceFromLines()

void vpMbDepthDenseTracker::initFaceFromLines ( vpMbtPolygon polygon)
protectedvirtual

Implements vpMbTracker.

Definition at line 734 of file vpMbDepthDenseTracker.cpp.

References addFace().

◆ 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() [1/3]

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

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

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

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

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

Reimplemented in vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.

Examples
mbtEdgeKltTracking.cpp, mbtEdgeTracking.cpp, mbtKltTracking.cpp, testKeyPoint-2.cpp, and testKeyPoint-4.cpp.

Definition at line 841 of file vpMbTracker.cpp.

Referenced by reInitModel(), and vpMbDepthNormalTracker::reInitModel().

◆ initFromPose() [2/3]

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

Initialise the tracking thanks to the pose.

Parameters
I: Input image
cMo_: Pose matrix.

Reimplemented in vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.

Definition at line 876 of file vpMbTracker.cpp.

◆ initFromPose() [3/3]

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

Initialise the tracking thanks to the pose vector.

Parameters
I: Input image
cPo: Pose vector.

Reimplemented in vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.

Definition at line 888 of file vpMbTracker.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()

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

◆ loadModel()

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

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 in vpMbGenericTracker, vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.

Examples
mbtEdgeKltTracking.cpp, mbtEdgeTracking.cpp, mbtGenericTracking.cpp, mbtGenericTracking2.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, tutorial-mb-tracker-stereo.cpp, and tutorial-mb-tracker.cpp.

Definition at line 1147 of file vpMbTracker.cpp.

Referenced by reInitModel(), and vpMbDepthNormalTracker::reInitModel().

◆ 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().

◆ projectionErrorInitMovingEdge()

◆ projectionErrorResetMovingEdges()

void vpMbTracker::projectionErrorResetMovingEdges ( )
protectedinherited

◆ projectionErrorVisibleFace()

◆ reInitModel() [1/2]

void vpMbDepthDenseTracker::reInitModel ( const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &  point_cloud,
const std::string &  cad_name,
const vpHomogeneousMatrix cMo_,
const bool  verbose = false 
)

Definition at line 437 of file vpMbDepthDenseTracker.cpp.

References reInitModel().

◆ reInitModel() [2/2]

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

◆ removeComment()

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

Definition at line 1254 of file vpMbTracker.cpp.

References vpException::ioError.

◆ resetTracker()

◆ 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.

◆ segmentPointCloud() [1/2]

◆ segmentPointCloud() [2/2]

◆ setAngleAppear()

virtual void vpMbTracker::setAngleAppear ( const double &  a)
inlinevirtualinherited

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 in vpMbGenericTracker, vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.

Examples
mbtEdgeKltTracking.cpp, mbtGenericTracking.cpp, mbtGenericTracking2.cpp, mbtGenericTrackingDepth.cpp, mbtGenericTrackingDepthOnly.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, and tutorial-mb-tracker-full.cpp.

Definition at line 454 of file vpMbTracker.h.

◆ setAngleDisappear()

virtual void vpMbTracker::setAngleDisappear ( const double &  a)
inlinevirtualinherited

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 in vpMbGenericTracker, vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.

Examples
mbtEdgeKltTracking.cpp, mbtGenericTracking.cpp, mbtGenericTracking2.cpp, mbtGenericTrackingDepth.cpp, mbtGenericTrackingDepthOnly.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, and tutorial-mb-tracker-full.cpp.

Definition at line 465 of file vpMbTracker.h.

◆ setCameraParameters()

void vpMbDepthDenseTracker::setCameraParameters ( const vpCameraParameters camera)
virtual

Set the camera parameters.

Parameters
camera: the new camera parameters

Reimplemented from vpMbTracker.

Definition at line 647 of file vpMbDepthDenseTracker.cpp.

References vpMbTracker::cam, and m_depthDenseFaces.

Referenced by loadConfigFile().

◆ setClipping()

void vpMbTracker::setClipping ( const unsigned int &  flags)
virtualinherited

◆ setCovarianceComputation()

virtual void vpMbTracker::setCovarianceComputation ( const bool &  flag)
inlinevirtualinherited

Set if the covariance matrix has to be computed.

Parameters
flag: True if the covariance has to be computed, false otherwise. If computed its value is available with getCovarianceMatrix()
See also
getCovarianceMatrix()

Reimplemented in vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.

Examples
mbtEdgeKltTracking.cpp, mbtEdgeTracking.cpp, mbtGenericTracking.cpp, mbtGenericTracking2.cpp, mbtGenericTrackingDepth.cpp, mbtGenericTrackingDepthOnly.cpp, and mbtKltTracking.cpp.

Definition at line 484 of file vpMbTracker.h.

◆ setDepthDenseFilteringMaxDistance()

void vpMbDepthDenseTracker::setDepthDenseFilteringMaxDistance ( const double  maxDistance)
virtual

Definition at line 657 of file vpMbDepthDenseTracker.cpp.

References m_depthDenseFaces.

◆ setDepthDenseFilteringMethod()

void vpMbDepthDenseTracker::setDepthDenseFilteringMethod ( const int  method)
virtual

Definition at line 665 of file vpMbDepthDenseTracker.cpp.

References m_depthDenseFaces.

◆ setDepthDenseFilteringMinDistance()

void vpMbDepthDenseTracker::setDepthDenseFilteringMinDistance ( const double  minDistance)
virtual

Definition at line 673 of file vpMbDepthDenseTracker.cpp.

References m_depthDenseFaces.

◆ setDepthDenseFilteringOccupancyRatio()

void vpMbDepthDenseTracker::setDepthDenseFilteringOccupancyRatio ( const double  occupancyRatio)
virtual

Definition at line 681 of file vpMbDepthDenseTracker.cpp.

References m_depthDenseFaces.

◆ setDepthDenseSamplingStep()

void vpMbDepthDenseTracker::setDepthDenseSamplingStep ( const unsigned int  stepX,
const unsigned int  stepY 
)
inline

Definition at line 115 of file vpMbDepthDenseTracker.h.

Referenced by loadConfigFile().

◆ setDisplayFeatures()

virtual void vpMbTracker::setDisplayFeatures ( const bool  displayF)
inlinevirtualinherited

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

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

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

Reimplemented in vpMbGenericTracker, vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.

Examples
mbtEdgeKltTracking.cpp, mbtEdgeTracking.cpp, mbtGenericTracking.cpp, mbtGenericTracking2.cpp, mbtGenericTrackingDepth.cpp, mbtGenericTrackingDepthOnly.cpp, mbtKltTracking.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, tutorial-mb-tracker-stereo.cpp, and tutorial-mb-tracker.cpp.

Definition at line 502 of file vpMbTracker.h.

◆ 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()

void vpMbTracker::setFarClippingDistance ( const double &  dist)
virtualinherited

◆ setGoodNbRayCastingAttemptsRatio()

virtual void vpMbTracker::setGoodNbRayCastingAttemptsRatio ( const double &  ratio)
inlinevirtualinherited

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 in vpMbGenericTracker, vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.

Definition at line 602 of file vpMbTracker.h.

◆ 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.

◆ 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()

void vpMbTracker::setLod ( const bool  useLod,
const std::string &  name = "" 
)
virtualinherited

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

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 in vpMbGenericTracker, vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.

Definition at line 2361 of file vpMbTracker.cpp.

◆ setMask()

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

Reimplemented in vpMbGenericTracker.

Definition at line 548 of file vpMbTracker.h.

◆ 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 vpMbTracker::setMinLineLengthThresh ( const double  minLineLengthThresh,
const std::string &  name = "" 
)
virtualinherited

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

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

Reimplemented in vpMbGenericTracker, vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.

Definition at line 2379 of file vpMbTracker.cpp.

◆ setMinPolygonAreaThresh()

void vpMbTracker::setMinPolygonAreaThresh ( const double  minPolygonAreaThresh,
const std::string &  name = "" 
)
virtualinherited

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 in vpMbGenericTracker, vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.

Definition at line 2396 of file vpMbTracker.cpp.

◆ setNbRayCastingAttemptsForVisibility()

virtual void vpMbTracker::setNbRayCastingAttemptsForVisibility ( const unsigned int &  attempts)
inlinevirtualinherited

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 in vpMbEdgeKltMultiTracker, vpMbGenericTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.

Definition at line 612 of file vpMbTracker.h.

◆ setNearClippingDistance()

void vpMbTracker::setNearClippingDistance ( const double &  dist)
virtualinherited

◆ setOgreShowConfigDialog()

virtual void vpMbTracker::setOgreShowConfigDialog ( const bool  showConfigDialog)
inlinevirtualinherited

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 in vpMbGenericTracker, vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.

Examples
mbtEdgeKltTracking.cpp, mbtEdgeTracking.cpp, mbtGenericTracking.cpp, mbtGenericTracking2.cpp, mbtGenericTrackingDepth.cpp, mbtGenericTrackingDepthOnly.cpp, mbtKltTracking.cpp, tutorial-mb-edge-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, tutorial-mb-klt-tracker.cpp, and tutorial-mb-tracker-full.cpp.

Definition at line 628 of file vpMbTracker.h.

◆ setOgreVisibilityTest()

void vpMbDepthDenseTracker::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 vpMbTracker.

Definition at line 484 of file vpMbDepthDenseTracker.cpp.

References vpMbTracker::faces, vpMbHiddenFaces< PolygonType >::getOgreContext(), vpMbTracker::setOgreVisibilityTest(), and vpAROgre::setWindowName().

◆ setOptimizationMethod()

virtual void vpMbTracker::setOptimizationMethod ( const vpMbtOptimizationMethod opt)
inlinevirtualinherited

Set the optimization method used during the tracking.

Parameters
opt: Optimization method to use.

Reimplemented in vpMbGenericTracker, vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.

Definition at line 542 of file vpMbTracker.h.

◆ setPose() [1/2]

void vpMbDepthDenseTracker::setPose ( const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &  point_cloud,
const vpHomogeneousMatrix cdMo 
)
virtual

Definition at line 499 of file vpMbDepthDenseTracker.cpp.

References vpMbTracker::cMo, and init().

◆ setPose() [2/2]

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

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

Warning
This function has to be called after the initialisation of the tracker.
Parameters
I: image corresponding to the desired pose.
cdMo: Pose to affect.

Implements vpMbTracker.

Definition at line 492 of file vpMbDepthDenseTracker.cpp.

References vpMbTracker::cMo, and init().

◆ 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 vpMbTracker::setProjectionErrorComputation ( const bool &  flag)
inlinevirtualinherited

Set if the projection error criteria has to be computed. This criteria could be used to detect the quality of the tracking. It computes an angle between 0 and 90 degrees that is available with getProjectionError(). Closer to 0 is the value, better is the tracking.

Parameters
flag: True if the projection error criteria has to be computed, false otherwise.
See also
getProjectionError()

Reimplemented in vpMbKltTracker, vpMbEdgeKltMultiTracker, vpMbGenericTracker, vpMbEdgeMultiTracker, and vpMbEdgeKltTracker.

Examples
mbtEdgeTracking.cpp, mbtGenericTracking.cpp, mbtGenericTracking2.cpp, mbtGenericTrackingDepth.cpp, and mbtGenericTrackingDepthOnly.cpp.

Definition at line 569 of file vpMbTracker.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().

◆ setScanLineVisibilityTest()

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

Reimplemented from vpMbTracker.

Definition at line 508 of file vpMbDepthDenseTracker.cpp.

References m_depthDenseFaces, and vpMbTracker::setScanLineVisibilityTest().

◆ 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.

◆ setUseDepthDenseTracking()

void vpMbDepthDenseTracker::setUseDepthDenseTracking ( const std::string &  name,
const bool &  useDepthDenseTracking 
)

◆ testTracking()

void vpMbDepthDenseTracker::testTracking ( )
virtual

Test the quality of the tracking.

Exceptions
vpExceptionif the test fail.

Implements vpMbTracker.

Definition at line 529 of file vpMbDepthDenseTracker.cpp.

◆ track() [1/3]

void vpMbDepthDenseTracker::track ( const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &  point_cloud)
virtual

Definition at line 700 of file vpMbDepthDenseTracker.cpp.

References computeVisibility(), computeVVS(), and segmentPointCloud().

◆ track() [2/3]

void vpMbDepthDenseTracker::track ( const std::vector< vpColVector > &  point_cloud,
const unsigned int  width,
const unsigned int  height 
)
virtual

Definition at line 710 of file vpMbDepthDenseTracker.cpp.

References computeVisibility(), computeVVS(), and segmentPointCloud().

◆ track() [3/3]

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

Track the object in the given image

Parameters
I: The current image.

Implements vpMbTracker.

Definition at line 694 of file vpMbDepthDenseTracker.cpp.

References vpException::fatalError.

◆ 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.

◆ cam

◆ clippingFlag

◆ cMo

vpHomogeneousMatrix vpMbTracker::cMo
protectedinherited

The current pose.

Definition at line 118 of file vpMbTracker.h.

Referenced by computeVisibility(), vpMbDepthNormalTracker::computeVisibility(), computeVVS(), vpMbDepthNormalTracker::computeVVS(), vpMbKltMultiTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), vpMbGenericTracker::computeVVS(), vpMbTracker::computeVVSCheckLevenbergMarquardt(), vpMbEdgeTracker::computeVVSFirstPhase(), vpMbEdgeTracker::computeVVSFirstPhaseFactor(), vpMbEdgeMultiTracker::computeVVSFirstPhasePoseEstimation(), vpMbEdgeTracker::computeVVSFirstPhasePoseEstimation(), computeVVSInteractionMatrixAndResidu(), vpMbDepthNormalTracker::computeVVSInteractionMatrixAndResidu(), vpMbKltMultiTracker::computeVVSInteractionMatrixAndResidu(), vpMbEdgeMultiTracker::computeVVSInteractionMatrixAndResidu(), vpMbEdgeKltMultiTracker::computeVVSInteractionMatrixAndResidu(), vpMbGenericTracker::computeVVSInteractionMatrixAndResidu(), vpMbEdgeTracker::computeVVSInteractionMatrixAndResidu(), vpMbTracker::computeVVSPoseEstimation(), vpMbTracker::getPolygonFaces(), init(), vpMbDepthNormalTracker::init(), vpMbGenericTracker::init(), vpMbKltTracker::init(), vpMbGenericTracker::initFromPoints(), vpMbEdgeKltMultiTracker::initMbtTracking(), vpMbKltMultiTracker::postTracking(), vpMbKltTracker::reinit(), reInitModel(), vpMbDepthNormalTracker::reInitModel(), resetTracker(), vpMbDepthNormalTracker::resetTracker(), segmentPointCloud(), vpMbDepthNormalTracker::segmentPointCloud(), 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().

◆ displayFeatures

bool vpMbTracker::displayFeatures
protectedinherited

If true, the features are displayed.

Definition at line 143 of file vpMbTracker.h.

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

◆ distFarClip

double vpMbTracker::distFarClip
protectedinherited

◆ distNearClip

double vpMbTracker::distNearClip
protectedinherited

◆ faces

◆ 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 vpMbKltMultiTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVS(), and vpMbEdgeKltMultiTracker::computeVVS().

◆ 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 vpMbKltMultiTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVSFirstPhasePoseEstimation(), vpMbEdgeTracker::computeVVSFirstPhasePoseEstimation(), resetTracker(), and vpMbDepthNormalTracker::resetTracker().

◆ m_denseDepthNbFeatures

unsigned int vpMbDepthDenseTracker::m_denseDepthNbFeatures
protected

Nb features.

Definition at line 153 of file vpMbDepthDenseTracker.h.

Referenced by computeVVS(), and computeVVSInit().

◆ m_depthDenseFaces

◆ m_depthDenseHiddenFacesDisplay

vpMbHiddenFaces<vpMbtPolygon> vpMbDepthDenseTracker::m_depthDenseHiddenFacesDisplay
protected

Set of faces describing the object used only for display with scan line.

Definition at line 147 of file vpMbDepthDenseTracker.h.

Referenced by addFace(), and display().

◆ m_depthDenseI_dummyVisibility

vpImage<unsigned char> vpMbDepthDenseTracker::m_depthDenseI_dummyVisibility
protected

Dummy image used to compute the visibility.

Definition at line 149 of file vpMbDepthDenseTracker.h.

Referenced by computeVisibility().

◆ m_depthDenseListOfActiveFaces

std::vector<vpMbtFaceDepthDense *> vpMbDepthDenseTracker::m_depthDenseListOfActiveFaces
protected

List of current active (visible and features extracted) faces.

Definition at line 151 of file vpMbDepthDenseTracker.h.

Referenced by computeVVSInit(), computeVVSInteractionMatrixAndResidu(), resetTracker(), and segmentPointCloud().

◆ m_depthDenseSamplingStepX

unsigned int vpMbDepthDenseTracker::m_depthDenseSamplingStepX
protected

Sampling step in x-direction.

Definition at line 157 of file vpMbDepthDenseTracker.h.

Referenced by loadConfigFile(), and segmentPointCloud().

◆ m_depthDenseSamplingStepY

unsigned int vpMbDepthDenseTracker::m_depthDenseSamplingStepY
protected

Sampling step in y-direction.

Definition at line 159 of file vpMbDepthDenseTracker.h.

Referenced by loadConfigFile(), and segmentPointCloud().

◆ m_error_depthDense

vpColVector vpMbDepthDenseTracker::m_error_depthDense
protected

◆ m_initialMu

double vpMbTracker::m_initialMu
protectedinherited

◆ m_L_depthDense

vpMatrix vpMbDepthDenseTracker::m_L_depthDense
protected

Interaction matrix.

Definition at line 163 of file vpMbDepthDenseTracker.h.

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

◆ m_lambda

double vpMbTracker::m_lambda
protectedinherited

◆ m_mask

const vpImage<bool>* vpMbTracker::m_mask
protectedinherited

Mask used to disable tracking on a part of image.

Definition at line 226 of file vpMbTracker.h.

Referenced by vpMbTracker::projectionErrorInitMovingEdge(), vpMbKltTracker::reinit(), segmentPointCloud(), and vpMbDepthNormalTracker::segmentPointCloud().

◆ m_maxIter

◆ m_optimizationMethod

vpMbtOptimizationMethod vpMbTracker::m_optimizationMethod
protectedinherited

◆ m_projectionErrorCam

vpCameraParameters vpMbTracker::m_projectionErrorCam
protectedinherited

Camera parameters used for projection error computation.

Definition at line 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_robust_depthDense

vpMbtTukeyEstimator<double> vpMbDepthDenseTracker::m_robust_depthDense
protected

Tukey M-Estimator.

Definition at line 165 of file vpMbDepthDenseTracker.h.

Referenced by computeVVSWeights().

◆ 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 computeVVS(), vpMbDepthNormalTracker::computeVVS(), and vpMbGenericTracker::computeVVS().

◆ m_w_depthDense

vpColVector vpMbDepthDenseTracker::m_w_depthDense
protected

Robust weights.

Definition at line 167 of file vpMbDepthDenseTracker.h.

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

◆ m_weightedError_depthDense

vpColVector vpMbDepthDenseTracker::m_weightedError_depthDense
protected

Weighted error.

Definition at line 169 of file vpMbDepthDenseTracker.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().

◆ 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 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

Definition at line 161 of file vpMbTracker.h.

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

◆ oJo

◆ 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().

◆ useLodGeneral

bool vpMbTracker::useLodGeneral
protectedinherited

True if LOD mode is enabled.

Definition at line 177 of file vpMbTracker.h.

◆ useOgre

bool vpMbTracker::useOgre
protectedinherited

◆ useScanLine

vpKltOpencv::track
void track(const cv::Mat &I)
Definition: vpKltOpencv.cpp:146
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