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Visual Servoing Platform
version 3.2.0
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#include <vpMbEdgeKltMultiTracker.h>
Public Types | |
enum | vpMbtOptimizationMethod { GAUSS_NEWTON_OPT = 0, LEVENBERG_MARQUARDT_OPT = 1 } |
Public Member Functions | |
vpMbEdgeKltMultiTracker () | |
vpMbEdgeKltMultiTracker (const unsigned int nbCameras) | |
vpMbEdgeKltMultiTracker (const std::vector< std::string > &cameraNames) | |
virtual | ~vpMbEdgeKltMultiTracker () |
virtual void | display (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo_, const vpCameraParameters &cam_, const vpColor &col, const unsigned int thickness=1, const bool displayFullModel=false) |
virtual void | display (const vpImage< vpRGBa > &I, const vpHomogeneousMatrix &cMo_, const vpCameraParameters &cam_, const vpColor &col, const unsigned int thickness=1, const bool displayFullModel=false) |
virtual void | display (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, const vpHomogeneousMatrix &c1Mo, const vpHomogeneousMatrix &c2Mo, const vpCameraParameters &cam1, const vpCameraParameters &cam2, const vpColor &color, const unsigned int thickness=1, const bool displayFullModel=false) |
virtual void | display (const vpImage< vpRGBa > &I1, const vpImage< vpRGBa > &I2, const vpHomogeneousMatrix &c1Mo, const vpHomogeneousMatrix &c2Mo, const vpCameraParameters &cam1, const vpCameraParameters &cam2, const vpColor &color, const unsigned int thickness=1, const bool displayFullModel=false) |
virtual void | display (const std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, const std::map< std::string, vpHomogeneousMatrix > &mapOfCameraPoses, const std::map< std::string, vpCameraParameters > &mapOfCameraParameters, const vpColor &col, const unsigned int thickness=1, const bool displayFullModel=false) |
virtual void | display (const std::map< std::string, const vpImage< vpRGBa > * > &mapOfImages, const std::map< std::string, vpHomogeneousMatrix > &mapOfCameraPoses, const std::map< std::string, vpCameraParameters > &mapOfCameraParameters, const vpColor &col, const unsigned int thickness=1, const bool displayFullModel=false) |
virtual std::vector< std::string > | getCameraNames () const |
virtual void | getCameraParameters (vpCameraParameters &camera) const |
virtual void | getCameraParameters (vpCameraParameters &cam1, vpCameraParameters &cam2) const |
virtual void | getCameraParameters (const std::string &cameraName, vpCameraParameters &camera) const |
virtual void | getCameraParameters (std::map< std::string, vpCameraParameters > &mapOfCameraParameters) const |
virtual unsigned int | getClipping (const std::string &cameraName) const |
virtual vpMbHiddenFaces< vpMbtPolygon > & | getFaces () |
vpMbHiddenFaces< vpMbtPolygon > & | getEdgeFaces (const std::string &cameraName) |
std::map< std::string, vpMbHiddenFaces< vpMbtPolygon > > | getEdgeFaces () const |
vpMbHiddenFaces< vpMbtPolygon > & | getKltFaces (const std::string &cameraName) |
std::map< std::string, vpMbHiddenFaces< vpMbtPolygon > > | getKltFaces () const |
double | getFactorKLT () const |
double | getFactorMBT () const |
virtual unsigned int | getNbPolygon () const |
virtual std::map< std::string, unsigned int > | getEdgeMultiNbPolygon () const |
virtual std::map< std::string, unsigned int > | getKltMultiNbPolygon () const |
unsigned int | getNumberOfCameras () const |
virtual void | getPose (vpHomogeneousMatrix &c1Mo, vpHomogeneousMatrix &c2Mo) const |
virtual void | getPose (const std::string &cameraName, vpHomogeneousMatrix &cMo_) const |
virtual void | getPose (std::map< std::string, vpHomogeneousMatrix > &mapOfCameraPoses) const |
virtual vpColVector | getError () const |
virtual vpColVector | getRobustWeights () const |
virtual void | init (const vpImage< unsigned char > &I) |
virtual void | initClick (const vpImage< unsigned char > &I, const std::vector< vpPoint > &points3D_list, const std::string &displayFile="") |
virtual void | initClick (const vpImage< unsigned char > &I, const std::string &initFile, const bool displayHelp=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix()) |
virtual void | initClick (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, const std::string &initFile1, const std::string &initFile2, const bool displayHelp=false, const bool firstCameraIsReference=true) |
virtual void | initClick (const std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, const std::string &initFile, const bool displayHelp=false) |
virtual void | initClick (const std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, const std::map< std::string, std::string > &mapOfInitFiles, const bool displayHelp=false) |
virtual void | initCircle (const vpPoint &, const vpPoint &, const vpPoint &, const double, const int, const std::string &name="") |
virtual void | initCylinder (const vpPoint &, const vpPoint &, const double, const int, const std::string &name="") |
virtual void | initFromPose (const vpImage< unsigned char > &I, const std::string &initFile) |
virtual void | initFromPose (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo) |
virtual void | initFromPose (const vpImage< unsigned char > &I, const vpPoseVector &cPo) |
virtual void | initFromPose (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, const vpHomogeneousMatrix &c1Mo, const vpHomogeneousMatrix &c2Mo, const bool firstCameraIsReference=true) |
virtual void | initFromPose (const std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, const vpHomogeneousMatrix &cMo_) |
virtual void | initFromPose (const std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, const std::map< std::string, vpHomogeneousMatrix > &mapOfCameraPoses) |
virtual void | initFaceFromCorners (vpMbtPolygon &polygon) |
virtual void | initFaceFromLines (vpMbtPolygon &polygon) |
virtual void | loadConfigFile (const std::string &configFile) |
virtual void | loadConfigFile (const std::string &configFile1, const std::string &configFile2, const bool firstCameraIsReference=true) |
virtual void | loadConfigFile (const std::map< std::string, std::string > &mapOfConfigFiles) |
virtual void | loadModel (const std::string &modelFile, const bool verbose=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix()) |
virtual void | reInitModel (const vpImage< unsigned char > &I, const std::string &cad_name, const vpHomogeneousMatrix &cMo_, const bool verbose=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix()) |
virtual void | reInitModel (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, const std::string &cad_name, const vpHomogeneousMatrix &c1Mo, const vpHomogeneousMatrix &c2Mo, const bool verbose=false, const bool firstCameraIsReference=true) |
virtual void | reInitModel (const std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, const std::string &cad_name, const std::map< std::string, vpHomogeneousMatrix > &mapOfCameraPoses, const bool verbose=false) |
virtual void | resetTracker () |
virtual void | setAngleAppear (const double &a) |
virtual void | setAngleDisappear (const double &a) |
virtual void | setCameraParameters (const vpCameraParameters &camera) |
virtual void | setCameraParameters (const vpCameraParameters &camera1, const vpCameraParameters &camera2, const bool firstCameraIsReference=true) |
virtual void | setCameraParameters (const std::string &cameraName, const vpCameraParameters &camera) |
virtual void | setCameraParameters (const std::map< std::string, vpCameraParameters > &mapOfCameraParameters) |
virtual void | setCameraTransformationMatrix (const std::string &cameraName, const vpHomogeneousMatrix &cameraTransformationMatrix) |
virtual void | setCameraTransformationMatrix (const std::map< std::string, vpHomogeneousMatrix > &mapOfTransformationMatrix) |
virtual void | setClipping (const unsigned int &flags) |
virtual void | setClipping (const std::string &cameraName, const unsigned int &flags) |
virtual void | setCovarianceComputation (const bool &flag) |
virtual void | setDisplayFeatures (const bool displayF) |
virtual void | setFarClippingDistance (const double &dist) |
virtual void | setFarClippingDistance (const std::string &cameraName, const double &dist) |
void | setFactorKLT (const double factor) |
void | setFactorMBT (const double factor) |
void | setGoodNbRayCastingAttemptsRatio (const double &ratio) |
void | setNbRayCastingAttemptsForVisibility (const unsigned int &attempts) |
virtual void | setLod (const bool useLod, const std::string &name="") |
virtual void | setLod (const bool useLod, const std::string &cameraName, const std::string &name) |
virtual void | setMinLineLengthThresh (const double minLineLengthThresh, const std::string &name="") |
virtual void | setMinLineLengthThresh (const double minLineLengthThresh, const std::string &cameraName, const std::string &name) |
virtual void | setMinPolygonAreaThresh (const double minPolygonAreaThresh, const std::string &name="") |
virtual void | setMinPolygonAreaThresh (const double minPolygonAreaThresh, const std::string &cameraName, const std::string &name) |
virtual void | setNearClippingDistance (const double &dist) |
virtual void | setNearClippingDistance (const std::string &cameraName, const double &dist) |
virtual void | setOgreShowConfigDialog (const bool showConfigDialog) |
virtual void | setOgreVisibilityTest (const bool &v) |
virtual void | setOptimizationMethod (const vpMbtOptimizationMethod &opt) |
virtual void | setPose (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo) |
virtual void | setPose (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, const vpHomogeneousMatrix &c1Mo, const vpHomogeneousMatrix &c2Mo, const bool firstCameraIsReference=true) |
virtual void | setPose (const std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, const vpHomogeneousMatrix &cMo_) |
virtual void | setPose (const std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, const std::map< std::string, vpHomogeneousMatrix > &mapOfCameraPoses) |
virtual void | setProjectionErrorComputation (const bool &flag) |
virtual void | setReferenceCameraName (const std::string &referenceCameraName) |
virtual void | setScanLineVisibilityTest (const bool &v) |
virtual void | setThresholdAcceptation (const double th) |
virtual void | testTracking () |
virtual void | track (const vpImage< unsigned char > &I) |
virtual void | track (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2) |
virtual void | track (std::map< std::string, const vpImage< unsigned char > * > &mapOfImages) |
virtual unsigned int | getClipping () const |
virtual void | getPose (vpHomogeneousMatrix &c1Mo, vpHomogeneousMatrix &c2Mo) const |
virtual void | getPose (const std::string &cameraName, vpHomogeneousMatrix &cMo_) const |
virtual void | getPose (std::map< std::string, vpHomogeneousMatrix > &mapOfCameraPoses) const |
Inherited functionalities from vpMbTracker | |
virtual unsigned int | getClipping () const |
virtual void | getPose (vpHomogeneousMatrix &cMo_) const |
virtual vpHomogeneousMatrix | getPose () const |
virtual double | computeCurrentProjectionError (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &_cMo, const vpCameraParameters &_cam) |
virtual double | getAngleAppear () const |
virtual double | getAngleDisappear () const |
virtual vpMatrix | getCovarianceMatrix () const |
virtual double | getInitialMu () const |
virtual double | getLambda () const |
virtual unsigned int | getMaxIter () const |
virtual double | getProjectionError () const |
virtual vpColVector | getEstimatedDoF () const |
virtual double | getFarClippingDistance () const |
virtual double | getNearClippingDistance () const |
virtual vpMbtOptimizationMethod | getOptimizationMethod () const |
virtual vpMbtPolygon * | getPolygon (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 double | getStopCriteriaEpsilon () const |
virtual void | initFromPoints (const vpImage< unsigned char > &I, const std::string &initFile) |
virtual void | initFromPoints (const vpImage< unsigned char > &I, const std::vector< vpImagePoint > &points2D_list, const std::vector< vpPoint > &points3D_list) |
virtual void | setEstimatedDoF (const vpColVector &v) |
virtual void | setInitialMu (const double mu) |
virtual void | setLambda (const double gain) |
virtual void | setMaxIter (const unsigned int max) |
void | setProjectionErrorMovingEdge (const vpMe &me) |
void | setProjectionErrorKernelSize (const unsigned int &size) |
virtual void | setMask (const vpImage< bool > &mask) |
virtual void | setStopCriteriaEpsilon (const double eps) |
virtual void | setProjectionErrorDisplay (const bool display) |
virtual void | setProjectionErrorDisplayArrowLength (const unsigned int length) |
virtual void | setProjectionErrorDisplayArrowThickness (const unsigned int thickness) |
void | savePose (const std::string &filename) const |
void | setPoseSavingFilename (const std::string &filename) |
Inherited functionalities from vpMbEdgeTracker | |
std::vector< bool > | getScales () const |
double | getGoodMovingEdgesRatioThreshold () const |
Inherited functionalities from vpMbKltMultiTracker | |
virtual void | addCircle (const vpPoint &P1, const vpPoint &P2, const vpPoint &P3, const double r, const std::string &name="") |
virtual vpMbHiddenFaces< vpMbtPolygon > & | getFaces (const std::string &cameraName) |
virtual std::map< std::string, vpMbHiddenFaces< vpMbtPolygon > > | getFaces () const |
virtual std::list< vpMbtDistanceCircle * > & | getFeaturesCircle () |
virtual std::list< vpMbtDistanceCircle * > & | getFeaturesCircle (const std::string &cameraName) |
virtual std::list< vpMbtDistanceKltPoints * > & | getFeaturesKlt () |
virtual std::list< vpMbtDistanceKltPoints * > & | getFeaturesKlt (const std::string &cameraName) |
virtual std::list< vpMbtDistanceKltCylinder * > & | getFeaturesKltCylinder () |
virtual std::list< vpMbtDistanceKltCylinder * > & | getFeaturesKltCylinder (const std::string &cameraName) |
virtual std::map< std::string, std::vector< vpImagePoint > > | getKltImagePoints () const |
virtual std::map< std::string, std::map< int, vpImagePoint > > | getKltImagePointsWithId () const |
virtual std::map< std::string, vpKltOpencv > | getKltOpencv () const |
virtual std::map< std::string, std::vector< cv::Point2f > > | getKltPoints () const |
virtual std::map< std::string, int > | getKltNbPoints () const |
virtual std::map< std::string, unsigned int > | getMultiNbPolygon () const |
virtual void | setKltMaskBorder (const unsigned int &e) |
virtual void | setKltOpencv (const vpKltOpencv &t) |
virtual void | setKltOpencv (const std::map< std::string, vpKltOpencv > &mapOfOpenCVTrackers) |
virtual void | setKltThresholdAcceptation (const double th) |
virtual void | setUseKltTracking (const std::string &name, const bool &useKltTracking) |
Deprecated functions | |
virtual std::map< std::string, int > | getNbKltPoints () const |
virtual void | setMaskBorder (const unsigned int &e) |
Inherited functionalities from vpMbKltTracker | |
unsigned int | getKltMaskBorder () const |
double | getKltThresholdAcceptation () const |
Deprecated functions | |
unsigned int | getMaskBorder () const |
double | getThresholdAcceptation () const |
Protected Member Functions | |
virtual void | computeVVS (std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, const unsigned int lvl=0) |
virtual void | computeVVSInit () |
virtual void | computeVVSInteractionMatrixAndResidu () |
virtual void | computeVVSInteractionMatrixAndResidu (std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, std::map< std::string, vpVelocityTwistMatrix > &mapOfVelocityTwist) |
virtual void | computeVVSWeights () |
virtual unsigned int | initMbtTracking (std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, unsigned int lvl) |
virtual void | postTracking (std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, const unsigned int lvl) |
virtual void | reinit () |
virtual void | trackMovingEdges (std::map< std::string, const vpImage< unsigned char > * > &mapOfImages) |
virtual void | computeVVS (std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, const unsigned int lvl) |
virtual void | computeVVS () |
virtual void | computeVVSInteractionMatrixAndResidu () |
virtual void | computeVVSInteractionMatrixAndResidu (std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, std::map< std::string, vpVelocityTwistMatrix > &mapOfVelocityTwist) |
virtual void | computeVVSInteractionMatrixAndResidu () |
virtual void | computeVVSInteractionMatrixAndResidu (std::map< std::string, vpVelocityTwistMatrix > &mapOfVelocityTwist) |
virtual void | computeVVSWeights (vpRobust &robust, const vpColVector &error, vpColVector &w) |
virtual void | postTracking (std::map< std::string, const vpImage< unsigned char > * > &mapOfImages) |
Protected Member Functions Inherited from vpMbEdgeMultiTracker | |
virtual void | cleanPyramid (std::map< std::string, std::vector< const vpImage< unsigned char > * > > &pyramid) |
virtual void | computeProjectionError () |
virtual void | computeVVSFirstPhasePoseEstimation (const unsigned int iter, bool &isoJoIdentity_) |
virtual void | initPyramid (const std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, std::map< std::string, std::vector< const vpImage< unsigned char > * > > &pyramid) |
Protected Member Functions Inherited from vpMbEdgeTracker | |
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) |
virtual void | computeVVSInteractionMatrixAndResidu (const vpImage< unsigned char > &I) |
void | initPyramid (const vpImage< unsigned char > &_I, std::vector< const vpImage< unsigned char > * > &_pyramid) |
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 | 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 | displayFeaturesOnImage (const vpImage< unsigned char > &I, const unsigned int lvl) |
void | downScale (const unsigned int _scale) |
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 | 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 | trackMovingEdge (const vpImage< unsigned char > &I) |
void | updateMovingEdge (const vpImage< unsigned char > &I) |
void | updateMovingEdgeWeights () |
void | upScale (const unsigned int _scale) |
void | visibleFace (const vpImage< unsigned char > &_I, const vpHomogeneousMatrix &_cMo, bool &newvisibleline) |
Protected Member Functions Inherited from vpMbTracker | |
virtual void | computeVVSWeights (vpRobust &robust, const vpColVector &error, vpColVector &w) |
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 | extractGroup (SoVRMLGroup *sceneGraphVRML2, vpHomogeneousMatrix &transform, int &idFace) |
virtual void | extractFaces (SoVRMLIndexedFaceSet *face_set, vpHomogeneousMatrix &transform, int &idFace, const std::string &polygonName="") |
virtual void | extractLines (SoVRMLIndexedLineSet *line_set, int &idFace, const std::string &polygonName="") |
virtual void | extractCylinders (SoVRMLIndexedFaceSet *face_set, vpHomogeneousMatrix &transform, int &idFace, const std::string &polygonName="") |
vpPoint | getGravityCenter (const std::vector< vpPoint > &_pts) const |
void | initProjectionErrorCircle (const vpPoint &p1, const vpPoint &p2, const vpPoint &p3, const double radius, const int idFace=0, const std::string &name="") |
void | initProjectionErrorCylinder (const vpPoint &p1, const vpPoint &p2, const double radius, const int idFace=0, const std::string &name="") |
void | initProjectionErrorFaceFromCorners (vpMbtPolygon &polygon) |
void | initProjectionErrorFaceFromLines (vpMbtPolygon &polygon) |
virtual void | loadVRMLModel (const std::string &modelFile) |
virtual void | loadCAOModel (const std::string &modelFile, std::vector< std::string > &vectorOfModelFilename, int &startIdFace, const bool verbose=false, const bool parent=true, const vpHomogeneousMatrix &T=vpHomogeneousMatrix()) |
void | projectionErrorInitMovingEdge (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &_cMo) |
void | projectionErrorResetMovingEdges () |
void | projectionErrorVisibleFace (const vpImage< unsigned char > &_I, const vpHomogeneousMatrix &_cMo) |
void | removeComment (std::ifstream &fileId) |
bool | parseBoolean (std::string &input) |
std::map< std::string, std::string > | parseParameters (std::string &endLine) |
std::string & | ltrim (std::string &s) const |
std::string & | rtrim (std::string &s) const |
std::string & | trim (std::string &s) const |
bool | samePoint (const vpPoint &P1, const vpPoint &P2) const |
Protected Member Functions Inherited from vpMbKltMultiTracker | |
virtual void | computeVVS () |
virtual void | computeVVSInteractionMatrixAndResidu (std::map< std::string, vpVelocityTwistMatrix > &mapOfVelocityTwist) |
virtual void | postTracking (std::map< std::string, const vpImage< unsigned char > * > &mapOfImages) |
virtual void | preTracking (std::map< std::string, const vpImage< unsigned char > * > &mapOfImages) |
virtual void | reinit (const vpImage< unsigned char > &I) |
Protected Member Functions Inherited from vpMbKltTracker | |
bool | postTracking (const vpImage< unsigned char > &I, vpColVector &w) |
void | preTracking (const vpImage< unsigned char > &I) |
virtual void | reinit (const vpImage< unsigned char > &I) |
Inherited functionalities from vpMbEdgeMultiTracker | |
virtual vpMbHiddenFaces< vpMbtPolygon > & | getFaces (const std::string &cameraName) |
virtual std::map< std::string, vpMbHiddenFaces< vpMbtPolygon > > | getFaces () const |
void | getLcircle (std::list< vpMbtDistanceCircle * > &circlesList, const unsigned int level=0) const |
virtual void | getLcircle (const std::string &cameraName, std::list< vpMbtDistanceCircle * > &circlesList, const unsigned int level=0) const |
void | getLcylinder (std::list< vpMbtDistanceCylinder * > &cylindersList, const unsigned int level=0) const |
virtual void | getLcylinder (const std::string &cameraName, std::list< vpMbtDistanceCylinder * > &cylindersList, const unsigned int level=0) const |
void | getLline (std::list< vpMbtDistanceLine * > &linesList, const unsigned int level=0) const |
virtual void | getLline (const std::string &cameraName, std::list< vpMbtDistanceLine * > &linesList, const unsigned int level=0) const |
virtual void | getMovingEdge (vpMe &p_me) const |
virtual vpMe | getMovingEdge () const |
virtual void | getMovingEdge (const std::string &cameraName, vpMe &p_me) const |
virtual vpMe | getMovingEdge (const std::string &cameraName) const |
virtual unsigned int | getNbPoints (const unsigned int level=0) const |
virtual unsigned int | getNbPoints (const std::string &cameraName, const unsigned int level=0) const |
virtual unsigned int | getNbPolygon (const std::string &cameraName) const |
virtual std::map< std::string, unsigned int > | getMultiNbPolygon () const |
virtual void | setGoodMovingEdgesRatioThreshold (const double threshold) |
virtual void | setMovingEdge (const vpMe &me) |
virtual void | setMovingEdge (const std::string &cameraName, const vpMe &me) |
virtual void | setScales (const std::vector< bool > &scales) |
virtual void | setUseEdgeTracking (const std::string &name, const bool &useEdgeTracking) |
enum | FeatureType { LINE, CYLINDER, CIRCLE } |
Hybrid stereo (or more) tracker based on moving-edges and keypoints tracked using KLT tracker.
The Tutorial: Markerless model-based tracking with stereo cameras (deprecated) is a good starting point to use this class.
The tracker requires the knowledge of the 3D model that could be provided in a vrml or in a cao file. The cao format is described in loadCAOModel(). It may also use an xml file used to tune the behavior of the tracker and an init file used to compute the pose at the very first image.
Definition at line 76 of file vpMbEdgeKltMultiTracker.h.
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Enumerator | |
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LINE | |
CYLINDER | |
CIRCLE |
Definition at line 359 of file vpMbEdgeMultiTracker.h.
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GAUSS_NEWTON_OPT | |
LEVENBERG_MARQUARDT_OPT |
Definition at line 112 of file vpMbTracker.h.
vpMbEdgeKltMultiTracker::vpMbEdgeKltMultiTracker | ( | ) |
Basic constructor
Definition at line 56 of file vpMbEdgeKltMultiTracker.cpp.
vpMbEdgeKltMultiTracker::vpMbEdgeKltMultiTracker | ( | const unsigned int | nbCameras | ) |
Construct a vpMbEdgeKltMultiTracker with the specified number of cameras.
nbCameras | : Number of cameras to use. |
Definition at line 73 of file vpMbEdgeKltMultiTracker.cpp.
vpMbEdgeKltMultiTracker::vpMbEdgeKltMultiTracker | ( | const std::vector< std::string > & | cameraNames | ) |
Construct a vpMbEdgeKltMultiTracker with the specified list of camera names.
cameraNames | : List of camera names. |
Definition at line 113 of file vpMbEdgeKltMultiTracker.cpp.
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Definition at line 122 of file vpMbEdgeKltMultiTracker.cpp.
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Add a circle to the list of circles.
P1 | : Center of the circle. |
P2,P3 | : Two points on the plane containing the circle. With the center of the circle we have 3 points defining the plane that contains the circle. |
r | : Radius of the circle. |
name | : Name of the circle. |
Definition at line 148 of file vpMbKltMultiTracker.cpp.
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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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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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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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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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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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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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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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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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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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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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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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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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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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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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Definition at line 145 of file vpMbEdgeMultiTracker.cpp.
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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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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(), computeVVS(), and vpMbGenericTracker::computeVVS().
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Compute projection error given an input image and camera pose, parameters. This projection error uses locations sampled exactly where the model is projected using the camera pose and intrinsic parameters. You may want to use
to get a projection error computed at the ME locations after a call to track(). It works similarly to vpMbTracker::getProjectionError function:
Get the error angle between the gradient direction of the model features projected at the resulting pose and their normal. The error is expressed in degree between 0 and 90.
I | : Input grayscale image. |
_cMo | : Camera pose. |
_cam | : Camera parameters. |
Reimplemented in vpMbGenericTracker.
Definition at line 3108 of file vpMbTracker.cpp.
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Compute , with J the interaction matrix and R the vector of residu.
vpMatrixException::incorrectMatrixSizeError | if the sizes of the matrices do not allow the computation. |
interaction | : The interaction matrix (size Nx6). |
error | : The residu vector (size Nx1). |
JTR | : The resulting JTR column vector (size 6x1). |
Definition at line 2475 of file vpMbTracker.cpp.
Referenced by vpMbEdgeMultiTracker::computeVVSFirstPhasePoseEstimation(), vpMbEdgeTracker::computeVVSFirstPhasePoseEstimation(), and vpMbTracker::computeVVSPoseEstimation().
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Definition at line 162 of file vpMbEdgeMultiTracker.cpp.
References vpMbTracker::computeProjError, vpMath::deg(), vpMbEdgeMultiTracker::m_mapOfEdgeTrackers, vpMbEdgeTracker::nbFeaturesForProjErrorComputation, vpMbTracker::projectionError, and vpMath::rad().
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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 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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Definition at line 157 of file vpMbKltMultiTracker.cpp.
References vpVelocityTwistMatrix::buildFrom(), vpMbKltTracker::c0Mo, vpMbTracker::cMo, vpMbTracker::computeCovariance, vpMbTracker::computeCovarianceMatrixVVS(), vpMbTracker::computeVVSCheckLevenbergMarquardt(), vpMbKltMultiTracker::computeVVSInit(), vpMbKltTracker::computeVVSInit(), vpMbKltMultiTracker::computeVVSInteractionMatrixAndResidu(), vpMbTracker::computeVVSPoseEstimation(), vpMbKltMultiTracker::computeVVSWeights(), vpMbKltTracker::ctTc0, vpExponentialMap::direct(), vpArray2D< Type >::getRows(), vpHomogeneousMatrix::inverse(), vpMbTracker::isoJoIdentity, vpMbTracker::m_computeInteraction, vpMbKltMultiTracker::m_error_kltMulti, vpMbTracker::m_initialMu, vpMbKltMultiTracker::m_L_kltMulti, vpMbKltMultiTracker::m_mapOfCameraTransformationMatrix, vpMbKltMultiTracker::m_mapOfKltTrackers, vpMbTracker::m_maxIter, vpMbKltMultiTracker::m_w_kltMulti, vpMbKltMultiTracker::m_weightedError_kltMulti, and vpMbTracker::oJo.
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Definition at line 157 of file vpMbKltMultiTracker.cpp.
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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 188 of file vpMbEdgeMultiTracker.cpp.
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Reimplemented from vpMbEdgeMultiTracker.
Definition at line 124 of file vpMbEdgeKltMultiTracker.cpp.
References vpVelocityTwistMatrix::buildFrom(), vpMbKltTracker::c0Mo, vpMbTracker::cMo, vpMbTracker::computeCovariance, vpMbTracker::computeCovarianceMatrixVVS(), vpMbTracker::computeVVSCheckLevenbergMarquardt(), computeVVSInit(), computeVVSInteractionMatrixAndResidu(), vpMbTracker::computeVVSPoseEstimation(), computeVVSWeights(), vpMbKltTracker::ctTc0, vpExponentialMap::direct(), vpArray2D< Type >::getRows(), initMbtTracking(), vpHomogeneousMatrix::inverse(), vpMbTracker::isoJoIdentity, vpMbTracker::m_computeInteraction, m_error_hybridMulti, vpMbEdgeTracker::m_factor, m_factorKLT, m_factorMBT, vpMbTracker::m_initialMu, m_L_hybridMulti, m_mapOfCameraTransformationMatrix, vpMbTracker::m_maxIter, vpMbKltTracker::m_nbInfos, m_nbrow, m_w_hybridMulti, m_weightedError_hybridMulti, vpTrackingException::notEnoughPointError, vpMbTracker::oJo, and vpMath::sqr().
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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(), computeVVS(), and vpMbGenericTracker::computeVVS().
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Definition at line 292 of file vpMbEdgeTracker.cpp.
References vpMbTracker::cam, vpMbEdgeTracker::circles, vpMbtDistanceLine::closeToImageBorder(), vpMbTracker::cMo, vpMbtDistanceCircle::computeInteractionMatrixError(), vpMbtDistanceLine::computeInteractionMatrixError(), vpMbtDistanceCylinder::computeInteractionMatrixError(), vpMbEdgeTracker::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, vpMbEdgeTracker::lines, vpMbEdgeTracker::m_error_edge, vpMbEdgeTracker::m_factor, vpMbEdgeTracker::m_L_edge, vpMbEdgeTracker::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 vpMbEdgeTracker::circles, vpMbtDistanceLine::closeToImageBorder(), vpMbTracker::cMo, vpMbtDistanceCircle::computeInteractionMatrixError(), vpMbtDistanceLine::computeInteractionMatrixError(), vpMbtDistanceCylinder::computeInteractionMatrixError(), vpMbEdgeTracker::cylinders, vpMeSite::getState(), vpMbtDistanceLine::hiddenface, vpMbHiddenFaces< PolygonType >::isAppearing(), vpMbtDistanceLine::Lindex_polygon, vpMbEdgeTracker::lines, vpMbEdgeTracker::m_factor, vpMbtDistanceCircle::meEllipse, vpMbtDistanceLine::meline, vpMbtDistanceCylinder::meline1, vpMbtDistanceCylinder::meline2, vpMbtDistanceCircle::nbFeature, vpMbtDistanceLine::nbFeature, vpMbtDistanceCylinder::nbFeature, and vpMeSite::NO_SUPPRESSION.
Referenced by initMbtTracking().
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Definition at line 354 of file vpMbEdgeMultiTracker.cpp.
References vpMatrix::AtA(), vpVelocityTwistMatrix::buildFrom(), vpMbTracker::cMo, vpMbTracker::computeJTR(), vpExponentialMap::direct(), vpException::fatalError, vpArray2D< Type >::getRows(), vpHomogeneousMatrix::inverse(), vpMbTracker::m_computeInteraction, vpMbEdgeMultiTracker::m_error_edgeMulti, vpMbEdgeTracker::m_factor, vpMbEdgeMultiTracker::m_L_edgeMulti, vpMbEdgeMultiTracker::m_w_edgeMulti, vpMbEdgeMultiTracker::m_weightedError_edgeMulti, vpMbTracker::oJo, and vpMatrix::pseudoInverse().
Referenced by vpMbEdgeMultiTracker::computeVVS().
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Reimplemented from vpMbEdgeMultiTracker.
Definition at line 246 of file vpMbEdgeKltMultiTracker.cpp.
References vpMbKltTracker::computeVVSInit(), m_error_hybridMulti, m_L_hybridMulti, vpMbKltMultiTracker::m_mapOfKltTrackers, vpMbKltTracker::m_nbInfos, m_nbrow, m_w_hybridMulti, m_weightedError_hybridMulti, vpArray2D< Type >::resize(), and vpColVector::resize().
Referenced by computeVVS().
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Reimplemented from vpMbEdgeMultiTracker.
Definition at line 264 of file vpMbEdgeKltMultiTracker.cpp.
References vpException::fatalError.
Referenced by computeVVS().
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Definition at line 451 of file vpMbEdgeMultiTracker.cpp.
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Definition at line 251 of file vpMbKltMultiTracker.cpp.
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Definition at line 777 of file vpMbEdgeTracker.cpp.
References vpMbEdgeTracker::circles, vpMbTracker::cMo, vpMbtDistanceCircle::computeInteractionMatrixError(), vpMbtDistanceLine::computeInteractionMatrixError(), vpMbtDistanceCylinder::computeInteractionMatrixError(), vpMbEdgeTracker::cylinders, vpMbtDistanceLine::error, vpMbtDistanceCircle::error, vpMbtDistanceCylinder::error, vpMbtDistanceCircle::L, vpMbtDistanceLine::L, vpMbtDistanceCylinder::L, vpMbEdgeTracker::lines, vpMbEdgeTracker::m_error_edge, vpMbEdgeTracker::m_errorCircles, vpMbEdgeTracker::m_errorCylinders, vpMbEdgeTracker::m_errorLines, vpMbEdgeTracker::m_L_edge, vpMbtDistanceCircle::nbFeature, vpMbtDistanceCylinder::nbFeature, vpMbtDistanceLine::nbFeatureTotal, and vpMbEdgeTracker::scaleLevel.
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protected |
Definition at line 458 of file vpMbEdgeMultiTracker.cpp.
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protectedvirtual |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 271 of file vpMbEdgeKltMultiTracker.cpp.
References vpMbKltTracker::c0Mo, vpMbTracker::cMo, vpMbKltTracker::computeVVSInteractionMatrixAndResidu(), vpMbEdgeTracker::computeVVSInteractionMatrixAndResidu(), vpMbKltTracker::ctTc0, vpArray2D< Type >::getRows(), vpColVector::insert(), vpMatrix::insert(), vpHomogeneousMatrix::inverse(), vpMbEdgeTracker::m_error_edge, m_error_hybridMulti, vpMbKltTracker::m_error_klt, vpMbEdgeTracker::m_L_edge, m_L_hybridMulti, vpMbKltTracker::m_L_klt, m_mapOfCameraTransformationMatrix, vpMbEdgeMultiTracker::m_mapOfEdgeTrackers, vpMbKltMultiTracker::m_mapOfKltTrackers, vpMbKltTracker::m_nbInfos, and m_nbrow.
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protectedvirtualinherited |
Definition at line 258 of file vpMbKltMultiTracker.cpp.
References vpMbTracker::cMo, vpMbKltTracker::computeVVSInteractionMatrixAndResidu(), vpMbKltTracker::ctTc0, vpArray2D< Type >::getRows(), vpColVector::insert(), vpMatrix::insert(), vpHomogeneousMatrix::inverse(), vpMbKltTracker::m_error_klt, vpMbKltMultiTracker::m_error_kltMulti, vpMbKltTracker::m_L_klt, vpMbKltMultiTracker::m_L_kltMulti, vpMbKltMultiTracker::m_mapOfCameraTransformationMatrix, and vpMbKltMultiTracker::m_mapOfKltTrackers.
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protected |
Definition at line 258 of file vpMbKltMultiTracker.cpp.
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protectedvirtualinherited |
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(), computeVVS(), and vpMbGenericTracker::computeVVS().
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protectedvirtual |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 323 of file vpMbEdgeKltMultiTracker.cpp.
References vpMbEdgeTracker::computeVVSWeights(), vpMbTracker::computeVVSWeights(), vpArray2D< Type >::getRows(), vpColVector::insert(), vpMbKltTracker::m_error_klt, vpMbEdgeMultiTracker::m_mapOfEdgeTrackers, vpMbKltMultiTracker::m_mapOfKltTrackers, vpMbKltTracker::m_robust_klt, vpMbEdgeTracker::m_w_edge, m_w_hybridMulti, and vpMbKltTracker::m_w_klt.
Referenced by computeVVS().
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protected |
Definition at line 2609 of file vpMbTracker.cpp.
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protectedvirtualinherited |
Definition at line 2609 of file vpMbTracker.cpp.
References vpRobust::MEstimator(), and vpRobust::TUKEY.
Referenced by vpMbDepthNormalTracker::computeVVS(), vpMbKltMultiTracker::computeVVSWeights(), and computeVVSWeights().
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protectedinherited |
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.
mapOfImages | : Map of grayscale images. |
mapOfCameraPoses | : Map of camera poses. |
mapOfCameraParameters | : Map of camera parameters. |
col | : The desired color. |
thickness | : The thickness of the lines. |
displayFullModel | : If true, the full model is displayed (even the non visible faces). |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 549 of file vpMbEdgeKltMultiTracker.cpp.
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virtual |
Display the 3D model from a given position of the camera.
mapOfImages | : Map of color images. |
mapOfCameraPoses | : Map of camera poses. |
mapOfCameraParameters | : Map of camera parameters. |
col | : The desired color. |
thickness | : The thickness of the lines. |
displayFullModel | : If true, the full model is displayed (even the non visible faces). |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 593 of file vpMbEdgeKltMultiTracker.cpp.
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virtual |
Display the 3D model from a given position of the camera.
I | : The grayscale image. |
cMo_ | : Pose used to project the 3D model into the image. |
cam_ | : The camera parameters. |
col | : The desired color. |
thickness | : The thickness of the lines. |
displayFullModel | : If true, the full model is displayed (even the non visible faces). |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 361 of file vpMbEdgeKltMultiTracker.cpp.
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virtual |
Display the 3D model from a given position of the camera.
I1 | : The first grayscale image. |
I2 | : The second grayscale image. |
c1Mo | : Pose used to project the 3D model into the first image. |
c2Mo | : Pose used to project the 3D model into the second image. |
cam1 | : The first camera parameters. |
cam2 | : The second camera parameters. |
color | : The desired color. |
thickness | : The thickness of the lines. |
displayFullModel | : If true, the full model is displayed (even the non visible faces). |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 442 of file vpMbEdgeKltMultiTracker.cpp.
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virtual |
Display the 3D model from a given position of the camera.
I | : The color image. |
cMo_ | : Pose used to project the 3D model into the image. |
cam_ | : The camera parameters. |
color | : The desired color. |
thickness | : The thickness of the lines. |
displayFullModel | : If true, the full model is displayed (even the non visible faces). |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 399 of file vpMbEdgeKltMultiTracker.cpp.
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virtual |
Display the 3D model from a given position of the camera.
I1 | : The first color image. |
I2 | : The second color image. |
c1Mo | : Pose used to project the 3D model into the first image. |
c2Mo | : Pose used to project the 3D model into the second image. |
cam1 | : The first camera parameters. |
cam2 | : The second camera parameters. |
color | : The desired color. |
thickness | : The thickness of the lines. |
displayFullModel | : If true, the full model is displayed (even the non visible faces). |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 497 of file vpMbEdgeKltMultiTracker.cpp.
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protectedinherited |
Definition at line 1348 of file vpMbEdgeTracker.cpp.
References vpMbEdgeTracker::circles, vpMbEdgeTracker::cylinders, vpMbtDistanceCircle::displayMovingEdges(), vpMbtDistanceLine::displayMovingEdges(), vpMbtDistanceCylinder::displayMovingEdges(), vpMbtDistanceCircle::isTracked(), vpMbtDistanceLine::isTracked(), vpMbtDistanceCylinder::isTracked(), vpMbtDistanceCircle::isVisible(), vpMbtDistanceLine::isVisible(), vpMbtDistanceCylinder::isVisible(), and vpMbEdgeTracker::lines.
Referenced by postTracking().
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protectedinherited |
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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inlinevirtualinherited |
Return the angle used to test polygons disappearance.
Definition at line 240 of file vpMbTracker.h.
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virtual |
Get the camera names
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 631 of file vpMbEdgeKltMultiTracker.cpp.
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virtual |
Get the camera parameters specified by its name.
cameraName | : Name of the camera. |
camera | : Copy of the camera parameters. |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 661 of file vpMbEdgeKltMultiTracker.cpp.
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virtual |
Get all the camera parameters.
mapOfCameraParameters | : Map of camera parameters. |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 672 of file vpMbEdgeKltMultiTracker.cpp.
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virtual |
Get the camera parameters for the stereo cameras case.
cam1 | : Copy of the camera parameters for the first camera. |
cam2 | : Copy of the camera parameters for the second camera. |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 649 of file vpMbEdgeKltMultiTracker.cpp.
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virtual |
Get the camera parameters for the reference camera.
camera | : Copy of the camera parameters used by the tracker. |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 641 of file vpMbEdgeKltMultiTracker.cpp.
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inline |
Get the clipping used and defined in vpPolygon3D::vpMbtPolygonClippingType.
Definition at line 255 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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virtual |
Get the clipping used and defined in vpPolygon3D::vpMbtPolygonClippingType for the given camera name.
cameraName | : Name of the desired camera. |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 689 of file vpMbEdgeKltMultiTracker.cpp.
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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.
std::map< std::string, vpMbHiddenFaces< vpMbtPolygon > > vpMbEdgeKltMultiTracker::getEdgeFaces | ( | ) | const |
Return a map of faces structure for each camera for the edge trackers.
Definition at line 729 of file vpMbEdgeKltMultiTracker.cpp.
vpMbHiddenFaces< vpMbtPolygon > & vpMbEdgeKltMultiTracker::getEdgeFaces | ( | const std::string & | cameraName | ) |
Return a reference to the faces structure for the given camera name for edge trackers.
Definition at line 719 of file vpMbEdgeKltMultiTracker.cpp.
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virtual |
Get the number of polygons (faces) representing the object to track for the edge trackers.
Definition at line 769 of file vpMbEdgeKltMultiTracker.cpp.
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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:
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 183 of file vpMbEdgeKltMultiTracker.h.
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virtualinherited |
Get a 1x6 vpColVector representing the estimated degrees of freedom. vpColVector[0] = 1 if translation on X is estimated, 0 otherwise; vpColVector[1] = 1 if translation on Y is estimated, 0 otherwise; vpColVector[2] = 1 if translation on Z is estimated, 0 otherwise; vpColVector[3] = 1 if rotation on X is estimated, 0 otherwise; vpColVector[4] = 1 if rotation on Y is estimated, 0 otherwise; vpColVector[5] = 1 if rotation on Z is estimated, 0 otherwise;
Definition at line 2626 of file vpMbTracker.cpp.
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virtual |
Return a reference to the faces structure.
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 703 of file vpMbEdgeKltMultiTracker.cpp.
References vpMbTracker::faces.
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virtualinherited |
Return a map of faces structure for each camera.
Definition at line 617 of file vpMbKltMultiTracker.cpp.
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virtualinherited |
Return a map of faces structure for each camera.
Definition at line 819 of file vpMbEdgeMultiTracker.cpp.
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virtualinherited |
Return a reference to the faces structure for the given camera name.
Definition at line 601 of file vpMbKltMultiTracker.cpp.
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virtualinherited |
Return a reference to the faces structure for the given camera name.
Definition at line 803 of file vpMbEdgeMultiTracker.cpp.
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inline |
Return the factor for the KLT trackers in the VVS process.
Definition at line 158 of file vpMbEdgeKltMultiTracker.h.
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inline |
Return the factor for the MBT trackers in the VVS process.
Definition at line 165 of file vpMbEdgeKltMultiTracker.h.
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inlinevirtualinherited |
Get the far distance for clipping.
Definition at line 338 of file vpMbTracker.h.
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virtualinherited |
Return the address of the circle feature list.
Reimplemented from vpMbKltTracker.
Definition at line 633 of file vpMbKltMultiTracker.cpp.
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virtualinherited |
Return the address of the circle feature list for the given camera.
cameraName | : Camera name. |
Definition at line 652 of file vpMbKltMultiTracker.cpp.
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virtualinherited |
Return the address of the Klt feature list.
Reimplemented from vpMbKltTracker.
Definition at line 671 of file vpMbKltMultiTracker.cpp.
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virtualinherited |
Return the address of the Klt feature list for the given camera.
cameraName | : Camera name. |
Definition at line 691 of file vpMbKltMultiTracker.cpp.
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virtualinherited |
Return the address of the cylinder feature list.
Reimplemented from vpMbKltTracker.
Definition at line 709 of file vpMbKltMultiTracker.cpp.
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virtualinherited |
Return the address of the cylinder feature list for the given camera.
cameraName | : Camera name. |
Definition at line 728 of file vpMbKltMultiTracker.cpp.
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inlineinherited |
Definition at line 392 of file vpMbEdgeTracker.h.
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protectedinherited |
Compute the center of gravity of a set of point. This is used in the cylinder extraction to find the center of the circles.
vpException::dimensionError | if the set is empty. |
pts | : Set of point to extract the center of gravity. |
Definition at line 2189 of file vpMbTracker.cpp.
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inlinevirtualinherited |
Get the initial value of mu used in the Levenberg Marquardt optimization loop.
Definition at line 283 of file vpMbTracker.h.
std::map< std::string, vpMbHiddenFaces< vpMbtPolygon > > vpMbEdgeKltMultiTracker::getKltFaces | ( | ) | const |
Return a map of faces structure for each camera for the KLT trackers.
Definition at line 750 of file vpMbEdgeKltMultiTracker.cpp.
vpMbHiddenFaces< vpMbtPolygon > & vpMbEdgeKltMultiTracker::getKltFaces | ( | const std::string & | cameraName | ) |
Return a reference to the faces structure for the given camera name for KLT trackers.
Definition at line 740 of file vpMbEdgeKltMultiTracker.cpp.
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virtualinherited |
Get the current list of KLT points for each camera.
Definition at line 749 of file vpMbKltMultiTracker.cpp.
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virtualinherited |
Get the current list of KLT points and their id for each camera.
Definition at line 770 of file vpMbKltMultiTracker.cpp.
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inlineinherited |
Get the erosion of the mask used on the Model faces.
Definition at line 329 of file vpMbKltTracker.h.
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virtual |
Get the number of polygons (faces) representing the object to track for the KLT trackers.
Definition at line 780 of file vpMbEdgeKltMultiTracker.cpp.
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virtualinherited |
Get the current number of klt points for each camera.
Definition at line 835 of file vpMbKltMultiTracker.cpp.
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virtualinherited |
Get the klt tracker at the current state for each camera.
Definition at line 787 of file vpMbKltMultiTracker.cpp.
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virtualinherited |
Get the current list of KLT points.
Definition at line 805 of file vpMbKltMultiTracker.cpp.
References vpMbKltMultiTracker::m_mapOfKltTrackers.
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inlineinherited |
Get the threshold for the acceptation of a point.
Definition at line 344 of file vpMbKltTracker.h.
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inlinevirtualinherited |
Get the value of the gain used to compute the control law.
Definition at line 290 of file vpMbTracker.h.
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virtualinherited |
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. |
cameraName | : Camera name for which we want to get the list of vpMbtDistanceCircle. |
level | : Level corresponding to the list to return. |
circlesList | : The list of the circles of the model. |
Definition at line 862 of file vpMbEdgeMultiTracker.cpp.
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inherited |
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 840 of file vpMbEdgeMultiTracker.cpp.
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virtualinherited |
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. |
cameraName | : Camera name for which we want to get the list of vpMbtDistanceCylinder. |
level | : Level corresponding to the list to return. |
cylindersList | : The list of the cylinders of the model. |
Definition at line 906 of file vpMbEdgeMultiTracker.cpp.
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inherited |
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 883 of file vpMbEdgeMultiTracker.cpp.
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virtualinherited |
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. |
cameraName | : Camera name for which we want to get the list of vpMbtDistanceLine. |
level | : Level corresponding to the list to return. |
linesList | : The list of the lines of the model. |
Definition at line 950 of file vpMbEdgeMultiTracker.cpp.
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inherited |
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 928 of file vpMbEdgeMultiTracker.cpp.
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inlineinherited |
Get the erosion of the mask used on the Model faces.
Definition at line 441 of file vpMbKltTracker.h.
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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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virtualinherited |
Get the moving edge parameters for the reference camera.
Reimplemented from vpMbEdgeTracker.
Definition at line 982 of file vpMbEdgeMultiTracker.cpp.
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virtualinherited |
Get the moving edge parameters for the specified camera name.
cameraName | : Name of the camera. |
Definition at line 1019 of file vpMbEdgeMultiTracker.cpp.
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virtualinherited |
Get the moving edge parameters for the specified camera name.
cameraName | : Name of the camera. |
p_me | : Moving edge parameters for the specified camera name. |
Definition at line 1002 of file vpMbEdgeMultiTracker.cpp.
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virtualinherited |
Get the moving edge parameters for the reference camera.
p_me | : Moving edge parameters for the reference camera. |
Reimplemented from vpMbEdgeTracker.
Definition at line 967 of file vpMbEdgeMultiTracker.cpp.
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virtualinherited |
Get the number of polygons (faces) representing the object to track for all the cameras.
Definition at line 1117 of file vpMbEdgeMultiTracker.cpp.
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virtualinherited |
Get the number of polygons (faces) representing the object to track for all the cameras.
Definition at line 869 of file vpMbKltMultiTracker.cpp.
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virtualinherited |
Get the current number of klt points for each camera.
Definition at line 2815 of file vpMbKltMultiTracker.cpp.
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virtualinherited |
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.
cameraName | : Camera name. |
level | : Pyramid level to consider. |
vpException::dimensionError | if level does not represent a used level. |
Definition at line 1066 of file vpMbEdgeMultiTracker.cpp.
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virtualinherited |
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.
level | : Pyramid level to consider. |
vpException::dimensionError | if level does not represent a used level. |
Reimplemented from vpMbEdgeTracker.
Definition at line 1038 of file vpMbEdgeMultiTracker.cpp.
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virtual |
Get the number of polygons (faces) representing the object to track.
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 755 of file vpMbEdgeKltMultiTracker.cpp.
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virtualinherited |
Get the number of polygons (faces) representing the object to track for the specified camera.
Definition at line 1100 of file vpMbEdgeMultiTracker.cpp.
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inlinevirtualinherited |
Get the near distance for clipping.
Reimplemented in vpMbEdgeKltTracker.
Definition at line 374 of file vpMbTracker.h.
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inline |
Get the number of cameras.
Definition at line 176 of file vpMbEdgeKltMultiTracker.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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inlinevirtualinherited |
Return the polygon (face) "index".
vpException::dimensionError | if index does not represent a good polygon. |
index | : Index of the polygon to return. |
Reimplemented in vpMbGenericTracker.
Definition at line 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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inlinevirtualinherited |
Get the current pose between the object and the camera. cMo is the matrix which can be used to express coordinates from the object frame to camera frame.
Definition at line 422 of file vpMbTracker.h.
void vpMbKltMultiTracker::getPose |
Get the current pose between the object and the camera. cMo is the matrix which can be used to express coordinates from the object frame to camera frame.
cameraName | : The name of the camera. |
cMo_ | : The camera pose for the specified camera. |
Definition at line 907 of file vpMbKltMultiTracker.cpp.
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virtual |
Get the current pose between the object and the camera. cMo is the matrix which can be used to express coordinates from the object frame to camera frame.
cameraName | : The name of the camera. |
cMo_ | : The camera pose for the specified camera. |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 805 of file vpMbEdgeKltMultiTracker.cpp.
void vpMbKltMultiTracker::getPose |
Get the current pose between the object and the cameras.
mapOfCameraPoses | : The map of camera poses for all the cameras. |
Definition at line 922 of file vpMbKltMultiTracker.cpp.
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virtual |
Get the current pose between the object and the cameras.
mapOfCameraPoses | : The map of camera poses for all the cameras. |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 816 of file vpMbEdgeKltMultiTracker.cpp.
void vpMbKltMultiTracker::getPose |
Get the current pose between the object and the cameras.
c1Mo | : The camera pose for the first camera. |
c2Mo | : The camera pose for the second camera. |
Definition at line 886 of file vpMbKltMultiTracker.cpp.
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virtual |
Get the current pose between the object and the cameras.
c1Mo | : The camera pose for the first camera. |
c2Mo | : The camera pose for the second camera. |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 791 of file vpMbEdgeKltMultiTracker.cpp.
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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:
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 185 of file vpMbEdgeKltMultiTracker.h.
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inlineinherited |
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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inlineinherited |
Get the threshold for the acceptation of a point.
Definition at line 457 of file vpMbKltTracker.h.
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virtual |
Initialise the tracking.
I | : Input image. |
Reimplemented from vpMbKltMultiTracker.
Definition at line 825 of file vpMbEdgeKltMultiTracker.cpp.
References vpTrackingException::initializationError, and vpMbTracker::modelInitialised.
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virtual |
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. |
Reimplemented from vpMbEdgeTracker.
Definition at line 1040 of file vpMbEdgeKltMultiTracker.cpp.
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Initialise the tracker by clicking in the reference image on the pixels that correspond to the 3D points whose coordinates are extracted from a file. In this file, comments starting with # character are allowed. Notice that 3D point coordinates are expressed in meter in the object frame with their X, Y and Z values.
The structure of this file is the following:
The cameras that have not an init file will be automatically initialized but the camera transformation matrices have to be set before.
mapOfImages | : Map of images. |
mapOfInitFiles | : map of files containing the points where to click for each camera. |
displayHelp | : Optional display of an image (ie teabox.ppm). This image may be used to show where to click. |
vpException::ioError | : The file specified in initFile doesn't exist. |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 1024 of file vpMbEdgeKltMultiTracker.cpp.
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Initialise the tracker by clicking in the reference image on the pixels that correspond to the 3D points whose coordinates are extracted from a file. In this file, comments starting with # character are allowed. Notice that 3D point coordinates are expressed in meter in the object frame with their X, Y and Z values.
The structure of this file is the following:
mapOfImages | : Map of images. |
initFile | : File containing the points where to click for the reference camera. |
displayHelp | : Optionnal display of an image that should have the same generic name as the init file (ie teabox.ppm). This image may be used to show where to click. This functionality is only available if visp_io module is used. |
vpException::ioError | : The file specified in initFile doesn't exist. |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 982 of file vpMbEdgeKltMultiTracker.cpp.
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virtual |
Initialise the tracker by clicking in the image on the pixels that correspond to the 3D points whose coordinates are extracted from a file. In this file, comments starting with # character are allowed. Notice that 3D point coordinates are expressed in meter in the object frame with their X, Y and Z values.
The structure of this file is the following:
I | : Input image where the user has to click. |
initFile | : File containing the coordinates of at least 4 3D points the user has to click in the image. This file should have .init extension (ie teabox.init). |
displayHelp | : Optionnal display of an image that should have the same generic name as the init file (ie teabox.ppm). This image may be used to show where to click. This functionality is only available if visp_io module is used. |
T | : optional transformation matrix to transform 3D points expressed in the original object frame to the desired object frame. |
vpException::ioError | : The file specified in initFile doesn't exist. |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 886 of file vpMbEdgeKltMultiTracker.cpp.
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Initialise the tracker by clicking in the image on the pixels that correspond to the 3D points whose coordinates are given in points3D_list.
I | : Input image where the user has to click. |
points3D_list | : List of at least 4 3D points with coordinates expressed in meters in the object frame. |
displayFile | : Path to the image used to display the help. This image may be used to show where to click. This functionality is only available if visp_io module is used. |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 843 of file vpMbEdgeKltMultiTracker.cpp.
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Initialise the tracker by clicking in the reference image on the pixels that correspond to the 3D points whose coordinates are extracted from a file. In this file, comments starting with # character are allowed. Notice that 3D point coordinates are expressed in meter in the object frame with their X, Y and Z values.
The structure of this file is the following:
I1 | : Input image for the first camera. |
I2 | : Input image for the second camera. |
initFile1 | : File containing the coordinates of at least 4 3D points the user has to click in the image acquired by the first camera. This file should have .init extension (ie teabox.init). |
initFile2 | : File containing the coordinates of at least 4 3D points the user has to click in the image acquired by the second camera. This file should have .init extension. |
displayHelp | : Optionnal display of an image that should have the same generic name as the init file (ie teabox.ppm). This image may be used to show where to click. This functionality is only available if visp_io module is used. |
firstCameraIsReference | : If true, the first camera is the reference, otherwise it is the second one. |
vpException::ioError | : The file specified in initFile doesn't exist. |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 933 of file vpMbEdgeKltMultiTracker.cpp.
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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. |
Reimplemented from vpMbEdgeTracker.
Definition at line 1046 of file vpMbEdgeKltMultiTracker.cpp.
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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. |
Reimplemented from vpMbEdgeTracker.
Definition at line 1052 of file vpMbEdgeKltMultiTracker.cpp.
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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. |
Reimplemented from vpMbEdgeTracker.
Definition at line 1059 of file vpMbEdgeKltMultiTracker.cpp.
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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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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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Initialize the tracking thanks to the pose.
mapOfImages | : Map of images. |
mapOfCameraPoses | : Map of pose matrix. |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 1186 of file vpMbEdgeKltMultiTracker.cpp.
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Initialize the tracking thanks to the pose. The camera transformation matrices have to be set before.
mapOfImages | : Map of images. |
cMo_ | : Pose matrix for the reference camera. |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 1173 of file vpMbEdgeKltMultiTracker.cpp.
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Initialise the tracking thanks to the pose in vpPoseVector format, and read in the file initFile. The structure of this file is (without the comments):
Where the three firsts lines refer to the translation and the three last to the rotation in thetaU parametrisation (see vpThetaUVector).
I | : Input image |
initFile | : Path to the file containing the pose. |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 1084 of file vpMbEdgeKltMultiTracker.cpp.
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Initialise the tracking thanks to the pose.
I | : Input image |
cMo_ | : Pose matrix. |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 1124 of file vpMbEdgeKltMultiTracker.cpp.
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Initialise the tracking thanks to the pose vector.
I | : Input image |
cPo | : Pose vector. |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 1142 of file vpMbEdgeKltMultiTracker.cpp.
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Initialize the tracking thanks to the pose for stereo cameras configuration.
I1 | : Input image for the first camera. |
I2 | : Input image for the second camera. |
c1Mo | : Pose matrix for the first camera. |
c2Mo | : Pose matrix for the second camera. |
firstCameraIsReference | : If true, the first camera is the reference camera, otherwise it is the second one. |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 1158 of file vpMbEdgeKltMultiTracker.cpp.
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Definition at line 1194 of file vpMbEdgeKltMultiTracker.cpp.
References vpMbTracker::cMo, vpMbEdgeTracker::computeVVSFirstPhaseFactor(), vpMbEdgeTracker::computeVVSInit(), vpArray2D< Type >::getRows(), vpMbEdgeTracker::m_error_edge, vpMbEdgeTracker::m_errorCircles, vpMbEdgeTracker::m_errorCylinders, vpMbEdgeTracker::m_errorLines, vpMbEdgeTracker::m_factor, vpMbEdgeTracker::m_L_edge, m_mapOfCameraTransformationMatrix, vpMbEdgeMultiTracker::m_mapOfEdgeTrackers, vpMbEdgeTracker::m_robustCircles, vpMbEdgeTracker::m_robustCylinders, vpMbEdgeTracker::m_robustLines, vpMbEdgeTracker::m_w_edge, vpMbEdgeTracker::m_wCircles, vpMbEdgeTracker::m_wCylinders, vpMbEdgeTracker::m_weightedError_edge, vpMbEdgeTracker::m_wLines, vpRobust::resize(), vpArray2D< Type >::resize(), vpColVector::resize(), and vpColVector::stack().
Referenced by computeVVS().
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Definition at line 2154 of file vpMbEdgeTracker.cpp.
References vpMbEdgeTracker::circles, vpMbEdgeTracker::cylinders, vpMbtDistanceCircle::initInteractionMatrixError(), vpMbtDistanceLine::initInteractionMatrixError(), vpMbtDistanceCylinder::initInteractionMatrixError(), vpMbtDistanceCircle::isTracked(), vpMbtDistanceLine::isTracked(), vpMbtDistanceCylinder::isTracked(), vpMbEdgeTracker::lines, vpMbtDistanceCircle::nbFeature, vpMbtDistanceCylinder::nbFeature, vpMbtDistanceLine::nbFeatureTotal, and vpMbEdgeTracker::scaleLevel.
Referenced by vpMbEdgeTracker::computeVVSInit().
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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 postTracking().
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Definition at line 3060 of file vpMbTracker.cpp.
References vpMbTracker::addProjectionErrorCircle().
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Definition at line 3066 of file vpMbTracker.cpp.
References vpMbTracker::addProjectionErrorCylinder().
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Definition at line 3072 of file vpMbTracker.cpp.
References vpMbTracker::addProjectionErrorLine(), vpMbtPolygon::getIndex(), vpMbtPolygon::getName(), vpPolygon3D::getNbPoint(), and vpPolygon3D::p.
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Definition at line 3082 of file vpMbTracker.cpp.
References vpMbTracker::addProjectionErrorLine(), vpMbtPolygon::getIndex(), vpMbtPolygon::getName(), vpPolygon3D::getNbPoint(), and vpPolygon3D::p.
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Definition at line 1644 of file vpMbEdgeMultiTracker.cpp.
References vpMbEdgeTracker::initPyramid(), and vpMbEdgeTracker::scales.
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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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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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Load the xml configuration files for all the cameras. An example of such a file is provided in loadConfigFile(const std::string &) documentation. From the configuration file initialize the parameters corresponding to the objects: KLT, camera.
mapOfConfigFiles | : Map of xml files. |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 1331 of file vpMbEdgeKltMultiTracker.cpp.
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Load the xml configuration file. From the configuration file initialize the parameters corresponding to the objects: KLT, camera.
vpException::ioError | if the file has not been properly parsed (file not found or wrong format for the data). |
configFile | : full name of the xml file. |
The XML configuration file has the following form:
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 1289 of file vpMbEdgeKltMultiTracker.cpp.
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Load the xml configuration files for the stereo cameras case. An example of such a file is provided in loadConfigFile(const std::string &) documentation. From the configuration file initialize the parameters corresponding to the objects: KLT, camera.
configFile1 | : Full name of the xml file for the first camera. |
configFile2 | : Full name of the xml file for the second camera. |
firstCameraIsReference | : If true, the first camera is the reference, otherwise it is the second one. |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 1311 of file vpMbEdgeKltMultiTracker.cpp.
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Load a 3D model from the file in parameter. This file must either be a vrml file (.wrl) or a CAO file (.cao). CAO format is described in the loadCAOModel() method.
vpException::ioError | if the file cannot be open, or if its extension is not wrl or cao. |
modelFile | : the file containing the the 3D model description. The extension of this file is either .wrl or .cao. |
verbose | : verbose option to print additional information when loading CAO model files which include other CAO model files. |
T | : optional transformation matrix (currently only for .cao) to transform 3D points expressed in the original object frame to the desired object frame. |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 1364 of file vpMbEdgeKltMultiTracker.cpp.
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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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Definition at line 859 of file vpMbTracker.h.
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Definition at line 846 of file vpMbTracker.h.
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Definition at line 1269 of file vpMbTracker.cpp.
References vpMbTracker::mapOfParameterNames, and vpMbTracker::trim().
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Realize the post tracking operations. Mostly visibility tests
Definition at line 673 of file vpMbKltTracker.cpp.
Referenced by vpMbKltMultiTracker::postTracking().
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Definition at line 1725 of file vpMbKltMultiTracker.cpp.
References vpMbTracker::cMo, vpMbKltMultiTracker::m_mapOfCameraTransformationMatrix, vpMbKltMultiTracker::m_mapOfKltTrackers, vpMbKltTracker::m_nbInfos, vpMbKltMultiTracker::m_referenceCameraName, vpMbKltTracker::m_w_klt, vpMbKltTracker::postTracking(), vpMbKltMultiTracker::reinit(), and vpMbKltTracker::reinit().
Referenced by postTracking().
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Definition at line 1725 of file vpMbKltMultiTracker.cpp.
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Definition at line 1373 of file vpMbEdgeKltMultiTracker.cpp.
References vpMbHiddenFaces< PolygonType >::computeClippedPolygons(), vpMbEdgeTracker::computeProjectionError(), vpMbTracker::computeProjError, vpMbHiddenFaces< PolygonType >::computeScanLineRender(), vpMbTracker::displayFeatures, vpMbEdgeTracker::displayFeaturesOnImage(), vpMbTracker::faces, vpMbEdgeTracker::initMovingEdge(), vpMbEdgeMultiTracker::m_mapOfEdgeTrackers, vpMbKltMultiTracker::postTracking(), vpMbEdgeTracker::reinitMovingEdge(), vpMbEdgeTracker::updateMovingEdge(), vpMbEdgeTracker::updateMovingEdgeWeights(), vpMbTracker::useScanLine, and vpMbEdgeTracker::visibleFace().
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Achieve the tracking of the KLT features and associate the features to the faces.
I | : The input image. |
Definition at line 636 of file vpMbKltTracker.cpp.
Referenced by vpMbKltMultiTracker::preTracking().
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Definition at line 1707 of file vpMbKltMultiTracker.cpp.
References vpMbKltMultiTracker::m_mapOfKltTrackers, vpMbKltTracker::m_nbFaceUsed, vpMbKltTracker::m_nbInfos, and vpMbKltTracker::preTracking().
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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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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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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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The parameter is not used.
Reimplemented from vpMbKltMultiTracker.
Definition at line 1431 of file vpMbEdgeKltMultiTracker.cpp.
References vpMbKltMultiTracker::reinit().
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Definition at line 157 of file vpMbKltTracker.cpp.
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Definition at line 157 of file vpMbKltTracker.cpp.
References vpMbKltTracker::c0Mo, vpMbTracker::cam, vpPolygon3D::changeFrame(), vpMbTracker::cMo, vpMbHiddenFaces< PolygonType >::computeClippedPolygons(), vpCameraParameters::computeFov(), vpPolygon3D::computePolygonClipped(), vpMbHiddenFaces< PolygonType >::computeScanLineRender(), vpImageConvert::convert(), vpMbKltTracker::ctTc0, vpMbKltTracker::cur, vpHomogeneousMatrix::eye(), vpMbTracker::faces, vpImage< Type >::getCols(), vpImage< Type >::getHeight(), vpMbHiddenFaces< PolygonType >::getMbScanLineRenderer(), vpPolygon3D::getNbPoint(), vpImage< Type >::getRows(), vpImage< Type >::getWidth(), vpMbtDistanceKltPoints::init(), vpMbtDistanceKltCylinder::init(), vpKltOpencv::initTracking(), vpMbtDistanceKltCylinder::isTracked(), vpMbtDistanceKltPoints::isTracked(), vpMbtPolygon::isVisible(), vpMbKltTracker::kltCylinders, vpMbKltTracker::kltPolygons, vpMbtDistanceKltCylinder::listIndicesCylinderBBox, vpMbTracker::m_mask, vpMbKltTracker::maskBorder, vpMbtDistanceKltPoints::polygon, vpMbKltTracker::tracker, vpMbtDistanceKltCylinder::updateMask(), vpMbtDistanceKltPoints::updateMask(), and vpMbTracker::useScanLine.
Referenced by vpMbKltTracker::init(), and vpMbKltMultiTracker::postTracking().
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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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Re-initialize the model used by the tracker.
mapOfImages | : Map of images. |
cad_name | : Path to the file containing the 3D model description. |
mapOfCameraPoses | : The new vpHomogeneousMatrix between the cameras and the current object position. |
verbose | : Verbose option to print additional information when loading CAO model files which include other CAO model files. |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 1489 of file vpMbEdgeKltMultiTracker.cpp.
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Re-initialize the model used by the tracker.
I | : The image containing the object to initialize. |
cad_name | : Path to the file containing the 3D model description. |
cMo_ | : The new vpHomogeneousMatrix between the camera and the new model |
verbose | : verbose option to print additional information when loading CAO model files which include other CAO model files. |
T | : optional transformation matrix (currently only for .cao) to transform 3D points expressed in the original object frame to the desired object frame. |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 1449 of file vpMbEdgeKltMultiTracker.cpp.
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Re-initialize the model used by the tracker.
I1 | : The image containing the object to initialize for the first camera. |
I2 | : The image containing the object to initialize for the second camera. |
cad_name | : Path to the file containing the 3D model description. |
c1Mo | : The new vpHomogeneousMatrix between the first camera and the new model. |
c2Mo | : The new vpHomogeneousMatrix between the second camera and the new model. |
verbose | : verbose option to print additional information when loading CAO model files which include other CAO model files. |
firstCameraIsReference | : If true, the first camera is the reference camera, otherwise it is the second one. |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 1470 of file vpMbEdgeKltMultiTracker.cpp.
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protectedinherited |
Reinitialize the lines if it is required.
A line is reinitialized if the 2D line do not match enough with the projected 3D line.
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 postTracking().
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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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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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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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Definition at line 1772 of file vpMbEdgeTracker.cpp.
References vpMbEdgeTracker::circles, vpMbEdgeTracker::cylinders, vpMbEdgeTracker::lines, and vpMbEdgeTracker::scales.
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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.
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 1502 of file vpMbEdgeKltMultiTracker.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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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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Set the angle used to test polygons appearance. If the angle between the normal of the polygon and the line going from the camera to the polygon center has a value lower than this parameter, the polygon is considered as appearing. The polygon will then be tracked.
a | : new angle in radian. |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 1517 of file vpMbEdgeKltMultiTracker.cpp.
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Set the angle used to test polygons disappearance. If the angle between the normal of the polygon and the line going from the camera to the polygon center has a value greater than this parameter, the polygon is considered as disappearing. The tracking of the polygon will then be stopped.
a | : new angle in radian. |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 1532 of file vpMbEdgeKltMultiTracker.cpp.
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virtual |
Set the camera parameters for all the cameras.
mapOfCameraParameters | : Map of camera parameters. |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 1593 of file vpMbEdgeKltMultiTracker.cpp.
|
virtual |
Set the camera parameters for the specified camera.
cameraName | : Camera name. |
camera | : The new camera parameters. |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 1578 of file vpMbEdgeKltMultiTracker.cpp.
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virtual |
Set the camera parameters for the monocular case.
camera | : The new camera parameters. |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 1543 of file vpMbEdgeKltMultiTracker.cpp.
|
virtual |
Set the camera parameters for the stereo cameras case.
camera1 | : The new camera parameters for the first camera. |
camera2 | : The new camera parameters for the second camera. |
firstCameraIsReference | : If true, the first camera is the reference, otherwise it is the second one. |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 1559 of file vpMbEdgeKltMultiTracker.cpp.
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virtual |
Set the map of camera transformation matrices ( ).
mapOfTransformationMatrix | : map of camera transformation matrices. |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 1636 of file vpMbEdgeKltMultiTracker.cpp.
|
virtual |
Set the camera transformation matrix for the specified camera ( ).
cameraName | : Camera name. |
cameraTransformationMatrix | : Camera transformation matrix between the current and the reference camera. |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 1615 of file vpMbEdgeKltMultiTracker.cpp.
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virtual |
Specify which clipping to use.
cameraName | : Camera to set the clipping. |
flags | : New clipping flags. |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 1666 of file vpMbEdgeKltMultiTracker.cpp.
|
virtual |
Specify which clipping to use.
flags | : New clipping flags. |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 1652 of file vpMbEdgeKltMultiTracker.cpp.
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virtual |
Set if the covariance matrix has to be computed.
flag | : True if the covariance has to be computed, false otherwise |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 1678 of file vpMbEdgeKltMultiTracker.cpp.
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virtual |
Enable to display the moving edges (ME) and the klt features.
Note that if present, the moving edges can be displayed with different colors:
displayF | : set it to true to display the features. |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 1699 of file vpMbEdgeKltMultiTracker.cpp.
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virtualinherited |
Set a 6-dim column vector representing the degrees of freedom in the object frame that are estimated by the tracker. When set to 1, all the 6 dof are estimated.
Below we give the correspondance between the index of the vector and the considered dof:
Definition at line 2649 of file vpMbTracker.cpp.
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inline |
Set the factor for KLT tracker in the VVS process.
factor | : The new factor. |
Definition at line 283 of file vpMbEdgeKltMultiTracker.h.
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inline |
Set the factor for MBT tracker in the VVS process.
factor | : The new factor. |
Definition at line 290 of file vpMbEdgeKltMultiTracker.h.
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virtual |
Set the far distance for clipping.
dist | : Far clipping value. |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 1710 of file vpMbEdgeKltMultiTracker.cpp.
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virtual |
Set the far distance for clipping for the specified camera.
cameraName | : Camera to set the far clipping. |
dist | : Far clipping value. |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 1722 of file vpMbEdgeKltMultiTracker.cpp.
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virtualinherited |
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 2345 of file vpMbEdgeMultiTracker.cpp.
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virtual |
Set the ratio of visibility attempts that has to be successful to consider a polygon as visible.
ratio | : Ratio of succesful attempts that has to be considered. Value has to be between 0.0 (0%) and 1.0 (100%). |
Reimplemented from vpMbTracker.
Definition at line 1738 of file vpMbEdgeKltMultiTracker.cpp.
|
inlinevirtualinherited |
Set the initial value of mu for the Levenberg Marquardt optimization loop.
mu | : initial mu. |
Definition at line 513 of file vpMbTracker.h.
|
virtualinherited |
Set the erosion of the mask used on the Model faces.
e | : The desired erosion. |
Definition at line 2335 of file vpMbKltMultiTracker.cpp.
|
virtualinherited |
Set the new value of the klt tracker for the specified cameras.
mapOfOpenCVTrackers | : Map of Klt trackers containing the new values. |
Definition at line 2275 of file vpMbKltMultiTracker.cpp.
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virtualinherited |
Set the new value of the klt tracker.
t | : Klt tracker containing the new values. |
Reimplemented from vpMbKltTracker.
Definition at line 2262 of file vpMbKltMultiTracker.cpp.
|
virtualinherited |
Set the threshold for the acceptation of a point.
th | : Threshold for the weight below which a point is rejected. |
Definition at line 2705 of file vpMbKltMultiTracker.cpp.
|
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.
|
virtual |
Set the flag to consider if the level of detail (LOD) is used for all the cameras.
useLod | : true if the level of detail must be used, false otherwise. When true, two parameters can be set, see setMinLineLengthThresh() and setMinPolygonAreaThresh(). |
cameraName | : Name of the camera we want to set the LOD. |
name | : name of the face we want to modify the LOD parameter, if empty all the faces are considered. |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 1789 of file vpMbEdgeKltMultiTracker.cpp.
|
virtual |
Set the flag to consider if the level of detail (LOD) is used for all the cameras.
useLod | : true if the level of detail must be used, false otherwise. When true, two parameters can be set, see setMinLineLengthThresh() and setMinPolygonAreaThresh(). |
name | : name of the face we want to modify the LOD parameter. |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 1771 of file vpMbEdgeKltMultiTracker.cpp.
|
inlinevirtualinherited |
Reimplemented in vpMbGenericTracker.
Definition at line 548 of file vpMbTracker.h.
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virtualinherited |
Set the erosion of the mask used on the Model faces.
e | : The desired erosion. |
Definition at line 2823 of file vpMbKltMultiTracker.cpp.
|
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.
|
virtual |
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. |
cameraName | : name of the camera to consider. |
name | : name of the face we want to modify the LOD threshold, if empty all the faces are considered. |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 1820 of file vpMbEdgeKltMultiTracker.cpp.
|
virtual |
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 from vpMbEdgeMultiTracker.
Definition at line 1804 of file vpMbEdgeKltMultiTracker.cpp.
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virtual |
Set the minimum polygon area to be considered as visible in the LOD case.
minPolygonAreaThresh | : threshold for the minimum polygon area in pixel. |
cameraName | : name of the camera to consider. |
name | : name of the face we want to modify the LOD threshold, if empty all the faces are considered. |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 1850 of file vpMbEdgeKltMultiTracker.cpp.
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virtual |
Set the minimum polygon area to be considered as visible in the LOD case.
minPolygonAreaThresh | : threshold for the minimum polygon area in pixel. |
name | : name of the face we want to modify the LOD threshold. |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 1834 of file vpMbEdgeKltMultiTracker.cpp.
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virtualinherited |
Set the moving edge parameters for the specified camera.
cameraName | : Camera name to set the moving edge parameters. |
me | : An instance of vpMe containing all the desired parameters. |
Definition at line 2530 of file vpMbEdgeMultiTracker.cpp.
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virtualinherited |
Set the moving edge parameters.
me | : an instance of vpMe containing all the desired parameters. |
Definition at line 2516 of file vpMbEdgeMultiTracker.cpp.
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virtual |
Set the number of rays that will be sent toward each polygon for visibility test. Each ray will go from the optic center of the camera to a random point inside the considered polygon.
attempts | Number of rays to be sent. |
Reimplemented from vpMbTracker.
Definition at line 1753 of file vpMbEdgeKltMultiTracker.cpp.
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virtual |
Set the near distance for clipping.
dist | : Near clipping value. |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 1862 of file vpMbEdgeKltMultiTracker.cpp.
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virtual |
Set the near distance for clipping for the specified camera.
cameraName | : Camera name to set the near clipping distance. |
dist | : Near clipping value. |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 1874 of file vpMbEdgeKltMultiTracker.cpp.
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virtual |
Enable/Disable the appearance of Ogre config dialog on startup.
showConfigDialog | : if true, shows Ogre dialog window (used to set Ogre rendering options) when Ogre visibility is enabled. By default, this functionality is turned off. |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 1890 of file vpMbEdgeKltMultiTracker.cpp.
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virtual |
Use Ogre3D for visibility tests
v | : True to use it, False otherwise |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 1904 of file vpMbEdgeKltMultiTracker.cpp.
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virtual |
Set the optimization method used during the tracking.
opt | : Optimization method to use. |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 1940 of file vpMbEdgeKltMultiTracker.cpp.
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virtual |
Set the pose to be used in entry of the next call to the track() function. This pose will be just used once. Cameras that do not have pose will be automatically handled but the pose for the reference has to be passed in parameter. The camera transformation matrices have to be set before.
mapOfImages | : Map of images corresponding to the desired pose. |
mapOfCameraPoses | : Map of poses to affect. |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 2017 of file vpMbEdgeKltMultiTracker.cpp.
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virtual |
Set the pose to be used in entry of the next call to the track() function. This pose will be just used once. The camera transformation matrices have to be set before.
mapOfImages | : Map of images. |
cMo_ | : Pose to affect to the reference camera. |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 2000 of file vpMbEdgeKltMultiTracker.cpp.
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virtual |
Set the pose to be used in entry of the next call to the track() function. This pose will be just used once.
I | : image corresponding to the desired pose. |
cMo_ | : Pose to affect. |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 1953 of file vpMbEdgeKltMultiTracker.cpp.
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virtual |
Set the pose to be used in entry of the next call to the track() function. This pose will be just used once.
I1 | : First image corresponding to the desired pose. |
I2 | : Second image corresponding to the desired pose. |
c1Mo | : First pose to affect. |
c2Mo | : Second pose to affect. |
firstCameraIsReference | : if true, the first camera is the reference, otherwise it is the second one. |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 1984 of file vpMbEdgeKltMultiTracker.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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virtual |
Set if the projection error criteria has to be computed.
flag | : True if the projection error criteria has to be computed, false otherwise |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 2030 of file vpMbEdgeKltMultiTracker.cpp.
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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().
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virtual |
Set the reference camera name
referenceCameraName | : Name of the reference camera. |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 2047 of file vpMbEdgeKltMultiTracker.cpp.
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virtualinherited |
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 2860 of file vpMbEdgeMultiTracker.cpp.
|
virtual |
Use Scanline algorithm for visibility tests
v | : True to use it, False otherwise |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 2059 of file vpMbEdgeKltMultiTracker.cpp.
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inlinevirtualinherited |
Set the minimal error (previous / current estimation) to determine if there is convergence or not.
eps | : Epsilon threshold. |
Definition at line 556 of file vpMbTracker.h.
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virtual |
Set the threshold for the acceptation of a point.
th | : Threshold for the weight below which a point is rejected. |
Reimplemented from vpMbKltMultiTracker.
Definition at line 2070 of file vpMbEdgeKltMultiTracker.cpp.
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virtualinherited |
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 2892 of file vpMbEdgeMultiTracker.cpp.
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virtualinherited |
Set if the polygons that have the given name have to be considered during the tracking phase.
name | : name of the polygon(s). |
useKltTracking | : True if it has to be considered, False otherwise. |
Definition at line 2722 of file vpMbKltMultiTracker.cpp.
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virtual |
Test the quality of the tracking. The tracking is supposed to fail if less than 10 points are tracked.
vpTrackingException::fatalError | if the test fails. |
Reimplemented from vpMbKltTracker.
Definition at line 2075 of file vpMbEdgeKltMultiTracker.cpp.
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virtual |
Realize the tracking of the object in the image
vpException | : if the tracking is supposed to have failed |
I | : the input image |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 2087 of file vpMbEdgeKltMultiTracker.cpp.
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virtual |
Realize the tracking of the object in the image
vpException | : if the tracking is supposed to have failed |
I1 | : The first image. |
I2 | : The second image. |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 2118 of file vpMbEdgeKltMultiTracker.cpp.
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virtual |
Realize the tracking of the object in the image
vpException | : if the tracking is supposed to have failed |
mapOfImages | : Map of images. |
Reimplemented from vpMbEdgeMultiTracker.
Definition at line 2143 of file vpMbEdgeKltMultiTracker.cpp.
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protectedinherited |
Track the moving edges in the image.
I | : the image. |
Definition at line 1496 of file vpMbEdgeTracker.cpp.
Referenced by trackMovingEdges().
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protectedvirtual |
Definition at line 2186 of file vpMbEdgeKltMultiTracker.cpp.
References vpMbEdgeMultiTracker::m_mapOfEdgeTrackers, and vpMbEdgeTracker::trackMovingEdge().
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inlineprotectedinherited |
Definition at line 871 of file vpMbTracker.h.
Referenced by vpMbTracker::parseParameters().
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protectedinherited |
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 postTracking().
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protectedinherited |
Definition at line 1578 of file vpMbEdgeTracker.cpp.
References vpMbEdgeTracker::circles, vpMbEdgeTracker::cylinders, vpMbEdgeTracker::lines, vpMeSite::M_ESTIMATOR, vpMbEdgeTracker::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, vpMbEdgeTracker::scaleLevel, vpMbtDistanceCircle::setMeanWeight(), vpMbtDistanceLine::setMeanWeight(), vpMbtDistanceCylinder::setMeanWeight1(), vpMbtDistanceCylinder::setMeanWeight2(), and vpMeSite::setState().
Referenced by vpMbEdgeMultiTracker::computeVVS(), and postTracking().
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protectedinherited |
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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protectedinherited |
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 postTracking().
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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(), vpMbDepthDenseTracker::display(), vpMbDepthNormalTracker::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(), vpMbDepthDenseTracker::display(), vpMbDepthNormalTracker::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 |
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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protectedinherited |
Initial pose.
Definition at line 244 of file vpMbKltTracker.h.
Referenced by vpMbKltMultiTracker::computeVVS(), computeVVS(), computeVVSInteractionMatrixAndResidu(), and vpMbKltTracker::reinit().
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protectedinherited |
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(), vpMbEdgeTracker::computeVVSFirstPhase(), vpMbKltTracker::computeVVSInit(), vpMbEdgeTracker::computeVVSInit(), vpMbTracker::getPolygonFaces(), vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), vpMbKltTracker::init(), vpMbDepthDenseTracker::loadConfigFile(), vpMbDepthNormalTracker::loadConfigFile(), vpMbKltTracker::reinit(), vpMbDepthDenseTracker::setCameraParameters(), and vpMbDepthNormalTracker::setCameraParameters().
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protectedinherited |
Vector of the tracked circles.
Definition at line 284 of file vpMbEdgeTracker.h.
Referenced by vpMbEdgeTracker::computeVVSFirstPhase(), vpMbEdgeTracker::computeVVSFirstPhaseFactor(), vpMbEdgeTracker::computeVVSInteractionMatrixAndResidu(), vpMbEdgeTracker::displayFeaturesOnImage(), vpMbEdgeKltTracker::initMbtTracking(), vpMbEdgeTracker::initMbtTracking(), vpMbEdgeTracker::resetMovingEdge(), vpMbEdgeKltTracker::trackFirstLoop(), vpMbEdgeKltTracker::trackSecondLoop(), and vpMbEdgeTracker::updateMovingEdgeWeights().
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protectedinherited |
Vector of the circles used here only to display the full model.
Definition at line 266 of file vpMbKltTracker.h.
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protectedinherited |
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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protectedinherited |
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(), computeVVS(), vpMbGenericTracker::computeVVS(), vpMbTracker::computeVVSCheckLevenbergMarquardt(), vpMbEdgeTracker::computeVVSFirstPhase(), vpMbEdgeTracker::computeVVSFirstPhaseFactor(), vpMbEdgeMultiTracker::computeVVSFirstPhasePoseEstimation(), vpMbEdgeTracker::computeVVSFirstPhasePoseEstimation(), vpMbDepthDenseTracker::computeVVSInteractionMatrixAndResidu(), vpMbDepthNormalTracker::computeVVSInteractionMatrixAndResidu(), vpMbKltMultiTracker::computeVVSInteractionMatrixAndResidu(), vpMbEdgeMultiTracker::computeVVSInteractionMatrixAndResidu(), computeVVSInteractionMatrixAndResidu(), vpMbGenericTracker::computeVVSInteractionMatrixAndResidu(), vpMbEdgeTracker::computeVVSInteractionMatrixAndResidu(), vpMbTracker::computeVVSPoseEstimation(), vpMbTracker::getPolygonFaces(), vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), vpMbGenericTracker::init(), vpMbKltTracker::init(), vpMbGenericTracker::initFromPoints(), 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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protectedinherited |
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(), computeVVS(), vpMbGenericTracker::computeVVS(), vpMbDepthDenseTracker::resetTracker(), vpMbDepthNormalTracker::resetTracker(), and vpMbEdgeKltTracker::vpMbEdgeKltTracker().
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protectedinherited |
Flag used to specify if the gradient error criteria has to be computed or not.
Definition at line 138 of file vpMbTracker.h.
Referenced by vpMbEdgeMultiTracker::computeProjectionError(), vpMbGenericTracker::computeProjectionError(), and postTracking().
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protectedinherited |
Covariance matrix.
Definition at line 135 of file vpMbTracker.h.
Referenced by vpMbTracker::computeCovarianceMatrixVVS().
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protectedinherited |
The estimated displacement of the pose between the current instant and the initial position.
Definition at line 258 of file vpMbKltTracker.h.
Referenced by vpMbKltMultiTracker::computeVVS(), computeVVS(), vpMbKltMultiTracker::computeVVSInteractionMatrixAndResidu(), computeVVSInteractionMatrixAndResidu(), vpMbKltTracker::computeVVSInteractionMatrixAndResidu(), and vpMbKltTracker::reinit().
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protectedinherited |
Temporary OpenCV image for fast conversion.
Definition at line 239 of file vpMbKltTracker.h.
Referenced by vpMbKltTracker::reinit().
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protectedinherited |
Vector of the tracked cylinders.
Definition at line 287 of file vpMbEdgeTracker.h.
Referenced by vpMbEdgeTracker::computeVVSFirstPhase(), vpMbEdgeTracker::computeVVSFirstPhaseFactor(), vpMbEdgeTracker::computeVVSInteractionMatrixAndResidu(), vpMbEdgeTracker::displayFeaturesOnImage(), vpMbEdgeKltTracker::initMbtTracking(), vpMbEdgeTracker::initMbtTracking(), vpMbEdgeTracker::resetMovingEdge(), vpMbEdgeKltTracker::trackFirstLoop(), vpMbEdgeKltTracker::trackSecondLoop(), and vpMbEdgeTracker::updateMovingEdgeWeights().
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protectedinherited |
If true, the features are displayed.
Definition at line 143 of file vpMbTracker.h.
Referenced by vpMbDepthDenseTracker::display(), vpMbDepthNormalTracker::display(), and 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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protectedinherited |
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(), getFaces(), vpMbTracker::getPolygonFaces(), vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), vpMbKltTracker::init(), postTracking(), vpMbKltTracker::reinit(), vpMbDepthDenseTracker::resetTracker(), vpMbDepthNormalTracker::resetTracker(), vpMbDepthDenseTracker::setOgreVisibilityTest(), vpMbDepthNormalTracker::setOgreVisibilityTest(), vpMbDepthDenseTracker::vpMbDepthDenseTracker(), vpMbDepthNormalTracker::vpMbDepthNormalTracker(), vpMbEdgeKltTracker::vpMbEdgeKltTracker(), and vpMbKltTracker::vpMbKltTracker().
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protectedinherited |
Flag to specify whether the init method is called the first or not (specific calls to realize in this case).
Definition at line 247 of file vpMbKltTracker.h.
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protectedinherited |
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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protectedinherited |
Boolean to know if oJo is identity (for fast computation)
Definition at line 122 of file vpMbTracker.h.
Referenced by vpMbKltMultiTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVS(), and computeVVS().
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protectedinherited |
Definition at line 264 of file vpMbKltTracker.h.
Referenced by vpMbKltTracker::computeVVSInteractionMatrixAndResidu(), and vpMbKltTracker::reinit().
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protectedinherited |
Definition at line 262 of file vpMbKltTracker.h.
Referenced by vpMbKltTracker::computeVVSInteractionMatrixAndResidu(), and vpMbKltTracker::reinit().
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protectedinherited |
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 vpMbEdgeTracker::computeVVSFirstPhase(), vpMbEdgeTracker::computeVVSFirstPhaseFactor(), vpMbEdgeTracker::computeVVSInteractionMatrixAndResidu(), vpMbEdgeTracker::displayFeaturesOnImage(), vpMbEdgeKltTracker::initMbtTracking(), vpMbEdgeTracker::initMbtTracking(), vpMbEdgeTracker::resetMovingEdge(), vpMbEdgeKltTracker::trackFirstLoop(), vpMbEdgeKltTracker::trackSecondLoop(), and vpMbEdgeTracker::updateMovingEdgeWeights().
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protectedinherited |
If true, compute the interaction matrix at each iteration of the minimization. Otherwise, compute it only on the first iteration
Definition at line 190 of file vpMbTracker.h.
Referenced by vpMbKltMultiTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVS(), computeVVS(), vpMbEdgeMultiTracker::computeVVSFirstPhasePoseEstimation(), vpMbEdgeTracker::computeVVSFirstPhasePoseEstimation(), vpMbDepthDenseTracker::resetTracker(), and vpMbDepthNormalTracker::resetTracker().
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protectedinherited |
(s - s*)
Definition at line 337 of file vpMbEdgeTracker.h.
Referenced by vpMbEdgeMultiTracker::computeVVS(), vpMbEdgeTracker::computeVVSFirstPhase(), vpMbEdgeTracker::computeVVSFirstPhasePoseEstimation(), vpMbEdgeMultiTracker::computeVVSInit(), vpMbEdgeTracker::computeVVSInit(), vpMbEdgeMultiTracker::computeVVSInteractionMatrixAndResidu(), computeVVSInteractionMatrixAndResidu(), vpMbEdgeTracker::computeVVSInteractionMatrixAndResidu(), vpMbEdgeTracker::getError(), and initMbtTracking().
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protectedinherited |
(s - s*)
Definition at line 90 of file vpMbEdgeMultiTracker.h.
Referenced by vpMbEdgeMultiTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVSFirstPhasePoseEstimation(), vpMbEdgeMultiTracker::computeVVSInit(), and vpMbEdgeMultiTracker::computeVVSInteractionMatrixAndResidu().
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protected |
(s - s*)
Definition at line 99 of file vpMbEdgeKltMultiTracker.h.
Referenced by computeVVS(), computeVVSInit(), and computeVVSInteractionMatrixAndResidu().
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protectedinherited |
(s - s*)
Definition at line 274 of file vpMbKltTracker.h.
Referenced by vpMbKltTracker::computeVVSInit(), vpMbKltMultiTracker::computeVVSInteractionMatrixAndResidu(), computeVVSInteractionMatrixAndResidu(), vpMbKltTracker::computeVVSInteractionMatrixAndResidu(), vpMbKltMultiTracker::computeVVSWeights(), computeVVSWeights(), and vpMbKltTracker::getError().
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protectedinherited |
(s - s*)
Definition at line 89 of file vpMbKltMultiTracker.h.
Referenced by vpMbKltMultiTracker::computeVVS(), vpMbKltMultiTracker::computeVVSInit(), and vpMbKltMultiTracker::computeVVSInteractionMatrixAndResidu().
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protectedinherited |
Definition at line 333 of file vpMbEdgeTracker.h.
Referenced by vpMbEdgeTracker::computeVVSInit(), vpMbEdgeTracker::computeVVSInteractionMatrixAndResidu(), vpMbEdgeTracker::computeVVSWeights(), and initMbtTracking().
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protectedinherited |
Definition at line 332 of file vpMbEdgeTracker.h.
Referenced by vpMbEdgeTracker::computeVVSInit(), vpMbEdgeTracker::computeVVSInteractionMatrixAndResidu(), vpMbEdgeTracker::computeVVSWeights(), and initMbtTracking().
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protectedinherited |
Definition at line 331 of file vpMbEdgeTracker.h.
Referenced by vpMbEdgeTracker::computeVVSInit(), vpMbEdgeTracker::computeVVSInteractionMatrixAndResidu(), vpMbEdgeTracker::computeVVSWeights(), and initMbtTracking().
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protectedinherited |
Edge VVS variables.
Definition at line 324 of file vpMbEdgeTracker.h.
Referenced by vpMbEdgeMultiTracker::computeVVS(), computeVVS(), vpMbEdgeTracker::computeVVSFirstPhase(), vpMbEdgeTracker::computeVVSFirstPhaseFactor(), vpMbEdgeMultiTracker::computeVVSFirstPhasePoseEstimation(), vpMbEdgeTracker::computeVVSFirstPhasePoseEstimation(), vpMbEdgeMultiTracker::computeVVSInit(), vpMbEdgeTracker::computeVVSInit(), and initMbtTracking().
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protected |
Factor for KLT trackers.
Definition at line 80 of file vpMbEdgeKltMultiTracker.h.
Referenced by computeVVS().
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protected |
Factor for edge trackers.
Definition at line 82 of file vpMbEdgeKltMultiTracker.h.
Referenced by computeVVS().
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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(), computeVVS(), and vpMbGenericTracker::computeVVS().
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protectedinherited |
Interaction matrix.
Definition at line 335 of file vpMbEdgeTracker.h.
Referenced by vpMbEdgeMultiTracker::computeVVS(), vpMbEdgeTracker::computeVVSFirstPhase(), vpMbEdgeTracker::computeVVSFirstPhasePoseEstimation(), vpMbEdgeTracker::computeVVSInit(), vpMbEdgeMultiTracker::computeVVSInteractionMatrixAndResidu(), computeVVSInteractionMatrixAndResidu(), vpMbEdgeTracker::computeVVSInteractionMatrixAndResidu(), and initMbtTracking().
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protectedinherited |
Interaction matrix.
Definition at line 88 of file vpMbEdgeMultiTracker.h.
Referenced by vpMbEdgeMultiTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVSFirstPhasePoseEstimation(), vpMbEdgeMultiTracker::computeVVSInit(), and vpMbEdgeMultiTracker::computeVVSInteractionMatrixAndResidu().
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protected |
Interaction matrix.
Definition at line 97 of file vpMbEdgeKltMultiTracker.h.
Referenced by computeVVS(), computeVVSInit(), and computeVVSInteractionMatrixAndResidu().
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protectedinherited |
Interaction matrix.
Definition at line 272 of file vpMbKltTracker.h.
Referenced by vpMbKltTracker::computeVVSInit(), vpMbKltMultiTracker::computeVVSInteractionMatrixAndResidu(), computeVVSInteractionMatrixAndResidu(), and vpMbKltTracker::computeVVSInteractionMatrixAndResidu().
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protectedinherited |
Interaction matrix.
Definition at line 87 of file vpMbKltMultiTracker.h.
Referenced by vpMbKltMultiTracker::computeVVS(), vpMbKltMultiTracker::computeVVSInit(), and vpMbKltMultiTracker::computeVVSInteractionMatrixAndResidu().
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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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protected |
Map of camera transformation matrix between the current camera frame to the reference camera frame (cCurrent_M_cRef)
Definition at line 90 of file vpMbEdgeKltMultiTracker.h.
Referenced by computeVVS(), computeVVSInteractionMatrixAndResidu(), and initMbtTracking().
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protectedinherited |
Map of Model-based edge trackers.
Definition at line 80 of file vpMbEdgeMultiTracker.h.
Referenced by vpMbEdgeMultiTracker::computeProjectionError(), vpMbEdgeMultiTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVSInit(), vpMbEdgeMultiTracker::computeVVSInteractionMatrixAndResidu(), computeVVSInteractionMatrixAndResidu(), vpMbEdgeMultiTracker::computeVVSWeights(), computeVVSWeights(), initMbtTracking(), postTracking(), and trackMovingEdges().
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protectedinherited |
Map of Model-based klt trackers.
Definition at line 82 of file vpMbKltMultiTracker.h.
Referenced by vpMbKltMultiTracker::computeVVS(), computeVVSInit(), vpMbKltMultiTracker::computeVVSInteractionMatrixAndResidu(), computeVVSInteractionMatrixAndResidu(), vpMbKltMultiTracker::computeVVSWeights(), computeVVSWeights(), vpMbKltMultiTracker::getKltPoints(), vpMbKltMultiTracker::postTracking(), and vpMbKltMultiTracker::preTracking().
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protectedinherited |
Map of pyramidal images for each camera.
Definition at line 83 of file vpMbEdgeMultiTracker.h.
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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(), computeVVS(), vpMbGenericTracker::computeVVS(), vpMbDepthDenseTracker::resetTracker(), vpMbEdgeKltTracker::vpMbEdgeKltTracker(), and vpMbKltTracker::vpMbKltTracker().
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protectedinherited |
Definition at line 270 of file vpMbKltTracker.h.
Referenced by vpMbKltMultiTracker::preTracking().
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protectedinherited |
Definition at line 268 of file vpMbKltTracker.h.
Referenced by computeVVS(), vpMbKltMultiTracker::computeVVSInit(), computeVVSInit(), vpMbKltTracker::computeVVSInit(), computeVVSInteractionMatrixAndResidu(), vpMbKltMultiTracker::postTracking(), and vpMbKltMultiTracker::preTracking().
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protected |
Number of features.
Definition at line 95 of file vpMbEdgeKltMultiTracker.h.
Referenced by computeVVS(), computeVVSInit(), and computeVVSInteractionMatrixAndResidu().
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protectedinherited |
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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protectedinherited |
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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protectedinherited |
Thickness of the arrows used to show the gradient and model orientation.
Definition at line 222 of file vpMbTracker.h.
Referenced by vpMbTracker::computeProjectionErrorImpl().
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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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protectedinherited |
Definition at line 208 of file vpMbTracker.h.
Referenced by vpMbTracker::computeProjectionErrorImpl().
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protected |
Name of the reference camera.
Definition at line 93 of file vpMbEdgeKltMultiTracker.h.
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protectedinherited |
Robust.
Definition at line 343 of file vpMbEdgeTracker.h.
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protectedinherited |
Robust.
Definition at line 280 of file vpMbKltTracker.h.
Referenced by vpMbKltTracker::computeVVSInit(), vpMbKltMultiTracker::computeVVSWeights(), and computeVVSWeights().
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protectedinherited |
Definition at line 327 of file vpMbEdgeTracker.h.
Referenced by vpMbEdgeTracker::computeVVSInit(), vpMbEdgeTracker::computeVVSWeights(), and initMbtTracking().
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protectedinherited |
Definition at line 326 of file vpMbEdgeTracker.h.
Referenced by vpMbEdgeTracker::computeVVSInit(), vpMbEdgeTracker::computeVVSWeights(), and initMbtTracking().
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protectedinherited |
Definition at line 325 of file vpMbEdgeTracker.h.
Referenced by vpMbEdgeTracker::computeVVSInit(), vpMbEdgeTracker::computeVVSWeights(), and 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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protectedinherited |
Robust weights.
Definition at line 339 of file vpMbEdgeTracker.h.
Referenced by vpMbEdgeMultiTracker::computeVVS(), vpMbEdgeTracker::computeVVSFirstPhase(), vpMbEdgeTracker::computeVVSFirstPhasePoseEstimation(), vpMbEdgeTracker::computeVVSInit(), vpMbEdgeMultiTracker::computeVVSWeights(), computeVVSWeights(), vpMbEdgeTracker::computeVVSWeights(), vpMbEdgeTracker::getRobustWeights(), initMbtTracking(), and vpMbEdgeTracker::updateMovingEdgeWeights().
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protectedinherited |
Robust weights.
Definition at line 92 of file vpMbEdgeMultiTracker.h.
Referenced by vpMbEdgeMultiTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVSFirstPhasePoseEstimation(), vpMbEdgeMultiTracker::computeVVSInit(), and vpMbEdgeMultiTracker::computeVVSWeights().
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protected |
Robust weights.
Definition at line 101 of file vpMbEdgeKltMultiTracker.h.
Referenced by computeVVS(), computeVVSInit(), and computeVVSWeights().
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protectedinherited |
Robust weights.
Definition at line 276 of file vpMbKltTracker.h.
Referenced by vpMbKltTracker::computeVVSInit(), vpMbKltMultiTracker::computeVVSWeights(), computeVVSWeights(), vpMbKltTracker::getRobustWeights(), and vpMbKltMultiTracker::postTracking().
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protectedinherited |
Robust weights.
Definition at line 91 of file vpMbKltMultiTracker.h.
Referenced by vpMbKltMultiTracker::computeVVS(), vpMbKltMultiTracker::computeVVSInit(), and vpMbKltMultiTracker::computeVVSWeights().
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protectedinherited |
Definition at line 330 of file vpMbEdgeTracker.h.
Referenced by vpMbEdgeTracker::computeVVSInit(), vpMbEdgeTracker::computeVVSWeights(), and initMbtTracking().
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protectedinherited |
Definition at line 329 of file vpMbEdgeTracker.h.
Referenced by vpMbEdgeTracker::computeVVSInit(), vpMbEdgeTracker::computeVVSWeights(), and initMbtTracking().
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protectedinherited |
Weighted error.
Definition at line 341 of file vpMbEdgeTracker.h.
Referenced by vpMbEdgeTracker::computeVVSFirstPhasePoseEstimation(), vpMbEdgeTracker::computeVVSInit(), and initMbtTracking().
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protectedinherited |
Weighted error.
Definition at line 94 of file vpMbEdgeMultiTracker.h.
Referenced by vpMbEdgeMultiTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVSFirstPhasePoseEstimation(), and vpMbEdgeMultiTracker::computeVVSInit().
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protected |
Weighted error.
Definition at line 103 of file vpMbEdgeKltMultiTracker.h.
Referenced by computeVVS(), and computeVVSInit().
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protectedinherited |
Weighted error.
Definition at line 278 of file vpMbKltTracker.h.
Referenced by vpMbKltTracker::computeVVSInit().
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protectedinherited |
Weighted error.
Definition at line 93 of file vpMbKltMultiTracker.h.
Referenced by vpMbKltMultiTracker::computeVVS(), and vpMbKltMultiTracker::computeVVSInit().
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protectedinherited |
Definition at line 328 of file vpMbEdgeTracker.h.
Referenced by vpMbEdgeTracker::computeVVSInit(), vpMbEdgeTracker::computeVVSWeights(), and initMbtTracking().
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protectedinherited |
Map with [map.first]=parameter_names and [map.second]=type (string, number or boolean)
Definition at line 187 of file vpMbTracker.h.
Referenced by vpMbTracker::parseParameters().
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protectedinherited |
Erosion of the mask.
Definition at line 249 of file vpMbKltTracker.h.
Referenced by vpMbKltTracker::reinit().
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protectedinherited |
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(), 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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protectedinherited |
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.
|
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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protectedinherited |
Number of polygon (face) currently visible.
Definition at line 302 of file vpMbEdgeTracker.h.
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protectedinherited |
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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protectedinherited |
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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protectedinherited |
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(), computeVVS(), vpMbGenericTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVSFirstPhasePoseEstimation(), vpMbEdgeTracker::computeVVSFirstPhasePoseEstimation(), and vpMbTracker::computeVVSPoseEstimation().
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protectedinherited |
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 |
Percentage of good points, according to the initial number, that must have the tracker.
Definition at line 255 of file vpMbKltTracker.h.
|
protectedinherited |
Filename used to save the initial pose computed using the initClick() method. It is also used to read a previous pose in the same method.
Definition at line 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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protectedinherited |
Current scale level used. This attribute must not be modified outside of the downScale() and upScale() methods, as it used to specify to some methods which set of distanceLine use.
Definition at line 318 of file vpMbEdgeTracker.h.
Referenced by vpMbEdgeTracker::computeVVSInteractionMatrixAndResidu(), vpMbEdgeTracker::initMbtTracking(), and vpMbEdgeTracker::updateMovingEdgeWeights().
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protectedinherited |
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(), vpMbEdgeTracker::resetMovingEdge(), and vpMbEdgeKltTracker::trackFirstLoop().
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protectedinherited |
Threshold below which the weight associated to a point to consider this one as an outlier.
Definition at line 252 of file vpMbKltTracker.h.
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protected |
The threshold used in the robust estimation of KLT.
Definition at line 84 of file vpMbEdgeKltMultiTracker.h.
|
protected |
The threshold used in the robust estimation of MBT.
Definition at line 86 of file vpMbEdgeKltMultiTracker.h.
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protectedinherited |
Points tracker.
Definition at line 260 of file vpMbKltTracker.h.
Referenced by vpMbKltTracker::getKltPoints(), vpMbKltTracker::reinit(), and vpMbKltTracker::vpMbKltTracker().
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protectedinherited |
True if LOD mode is enabled.
Definition at line 177 of file vpMbTracker.h.
|
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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protectedinherited |
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(), vpMbDepthNormalTracker::display(), vpMbDepthDenseTracker::display(), vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), postTracking(), vpMbKltTracker::reinit(), vpMbDepthDenseTracker::resetTracker(), and vpMbDepthNormalTracker::resetTracker().