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Visual Servoing Platform
version 3.2.0
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#include <vpMbEdgeTracker.h>
Public Types | |
enum | vpMbtOptimizationMethod { GAUSS_NEWTON_OPT = 0, LEVENBERG_MARQUARDT_OPT = 1 } |
Public Member Functions | |
vpMbEdgeTracker () | |
virtual | ~vpMbEdgeTracker () |
Inherited functionalities from vpMbEdgeTracker | |
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) |
void | display (const vpImage< vpRGBa > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, const unsigned int thickness=1, const bool displayFullModel=false) |
void | getLline (std::list< vpMbtDistanceLine * > &linesList, const unsigned int level=0) const |
void | getLcircle (std::list< vpMbtDistanceCircle * > &circlesList, const unsigned int level=0) const |
void | getLcylinder (std::list< vpMbtDistanceCylinder * > &cylindersList, const unsigned int level=0) const |
virtual void | getMovingEdge (vpMe &p_me) const |
virtual vpMe | getMovingEdge () const |
virtual unsigned int | getNbPoints (const unsigned int level=0) const |
std::vector< bool > | getScales () const |
double | getGoodMovingEdgesRatioThreshold () const |
virtual vpColVector | getError () const |
virtual vpColVector | getRobustWeights () const |
void | loadConfigFile (const std::string &configFile) |
virtual void | reInitModel (const vpImage< unsigned char > &I, const std::string &cad_name, const vpHomogeneousMatrix &cMo_, const bool verbose=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix()) |
void | resetTracker () |
virtual void | setCameraParameters (const vpCameraParameters &camera) |
virtual void | setClipping (const unsigned int &flags) |
virtual void | setFarClippingDistance (const double &dist) |
virtual void | setNearClippingDistance (const double &dist) |
virtual void | setOgreVisibilityTest (const bool &v) |
virtual void | setScanLineVisibilityTest (const bool &v) |
void | setGoodMovingEdgesRatioThreshold (const double threshold) |
void | setMovingEdge (const vpMe &me) |
virtual void | setPose (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cdMo) |
void | setScales (const std::vector< bool > &_scales) |
void | setUseEdgeTracking (const std::string &name, const bool &useEdgeTracking) |
void | track (const vpImage< unsigned char > &I) |
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 vpMbtPolygon * | getPolygon (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 | setCovarianceComputation (const bool &flag) |
virtual void | setDisplayFeatures (const bool displayF) |
virtual void | setEstimatedDoF (const vpColVector &v) |
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 | 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 | |
Protected Member Functions Inherited from vpMbEdgeTracker | |
void | addCircle (const vpPoint &P1, const vpPoint &P2, const vpPoint &P3, const double r, int idFace=-1, const std::string &name="") |
void | addCylinder (const vpPoint &P1, const vpPoint &P2, const double r, int idFace=-1, const std::string &name="") |
void | addLine (vpPoint &p1, vpPoint &p2, int polygon=-1, std::string name="") |
void | addPolygon (vpMbtPolygon &p) |
void | cleanPyramid (std::vector< const vpImage< unsigned char > * > &_pyramid) |
void | computeProjectionError (const vpImage< unsigned char > &_I) |
void | computeVVS (const vpImage< unsigned char > &_I, const unsigned int lvl) |
void | computeVVSFirstPhase (const vpImage< unsigned char > &I, const unsigned int iter, double &count, const unsigned int lvl=0) |
void | computeVVSFirstPhaseFactor (const vpImage< unsigned char > &I, const unsigned int lvl=0) |
void | computeVVSFirstPhasePoseEstimation (const unsigned int iter, bool &isoJoIdentity_) |
virtual void | computeVVSInit () |
virtual void | computeVVSInteractionMatrixAndResidu () |
virtual void | computeVVSInteractionMatrixAndResidu (const vpImage< unsigned char > &I) |
virtual void | computeVVSWeights () |
void | displayFeaturesOnImage (const vpImage< unsigned char > &I, const unsigned int lvl) |
void | downScale (const unsigned int _scale) |
void | init (const vpImage< unsigned char > &I) |
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) |
unsigned int | initMbtTracking (unsigned int &nberrors_lines, unsigned int &nberrors_cylinders, unsigned int &nberrors_circles) |
void | initMovingEdge (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &_cMo) |
void | initPyramid (const vpImage< unsigned char > &_I, std::vector< const vpImage< unsigned char > * > &_pyramid) |
void | reInitLevel (const unsigned int _lvl) |
void | reinitMovingEdge (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &_cMo) |
void | removeCircle (const std::string &name) |
void | removeCylinder (const std::string &name) |
void | removeLine (const std::string &name) |
void | resetMovingEdge () |
void | testTracking () |
void | trackMovingEdge (const vpImage< unsigned char > &I) |
void | updateMovingEdge (const vpImage< unsigned char > &I) |
void | updateMovingEdgeWeights () |
void | upScale (const unsigned int _scale) |
void | visibleFace (const vpImage< unsigned char > &_I, const vpHomogeneousMatrix &_cMo, bool &newvisibleline) |
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 <L, vpColVector &R, const vpColVector &error, vpColVector &error_prev, vpColVector <R, double &mu, vpColVector &v, const vpColVector *const w=NULL, vpColVector *const m_w_prev=NULL) |
virtual void | computeVVSWeights (vpRobust &robust, const vpColVector &error, vpColVector &w) |
virtual void | extractGroup (SoVRMLGroup *sceneGraphVRML2, vpHomogeneousMatrix &transform, int &idFace) |
virtual void | extractFaces (SoVRMLIndexedFaceSet *face_set, vpHomogeneousMatrix &transform, int &idFace, const std::string &polygonName="") |
virtual void | extractLines (SoVRMLIndexedLineSet *line_set, int &idFace, const std::string &polygonName="") |
virtual void | extractCylinders (SoVRMLIndexedFaceSet *face_set, vpHomogeneousMatrix &transform, int &idFace, const std::string &polygonName="") |
vpPoint | getGravityCenter (const std::vector< vpPoint > &_pts) const |
void | initProjectionErrorCircle (const vpPoint &p1, const vpPoint &p2, const vpPoint &p3, 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 |
Friends | |
class | vpMbEdgeMultiTracker |
class | vpMbEdgeKltMultiTracker |
Make the complete tracking of an object by using its CAD model.
This class allows to track an object or a scene given its 3D model. A video can be found on YouTube https://www.youtube.com/watch?v=UK10KMMJFCI . The Tutorial: Markerless model-based tracking (deprecated) is also a good starting point to use this class.
The tracker requires the knowledge of the 3D model that could be provided in a vrml or in a cao file. The cao format is described in loadCAOModel(). It may also use an xml file used to tune the behavior of the tracker and an init file used to compute the pose at the very first image.
The following code shows the simplest way to use the tracker.
For application with large inter-images displacement, multi-scale tracking is also possible, by setting the number of scales used and by activating (or not) them using a vector of booleans, as presented in the following code:
The tracker can also be used without display, in that case the initial pose must be known (object always at the same initial pose for example) or computed using another method:
Finally it can be used not to track an object but just to display a model at a given pose:
Definition at line 270 of file vpMbEdgeTracker.h.
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Enumerator | |
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GAUSS_NEWTON_OPT | |
LEVENBERG_MARQUARDT_OPT |
Definition at line 112 of file vpMbTracker.h.
vpMbEdgeTracker::vpMbEdgeTracker | ( | ) |
Basic constructor
Definition at line 68 of file vpMbEdgeTracker.cpp.
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virtual |
Basic destructor useful to deallocate the memory.
Definition at line 88 of file vpMbEdgeTracker.cpp.
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protected |
Add a circle to the list of circles.
P1 | : Center of the circle. |
P2,P3 | : Two points on the plane containing the circle. With the center of the circle we have 3 points defining the plane that contains the circle. |
r | : Radius of the circle. |
idFace | : Id of the face that is associated to the circle to handle visibility test. |
name | : the optional name of the circle. |
Definition at line 1911 of file vpMbEdgeTracker.cpp.
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protected |
Add a cylinder to the list of cylinders.
P1 | : The first extremity of the axis. |
P2 | : The second extremity of the axis. |
r | : The radius of the cylinder. |
idFace | : The index of the face. |
name | : the optional name of the cylinder |
Definition at line 1970 of file vpMbEdgeTracker.cpp.
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protected |
Add a line belonging to the the polygon to the list of lines. It is defined by its two extremities.
If the line already exists, the ploygone's index is added to the list of polygon to which it belongs.
P1 | : The first extremity of the line. |
P2 | : The second extremity of the line. |
polygon | : The index of the polygon to which the line belongs. |
name | : the optional name of the line |
Definition at line 1828 of file vpMbEdgeTracker.cpp.
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protectedinherited |
Definition at line 1088 of file vpMbTracker.cpp.
References vpPolygon3D::addPoint(), vpMbHiddenFaces< PolygonType >::addPolygon(), vpMbTracker::clippingFlag, vpMbTracker::distFarClip, vpMbTracker::distNearClip, vpMbTracker::faces, vpPolygon3D::FAR_CLIPPING, vpMbHiddenFaces< PolygonType >::getPolygon(), vpMbTracker::minPolygonAreaThresholdGeneral, vpPolygon3D::NEAR_CLIPPING, vpPolygon3D::NO_CLIPPING, vpMbtPolygon::setIndex(), vpMbtPolygon::setIsPolygonOriented(), vpMbtPolygon::setLod(), vpMbtPolygon::setMinLineLengthThresh(), vpMbtPolygon::setMinPolygonAreaThresh(), vpMbtPolygon::setName(), and vpPolygon3D::setNbPoint().
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protectedinherited |
Definition at line 913 of file vpMbTracker.cpp.
References vpPolygon3D::addPoint(), vpMbHiddenFaces< PolygonType >::addPolygon(), vpMbTracker::clippingFlag, vpMbTracker::distFarClip, vpMbTracker::distNearClip, vpMbTracker::faces, vpPolygon3D::FAR_CLIPPING, vpMbHiddenFaces< PolygonType >::getPolygon(), vpPolygon3D::NEAR_CLIPPING, vpPolygon3D::NO_CLIPPING, vpMbtPolygon::setIndex(), vpMbtPolygon::setLod(), vpMbtPolygon::setMinLineLengthThresh(), vpMbtPolygon::setMinPolygonAreaThresh(), vpMbtPolygon::setName(), and vpPolygon3D::setNbPoint().
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protectedinherited |
Definition at line 1050 of file vpMbTracker.cpp.
References vpPolygon3D::addPoint(), vpMbHiddenFaces< PolygonType >::addPolygon(), vpMbTracker::clippingFlag, vpMbTracker::distFarClip, vpMbTracker::distNearClip, vpMbTracker::faces, vpPolygon3D::FAR_CLIPPING, vpMbHiddenFaces< PolygonType >::getPolygon(), vpMbTracker::minPolygonAreaThresholdGeneral, vpPolygon3D::NEAR_CLIPPING, vpPolygon3D::NO_CLIPPING, vpMbtPolygon::setIndex(), vpMbtPolygon::setLod(), vpMbtPolygon::setMinLineLengthThresh(), vpMbtPolygon::setMinPolygonAreaThresh(), vpMbtPolygon::setName(), and vpPolygon3D::setNbPoint().
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protectedinherited |
Definition at line 969 of file vpMbTracker.cpp.
References vpPolygon3D::addPoint(), vpMbHiddenFaces< PolygonType >::addPolygon(), vpMbTracker::clippingFlag, vpColVector::crossProd(), vpMbTracker::distFarClip, vpMbTracker::distNearClip, vpMbTracker::faces, vpPolygon3D::FAR_CLIPPING, vpPoint::get_oX(), vpPoint::get_oY(), vpPoint::get_oZ(), vpPlane::getA(), vpPlane::getB(), vpPlane::getC(), vpMbHiddenFaces< PolygonType >::getPolygon(), vpMbTracker::minLineLengthThresholdGeneral, vpPolygon3D::NEAR_CLIPPING, vpPolygon3D::NO_CLIPPING, vpPlane::object_frame, vpMath::rad(), vpMbtPolygon::setIndex(), vpMbtPolygon::setLod(), vpMbtPolygon::setMinLineLengthThresh(), vpMbtPolygon::setMinPolygonAreaThresh(), vpMbtPolygon::setName(), vpPolygon3D::setNbPoint(), vpPoint::setWorldCoordinates(), and vpMath::sqr().
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Add a polygon to the list of polygons.
p | : The polygon to add. |
Definition at line 2058 of file vpMbEdgeTracker.cpp.
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protectedinherited |
Definition at line 3000 of file vpMbTracker.cpp.
References vpMbtDistanceCircle::buildFrom(), vpMbTracker::cam, vpMbtDistanceCircle::hiddenface, vpMbtDistanceCircle::index_polygon, vpMbTracker::m_projectionErrorCircles, vpMbTracker::m_projectionErrorFaces, vpMbTracker::m_projectionErrorMe, vpMath::maximum(), vpMbtDistanceCircle::p1, vpMbtDistanceCircle::p2, vpMbtDistanceCircle::p3, vpMbtDistanceCircle::radius, vpMbTracker::samePoint(), vpMbtDistanceCircle::setCameraParameters(), vpMbtDistanceCircle::setIndex(), vpMbtDistanceCircle::setMovingEdge(), and vpMbtDistanceCircle::setName().
Referenced by vpMbTracker::initProjectionErrorCircle().
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protectedinherited |
Definition at line 3030 of file vpMbTracker.cpp.
References vpMbtDistanceCylinder::buildFrom(), vpMbTracker::cam, vpMbtDistanceCylinder::hiddenface, vpMbtDistanceCylinder::index_polygon, vpMbTracker::m_projectionErrorCylinders, vpMbTracker::m_projectionErrorFaces, vpMbTracker::m_projectionErrorMe, vpMath::maximum(), vpMbtDistanceCylinder::p1, vpMbtDistanceCylinder::p2, vpMbtDistanceCylinder::radius, vpMbTracker::samePoint(), vpMbtDistanceCylinder::setCameraParameters(), vpMbtDistanceCylinder::setIndex(), vpMbtDistanceCylinder::setMovingEdge(), and vpMbtDistanceCylinder::setName().
Referenced by vpMbTracker::initProjectionErrorCylinder().
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protectedinherited |
Definition at line 2958 of file vpMbTracker.cpp.
References vpMbtDistanceLine::addPolygon(), vpMbtDistanceLine::buildFrom(), vpMbTracker::cam, vpMbTracker::clippingFlag, vpMbTracker::distFarClip, vpMbTracker::distNearClip, vpPolygon3D::FAR_CLIPPING, vpMbtDistanceLine::getPolygon(), vpMbtDistanceLine::hiddenface, vpMbTracker::m_projectionErrorFaces, vpMbTracker::m_projectionErrorLines, vpMbTracker::m_projectionErrorMe, vpPolygon3D::NEAR_CLIPPING, vpPolygon3D::NO_CLIPPING, vpMbtDistanceLine::p1, vpMbtDistanceLine::p2, vpMbTracker::samePoint(), vpMbtDistanceLine::setCameraParameters(), vpPolygon3D::setClipping(), vpPolygon3D::setFarClippingDistance(), vpMbtDistanceLine::setIndex(), vpMbtDistanceLine::setMovingEdge(), vpMbtDistanceLine::setName(), vpPolygon3D::setNearClippingDistance(), vpMbtDistanceLine::useScanLine, and vpMbTracker::useScanLine.
Referenced by vpMbTracker::initProjectionErrorFaceFromCorners(), and vpMbTracker::initProjectionErrorFaceFromLines().
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protectedinherited |
Definition at line 2926 of file vpMbTracker.cpp.
References vpPolygon3D::addPoint(), vpMbHiddenFaces< PolygonType >::addPolygon(), vpMbTracker::clippingFlag, vpMbTracker::distFarClip, vpMbTracker::distNearClip, vpPolygon3D::FAR_CLIPPING, vpMbHiddenFaces< PolygonType >::getPolygon(), vpMbTracker::m_projectionErrorFaces, vpMbTracker::minPolygonAreaThresholdGeneral, vpPolygon3D::NEAR_CLIPPING, vpPolygon3D::NO_CLIPPING, vpMbtPolygon::setIndex(), vpMbtPolygon::setIsPolygonOriented(), vpMbtPolygon::setLod(), vpMbtPolygon::setMinLineLengthThresh(), vpMbtPolygon::setMinPolygonAreaThresh(), vpMbtPolygon::setName(), and vpPolygon3D::setNbPoint().
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protectedinherited |
Definition at line 2777 of file vpMbTracker.cpp.
References vpPolygon3D::addPoint(), vpMbHiddenFaces< PolygonType >::addPolygon(), vpMbTracker::clippingFlag, vpMbTracker::distFarClip, vpMbTracker::distNearClip, vpPolygon3D::FAR_CLIPPING, vpMbHiddenFaces< PolygonType >::getPolygon(), vpMbTracker::m_projectionErrorFaces, vpPolygon3D::NEAR_CLIPPING, vpPolygon3D::NO_CLIPPING, vpMbtPolygon::setIndex(), vpMbtPolygon::setLod(), vpMbtPolygon::setMinLineLengthThresh(), vpMbtPolygon::setMinPolygonAreaThresh(), vpMbtPolygon::setName(), and vpPolygon3D::setNbPoint().
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protectedinherited |
Definition at line 2894 of file vpMbTracker.cpp.
References vpPolygon3D::addPoint(), vpMbHiddenFaces< PolygonType >::addPolygon(), vpMbTracker::clippingFlag, vpMbTracker::distFarClip, vpMbTracker::distNearClip, vpPolygon3D::FAR_CLIPPING, vpMbHiddenFaces< PolygonType >::getPolygon(), vpMbTracker::m_projectionErrorFaces, vpMbTracker::minPolygonAreaThresholdGeneral, vpPolygon3D::NEAR_CLIPPING, vpPolygon3D::NO_CLIPPING, vpMbtPolygon::setIndex(), vpMbtPolygon::setLod(), vpMbtPolygon::setMinLineLengthThresh(), vpMbtPolygon::setMinPolygonAreaThresh(), vpMbtPolygon::setName(), and vpPolygon3D::setNbPoint().
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protectedinherited |
Definition at line 2819 of file vpMbTracker.cpp.
References vpPolygon3D::addPoint(), vpMbHiddenFaces< PolygonType >::addPolygon(), vpMbTracker::clippingFlag, vpColVector::crossProd(), vpMbTracker::distFarClip, vpMbTracker::distNearClip, vpPolygon3D::FAR_CLIPPING, vpPoint::get_oX(), vpPoint::get_oY(), vpPoint::get_oZ(), vpPlane::getA(), vpPlane::getB(), vpPlane::getC(), vpMbHiddenFaces< PolygonType >::getPolygon(), vpMbTracker::m_projectionErrorFaces, vpMbTracker::minLineLengthThresholdGeneral, vpPolygon3D::NEAR_CLIPPING, vpPolygon3D::NO_CLIPPING, vpPlane::object_frame, vpMath::rad(), vpMbtPolygon::setIndex(), vpMbtPolygon::setLod(), vpMbtPolygon::setMinLineLengthThresh(), vpMbtPolygon::setMinPolygonAreaThresh(), vpMbtPolygon::setName(), vpPolygon3D::setNbPoint(), vpPoint::setWorldCoordinates(), and vpMath::sqr().
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Clean the pyramid of image allocated with the initPyramid() method. The vector has a size equal to zero at the end of the method.
_pyramid | : The pyramid of image to clean. |
Definition at line 2630 of file vpMbEdgeTracker.cpp.
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protectedvirtualinherited |
Definition at line 2444 of file vpMbTracker.cpp.
References vpMbTracker::computeCovariance, vpMatrix::computeCovarianceMatrixVVS(), and vpMbTracker::covarianceMatrix.
Referenced by vpMbDepthDenseTracker::computeVVS(), vpMbDepthNormalTracker::computeVVS(), vpMbKltMultiTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), and vpMbGenericTracker::computeVVS().
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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
to get a projection error computed at the ME locations after a call to track(). It works similarly to vpMbTracker::getProjectionError function:
Get the error angle between the gradient direction of the model features projected at the resulting pose and their normal. The error is expressed in degree between 0 and 90.
I | : Input grayscale image. |
_cMo | : Camera pose. |
_cam | : Camera parameters. |
Reimplemented in vpMbGenericTracker.
Definition at line 3108 of file vpMbTracker.cpp.
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protectedinherited |
Compute , with J the interaction matrix and R the vector of residu.
vpMatrixException::incorrectMatrixSizeError | if the sizes of the matrices do not allow the computation. |
interaction | : The interaction matrix (size Nx6). |
error | : The residu vector (size Nx1). |
JTR | : The resulting JTR column vector (size 6x1). |
Definition at line 2475 of file vpMbTracker.cpp.
Referenced by vpMbEdgeMultiTracker::computeVVSFirstPhasePoseEstimation(), computeVVSFirstPhasePoseEstimation(), and vpMbTracker::computeVVSPoseEstimation().
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Compute the projection error of the model. This approach compares the gradient direction around samples of each lines of the model with their direction. Error is expressed in degrees between 0 and 90.
_I | : Image in which the model appears. |
Definition at line 867 of file vpMbEdgeTracker.cpp.
Referenced by vpMbEdgeKltMultiTracker::postTracking().
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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.
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protected |
Compute the visual servoing loop to get the pose of the feature set.
vpTrackingException::notEnoughPointError | if the number of detected feature is equal to zero. |
_I | : The current image. |
lvl | : The level in the pyramid scale. |
Definition at line 169 of file vpMbEdgeTracker.cpp.
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Definition at line 2524 of file vpMbTracker.cpp.
References vpMbTracker::cMo, vpTrackingException::fatalError, vpArray2D< Type >::getRows(), vpMbTracker::LEVENBERG_MARQUARDT_OPT, vpMbTracker::m_optimizationMethod, and vpColVector::sumSquare().
Referenced by vpMbDepthDenseTracker::computeVVS(), vpMbDepthNormalTracker::computeVVS(), vpMbKltMultiTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), and vpMbGenericTracker::computeVVS().
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Definition at line 292 of file vpMbEdgeTracker.cpp.
References vpMbTracker::cam, circles, vpMbtDistanceLine::closeToImageBorder(), vpMbTracker::cMo, vpMbtDistanceCircle::computeInteractionMatrixError(), vpMbtDistanceLine::computeInteractionMatrixError(), vpMbtDistanceCylinder::computeInteractionMatrixError(), cylinders, vpMbtDistanceCircle::error, vpMbtDistanceLine::error, vpMbtDistanceCylinder::error, vpCameraParameters::get_px(), vpMeSite::getState(), vpMbtDistanceLine::hiddenface, vpMbHiddenFaces< PolygonType >::isAppearing(), vpMbtDistanceCircle::L, vpMbtDistanceLine::L, vpMbtDistanceCylinder::L, vpMbtDistanceLine::Lindex_polygon, lines, m_error_edge, m_factor, m_L_edge, m_w_edge, vpMbtDistanceCircle::meEllipse, vpMbtDistanceLine::meline, vpMbtDistanceCylinder::meline1, vpMbtDistanceCylinder::meline2, vpMbtDistanceCircle::nbFeature, vpMbtDistanceLine::nbFeature, vpMbtDistanceCylinder::nbFeature, vpMbtDistanceCylinder::nbFeaturel1, vpMbtDistanceCylinder::nbFeaturel2, vpMbtDistanceLine::nbFeatureTotal, vpMeSite::NO_SUPPRESSION, and vpMath::sign().
Referenced by vpMbEdgeMultiTracker::computeVVS().
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Definition at line 558 of file vpMbEdgeTracker.cpp.
References circles, vpMbtDistanceLine::closeToImageBorder(), vpMbTracker::cMo, vpMbtDistanceCircle::computeInteractionMatrixError(), vpMbtDistanceLine::computeInteractionMatrixError(), vpMbtDistanceCylinder::computeInteractionMatrixError(), cylinders, vpMeSite::getState(), vpMbtDistanceLine::hiddenface, vpMbHiddenFaces< PolygonType >::isAppearing(), vpMbtDistanceLine::Lindex_polygon, lines, m_factor, vpMbtDistanceCircle::meEllipse, vpMbtDistanceLine::meline, vpMbtDistanceCylinder::meline1, vpMbtDistanceCylinder::meline2, vpMbtDistanceCircle::nbFeature, vpMbtDistanceLine::nbFeature, vpMbtDistanceCylinder::nbFeature, and vpMeSite::NO_SUPPRESSION.
Referenced by vpMbEdgeKltMultiTracker::initMbtTracking().
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Definition at line 658 of file vpMbEdgeTracker.cpp.
References vpMatrix::AtA(), vpVelocityTwistMatrix::buildFrom(), vpMbTracker::cMo, vpMbTracker::computeJTR(), vpExponentialMap::direct(), vpException::fatalError, vpArray2D< Type >::getRows(), vpHomogeneousMatrix::inverse(), vpMbTracker::m_computeInteraction, m_error_edge, m_factor, m_L_edge, m_w_edge, m_weightedError_edge, vpMbTracker::oJo, and vpMatrix::pseudoInverse().
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Implements vpMbTracker.
Reimplemented in vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbEdgeKltTracker.
Definition at line 727 of file vpMbEdgeTracker.cpp.
References vpMbTracker::cam, vpCameraParameters::get_px(), initMbtTracking(), m_error_edge, m_errorCircles, m_errorCylinders, m_errorLines, m_factor, m_L_edge, m_robustCircles, m_robustCylinders, m_robustLines, m_w_edge, m_wCircles, m_wCylinders, m_weightedError_edge, m_wLines, vpTrackingException::notEnoughPointError, vpRobust::resize(), vpArray2D< Type >::resize(), vpColVector::resize(), vpRobust::setThreshold(), and vpMath::sqr().
Referenced by vpMbEdgeMultiTracker::computeVVSInit(), and vpMbEdgeKltMultiTracker::initMbtTracking().
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Implements vpMbTracker.
Reimplemented in vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbEdgeKltTracker.
Definition at line 770 of file vpMbEdgeTracker.cpp.
References vpException::fatalError.
Referenced by vpMbEdgeMultiTracker::computeVVSInteractionMatrixAndResidu(), and vpMbEdgeKltMultiTracker::computeVVSInteractionMatrixAndResidu().
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Definition at line 777 of file vpMbEdgeTracker.cpp.
References circles, vpMbTracker::cMo, vpMbtDistanceCircle::computeInteractionMatrixError(), vpMbtDistanceLine::computeInteractionMatrixError(), vpMbtDistanceCylinder::computeInteractionMatrixError(), cylinders, vpMbtDistanceCircle::error, vpMbtDistanceLine::error, vpMbtDistanceCylinder::error, vpMbtDistanceCircle::L, vpMbtDistanceLine::L, vpMbtDistanceCylinder::L, lines, m_error_edge, m_errorCircles, m_errorCylinders, m_errorLines, m_L_edge, vpMbtDistanceCircle::nbFeature, vpMbtDistanceCylinder::nbFeature, vpMbtDistanceLine::nbFeatureTotal, and scaleLevel.
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Definition at line 2546 of file vpMbTracker.cpp.
References vpVelocityTwistMatrix::buildFrom(), vpMbTracker::cMo, vpMbTracker::computeJTR(), vpMatrix::eye(), vpMbTracker::GAUSS_NEWTON_OPT, vpArray2D< Type >::getCols(), vpArray2D< Type >::getRows(), vpMbTracker::LEVENBERG_MARQUARDT_OPT, vpMbTracker::m_lambda, vpMbTracker::m_optimizationMethod, vpMbTracker::oJo, and vpMatrix::pseudoInverse().
Referenced by vpMbDepthDenseTracker::computeVVS(), vpMbDepthNormalTracker::computeVVS(), vpMbKltMultiTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), and vpMbGenericTracker::computeVVS().
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Reimplemented in vpMbEdgeKltMultiTracker, and vpMbEdgeMultiTracker.
Definition at line 842 of file vpMbEdgeTracker.cpp.
References vpArray2D< Type >::getRows(), vpColVector::insert(), m_errorCircles, m_errorCylinders, m_errorLines, m_robustCircles, m_robustCylinders, m_robustLines, m_w_edge, m_wCircles, m_wCylinders, m_wLines, vpRobust::MEstimator(), and vpRobust::TUKEY.
Referenced by vpMbEdgeMultiTracker::computeVVSWeights(), and vpMbEdgeKltMultiTracker::computeVVSWeights().
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Definition at line 2609 of file vpMbTracker.cpp.
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Definition at line 2609 of file vpMbTracker.cpp.
References vpRobust::MEstimator(), and vpRobust::TUKEY.
Referenced by vpMbDepthNormalTracker::computeVVS(), vpMbKltMultiTracker::computeVVSWeights(), and vpMbEdgeKltMultiTracker::computeVVSWeights().
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Definition at line 2665 of file vpMbTracker.cpp.
References vpException::badValue, vpColVector::clear(), vpColVector::crossProd(), vpColVector::euclideanNorm(), vpPoint::get_oX(), vpPoint::get_oY(), vpPoint::get_oZ(), and vpColVector::normalize().
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virtual |
Display the 3D model from a given position of the camera.
I | : The image. |
cMo_ | : Pose used to project the 3D model into the image. |
camera | : 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). |
Implements vpMbTracker.
Definition at line 1276 of file vpMbEdgeTracker.cpp.
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Display the 3D model from a given position of the camera.
I | : The image. |
cMo_ | : Pose used to project the 3D model into the image. |
camera | : 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 1318 of file vpMbEdgeTracker.cpp.
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Definition at line 1348 of file vpMbEdgeTracker.cpp.
References circles, cylinders, vpMbtDistanceCircle::displayMovingEdges(), vpMbtDistanceLine::displayMovingEdges(), vpMbtDistanceCylinder::displayMovingEdges(), vpMbtDistanceCircle::isTracked(), vpMbtDistanceLine::isTracked(), vpMbtDistanceCylinder::isTracked(), vpMbtDistanceCircle::isVisible(), vpMbtDistanceLine::isVisible(), vpMbtDistanceCylinder::isVisible(), and lines.
Referenced by vpMbEdgeKltMultiTracker::postTracking().
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Modify the camera parameters to have them corresponding to the current scale. The new parameters are divided by .
_scale | : Scale to use. |
Definition at line 2716 of file vpMbEdgeTracker.cpp.
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protectedvirtualinherited |
Extract a cylinder to track from the VMRL model. This method calls the initCylinder() method implemented in the child class.
face_set | : Pointer to the cylinder in the vrml format. |
transform | : Transformation matrix applied to the cylinder. |
idFace | : Id of the face. |
polygonName | Name of the polygon. |
Definition at line 2059 of file vpMbTracker.cpp.
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protectedvirtualinherited |
Extract a face of the object to track from the VMRL model. This method calls the initFaceFromCorners() method implemented in the child class.
face_set | : Pointer to the face in the vrml format. |
transform | : Transformation matrix applied to the face. |
idFace | : Face id. |
polygonName | Name of the polygon. |
Definition at line 2006 of file vpMbTracker.cpp.
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protectedvirtualinherited |
Extract a VRML object Group.
sceneGraphVRML2 | : Current node (either Transform, or Group node). |
transform | : Transformation matrix for this group. |
idFace | : Index of the face. |
Definition at line 1917 of file vpMbTracker.cpp.
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protectedvirtualinherited |
Extract a line of the object to track from the VMRL model. This method calls the initFaceFromCorners() method implemented in the child class.
line_set | : Pointer to the line in the vrml format. |
idFace | : Id of the face. |
polygonName | Name of the polygon. |
Definition at line 2144 of file vpMbTracker.cpp.
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inlinevirtualinherited |
Return the angle used to test polygons appearance.
Definition at line 237 of file vpMbTracker.h.
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Return the angle used to test polygons disappearance.
Definition at line 240 of file vpMbTracker.h.
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inlinevirtualinherited |
Get the camera parameters.
camera | : copy of the camera parameters used by the tracker. |
Reimplemented in vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.
Definition at line 247 of file vpMbTracker.h.
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inlinevirtualinherited |
Get the clipping used and defined in vpPolygon3D::vpMbtPolygonClippingType.
Definition at line 255 of file vpMbTracker.h.
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inlinevirtualinherited |
Get the covariance matrix. This matrix is only computed if setCovarianceComputation() is turned on.
Definition at line 264 of file vpMbTracker.h.
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inlinevirtual |
Return the error vector reached after the virtual visual servoing process used to estimate the pose.
The following example shows how to use this function to compute the norm of the residual and the norm of the residual normalized by the number of features that are tracked:
Implements vpMbTracker.
Reimplemented in vpMbEdgeKltTracker, vpMbEdgeMultiTracker, and vpMbEdgeKltMultiTracker.
Definition at line 394 of file vpMbEdgeTracker.h.
References m_error_edge.
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Get a 1x6 vpColVector representing the estimated degrees of freedom. vpColVector[0] = 1 if translation on X is estimated, 0 otherwise; vpColVector[1] = 1 if translation on Y is estimated, 0 otherwise; vpColVector[2] = 1 if translation on Z is estimated, 0 otherwise; vpColVector[3] = 1 if rotation on X is estimated, 0 otherwise; vpColVector[4] = 1 if rotation on Y is estimated, 0 otherwise; vpColVector[5] = 1 if rotation on Z is estimated, 0 otherwise;
Definition at line 2626 of file vpMbTracker.cpp.
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Return a reference to the faces structure.
Reimplemented in vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, vpMbKltMultiTracker, and vpMbGenericTracker.
Definition at line 331 of file vpMbTracker.h.
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Get the far distance for clipping.
Definition at line 338 of file vpMbTracker.h.
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Definition at line 392 of file vpMbEdgeTracker.h.
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Compute the center of gravity of a set of point. This is used in the cylinder extraction to find the center of the circles.
vpException::dimensionError | if the set is empty. |
pts | : Set of point to extract the center of gravity. |
Definition at line 2189 of file vpMbTracker.cpp.
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Get the initial value of mu used in the Levenberg Marquardt optimization loop.
Definition at line 283 of file vpMbTracker.h.
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Get the value of the gain used to compute the control law.
Definition at line 290 of file vpMbTracker.h.
void vpMbEdgeTracker::getLcircle | ( | std::list< vpMbtDistanceCircle * > & | circlesList, |
const unsigned int | level = 0 |
||
) | const |
Get the list of the circles tracked for the specified level. Each circle contains the list of the vpMeSite.
vpException::dimensionError | if the second parameter does not correspond to an used level. |
level | : Level corresponding to the list to return. |
circlesList | : The list of the circles of the model. |
Definition at line 2698 of file vpMbEdgeTracker.cpp.
void vpMbEdgeTracker::getLcylinder | ( | std::list< vpMbtDistanceCylinder * > & | cylindersList, |
const unsigned int | level = 0 |
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) | const |
Get the list of the cylinders tracked for the specified level. Each cylinder contains the list of the vpMeSite.
vpException::dimensionError | if the second parameter does not correspond to an used level. |
level | : Level corresponding to the list to return. |
cylindersList | : The list of the cylinders of the model. |
Definition at line 2676 of file vpMbEdgeTracker.cpp.
void vpMbEdgeTracker::getLline | ( | std::list< vpMbtDistanceLine * > & | linesList, |
const unsigned int | level = 0 |
||
) | const |
Get the list of the lines tracked for the specified level. Each line contains the list of the vpMeSite.
vpException::dimensionError | if the second parameter does not correspond to an used level. |
level | : Level corresponding to the list to return. |
linesList | : The list of the lines of the model. |
Definition at line 2654 of file vpMbEdgeTracker.cpp.
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inlinevirtualinherited |
Get the maximum number of iterations of the virtual visual servoing stage.
Definition at line 297 of file vpMbTracker.h.
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Get the moving edge parameters.
Reimplemented in vpMbEdgeMultiTracker.
Definition at line 373 of file vpMbEdgeTracker.h.
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inlinevirtual |
Get the moving edge parameters.
p_me | [out] : an instance of the moving edge parameters used by the tracker. |
Reimplemented in vpMbEdgeMultiTracker.
Definition at line 367 of file vpMbEdgeTracker.h.
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Return the number of good points (vpMeSite) tracked. A good point is a vpMeSite with its flag "state" equal to 0. Only these points are used during the virtual visual servoing stage.
vpException::dimensionError | if level does not represent a used level. |
Reimplemented in vpMbEdgeMultiTracker.
Definition at line 2372 of file vpMbEdgeTracker.cpp.
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inlinevirtualinherited |
Get the number of polygons (faces) representing the object to track.
Reimplemented in vpMbGenericTracker, vpMbKltMultiTracker, vpMbEdgeMultiTracker, and vpMbEdgeKltMultiTracker.
Definition at line 367 of file vpMbTracker.h.
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Get the near distance for clipping.
Reimplemented in vpMbEdgeKltTracker.
Definition at line 374 of file vpMbTracker.h.
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inlinevirtualinherited |
Get the optimization method used during the tracking. 0 = Gauss-Newton approach. 1 = Levenberg-Marquardt approach.
Definition at line 383 of file vpMbTracker.h.
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Return the polygon (face) "index".
vpException::dimensionError | if index does not represent a good polygon. |
index | : Index of the polygon to return. |
Reimplemented in vpMbGenericTracker.
Definition at line 394 of file vpMbTracker.h.
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virtualinherited |
Get the list of polygons faces (a vpPolygon representing the projection of the face in the image and a list of face corners in 3D), with the possibility to order by distance to the camera or to use the visibility check to consider if the polygon face must be retrieved or not.
orderPolygons | : If true, the resulting list is ordered from the nearest polygon faces to the farther. |
useVisibility | : If true, only visible faces will be retrieved. |
clipPolygon | : If true, the polygons will be clipped according to the clipping flags set in vpMbTracker. |
Reimplemented in vpMbGenericTracker.
Definition at line 2223 of file vpMbTracker.cpp.
References vpMbTracker::cam, vpMbTracker::cMo, vpMbTracker::faces, and vpMbHiddenFaces< PolygonType >::getPolygon().
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Get the current pose between the object and the camera. cMo is the matrix which can be used to express coordinates from the object frame to camera frame.
Definition at line 422 of file vpMbTracker.h.
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inlinevirtualinherited |
Get the current pose between the object and the camera. cMo is the matrix which can be used to express coordinates from the object frame to camera frame.
cMo_ | : the pose |
Definition at line 413 of file vpMbTracker.h.
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inlinevirtualinherited |
Get the error angle between the gradient direction of the model features projected at the resulting pose and their normal. The error is expressed in degree between 0 and 90. This value is computed if setProjectionErrorComputation() is turned on.
Definition at line 309 of file vpMbTracker.h.
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inlinevirtual |
Return the weights vector computed by the robust scheme.
The following example shows how to use this function to compute the norm of the weighted residual and the norm of the weighted residual normalized by the sum of the weights associated to the features that are tracked:
Implements vpMbTracker.
Reimplemented in vpMbEdgeKltTracker, vpMbEdgeMultiTracker, and vpMbEdgeKltMultiTracker.
Definition at line 396 of file vpMbEdgeTracker.h.
References m_w_edge.
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Return the scales levels used for the tracking.
Definition at line 382 of file vpMbEdgeTracker.h.
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inlinevirtualinherited |
Definition at line 424 of file vpMbTracker.h.
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Initialize the tracking.
I | : The image. |
Implements vpMbTracker.
Definition at line 1132 of file vpMbEdgeTracker.cpp.
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Add a circle to track from its center, 3 points (including the center) defining the plane that contain the circle and its radius.
p1 | : Center of the circle. |
p2,p3 | : Two points on the plane containing the circle. With the center of the circle we have 3 points defining the plane that contains the circle. |
radius | : Radius of the circle. |
idFace | : Index of the face associated to the circle to handle visibility test. |
name | : The optional name of the circle. |
Implements vpMbTracker.
Reimplemented in vpMbEdgeKltMultiTracker, and vpMbEdgeKltTracker.
Definition at line 2210 of file vpMbEdgeTracker.cpp.
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virtualinherited |
Initialise the tracker by clicking in the image on the pixels that correspond to the 3D points whose coordinates are extracted from a file. In this file, comments starting with # character are allowed. Notice that 3D point coordinates are expressed in meter in the object frame with their X, Y and Z values.
The structure of this file is the following:
I | : 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. |
vpException::ioError | : The file specified in initFile doesn't exist. |
Reimplemented in vpMbEdgeMultiTracker, vpMbKltMultiTracker, and vpMbEdgeKltMultiTracker.
Definition at line 222 of file vpMbTracker.cpp.
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virtualinherited |
Initialise the tracker by clicking in the image on the pixels that correspond to the 3D points whose coordinates are given in points3D_list.
I | : 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.
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protectedvirtual |
Add a cylinder to track from two points on the axis (defining the length of the cylinder) and its radius.
p1 | : First point on the axis. |
p2 | : Second point on the axis. |
radius | : Radius of the cylinder. |
idFace | : Id of the face that is associated to the cylinder to handle visibility test. |
name | : The optional name of the cylinder. |
Implements vpMbTracker.
Reimplemented in vpMbEdgeKltMultiTracker, and vpMbEdgeKltTracker.
Definition at line 2226 of file vpMbEdgeTracker.cpp.
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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.
This method is called from the loadModel() one to add a face of the object to track.
polygon | : The polygon describing the set of lines that has to be tracked. |
Implements vpMbTracker.
Reimplemented in vpMbEdgeKltTracker, and vpMbEdgeKltMultiTracker.
Definition at line 2121 of file vpMbEdgeTracker.cpp.
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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.
This method is called from the loadModel() one to add a face of the object to track.
polygon | : The polygon describing the set of lines that has to be tracked. |
Implements vpMbTracker.
Reimplemented in vpMbEdgeKltTracker, and vpMbEdgeKltMultiTracker.
Definition at line 2145 of file vpMbEdgeTracker.cpp.
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virtualinherited |
Initialise the tracker by reading 3D point coordinates and the corresponding 2D image point coordinates from a file. Comments starting with # character are allowed. 3D point coordinates are expressed in meter in the object frame with X, Y and Z values. 2D point coordinates are expressied in pixel coordinates, with first the line and then the column of the pixel in the image. The structure of this file is the following.
I | : Input image |
initFile | : Path to the file containing all the points. |
Definition at line 627 of file vpMbTracker.cpp.
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virtualinherited |
Initialise the tracking with the list of image points (points2D_list) and the list of corresponding 3D points (object frame) (points3D_list).
I | : Input image |
points2D_list | : List of image points. |
points3D_list | : List of 3D points (object frame). |
Definition at line 776 of file vpMbTracker.cpp.
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virtualinherited |
Initialise the tracking thanks to the pose in vpPoseVector format, and read in the file initFile. The structure of this file is (without the comments):
Where the three firsts lines refer to the translation and the three last to the rotation in thetaU parametrisation (see vpThetaUVector).
I | : Input image |
initFile | : Path to the file containing the pose. |
Reimplemented in vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.
Definition at line 841 of file vpMbTracker.cpp.
Referenced by vpMbDepthDenseTracker::reInitModel(), and vpMbDepthNormalTracker::reInitModel().
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virtualinherited |
Initialise the tracking thanks to the pose.
I | : Input image |
cMo_ | : Pose matrix. |
Reimplemented in vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.
Definition at line 876 of file vpMbTracker.cpp.
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virtualinherited |
Initialise the tracking thanks to the pose vector.
I | : Input image |
cPo | : Pose vector. |
Reimplemented in vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.
Definition at line 888 of file vpMbTracker.cpp.
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protected |
Definition at line 2154 of file vpMbEdgeTracker.cpp.
References circles, cylinders, vpMbtDistanceCircle::initInteractionMatrixError(), vpMbtDistanceLine::initInteractionMatrixError(), vpMbtDistanceCylinder::initInteractionMatrixError(), vpMbtDistanceCircle::isTracked(), vpMbtDistanceLine::isTracked(), vpMbtDistanceCylinder::isTracked(), lines, vpMbtDistanceCircle::nbFeature, vpMbtDistanceCylinder::nbFeature, vpMbtDistanceLine::nbFeatureTotal, and scaleLevel.
Referenced by computeVVSInit().
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protected |
Initialize the moving edge thanks to a given pose of the camera. The 3D model is projected into the image to create moving edges along the lines.
I | : The image. |
_cMo | : The pose of the camera used to initialize the moving edges. |
Definition at line 1383 of file vpMbEdgeTracker.cpp.
Referenced by vpMbEdgeKltMultiTracker::postTracking().
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protectedinherited |
Definition at line 3060 of file vpMbTracker.cpp.
References vpMbTracker::addProjectionErrorCircle().
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protectedinherited |
Definition at line 3066 of file vpMbTracker.cpp.
References vpMbTracker::addProjectionErrorCylinder().
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protectedinherited |
Definition at line 3072 of file vpMbTracker.cpp.
References vpMbTracker::addProjectionErrorLine(), vpMbtPolygon::getIndex(), vpMbtPolygon::getName(), vpPolygon3D::getNbPoint(), and vpPolygon3D::p.
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protectedinherited |
Definition at line 3082 of file vpMbTracker.cpp.
References vpMbTracker::addProjectionErrorLine(), vpMbtPolygon::getIndex(), vpMbtPolygon::getName(), vpPolygon3D::getNbPoint(), and vpPolygon3D::p.
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protected |
Compute the pyramid of image associated to the image in parameter. The scales computed are the ones corresponding to the scales attribute of the class. If OpenCV is detected, the functions used to computed a smoothed pyramid come from OpenCV, otherwise a simple subsampling (no smoothing, no interpolation) is realized.
_I | : The input image. |
_pyramid | : The pyramid of image to build from the input image. |
Definition at line 2585 of file vpMbEdgeTracker.cpp.
Referenced by vpMbEdgeMultiTracker::initPyramid().
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protectedvirtualinherited |
Load a 3D model contained in a *.cao file.
Since ViSP 2.9.1, lines starting with # character are considered as comments. It is also possible to add comment at the end of the lines. No specific character is requested before the comment. In the following example we use "//" but it could be an other character.
Since ViSP 2.9.1, circles are supported.
The structure of the file is :
modelFile | : Full name of the main *.cao file containing the model. |
vectorOfModelFilename | : A vector of *.cao files. |
startIdFace | : Current Id of the face. |
verbose | : If true, will print additional information with CAO model files which include other CAO model files. |
parent | : This parameter is set to true when parsing a parent CAO model file, and false when parsing an included CAO model file. |
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.
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virtual |
Load the xml configuration file. From the configuration file initialize the parameters corresponding to the objects: moving-edges, camera and visibility angles.
configFile | : full name of the xml file. |
Reimplemented from vpMbTracker.
Definition at line 1209 of file vpMbEdgeTracker.cpp.
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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.
vpException::ioError | if the file cannot be open, or if its extension is not wrl or cao. |
modelFile | : the file containing the the 3D model description. The extension of this file is either .wrl or .cao. |
verbose | : verbose option to print additional information when loading CAO model files which include other CAO model files. |
T | : optional transformation matrix (currently only for .cao) to transform 3D points expressed in the original object frame to the desired object frame. |
Reimplemented in vpMbGenericTracker, vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.
Definition at line 1147 of file vpMbTracker.cpp.
Referenced by vpMbDepthDenseTracker::reInitModel(), and vpMbDepthNormalTracker::reInitModel().
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protectedvirtualinherited |
Load the 3D model of the object from a vrml file. Only LineSet and FaceSet are extracted from the vrml file.
vpException::fatalError | if the file cannot be open. |
modelFile | : The full name of the file containing the 3D model. |
Definition at line 1208 of file vpMbTracker.cpp.
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inlineprotectedinherited |
Definition at line 859 of file vpMbTracker.h.
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inlineprotectedinherited |
Definition at line 846 of file vpMbTracker.h.
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protectedinherited |
Definition at line 1269 of file vpMbTracker.cpp.
References vpMbTracker::mapOfParameterNames, and vpMbTracker::trim().
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protectedinherited |
Definition at line 3299 of file vpMbTracker.cpp.
References vpMbtDistanceCircle::hiddenface, vpMbtDistanceLine::hiddenface, vpMbtDistanceCylinder::hiddenface, vpMbtDistanceCircle::index_polygon, vpMbtDistanceCylinder::index_polygon, vpMbtDistanceCircle::initMovingEdge(), vpMbtDistanceLine::initMovingEdge(), vpMbtDistanceCylinder::initMovingEdge(), vpMbtDistanceCircle::isTracked(), vpMbtDistanceLine::isTracked(), vpMbtDistanceCylinder::isTracked(), vpMbHiddenFaces< PolygonType >::isVisible(), vpMbtDistanceLine::Lindex_polygon, vpMbTracker::m_mask, vpMbTracker::m_projectionErrorCircles, vpMbTracker::m_projectionErrorCylinders, vpMbTracker::m_projectionErrorLines, vpMbtDistanceCircle::meEllipse, vpMbtDistanceLine::meline, vpMbtDistanceCylinder::meline1, vpMbtDistanceCylinder::meline2, vpMbtDistanceCircle::nbFeature, vpMbtDistanceLine::nbFeature, vpMbtDistanceCylinder::nbFeature, vpMbtDistanceCylinder::nbFeaturel1, vpMbtDistanceCylinder::nbFeaturel2, vpMbtDistanceLine::nbFeatureTotal, vpMbtDistanceCircle::setVisible(), vpMbtDistanceLine::setVisible(), vpMbtDistanceCylinder::setVisible(), and vpMbtDistanceLine::updateTracked().
Referenced by vpMbTracker::computeProjectionErrorImpl().
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protectedinherited |
Definition at line 3259 of file vpMbTracker.cpp.
References vpMbTracker::m_projectionErrorCircles, vpMbTracker::m_projectionErrorCylinders, and vpMbTracker::m_projectionErrorLines.
Referenced by vpMbTracker::computeProjectionErrorImpl().
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protectedinherited |
Definition at line 3244 of file vpMbTracker.cpp.
References vpMbTracker::angleAppears, vpMbTracker::angleDisappears, vpMbTracker::m_projectionErrorCam, vpMbTracker::m_projectionErrorFaces, vpMbHiddenFaces< PolygonType >::setVisible(), vpMbHiddenFaces< PolygonType >::setVisibleOgre(), and vpMbTracker::useOgre.
Referenced by vpMbTracker::computeProjectionErrorImpl().
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protected |
Re initialize the moving edges associated to a given level. This method is used to re-initialize the level if the tracking failed on this level but succeeded on the other one.
_lvl | : The level to re-initialize. |
Definition at line 2759 of file vpMbEdgeTracker.cpp.
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virtual |
Re-initialize the model used by the tracker.
I | : The image containing the object to initialize. |
cad_name | : Path to the file containing the 3D model description. |
cMo_ | : The new vpHomogeneousMatrix between the camera and the new model |
verbose | : verbose option to print additional information when loading CAO model files which include other CAO model files. |
T | : optional transformation matrix (currently only for .cao) to transform 3D points expressed in the original object frame to the desired object frame. |
Reimplemented in vpMbEdgeKltTracker, vpMbEdgeKltMultiTracker, and vpMbEdgeMultiTracker.
Definition at line 2310 of file vpMbEdgeTracker.cpp.
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protected |
Reinitialize the lines if it is required.
A line is reinitialized if the 2D line do not match enough with the projected 3D line.
I | : the image. |
_cMo | : the pose of the used to re-initialize the moving edges |
Definition at line 1739 of file vpMbEdgeTracker.cpp.
Referenced by vpMbEdgeKltMultiTracker::postTracking().
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protected |
Remove a circle by its name.
name | : The name of the circle to remove. |
Definition at line 2036 of file vpMbEdgeTracker.cpp.
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protectedinherited |
Definition at line 1254 of file vpMbTracker.cpp.
References vpException::ioError.
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protected |
Remove a cylinder by its name.
name | : The name of the cylinder to remove. |
Definition at line 2014 of file vpMbEdgeTracker.cpp.
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protected |
Remove a line using its name.
name | : The name of the line to remove. |
Definition at line 1884 of file vpMbEdgeTracker.cpp.
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protected |
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virtual |
Reset the tracker. The model is removed and the pose is set to identity. The tracker needs to be initialized with a new model and a new pose.
Implements vpMbTracker.
Definition at line 2237 of file vpMbEdgeTracker.cpp.
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inlineprotectedinherited |
Definition at line 865 of file vpMbTracker.h.
Check if two vpPoints are similar.
To be similar : .
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().
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inherited |
Save the pose in the given filename
filename | : Path to the file used to save the pose. |
Definition at line 899 of file vpMbTracker.cpp.
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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.
a | : new angle in radian. |
Reimplemented in vpMbGenericTracker, vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.
Definition at line 454 of file vpMbTracker.h.
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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.
a | : new angle in radian. |
Reimplemented in vpMbGenericTracker, vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.
Definition at line 465 of file vpMbTracker.h.
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inlinevirtual |
Set the camera parameters.
camera | : the new camera parameters |
Reimplemented from vpMbTracker.
Reimplemented in vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbEdgeKltTracker.
Definition at line 410 of file vpMbEdgeTracker.h.
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virtual |
Specify which clipping to use.
flags | : New clipping flags. |
Reimplemented from vpMbTracker.
Reimplemented in vpMbEdgeKltTracker, vpMbEdgeKltMultiTracker, and vpMbEdgeMultiTracker.
Definition at line 2554 of file vpMbEdgeTracker.cpp.
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inlinevirtualinherited |
Set if the covariance matrix has to be computed.
flag | : True if the covariance has to be computed, false otherwise. If computed its value is available with getCovarianceMatrix() |
Reimplemented in vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.
Definition at line 484 of file vpMbTracker.h.
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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:
displayF | : set it to true to display the features. |
Reimplemented in vpMbGenericTracker, vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.
Definition at line 502 of file vpMbTracker.h.
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virtualinherited |
Set a 6-dim column vector representing the degrees of freedom in the object frame that are estimated by the tracker. When set to 1, all the 6 dof are estimated.
Below we give the correspondance between the index of the vector and the considered dof:
Definition at line 2649 of file vpMbTracker.cpp.
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virtual |
Set the far distance for clipping.
dist | : Far clipping value. |
Reimplemented from vpMbTracker.
Reimplemented in vpMbEdgeKltTracker, vpMbEdgeKltMultiTracker, and vpMbEdgeMultiTracker.
Definition at line 2492 of file vpMbEdgeTracker.cpp.
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inline |
Set the threshold value between 0 and 1 over good moving edges ratio. It allows to decide if the tracker has enough valid moving edges to compute a pose. 1 means that all moving edges should be considered as good to have a valid pose, while 0.1 means that 10% of the moving edge are enough to declare a pose valid.
threshold | : Value between 0 and 1 that corresponds to the ratio of good moving edges that is necessary to consider that the estimated pose is valid. Default value is 0.4. |
Definition at line 485 of file vpMbEdgeTracker.h.
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inlinevirtualinherited |
Set the ratio of visibility attempts that has to be successful to consider a polygon as visible.
ratio | : Ratio of succesful attempts that has to be considered. Value has to be between 0.0 (0%) and 1.0 (100%). |
Reimplemented in vpMbGenericTracker, vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.
Definition at line 602 of file vpMbTracker.h.
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inlinevirtualinherited |
Set the initial value of mu for the Levenberg Marquardt optimization loop.
mu | : initial mu. |
Definition at line 513 of file vpMbTracker.h.
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inlinevirtualinherited |
Set the value of the gain used to compute the control law.
gain | : the desired value for the gain. |
Definition at line 520 of file vpMbTracker.h.
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virtualinherited |
Set the flag to consider if the level of detail (LOD) is used.
useLod | : true if the level of detail must be used, false otherwise. When true, two parameters can be set, see setMinLineLengthThresh() and setMinPolygonAreaThresh(). |
name | : name of the face we want to modify the LOD parameter. |
Reimplemented in vpMbGenericTracker, vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.
Definition at line 2361 of file vpMbTracker.cpp.
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inlinevirtualinherited |
Reimplemented in vpMbGenericTracker.
Definition at line 548 of file vpMbTracker.h.
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inlinevirtualinherited |
Set the maximum iteration of the virtual visual servoing stage.
max | : the desired number of iteration |
Definition at line 529 of file vpMbTracker.h.
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virtualinherited |
Set the threshold for the minimum line length to be considered as visible in the LOD case.
minLineLengthThresh | : threshold for the minimum line length in pixel. |
name | : name of the face we want to modify the LOD threshold. |
Reimplemented in vpMbGenericTracker, vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.
Definition at line 2379 of file vpMbTracker.cpp.
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virtualinherited |
Set the minimum polygon area to be considered as visible in the LOD case.
minPolygonAreaThresh | : threshold for the minimum polygon area in pixel. |
name | : name of the face we want to modify the LOD threshold. |
Reimplemented in vpMbGenericTracker, vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.
Definition at line 2396 of file vpMbTracker.cpp.
void vpMbEdgeTracker::setMovingEdge | ( | const vpMe & | p_me | ) |
Set the moving edge parameters.
p_me | : an instance of vpMe containing all the desired parameters |
Definition at line 135 of file vpMbEdgeTracker.cpp.
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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.
attempts | Number of rays to be sent. |
Reimplemented in vpMbEdgeKltMultiTracker, vpMbGenericTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.
Definition at line 612 of file vpMbTracker.h.
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virtual |
Set the near distance for clipping.
dist | : Near clipping value. |
Reimplemented from vpMbTracker.
Reimplemented in vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbEdgeKltTracker.
Definition at line 2522 of file vpMbEdgeTracker.cpp.
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inlinevirtualinherited |
Enable/Disable the appearance of Ogre config dialog on startup.
showConfigDialog | : if true, shows Ogre dialog window (used to set Ogre rendering options) when Ogre visibility is enabled. By default, this functionality is turned off. |
Reimplemented in vpMbGenericTracker, vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.
Definition at line 628 of file vpMbTracker.h.
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inlinevirtual |
Use Ogre3D for visibility tests
v | : True to use it, False otherwise |
Reimplemented from vpMbTracker.
Reimplemented in vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbEdgeKltTracker.
Definition at line 446 of file vpMbEdgeTracker.h.
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inlinevirtualinherited |
Set the optimization method used during the tracking.
opt | : Optimization method to use. |
Reimplemented in vpMbGenericTracker, vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.
Definition at line 542 of file vpMbTracker.h.
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virtual |
Set the pose to be used in entry of the next call to the track() function. This pose will be just used once.
I | : image corresponding to the desired pose. |
cdMo | : Pose to affect. |
Implements vpMbTracker.
Reimplemented in vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbEdgeKltTracker.
Definition at line 1189 of file vpMbEdgeTracker.cpp.
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inlineinherited |
Set the filename used to save the initial pose computed using the initClick() method. It is also used to read a previous pose in the same method. If the file is not set then, the initClick() method will create a .0.pos file in the root directory. This directory is the path to the file given to the method initClick() used to know the coordinates in the object frame.
filename | : The new filename. |
Definition at line 640 of file vpMbTracker.h.
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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.
flag | : True if the projection error criteria has to be computed, false otherwise. |
Reimplemented in vpMbKltTracker, vpMbEdgeKltMultiTracker, vpMbGenericTracker, vpMbEdgeMultiTracker, and vpMbEdgeKltTracker.
Definition at line 569 of file vpMbTracker.h.
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inlinevirtualinherited |
Display or not gradient and model orientation when computing the projection error.
Reimplemented in vpMbGenericTracker.
Definition at line 574 of file vpMbTracker.h.
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inlinevirtualinherited |
Arrow length used to display gradient and model orientation for projection error computation.
Reimplemented in vpMbGenericTracker.
Definition at line 579 of file vpMbTracker.h.
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inlinevirtualinherited |
Arrow thickness used to display gradient and model orientation for projection error computation.
Reimplemented in vpMbGenericTracker.
Definition at line 584 of file vpMbTracker.h.
Referenced by vpMbGenericTracker::setProjectionErrorDisplayArrowThickness().
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inherited |
Set kernel size used for projection error computation.
size | : Kernel size computed as kernel_size = size*2 + 1. |
Definition at line 3462 of file vpMbTracker.cpp.
Referenced by vpMbTracker::loadConfigFile().
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inherited |
Set Moving-Edges parameters for projection error computation.
me | : Moving-Edges parameters. |
Definition at line 3436 of file vpMbTracker.cpp.
Referenced by vpMbTracker::loadConfigFile().
void vpMbEdgeTracker::setScales | ( | const std::vector< bool > & | scale | ) |
Set the scales to use to realize the tracking. The vector of boolean activates or not the scales to set for the object tracking. The first element of the list correspond to the tracking on the full image, the second element corresponds to the tracking on an image subsampled by two.
Using multi scale tracking allows to track the object with greater moves. It requires the computation of a pyramid of images, but the total tracking can be faster than a tracking based only on the full scale. The pose is computed from the smallest image to the biggest. This may be dangerous if the object to track is small in the image, because the subsampled scale(s) will have only few points to compute the pose (it could result in a loss of precision).
scale | : The vector describing the levels to use. |
Definition at line 2449 of file vpMbEdgeTracker.cpp.
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inlinevirtual |
Use Scanline algorithm for visibility tests
v | : True to use it, False otherwise |
Reimplemented from vpMbTracker.
Reimplemented in vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbEdgeKltTracker.
Definition at line 459 of file vpMbEdgeTracker.h.
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inlinevirtualinherited |
Set the minimal error (previous / current estimation) to determine if there is convergence or not.
eps | : Epsilon threshold. |
Definition at line 556 of file vpMbTracker.h.
void vpMbEdgeTracker::setUseEdgeTracking | ( | const std::string & | name, |
const bool & | useEdgeTracking | ||
) |
Set if the polygons that have the given name have to be considered during the tracking phase.
name | : name of the polygon(s). |
useEdgeTracking | : True if it has to be considered, False otherwise. |
Definition at line 2803 of file vpMbEdgeTracker.cpp.
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protectedvirtual |
Check if the tracking failed.
vpTrackingException::fatalError | if the test fails. |
Implements vpMbTracker.
Definition at line 944 of file vpMbEdgeTracker.cpp.
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virtual |
Compute each state of the tracking procedure for all the feature sets.
If the tracking is considered as failed an exception is thrown.
I | : The image. |
Implements vpMbTracker.
Definition at line 1031 of file vpMbEdgeTracker.cpp.
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protected |
Track the moving edges in the image.
I | : the image. |
Definition at line 1496 of file vpMbEdgeTracker.cpp.
Referenced by vpMbEdgeKltMultiTracker::trackMovingEdges().
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inlineprotectedinherited |
Definition at line 871 of file vpMbTracker.h.
Referenced by vpMbTracker::parseParameters().
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protected |
Update the moving edges at the end of the virtual visual servoing.
I | : the image. |
Definition at line 1539 of file vpMbEdgeTracker.cpp.
Referenced by vpMbEdgeKltMultiTracker::postTracking().
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protected |
Definition at line 1578 of file vpMbEdgeTracker.cpp.
References circles, cylinders, lines, vpMeSite::M_ESTIMATOR, m_w_edge, vpMbtDistanceCircle::meEllipse, vpMbtDistanceLine::meline, vpMbtDistanceCylinder::meline1, vpMbtDistanceCylinder::meline2, vpMbtDistanceCircle::nbFeature, vpMbtDistanceLine::nbFeature, vpMbtDistanceCylinder::nbFeature, vpMbtDistanceCylinder::nbFeaturel1, vpMbtDistanceCylinder::nbFeaturel2, vpMbtDistanceLine::nbFeatureTotal, vpMbtDistanceCircle::Reinit, vpMbtDistanceLine::Reinit, vpMbtDistanceCylinder::Reinit, scaleLevel, vpMbtDistanceCircle::setMeanWeight(), vpMbtDistanceLine::setMeanWeight(), vpMbtDistanceCylinder::setMeanWeight1(), vpMbtDistanceCylinder::setMeanWeight2(), and vpMeSite::setState().
Referenced by vpMbEdgeMultiTracker::computeVVS(), and vpMbEdgeKltMultiTracker::postTracking().
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protected |
Modify the camera parameters to have them corresponding to the current scale. The new parameters are multiplied by .
_scale | : Scale to use. |
Definition at line 2737 of file vpMbEdgeTracker.cpp.
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protected |
Detect the visible faces in the image and says if a new one appeared.
_I | : Image to test if a face is entirely in the image. |
_cMo | : The pose of the camera used to project the 3D model into the image. |
newvisibleline | : This parameter is set to true if a new face appeared. |
Definition at line 2079 of file vpMbEdgeTracker.cpp.
Referenced by vpMbEdgeKltMultiTracker::postTracking().
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friend |
Definition at line 273 of file vpMbEdgeTracker.h.
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friend |
Definition at line 272 of file vpMbEdgeTracker.h.
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protectedinherited |
Angle used to detect a face appearance.
Definition at line 150 of file vpMbTracker.h.
Referenced by vpMbDepthDenseTracker::computeVisibility(), vpMbDepthNormalTracker::computeVisibility(), vpMbDepthNormalTracker::display(), vpMbDepthDenseTracker::display(), vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), vpMbKltTracker::init(), vpMbDepthDenseTracker::loadConfigFile(), vpMbDepthNormalTracker::loadConfigFile(), vpMbTracker::projectionErrorVisibleFace(), vpMbDepthDenseTracker::resetTracker(), vpMbDepthNormalTracker::resetTracker(), vpMbEdgeKltTracker::vpMbEdgeKltTracker(), and vpMbKltTracker::vpMbKltTracker().
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protectedinherited |
Angle used to detect a face disappearance.
Definition at line 152 of file vpMbTracker.h.
Referenced by vpMbDepthDenseTracker::computeVisibility(), vpMbDepthNormalTracker::computeVisibility(), vpMbDepthNormalTracker::display(), vpMbDepthDenseTracker::display(), vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), vpMbKltTracker::init(), vpMbDepthDenseTracker::loadConfigFile(), vpMbDepthNormalTracker::loadConfigFile(), vpMbTracker::projectionErrorVisibleFace(), vpMbDepthDenseTracker::resetTracker(), vpMbDepthNormalTracker::resetTracker(), vpMbEdgeKltTracker::vpMbEdgeKltTracker(), and vpMbKltTracker::vpMbKltTracker().
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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.
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The camera parameters.
Definition at line 116 of file vpMbTracker.h.
Referenced by vpMbDepthDenseTracker::addFace(), vpMbDepthNormalTracker::addFace(), vpMbTracker::addProjectionErrorCircle(), vpMbTracker::addProjectionErrorCylinder(), vpMbTracker::addProjectionErrorLine(), vpMbDepthDenseTracker::computeVisibility(), vpMbDepthNormalTracker::computeVisibility(), computeVVSFirstPhase(), vpMbKltTracker::computeVVSInit(), computeVVSInit(), vpMbTracker::getPolygonFaces(), vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), vpMbKltTracker::init(), vpMbDepthDenseTracker::loadConfigFile(), vpMbDepthNormalTracker::loadConfigFile(), vpMbKltTracker::reinit(), vpMbDepthDenseTracker::setCameraParameters(), and vpMbDepthNormalTracker::setCameraParameters().
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Vector of the tracked circles.
Definition at line 284 of file vpMbEdgeTracker.h.
Referenced by computeVVSFirstPhase(), computeVVSFirstPhaseFactor(), computeVVSInteractionMatrixAndResidu(), displayFeaturesOnImage(), vpMbEdgeKltTracker::initMbtTracking(), initMbtTracking(), resetMovingEdge(), vpMbEdgeKltTracker::trackFirstLoop(), vpMbEdgeKltTracker::trackSecondLoop(), and updateMovingEdgeWeights().
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Flags specifying which clipping to used.
Definition at line 158 of file vpMbTracker.h.
Referenced by vpMbDepthDenseTracker::addFace(), vpMbDepthNormalTracker::addFace(), vpMbTracker::addPolygon(), vpMbTracker::addProjectionErrorLine(), vpMbTracker::addProjectionErrorPolygon(), vpMbTracker::computeProjectionErrorImpl(), vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), vpMbDepthDenseTracker::loadConfigFile(), vpMbDepthNormalTracker::loadConfigFile(), vpMbDepthDenseTracker::resetTracker(), and vpMbDepthNormalTracker::resetTracker().
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The current pose.
Definition at line 118 of file vpMbTracker.h.
Referenced by vpMbDepthDenseTracker::computeVisibility(), vpMbDepthNormalTracker::computeVisibility(), vpMbDepthDenseTracker::computeVVS(), vpMbDepthNormalTracker::computeVVS(), vpMbKltMultiTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), vpMbGenericTracker::computeVVS(), vpMbTracker::computeVVSCheckLevenbergMarquardt(), computeVVSFirstPhase(), computeVVSFirstPhaseFactor(), vpMbEdgeMultiTracker::computeVVSFirstPhasePoseEstimation(), computeVVSFirstPhasePoseEstimation(), vpMbDepthDenseTracker::computeVVSInteractionMatrixAndResidu(), vpMbDepthNormalTracker::computeVVSInteractionMatrixAndResidu(), vpMbKltMultiTracker::computeVVSInteractionMatrixAndResidu(), vpMbEdgeMultiTracker::computeVVSInteractionMatrixAndResidu(), vpMbEdgeKltMultiTracker::computeVVSInteractionMatrixAndResidu(), vpMbGenericTracker::computeVVSInteractionMatrixAndResidu(), computeVVSInteractionMatrixAndResidu(), vpMbTracker::computeVVSPoseEstimation(), vpMbTracker::getPolygonFaces(), vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), vpMbGenericTracker::init(), vpMbKltTracker::init(), vpMbGenericTracker::initFromPoints(), vpMbEdgeKltMultiTracker::initMbtTracking(), vpMbKltMultiTracker::postTracking(), vpMbKltTracker::reinit(), vpMbDepthDenseTracker::reInitModel(), vpMbDepthNormalTracker::reInitModel(), vpMbDepthDenseTracker::resetTracker(), vpMbDepthNormalTracker::resetTracker(), vpMbDepthDenseTracker::segmentPointCloud(), vpMbDepthNormalTracker::segmentPointCloud(), vpMbDepthDenseTracker::setPose(), vpMbDepthNormalTracker::setPose(), and vpMbEdgeKltTracker::trackFirstLoop().
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Flag used to specify if the covariance matrix has to be computed or not.
Definition at line 133 of file vpMbTracker.h.
Referenced by vpMbTracker::computeCovarianceMatrixVVS(), vpMbDepthDenseTracker::computeVVS(), vpMbDepthNormalTracker::computeVVS(), vpMbKltMultiTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), vpMbGenericTracker::computeVVS(), vpMbDepthDenseTracker::resetTracker(), vpMbDepthNormalTracker::resetTracker(), and vpMbEdgeKltTracker::vpMbEdgeKltTracker().
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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().
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Covariance matrix.
Definition at line 135 of file vpMbTracker.h.
Referenced by vpMbTracker::computeCovarianceMatrixVVS().
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Vector of the tracked cylinders.
Definition at line 287 of file vpMbEdgeTracker.h.
Referenced by computeVVSFirstPhase(), computeVVSFirstPhaseFactor(), computeVVSInteractionMatrixAndResidu(), displayFeaturesOnImage(), vpMbEdgeKltTracker::initMbtTracking(), initMbtTracking(), resetMovingEdge(), vpMbEdgeKltTracker::trackFirstLoop(), vpMbEdgeKltTracker::trackSecondLoop(), and updateMovingEdgeWeights().
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If true, the features are displayed.
Definition at line 143 of file vpMbTracker.h.
Referenced by vpMbDepthDenseTracker::display(), vpMbDepthNormalTracker::display(), and vpMbEdgeKltMultiTracker::postTracking().
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protectedinherited |
Distance for near clipping.
Definition at line 156 of file vpMbTracker.h.
Referenced by vpMbDepthDenseTracker::addFace(), vpMbDepthNormalTracker::addFace(), vpMbTracker::addPolygon(), vpMbTracker::addProjectionErrorLine(), and vpMbTracker::addProjectionErrorPolygon().
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protectedinherited |
Distance for near clipping.
Definition at line 154 of file vpMbTracker.h.
Referenced by vpMbDepthDenseTracker::addFace(), vpMbDepthNormalTracker::addFace(), vpMbTracker::addPolygon(), vpMbTracker::addProjectionErrorLine(), and vpMbTracker::addProjectionErrorPolygon().
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Set of faces describing the object.
Definition at line 148 of file vpMbTracker.h.
Referenced by vpMbDepthDenseTracker::addFace(), vpMbDepthNormalTracker::addFace(), vpMbTracker::addPolygon(), vpMbDepthDenseTracker::computeVisibility(), vpMbDepthNormalTracker::computeVisibility(), vpMbEdgeKltMultiTracker::getFaces(), vpMbTracker::getPolygonFaces(), vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), vpMbKltTracker::init(), vpMbEdgeKltMultiTracker::postTracking(), vpMbKltTracker::reinit(), vpMbDepthDenseTracker::resetTracker(), vpMbDepthNormalTracker::resetTracker(), vpMbDepthDenseTracker::setOgreVisibilityTest(), vpMbDepthNormalTracker::setOgreVisibilityTest(), vpMbDepthDenseTracker::vpMbDepthDenseTracker(), vpMbDepthNormalTracker::vpMbDepthNormalTracker(), vpMbEdgeKltTracker::vpMbEdgeKltTracker(), and vpMbKltTracker::vpMbKltTracker().
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Pyramid of image associated to the current image. This pyramid is computed in the init() and in the track() methods.
Definition at line 313 of file vpMbEdgeTracker.h.
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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().
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Vector of list of all the lines tracked (each line is linked to a list of moving edges). Each element of the vector is for a scale (element 0 = level 0 = no subsampling).
Definition at line 281 of file vpMbEdgeTracker.h.
Referenced by computeVVSFirstPhase(), computeVVSFirstPhaseFactor(), computeVVSInteractionMatrixAndResidu(), displayFeaturesOnImage(), vpMbEdgeKltTracker::initMbtTracking(), initMbtTracking(), resetMovingEdge(), vpMbEdgeKltTracker::trackFirstLoop(), vpMbEdgeKltTracker::trackSecondLoop(), and updateMovingEdgeWeights().
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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(), computeVVSFirstPhasePoseEstimation(), vpMbDepthDenseTracker::resetTracker(), and vpMbDepthNormalTracker::resetTracker().
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(s - s*)
Definition at line 337 of file vpMbEdgeTracker.h.
Referenced by vpMbEdgeMultiTracker::computeVVS(), computeVVSFirstPhase(), computeVVSFirstPhasePoseEstimation(), vpMbEdgeMultiTracker::computeVVSInit(), computeVVSInit(), vpMbEdgeMultiTracker::computeVVSInteractionMatrixAndResidu(), vpMbEdgeKltMultiTracker::computeVVSInteractionMatrixAndResidu(), computeVVSInteractionMatrixAndResidu(), getError(), and vpMbEdgeKltMultiTracker::initMbtTracking().
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Definition at line 333 of file vpMbEdgeTracker.h.
Referenced by computeVVSInit(), computeVVSInteractionMatrixAndResidu(), computeVVSWeights(), and vpMbEdgeKltMultiTracker::initMbtTracking().
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Definition at line 332 of file vpMbEdgeTracker.h.
Referenced by computeVVSInit(), computeVVSInteractionMatrixAndResidu(), computeVVSWeights(), and vpMbEdgeKltMultiTracker::initMbtTracking().
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Definition at line 331 of file vpMbEdgeTracker.h.
Referenced by computeVVSInit(), computeVVSInteractionMatrixAndResidu(), computeVVSWeights(), and vpMbEdgeKltMultiTracker::initMbtTracking().
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Edge VVS variables.
Definition at line 324 of file vpMbEdgeTracker.h.
Referenced by vpMbEdgeMultiTracker::computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), computeVVSFirstPhase(), computeVVSFirstPhaseFactor(), vpMbEdgeMultiTracker::computeVVSFirstPhasePoseEstimation(), computeVVSFirstPhasePoseEstimation(), vpMbEdgeMultiTracker::computeVVSInit(), computeVVSInit(), and vpMbEdgeKltMultiTracker::initMbtTracking().
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protectedinherited |
Initial Mu for Levenberg Marquardt optimization loop.
Definition at line 198 of file vpMbTracker.h.
Referenced by vpMbDepthDenseTracker::computeVVS(), vpMbDepthNormalTracker::computeVVS(), vpMbKltMultiTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), and vpMbGenericTracker::computeVVS().
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Interaction matrix.
Definition at line 335 of file vpMbEdgeTracker.h.
Referenced by vpMbEdgeMultiTracker::computeVVS(), computeVVSFirstPhase(), computeVVSFirstPhasePoseEstimation(), computeVVSInit(), vpMbEdgeMultiTracker::computeVVSInteractionMatrixAndResidu(), vpMbEdgeKltMultiTracker::computeVVSInteractionMatrixAndResidu(), computeVVSInteractionMatrixAndResidu(), and vpMbEdgeKltMultiTracker::initMbtTracking().
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protectedinherited |
Gain of the virtual visual servoing stage.
Definition at line 192 of file vpMbTracker.h.
Referenced by vpMbTracker::computeVVSPoseEstimation(), vpMbDepthDenseTracker::resetTracker(), vpMbDepthNormalTracker::resetTracker(), vpMbEdgeKltTracker::vpMbEdgeKltTracker(), and vpMbKltTracker::vpMbKltTracker().
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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(), vpMbDepthDenseTracker::segmentPointCloud(), and vpMbDepthNormalTracker::segmentPointCloud().
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protectedinherited |
Maximum number of iterations of the virtual visual servoing stage.
Definition at line 194 of file vpMbTracker.h.
Referenced by vpMbDepthDenseTracker::computeVVS(), vpMbDepthNormalTracker::computeVVS(), vpMbKltMultiTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), vpMbGenericTracker::computeVVS(), vpMbDepthDenseTracker::resetTracker(), vpMbEdgeKltTracker::vpMbEdgeKltTracker(), and vpMbKltTracker::vpMbKltTracker().
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Optimization method used.
Definition at line 145 of file vpMbTracker.h.
Referenced by vpMbTracker::computeVVSCheckLevenbergMarquardt(), vpMbTracker::computeVVSPoseEstimation(), vpMbDepthDenseTracker::resetTracker(), and vpMbDepthNormalTracker::resetTracker().
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protectedinherited |
Camera parameters used for projection error computation.
Definition at line 224 of file vpMbTracker.h.
Referenced by vpMbTracker::computeProjectionErrorImpl(), and vpMbTracker::projectionErrorVisibleFace().
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protectedinherited |
Distance circle primitive for projection error.
Definition at line 205 of file vpMbTracker.h.
Referenced by vpMbTracker::addProjectionErrorCircle(), vpMbTracker::computeProjectionErrorImpl(), vpMbTracker::projectionErrorInitMovingEdge(), vpMbTracker::projectionErrorResetMovingEdges(), and vpMbTracker::~vpMbTracker().
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protectedinherited |
Distance cylinder primitives for projection error.
Definition at line 203 of file vpMbTracker.h.
Referenced by vpMbTracker::addProjectionErrorCylinder(), vpMbTracker::computeProjectionErrorImpl(), vpMbTracker::projectionErrorInitMovingEdge(), vpMbTracker::projectionErrorResetMovingEdges(), and vpMbTracker::~vpMbTracker().
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Display gradient and model orientation for projection error computation.
Definition at line 218 of file vpMbTracker.h.
Referenced by vpMbTracker::computeProjectionErrorImpl().
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protectedinherited |
Length of the arrows used to show the gradient and model orientation.
Definition at line 220 of file vpMbTracker.h.
Referenced by vpMbTracker::computeProjectionErrorImpl().
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Thickness of the arrows used to show the gradient and model orientation.
Definition at line 222 of file vpMbTracker.h.
Referenced by vpMbTracker::computeProjectionErrorImpl().
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protectedinherited |
Set of faces describing the object, used for projection error.
Definition at line 207 of file vpMbTracker.h.
Referenced by vpMbTracker::addProjectionErrorCircle(), vpMbTracker::addProjectionErrorCylinder(), vpMbTracker::addProjectionErrorLine(), vpMbTracker::addProjectionErrorPolygon(), vpMbTracker::computeProjectionErrorImpl(), and vpMbTracker::projectionErrorVisibleFace().
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protectedinherited |
Kernel size used to compute the gradient orientation.
Definition at line 212 of file vpMbTracker.h.
Referenced by vpMbTracker::loadConfigFile().
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protectedinherited |
Distance line primitives for projection error.
Definition at line 201 of file vpMbTracker.h.
Referenced by vpMbTracker::addProjectionErrorLine(), vpMbTracker::computeProjectionErrorImpl(), vpMbTracker::projectionErrorInitMovingEdge(), vpMbTracker::projectionErrorResetMovingEdges(), and vpMbTracker::~vpMbTracker().
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protectedinherited |
Moving-Edges parameters for projection error.
Definition at line 210 of file vpMbTracker.h.
Referenced by vpMbTracker::addProjectionErrorCircle(), vpMbTracker::addProjectionErrorCylinder(), vpMbTracker::addProjectionErrorLine(), and vpMbTracker::loadConfigFile().
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Definition at line 208 of file vpMbTracker.h.
Referenced by vpMbTracker::computeProjectionErrorImpl().
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Robust.
Definition at line 343 of file vpMbEdgeTracker.h.
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Definition at line 327 of file vpMbEdgeTracker.h.
Referenced by computeVVSInit(), computeVVSWeights(), and vpMbEdgeKltMultiTracker::initMbtTracking().
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Definition at line 326 of file vpMbEdgeTracker.h.
Referenced by computeVVSInit(), computeVVSWeights(), and vpMbEdgeKltMultiTracker::initMbtTracking().
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Definition at line 325 of file vpMbEdgeTracker.h.
Referenced by computeVVSInit(), computeVVSWeights(), and vpMbEdgeKltMultiTracker::initMbtTracking().
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protectedinherited |
Sobel kernel in X.
Definition at line 214 of file vpMbTracker.h.
Referenced by vpMbTracker::computeProjectionErrorImpl().
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protectedinherited |
Sobel kernel in Y.
Definition at line 216 of file vpMbTracker.h.
Referenced by vpMbTracker::computeProjectionErrorImpl().
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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().
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Robust weights.
Definition at line 339 of file vpMbEdgeTracker.h.
Referenced by vpMbEdgeMultiTracker::computeVVS(), computeVVSFirstPhase(), computeVVSFirstPhasePoseEstimation(), computeVVSInit(), vpMbEdgeMultiTracker::computeVVSWeights(), vpMbEdgeKltMultiTracker::computeVVSWeights(), computeVVSWeights(), getRobustWeights(), vpMbEdgeKltMultiTracker::initMbtTracking(), and updateMovingEdgeWeights().
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Definition at line 330 of file vpMbEdgeTracker.h.
Referenced by computeVVSInit(), computeVVSWeights(), and vpMbEdgeKltMultiTracker::initMbtTracking().
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Definition at line 329 of file vpMbEdgeTracker.h.
Referenced by computeVVSInit(), computeVVSWeights(), and vpMbEdgeKltMultiTracker::initMbtTracking().
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Weighted error.
Definition at line 341 of file vpMbEdgeTracker.h.
Referenced by computeVVSFirstPhasePoseEstimation(), computeVVSInit(), and vpMbEdgeKltMultiTracker::initMbtTracking().
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Definition at line 328 of file vpMbEdgeTracker.h.
Referenced by computeVVSInit(), computeVVSWeights(), and vpMbEdgeKltMultiTracker::initMbtTracking().
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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().
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The moving edges parameters.
Definition at line 277 of file vpMbEdgeTracker.h.
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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().
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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().
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protectedinherited |
The name of the file containing the model (it is used to create a file name.0.pos used to store the compute pose in the initClick method).
Definition at line 125 of file vpMbTracker.h.
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protectedinherited |
Flag used to ensure that the CAD model is loaded before the initialisation.
Definition at line 128 of file vpMbTracker.h.
Referenced by vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), vpMbEdgeKltMultiTracker::init(), and vpMbKltTracker::init().
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protectedinherited |
Number of circles in CAO model.
Definition at line 175 of file vpMbTracker.h.
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protectedinherited |
Number of cylinders in CAO model.
Definition at line 173 of file vpMbTracker.h.
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Number of features used in the computation of the projection error.
Definition at line 321 of file vpMbEdgeTracker.h.
Referenced by vpMbEdgeMultiTracker::computeProjectionError().
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protectedinherited |
Number of lines in CAO model.
Definition at line 167 of file vpMbTracker.h.
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protectedinherited |
Number of points in CAO model.
Definition at line 165 of file vpMbTracker.h.
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protectedinherited |
Number of polygon lines in CAO model.
Definition at line 169 of file vpMbTracker.h.
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protectedinherited |
Number of polygon points in CAO model.
Definition at line 171 of file vpMbTracker.h.
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Number of polygon (face) currently visible.
Definition at line 302 of file vpMbEdgeTracker.h.
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Index of the circle to add, and total number of circles extracted so far.
Definition at line 295 of file vpMbEdgeTracker.h.
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Index of the cylinder to add, and total number of cylinders extracted so far.
Definition at line 299 of file vpMbEdgeTracker.h.
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Index of the polygon to add, and total number of polygon extracted so far.
Definition at line 291 of file vpMbEdgeTracker.h.
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protectedinherited |
Definition at line 161 of file vpMbTracker.h.
Referenced by vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), and vpMbKltTracker::init().
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protectedinherited |
The Degrees of Freedom to estimate.
Definition at line 120 of file vpMbTracker.h.
Referenced by vpMbDepthDenseTracker::computeVVS(), vpMbDepthNormalTracker::computeVVS(), vpMbKltMultiTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), vpMbGenericTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVSFirstPhasePoseEstimation(), computeVVSFirstPhasePoseEstimation(), and vpMbTracker::computeVVSPoseEstimation().
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Percentage of good points over total number of points below which tracking is supposed to have failed.
Definition at line 306 of file vpMbEdgeTracker.h.
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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.
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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().
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Current scale level used. This attribute must not be modified outside of the downScale() and upScale() methods, as it used to specify to some methods which set of distanceLine use.
Definition at line 318 of file vpMbEdgeTracker.h.
Referenced by computeVVSInteractionMatrixAndResidu(), initMbtTracking(), and updateMovingEdgeWeights().
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Vector of scale level to use for the multi-scale tracking.
Definition at line 309 of file vpMbEdgeTracker.h.
Referenced by vpMbEdgeKltTracker::initMbtTracking(), vpMbEdgeMultiTracker::initPyramid(), resetMovingEdge(), and vpMbEdgeKltTracker::trackFirstLoop().
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protectedinherited |
True if LOD mode is enabled.
Definition at line 177 of file vpMbTracker.h.
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protectedinherited |
Use Ogre3d for visibility tests.
Definition at line 160 of file vpMbTracker.h.
Referenced by vpMbTracker::computeProjectionErrorImpl(), vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), vpMbKltTracker::init(), vpMbTracker::projectionErrorVisibleFace(), vpMbDepthDenseTracker::resetTracker(), and vpMbDepthNormalTracker::resetTracker().
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Use Scanline for visibility tests.
Definition at line 163 of file vpMbTracker.h.
Referenced by vpMbDepthDenseTracker::addFace(), vpMbDepthNormalTracker::addFace(), vpMbTracker::addProjectionErrorLine(), vpMbTracker::computeProjectionErrorImpl(), vpMbDepthDenseTracker::computeVisibility(), vpMbDepthNormalTracker::computeVisibility(), vpMbDepthDenseTracker::display(), vpMbDepthNormalTracker::display(), vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), vpMbEdgeKltMultiTracker::postTracking(), vpMbKltTracker::reinit(), vpMbDepthDenseTracker::resetTracker(), and vpMbDepthNormalTracker::resetTracker().