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Visual Servoing Platform
version 3.2.0
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#include <vpMbGenericTracker.h>
Public Types | |
enum | vpTrackerType { EDGE_TRACKER = 1 << 0, KLT_TRACKER = 1 << 1, DEPTH_NORMAL_TRACKER = 1 << 2, DEPTH_DENSE_TRACKER = 1 << 3 } |
enum | vpMbtOptimizationMethod { GAUSS_NEWTON_OPT = 0, LEVENBERG_MARQUARDT_OPT = 1 } |
Public Member Functions | |
vpMbGenericTracker () | |
vpMbGenericTracker (const unsigned int nbCameras, const int trackerType=EDGE_TRACKER) | |
vpMbGenericTracker (const std::vector< int > &trackerTypes) | |
vpMbGenericTracker (const std::vector< std::string > &cameraNames, const std::vector< int > &trackerTypes) | |
virtual | ~vpMbGenericTracker () |
virtual double | computeCurrentProjectionError (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &_cMo, const vpCameraParameters &_cam) |
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 &cam1, vpCameraParameters &cam2) const |
virtual void | getCameraParameters (std::map< std::string, vpCameraParameters > &mapOfCameraParameters) const |
virtual std::map< std::string, int > | getCameraTrackerTypes () const |
virtual void | getClipping (unsigned int &clippingFlag1, unsigned int &clippingFlag2) const |
virtual void | getClipping (std::map< std::string, unsigned int > &mapOfClippingFlags) const |
virtual vpColVector | getError () const |
virtual vpMbHiddenFaces< vpMbtPolygon > & | getFaces () |
virtual vpMbHiddenFaces< vpMbtPolygon > & | getFaces (const std::string &cameraName) |
virtual std::list< vpMbtDistanceCircle * > & | getFeaturesCircle () |
virtual std::list< vpMbtDistanceKltCylinder * > & | getFeaturesKltCylinder () |
virtual std::list< vpMbtDistanceKltPoints * > & | getFeaturesKlt () |
virtual double | getGoodMovingEdgesRatioThreshold () const |
virtual std::vector< vpImagePoint > | getKltImagePoints () const |
virtual std::map< int, vpImagePoint > | getKltImagePointsWithId () const |
virtual unsigned int | getKltMaskBorder () const |
virtual int | getKltNbPoints () const |
virtual vpKltOpencv | getKltOpencv () const |
virtual void | getKltOpencv (vpKltOpencv &klt1, vpKltOpencv &klt2) const |
virtual void | getKltOpencv (std::map< std::string, vpKltOpencv > &mapOfKlts) const |
virtual std::vector< cv::Point2f > | getKltPoints () const |
virtual double | getKltThresholdAcceptation () const |
virtual 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 |
virtual 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 |
virtual 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 vpMe | getMovingEdge () const |
virtual void | getMovingEdge (vpMe &me1, vpMe &me2) const |
virtual void | getMovingEdge (std::map< std::string, vpMe > &mapOfMovingEdges) const |
virtual unsigned int | getNbPoints (const unsigned int level=0) const |
virtual void | getNbPoints (std::map< std::string, unsigned int > &mapOfNbPoints, const unsigned int level=0) const |
virtual unsigned int | getNbPolygon () const |
virtual void | getNbPolygon (std::map< std::string, unsigned int > &mapOfNbPolygons) const |
virtual vpMbtPolygon * | getPolygon (const unsigned int index) |
virtual vpMbtPolygon * | getPolygon (const std::string &cameraName, const unsigned int index) |
virtual std::pair< std::vector< vpPolygon >, std::vector< std::vector< vpPoint > > > | getPolygonFaces (const bool orderPolygons=true, const bool useVisibility=true, const bool clipPolygon=false) |
virtual void | getPolygonFaces (std::map< std::string, std::vector< vpPolygon > > &mapOfPolygons, std::map< std::string, std::vector< std::vector< vpPoint > > > &mapOfPoints, const bool orderPolygons=true, const bool useVisibility=true, const bool clipPolygon=false) |
virtual void | getPose (vpHomogeneousMatrix &c1Mo, vpHomogeneousMatrix &c2Mo) const |
virtual void | getPose (std::map< std::string, vpHomogeneousMatrix > &mapOfCameraPoses) const |
virtual vpColVector | getRobustWeights () const |
virtual int | getTrackerType () const |
virtual void | init (const vpImage< unsigned char > &I) |
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 vpHomogeneousMatrix &T1=vpHomogeneousMatrix(), const vpHomogeneousMatrix &T2=vpHomogeneousMatrix()) |
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, const std::map< std::string, vpHomogeneousMatrix > &mapOfT=std::map< std::string, vpHomogeneousMatrix >()) |
virtual void | initFromPoints (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, const std::string &initFile1, const std::string &initFile2) |
virtual void | initFromPoints (const std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, const std::map< std::string, std::string > &mapOfInitPoints) |
virtual void | initFromPose (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, const std::string &initFile1, const std::string &initFile2) |
virtual void | initFromPose (const std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, const std::map< std::string, std::string > &mapOfInitPoses) |
virtual void | initFromPose (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, const vpHomogeneousMatrix &c1Mo, const vpHomogeneousMatrix &c2Mo) |
virtual void | initFromPose (const std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, const std::map< std::string, vpHomogeneousMatrix > &mapOfCameraPoses) |
virtual void | loadConfigFile (const std::string &configFile) |
virtual void | loadConfigFile (const std::string &configFile1, const std::string &configFile2) |
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 | loadModel (const std::string &modelFile1, const std::string &modelFile2, const bool verbose=false, const vpHomogeneousMatrix &T1=vpHomogeneousMatrix(), const vpHomogeneousMatrix &T2=vpHomogeneousMatrix()) |
virtual void | loadModel (const std::map< std::string, std::string > &mapOfModelFiles, const bool verbose=false, const std::map< std::string, vpHomogeneousMatrix > &mapOfT=std::map< std::string, 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_name1, const std::string &cad_name2, const vpHomogeneousMatrix &c1Mo, const vpHomogeneousMatrix &c2Mo, const bool verbose=false, const vpHomogeneousMatrix &T1=vpHomogeneousMatrix(), const vpHomogeneousMatrix &T2=vpHomogeneousMatrix()) |
virtual void | reInitModel (const std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, const std::map< std::string, std::string > &mapOfModelFiles, const std::map< std::string, vpHomogeneousMatrix > &mapOfCameraPoses, const bool verbose=false, const std::map< std::string, vpHomogeneousMatrix > &mapOfT=std::map< std::string, vpHomogeneousMatrix >()) |
virtual void | resetTracker () |
virtual void | setAngleAppear (const double &a) |
virtual void | setAngleAppear (const double &a1, const double &a2) |
virtual void | setAngleAppear (const std::map< std::string, double > &mapOfAngles) |
virtual void | setAngleDisappear (const double &a) |
virtual void | setAngleDisappear (const double &a1, const double &a2) |
virtual void | setAngleDisappear (const std::map< std::string, double > &mapOfAngles) |
virtual void | setCameraParameters (const vpCameraParameters &camera) |
virtual void | setCameraParameters (const vpCameraParameters &camera1, const vpCameraParameters &camera2) |
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 unsigned int &flags1, const unsigned int &flags2) |
virtual void | setClipping (const std::map< std::string, unsigned int > &mapOfClippingFlags) |
virtual void | setDepthDenseFilteringMaxDistance (const double maxDistance) |
virtual void | setDepthDenseFilteringMethod (const int method) |
virtual void | setDepthDenseFilteringMinDistance (const double minDistance) |
virtual void | setDepthDenseFilteringOccupancyRatio (const double occupancyRatio) |
virtual void | setDepthDenseSamplingStep (const unsigned int stepX, const unsigned int stepY) |
virtual void | setDepthNormalFaceCentroidMethod (const vpMbtFaceDepthNormal::vpFaceCentroidType &method) |
virtual void | setDepthNormalFeatureEstimationMethod (const vpMbtFaceDepthNormal::vpFeatureEstimationType &method) |
virtual void | setDepthNormalPclPlaneEstimationMethod (const int method) |
virtual void | setDepthNormalPclPlaneEstimationRansacMaxIter (const int maxIter) |
virtual void | setDepthNormalPclPlaneEstimationRansacThreshold (const double thresold) |
virtual void | setDepthNormalSamplingStep (const unsigned int stepX, const unsigned int stepY) |
virtual void | setDisplayFeatures (const bool displayF) |
virtual void | setFarClippingDistance (const double &dist) |
virtual void | setFarClippingDistance (const double &dist1, const double &dist2) |
virtual void | setFarClippingDistance (const std::map< std::string, double > &mapOfClippingDists) |
virtual void | setFeatureFactors (const std::map< vpTrackerType, double > &mapOfFeatureFactors) |
virtual void | setGoodMovingEdgesRatioThreshold (const double threshold) |
virtual void | setGoodNbRayCastingAttemptsRatio (const double &ratio) |
virtual void | setNbRayCastingAttemptsForVisibility (const unsigned int &attempts) |
virtual void | setKltMaskBorder (const unsigned int &e) |
virtual void | setKltMaskBorder (const unsigned int &e1, const unsigned int &e2) |
virtual void | setKltMaskBorder (const std::map< std::string, unsigned int > &mapOfErosions) |
virtual void | setKltOpencv (const vpKltOpencv &t) |
virtual void | setKltOpencv (const vpKltOpencv &t1, const vpKltOpencv &t2) |
virtual void | setKltOpencv (const std::map< std::string, vpKltOpencv > &mapOfKlts) |
virtual void | setKltThresholdAcceptation (const double th) |
virtual void | setLod (const bool useLod, const std::string &name="") |
virtual void | setMask (const vpImage< bool > &mask) |
virtual void | setMinLineLengthThresh (const double minLineLengthThresh, const std::string &name="") |
virtual void | setMinPolygonAreaThresh (const double minPolygonAreaThresh, const std::string &name="") |
virtual void | setMovingEdge (const vpMe &me) |
virtual void | setMovingEdge (const vpMe &me1, const vpMe &me2) |
virtual void | setMovingEdge (const std::map< std::string, vpMe > &mapOfMe) |
virtual void | setNearClippingDistance (const double &dist) |
virtual void | setNearClippingDistance (const double &dist1, const double &dist2) |
virtual void | setNearClippingDistance (const std::map< std::string, double > &mapOfDists) |
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 &cdMo) |
virtual void | setPose (const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, const vpHomogeneousMatrix &c1Mo, const vpHomogeneousMatrix &c2Mo) |
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 | setProjectionErrorDisplay (const bool display) |
virtual void | setProjectionErrorDisplayArrowLength (const unsigned int length) |
virtual void | setProjectionErrorDisplayArrowThickness (const unsigned int thickness) |
virtual void | setReferenceCameraName (const std::string &referenceCameraName) |
virtual void | setScanLineVisibilityTest (const bool &v) |
virtual void | setTrackerType (const int type) |
virtual void | setTrackerType (const std::map< std::string, int > &mapOfTrackerTypes) |
virtual void | setUseDepthDenseTracking (const std::string &name, const bool &useDepthDenseTracking) |
virtual void | setUseDepthNormalTracking (const std::string &name, const bool &useDepthNormalTracking) |
virtual void | setUseEdgeTracking (const std::string &name, const bool &useEdgeTracking) |
virtual void | setUseKltTracking (const std::string &name, const bool &useKltTracking) |
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 void | track (std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, std::map< std::string, pcl::PointCloud< pcl::PointXYZ >::ConstPtr > &mapOfPointClouds) |
virtual void | track (std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, std::map< std::string, const std::vector< vpColVector > * > &mapOfPointClouds, std::map< std::string, unsigned int > &mapOfPointCloudWidths, std::map< std::string, unsigned int > &mapOfPointCloudHeights) |
virtual void | getCameraParameters (vpCameraParameters &camera) const |
virtual unsigned int | getClipping () const |
virtual void | getPose (vpHomogeneousMatrix &cMo_) const |
virtual vpHomogeneousMatrix | getPose () const |
virtual void | initClick (const vpImage< unsigned char > &I, const std::string &initFile, const bool displayHelp=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix()) |
virtual void | initClick (const vpImage< unsigned char > &I, const std::vector< vpPoint > &points3D_list, const std::string &displayFile="") |
virtual void | initFromPoints (const vpImage< unsigned char > &I, const std::string &initFile) |
virtual void | initFromPoints (const vpImage< unsigned char > &I, const std::vector< vpImagePoint > &points2D_list, const std::vector< vpPoint > &points3D_list) |
virtual void | initFromPose (const vpImage< unsigned char > &I, const std::string &initFile) |
virtual void | initFromPose (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo) |
virtual void | initFromPose (const vpImage< unsigned char > &I, const vpPoseVector &cPo) |
Inherited functionalities from vpMbTracker | |
virtual double | getAngleAppear () const |
virtual double | getAngleDisappear () const |
virtual void | getCameraParameters (vpCameraParameters &camera) const |
virtual unsigned int | getClipping () const |
virtual vpMatrix | getCovarianceMatrix () const |
virtual double | getInitialMu () const |
virtual double | getLambda () const |
virtual unsigned int | getMaxIter () const |
virtual double | getProjectionError () const |
virtual vpColVector | getEstimatedDoF () const |
virtual double | getFarClippingDistance () const |
virtual double | getNearClippingDistance () const |
virtual vpMbtOptimizationMethod | getOptimizationMethod () const |
virtual void | getPose (vpHomogeneousMatrix &cMo_) const |
virtual vpHomogeneousMatrix | getPose () const |
virtual double | getStopCriteriaEpsilon () const |
virtual void | initClick (const vpImage< unsigned char > &I, const std::string &initFile, const bool displayHelp=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix()) |
virtual void | initClick (const vpImage< unsigned char > &I, const std::vector< vpPoint > &points3D_list, const std::string &displayFile="") |
virtual void | initFromPoints (const vpImage< unsigned char > &I, const std::string &initFile) |
virtual void | initFromPoints (const vpImage< unsigned char > &I, const std::vector< vpImagePoint > &points2D_list, const std::vector< vpPoint > &points3D_list) |
virtual void | initFromPose (const vpImage< unsigned char > &I, const std::string &initFile) |
virtual void | initFromPose (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo) |
virtual void | initFromPose (const vpImage< unsigned char > &I, const vpPoseVector &cPo) |
virtual void | setCovarianceComputation (const bool &flag) |
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 | setStopCriteriaEpsilon (const double eps) |
void | savePose (const std::string &filename) const |
void | setPoseSavingFilename (const std::string &filename) |
Protected Member Functions | |
virtual void | computeProjectionError () |
virtual void | computeVVS (std::map< std::string, const vpImage< unsigned char > * > &mapOfImages) |
virtual void | computeVVSInit () |
virtual void | computeVVSInit (std::map< std::string, const vpImage< unsigned char > * > &mapOfImages) |
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 void | initCircle (const vpPoint &p1, const vpPoint &p2, const vpPoint &p3, const double radius, const int idFace=0, const std::string &name="") |
virtual void | initCylinder (const vpPoint &p1, const vpPoint &p2, const double radius, const int idFace=0, const std::string &name="") |
virtual void | initFaceFromCorners (vpMbtPolygon &polygon) |
virtual void | initFaceFromLines (vpMbtPolygon &polygon) |
virtual void | preTracking (std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, std::map< std::string, pcl::PointCloud< pcl::PointXYZ >::ConstPtr > &mapOfPointClouds) |
virtual void | preTracking (std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, std::map< std::string, const std::vector< vpColVector > * > &mapOfPointClouds, std::map< std::string, unsigned int > &mapOfPointCloudWidths, std::map< std::string, unsigned int > &mapOfPointCloudHeights) |
virtual void | computeVVSWeights (vpRobust &robust, const vpColVector &error, vpColVector &w) |
Protected Member Functions Inherited from vpMbTracker | |
void | addPolygon (const std::vector< vpPoint > &corners, const int idFace=-1, const std::string &polygonName="", const bool useLod=false, const double minPolygonAreaThreshold=2500.0, const double minLineLengthThreshold=50.0) |
void | addPolygon (const vpPoint &p1, const vpPoint &p2, const vpPoint &p3, const double radius, const int idFace=-1, const std::string &polygonName="", const bool useLod=false, const double minPolygonAreaThreshold=2500.0) |
void | addPolygon (const vpPoint &p1, const vpPoint &p2, const int idFace=-1, const std::string &polygonName="", const bool useLod=false, const double minLineLengthThreshold=50) |
void | addPolygon (const std::vector< std::vector< vpPoint > > &listFaces, const int idFace=-1, const std::string &polygonName="", const bool useLod=false, const double minLineLengthThreshold=50) |
void | addProjectionErrorCircle (const vpPoint &P1, const vpPoint &P2, const vpPoint &P3, const double r, int idFace=-1, const std::string &name="") |
void | addProjectionErrorCylinder (const vpPoint &P1, const vpPoint &P2, const double r, int idFace=-1, const std::string &name="") |
void | addProjectionErrorLine (vpPoint &p1, vpPoint &p2, int polygon=-1, std::string name="") |
void | addProjectionErrorPolygon (const std::vector< vpPoint > &corners, const int idFace=-1, const std::string &polygonName="", const bool useLod=false, const double minPolygonAreaThreshold=2500.0, const double minLineLengthThreshold=50.0) |
void | addProjectionErrorPolygon (const vpPoint &p1, const vpPoint &p2, const vpPoint &p3, const double radius, const int idFace=-1, const std::string &polygonName="", const bool useLod=false, const double minPolygonAreaThreshold=2500.0) |
void | addProjectionErrorPolygon (const vpPoint &p1, const vpPoint &p2, const int idFace=-1, const std::string &polygonName="", const bool useLod=false, const double minLineLengthThreshold=50) |
void | addProjectionErrorPolygon (const std::vector< std::vector< vpPoint > > &listFaces, const int idFace=-1, const std::string &polygonName="", const bool useLod=false, const double minLineLengthThreshold=50) |
void | createCylinderBBox (const vpPoint &p1, const vpPoint &p2, const double &radius, std::vector< std::vector< vpPoint > > &listFaces) |
virtual void | computeCovarianceMatrixVVS (const bool isoJoIdentity_, const vpColVector &w_true, const vpHomogeneousMatrix &cMoPrev, const vpMatrix &L_true, const vpMatrix &LVJ_true, const vpColVector &error) |
void | computeJTR (const vpMatrix &J, const vpColVector &R, vpColVector &JTR) const |
double | computeProjectionErrorImpl (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &_cMo, const vpCameraParameters &_cam, unsigned int &nbFeatures) |
virtual void | computeVVSCheckLevenbergMarquardt (const unsigned int iter, vpColVector &error, const vpColVector &m_error_prev, const vpHomogeneousMatrix &cMoPrev, double &mu, bool &reStartFromLastIncrement, vpColVector *const w=NULL, const vpColVector *const m_w_prev=NULL) |
virtual void | computeVVSPoseEstimation (const bool isoJoIdentity_, const unsigned int iter, vpMatrix &L, vpMatrix <L, vpColVector &R, const vpColVector &error, vpColVector &error_prev, vpColVector <R, double &mu, vpColVector &v, const vpColVector *const w=NULL, vpColVector *const m_w_prev=NULL) |
virtual void | computeVVSWeights (vpRobust &robust, const vpColVector &error, vpColVector &w) |
virtual void | extractGroup (SoVRMLGroup *sceneGraphVRML2, vpHomogeneousMatrix &transform, int &idFace) |
virtual void | extractFaces (SoVRMLIndexedFaceSet *face_set, vpHomogeneousMatrix &transform, int &idFace, const std::string &polygonName="") |
virtual void | extractLines (SoVRMLIndexedLineSet *line_set, int &idFace, const std::string &polygonName="") |
virtual void | extractCylinders (SoVRMLIndexedFaceSet *face_set, vpHomogeneousMatrix &transform, int &idFace, const std::string &polygonName="") |
vpPoint | getGravityCenter (const std::vector< vpPoint > &_pts) const |
void | initProjectionErrorCircle (const vpPoint &p1, const vpPoint &p2, const vpPoint &p3, const double radius, const int idFace=0, const std::string &name="") |
void | initProjectionErrorCylinder (const vpPoint &p1, const vpPoint &p2, const double radius, const int idFace=0, const std::string &name="") |
void | initProjectionErrorFaceFromCorners (vpMbtPolygon &polygon) |
void | initProjectionErrorFaceFromLines (vpMbtPolygon &polygon) |
virtual void | loadVRMLModel (const std::string &modelFile) |
virtual void | loadCAOModel (const std::string &modelFile, std::vector< std::string > &vectorOfModelFilename, int &startIdFace, const bool verbose=false, const bool parent=true, const vpHomogeneousMatrix &T=vpHomogeneousMatrix()) |
void | projectionErrorInitMovingEdge (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &_cMo) |
void | projectionErrorResetMovingEdges () |
void | projectionErrorVisibleFace (const vpImage< unsigned char > &_I, const vpHomogeneousMatrix &_cMo) |
void | removeComment (std::ifstream &fileId) |
bool | parseBoolean (std::string &input) |
std::map< std::string, std::string > | parseParameters (std::string &endLine) |
std::string & | ltrim (std::string &s) const |
std::string & | rtrim (std::string &s) const |
std::string & | trim (std::string &s) const |
bool | samePoint (const vpPoint &P1, const vpPoint &P2) const |
Real-time 6D object pose tracking using its CAD model.
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.
This class allows tracking an object or a scene given its 3D model. More information in [Trinh18a]. A lot of videos can be found on YouTube VispTeam channel.
The Tutorial: Markerless generic model-based tracking using a color camera is a good starting point to use this class. If you want to track an object with a stereo camera refer to Tutorial: Markerless generic model-based tracking using a stereo camera. If you want rather use a RGB-D camera and exploit the depth information, you may see Tutorial: Markerless generic model-based tracking using a RGB-D camera. There is also Tutorial: Object detection and localization that shows how to initialize the tracker from an initial pose provided by a detection algorithm.
Definition at line 79 of file vpMbGenericTracker.h.
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Enumerator | |
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GAUSS_NEWTON_OPT | |
LEVENBERG_MARQUARDT_OPT |
Definition at line 112 of file vpMbTracker.h.
Definition at line 82 of file vpMbGenericTracker.h.
vpMbGenericTracker::vpMbGenericTracker | ( | ) |
Definition at line 42 of file vpMbGenericTracker.cpp.
References DEPTH_DENSE_TRACKER, DEPTH_NORMAL_TRACKER, EDGE_TRACKER, KLT_TRACKER, m_mapOfCameraTransformationMatrix, m_mapOfFeatureFactors, and m_mapOfTrackers.
vpMbGenericTracker::vpMbGenericTracker | ( | const unsigned int | nbCameras, |
const int | trackerType = EDGE_TRACKER |
||
) |
Definition at line 62 of file vpMbGenericTracker.cpp.
References DEPTH_DENSE_TRACKER, DEPTH_NORMAL_TRACKER, EDGE_TRACKER, vpTrackingException::fatalError, KLT_TRACKER, m_mapOfCameraTransformationMatrix, m_mapOfFeatureFactors, m_mapOfTrackers, and m_referenceCameraName.
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explicit |
Definition at line 98 of file vpMbGenericTracker.cpp.
References vpException::badValue, DEPTH_DENSE_TRACKER, DEPTH_NORMAL_TRACKER, EDGE_TRACKER, KLT_TRACKER, m_mapOfCameraTransformationMatrix, m_mapOfFeatureFactors, m_mapOfTrackers, and m_referenceCameraName.
vpMbGenericTracker::vpMbGenericTracker | ( | const std::vector< std::string > & | cameraNames, |
const std::vector< int > & | trackerTypes | ||
) |
Definition at line 136 of file vpMbGenericTracker.cpp.
References vpException::badValue, DEPTH_DENSE_TRACKER, DEPTH_NORMAL_TRACKER, EDGE_TRACKER, KLT_TRACKER, m_mapOfCameraTransformationMatrix, m_mapOfFeatureFactors, m_mapOfTrackers, and m_referenceCameraName.
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Definition at line 167 of file vpMbGenericTracker.cpp.
References m_mapOfTrackers.
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protectedinherited |
Definition at line 1088 of file vpMbTracker.cpp.
References vpPolygon3D::addPoint(), vpMbHiddenFaces< PolygonType >::addPolygon(), vpMbTracker::clippingFlag, vpMbTracker::distFarClip, vpMbTracker::distNearClip, vpMbTracker::faces, vpPolygon3D::FAR_CLIPPING, vpMbHiddenFaces< PolygonType >::getPolygon(), vpMbTracker::minPolygonAreaThresholdGeneral, vpPolygon3D::NEAR_CLIPPING, vpPolygon3D::NO_CLIPPING, vpMbtPolygon::setIndex(), vpMbtPolygon::setIsPolygonOriented(), vpMbtPolygon::setLod(), vpMbtPolygon::setMinLineLengthThresh(), vpMbtPolygon::setMinPolygonAreaThresh(), vpMbtPolygon::setName(), and vpPolygon3D::setNbPoint().
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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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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 2444 of file vpMbTracker.cpp.
References vpMbTracker::computeCovariance, vpMatrix::computeCovarianceMatrixVVS(), and vpMbTracker::covarianceMatrix.
Referenced by vpMbDepthDenseTracker::computeVVS(), vpMbDepthNormalTracker::computeVVS(), vpMbKltMultiTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), and 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 from vpMbTracker.
Definition at line 193 of file vpMbGenericTracker.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 219 of file vpMbGenericTracker.cpp.
References vpMbTracker::computeProjError, vpMath::deg(), m_mapOfTrackers, vpMbTracker::projectionError, and vpMath::rad().
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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 248 of file vpMbGenericTracker.cpp.
References vpMatrix::AtA(), vpVelocityTwistMatrix::buildFrom(), vpMbTracker::cMo, vpMbTracker::computeCovariance, vpMbTracker::computeCovarianceMatrixVVS(), vpMbTracker::computeVVSCheckLevenbergMarquardt(), computeVVSInit(), computeVVSInteractionMatrixAndResidu(), vpMbTracker::computeVVSPoseEstimation(), computeVVSWeights(), DEPTH_DENSE_TRACKER, DEPTH_NORMAL_TRACKER, vpExponentialMap::direct(), EDGE_TRACKER, vpMatrix::eye(), vpException::fatalError, vpArray2D< Type >::getCols(), vpArray2D< Type >::getRows(), vpHomogeneousMatrix::inverse(), KLT_TRACKER, m_error, vpMbTracker::m_initialMu, m_L, m_mapOfCameraTransformationMatrix, m_mapOfFeatureFactors, m_mapOfTrackers, vpMbTracker::m_maxIter, vpMbTracker::m_stopCriteriaEpsilon, m_weightedError, 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(), vpMbEdgeKltMultiTracker::computeVVS(), and computeVVS().
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Implements vpMbTracker.
Definition at line 472 of file vpMbGenericTracker.cpp.
References vpException::fatalError.
Referenced by computeVVS().
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Definition at line 477 of file vpMbGenericTracker.cpp.
References m_error, m_L, m_mapOfTrackers, m_w, m_weightedError, vpArray2D< Type >::resize(), and vpColVector::resize().
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Implements vpMbTracker.
Definition at line 497 of file vpMbGenericTracker.cpp.
References vpException::fatalError.
Referenced by computeVVS().
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Definition at line 504 of file vpMbGenericTracker.cpp.
References vpMbTracker::cMo, vpColVector::insert(), vpMatrix::insert(), vpHomogeneousMatrix::inverse(), m_error, m_L, m_mapOfCameraTransformationMatrix, and m_mapOfTrackers.
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Definition at line 2546 of file vpMbTracker.cpp.
References vpVelocityTwistMatrix::buildFrom(), vpMbTracker::cMo, vpMbTracker::computeJTR(), vpMatrix::eye(), vpMbTracker::GAUSS_NEWTON_OPT, vpArray2D< Type >::getCols(), vpArray2D< Type >::getRows(), vpMbTracker::LEVENBERG_MARQUARDT_OPT, vpMbTracker::m_lambda, vpMbTracker::m_optimizationMethod, vpMbTracker::oJo, and vpMatrix::pseudoInverse().
Referenced by vpMbDepthDenseTracker::computeVVS(), vpMbDepthNormalTracker::computeVVS(), vpMbKltMultiTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), and computeVVS().
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Definition at line 529 of file vpMbGenericTracker.cpp.
References vpColVector::insert(), m_mapOfTrackers, and m_w.
Referenced by computeVVS().
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Definition at line 2609 of file vpMbTracker.cpp.
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Definition at line 2609 of file vpMbTracker.cpp.
References vpRobust::MEstimator(), and vpRobust::TUKEY.
Referenced by vpMbDepthNormalTracker::computeVVS(), vpMbKltMultiTracker::computeVVSWeights(), and vpMbEdgeKltMultiTracker::computeVVSWeights().
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Definition at line 2665 of file vpMbTracker.cpp.
References vpException::badValue, vpColVector::clear(), vpColVector::crossProd(), vpColVector::euclideanNorm(), vpPoint::get_oX(), vpPoint::get_oY(), vpPoint::get_oZ(), and vpColVector::normalize().
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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). |
Definition at line 672 of file vpMbGenericTracker.cpp.
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Display the 3D model from a given position of the camera.
mapOfImages | : Map of color images. |
mapOfCameraPoses | : Map of camera poses. |
mapOfCameraParameters | : Map of camera parameters. |
col | : The desired color. |
thickness | : The thickness of the lines. |
displayFullModel | : If true, the full model is displayed (even the non visible faces). |
Definition at line 705 of file vpMbGenericTracker.cpp.
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Display the 3D model from a given position of the camera.
I | : The grayscale image. |
cMo_ | : Pose used to project the 3D model into the image. |
cam_ | : The camera parameters. |
col | : The desired color. |
thickness | : The thickness of the lines. |
displayFullModel | : If true, the full model is displayed (even the non visible faces). |
Implements vpMbTracker.
Definition at line 556 of file vpMbGenericTracker.cpp.
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Display the 3D model from a given position of the camera.
I1 | : The first grayscale image. |
I2 | : The second grayscale image. |
c1Mo | : Pose used to project the 3D model into the first image. |
c2Mo | : Pose used to project the 3D model into the second image. |
cam1 | : The first camera parameters. |
cam2 | : The second camera parameters. |
color | : The desired color. |
thickness | : The thickness of the lines. |
displayFullModel | : If true, the full model is displayed (even the non visible faces). |
Definition at line 611 of file vpMbGenericTracker.cpp.
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Display the 3D model from a given position of the camera.
I | : The color image. |
cMo_ | : Pose used to project the 3D model into the image. |
cam_ | : The camera parameters. |
col | : The desired color. |
thickness | : The thickness of the lines. |
displayFullModel | : If true, the full model is displayed (even the non visible faces). |
Implements vpMbTracker.
Definition at line 582 of file vpMbGenericTracker.cpp.
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Display the 3D model from a given position of the camera.
I1 | : The first color image. |
I2 | : The second color image. |
c1Mo | : Pose used to project the 3D model into the first image. |
c2Mo | : Pose used to project the 3D model into the second image. |
cam1 | : The first camera parameters. |
cam2 | : The second camera parameters. |
color | : The desired color. |
thickness | : The thickness of the lines. |
displayFullModel | : If true, the full model is displayed (even the non visible faces). |
Definition at line 644 of file vpMbGenericTracker.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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Get the camera names.
Definition at line 732 of file vpMbGenericTracker.cpp.
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Get all the camera parameters.
mapOfCameraParameters | : Map of camera parameters. |
Definition at line 771 of file vpMbGenericTracker.cpp.
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Get all the camera parameters.
cam1 | : Copy of the camera parameters for the first camera. |
cam2 | : Copy of the camera parameters for the second camera. |
Definition at line 752 of file vpMbGenericTracker.cpp.
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inline |
Get the camera parameters.
camera | : copy of the camera parameters used by the tracker. |
Definition at line 247 of file vpMbTracker.h.
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inlinevirtualinherited |
Get the camera parameters.
camera | : copy of the camera parameters used by the tracker. |
Reimplemented in vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.
Definition at line 247 of file vpMbTracker.h.
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Get the camera tracker types.
Definition at line 790 of file vpMbGenericTracker.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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Get the clipping used and defined in vpPolygon3D::vpMbtPolygonClippingType.
mapOfClippingFlags | : Map of clipping flags. |
Definition at line 831 of file vpMbGenericTracker.cpp.
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Get the clipping used and defined in vpPolygon3D::vpMbtPolygonClippingType.
clippingFlag1 | : Clipping flags for the first camera. |
clippingFlag2 | : Clipping flags for the second camera. |
Definition at line 812 of file vpMbGenericTracker.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.
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inlinevirtual |
Return the error vector reached after the virtual visual servoing process used to estimate the pose.
The following example shows how to use this function to compute the norm of the residual and the norm of the residual normalized by the number of features that are tracked:
Implements vpMbTracker.
Definition at line 135 of file vpMbGenericTracker.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 vpMbTracker.
Definition at line 847 of file vpMbGenericTracker.cpp.
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virtual |
Return a reference to the faces structure for the given camera name.
Definition at line 863 of file vpMbGenericTracker.cpp.
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inlinevirtualinherited |
Get the far distance for clipping.
Definition at line 338 of file vpMbTracker.h.
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virtual |
Return the address of the circle feature list for the reference camera.
Definition at line 878 of file vpMbGenericTracker.cpp.
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virtual |
Return the address of the Klt feature list for the reference camera.
Definition at line 908 of file vpMbGenericTracker.cpp.
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virtual |
Return the address of the cylinder feature list for the reference camera.
Definition at line 893 of file vpMbGenericTracker.cpp.
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virtual |
Definition at line 930 of file vpMbGenericTracker.cpp.
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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.
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virtual |
Get the current list of KLT points for the reference camera.
Definition at line 941 of file vpMbGenericTracker.cpp.
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virtual |
Get the current list of KLT points and their id for the reference camera.
Definition at line 962 of file vpMbGenericTracker.cpp.
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virtual |
Get the erosion of the mask used on the Model faces.
Definition at line 980 of file vpMbGenericTracker.cpp.
|
virtual |
Get number of KLT points for the reference camera.
Definition at line 998 of file vpMbGenericTracker.cpp.
|
virtual |
Get the klt tracker at the current state for the reference camera.
Definition at line 1016 of file vpMbGenericTracker.cpp.
|
virtual |
Get the klt tracker at the current state.
mapOfKlts | : Map if klt trackers. |
Definition at line 1058 of file vpMbGenericTracker.cpp.
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virtual |
Get the klt tracker at the current state.
klt1 | : Klt tracker for the first camera. |
klt2 | : Klt tracker for the second camera. |
Definition at line 1039 of file vpMbGenericTracker.cpp.
|
virtual |
Get the current list of KLT points for the reference camera.
Definition at line 1075 of file vpMbGenericTracker.cpp.
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virtual |
Get the threshold for the acceptation of a point.
Definition at line 1095 of file vpMbGenericTracker.cpp.
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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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virtual |
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. |
circlesList | : The list of the circles of the model. |
level | : Level corresponding to the list to return. |
Definition at line 1134 of file vpMbGenericTracker.cpp.
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virtual |
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. |
circlesList | : The list of the circles of the model. |
level | : Level corresponding to the list to return. |
Definition at line 1110 of file vpMbGenericTracker.cpp.
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virtual |
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. |
cylindersList | : The list of the cylinders of the model. |
level | : Level corresponding to the list to return. |
Definition at line 1181 of file vpMbGenericTracker.cpp.
|
virtual |
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. |
cylindersList | : The list of the cylinders of the model. |
level | : Level corresponding to the list to return. |
Definition at line 1157 of file vpMbGenericTracker.cpp.
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virtual |
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. |
linesList | : The list of the lines of the model. |
level | : Level corresponding to the list to return. |
Definition at line 1229 of file vpMbGenericTracker.cpp.
|
virtual |
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. |
linesList | : The list of the lines of the model. |
level | : Level corresponding to the list to return. |
Definition at line 1204 of file vpMbGenericTracker.cpp.
|
inlinevirtualinherited |
Get the maximum number of iterations of the virtual visual servoing stage.
Definition at line 297 of file vpMbTracker.h.
|
virtual |
Get the moving edge parameters for the reference camera.
Definition at line 1245 of file vpMbGenericTracker.cpp.
|
virtual |
Get the moving edge parameters for all the cameras
mapOfMovingEdges | : Map of moving edge parameters for all the cameras. |
Definition at line 1285 of file vpMbGenericTracker.cpp.
Get the moving edge parameters.
me1 | : Moving edge parameters for the first camera. |
me2 | : Moving edge parameters for the second camera. |
Definition at line 1266 of file vpMbGenericTracker.cpp.
|
virtual |
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. |
Definition at line 1311 of file vpMbGenericTracker.cpp.
|
virtual |
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.
mapOfNbPoints | : Map of number of good points (vpMeSite) tracked for all the cameras. |
level | : Pyramid level to consider. |
vpException::dimensionError | if level does not represent a used level. |
Definition at line 1340 of file vpMbGenericTracker.cpp.
|
inlinevirtual |
Get the number of polygons (faces) representing the object to track.
Reimplemented from vpMbTracker.
Definition at line 1356 of file vpMbGenericTracker.cpp.
|
virtual |
Get the number of polygons (faces) representing the object to track.
Definition at line 1372 of file vpMbGenericTracker.cpp.
|
inlinevirtualinherited |
Get the near distance for clipping.
Reimplemented in vpMbEdgeKltTracker.
Definition at line 374 of file vpMbTracker.h.
|
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.
|
virtual |
Return the polygon (face) "index" for the specified camera.
vpException::dimensionError | if index does not represent a good polygon. |
cameraName | : Name of the camera to return the polygon. |
index | : Index of the polygon to return. |
Definition at line 1415 of file vpMbGenericTracker.cpp.
|
virtual |
Return the polygon (face) "index" for the reference camera.
vpException::dimensionError | if index does not represent a good polygon. |
index | : Index of the polygon to return. |
Reimplemented from vpMbTracker.
Definition at line 1393 of file vpMbGenericTracker.cpp.
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virtual |
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 from vpMbTracker.
Definition at line 1442 of file vpMbGenericTracker.cpp.
References m_mapOfTrackers, and m_referenceCameraName.
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virtual |
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.
mapOfPolygons | : Map of 2D polygon faces. |
mapOfPoints | : Map of face 3D points. |
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. |
Definition at line 1474 of file vpMbGenericTracker.cpp.
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inline |
Get the current pose between the object and the camera. cMo is the matrix which can be used to express coordinates from the object frame to camera frame.
Definition at line 422 of file vpMbTracker.h.
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inlinevirtualinherited |
Get the current pose between the object and the camera. cMo is the matrix which can be used to express coordinates from the object frame to camera frame.
Definition at line 422 of file vpMbTracker.h.
|
virtual |
Get the current pose between the object and the cameras.
mapOfCameraPoses | : The map of camera poses for all the cameras. |
Definition at line 1519 of file vpMbGenericTracker.cpp.
|
virtual |
Get the current pose between the object and the cameras.
c1Mo | : The camera pose for the first camera. |
c2Mo | : The camera pose for the second camera. |
Definition at line 1500 of file vpMbGenericTracker.cpp.
|
inline |
Get the current pose between the object and the camera. cMo is the matrix which can be used to express coordinates from the object frame to camera frame.
cMo_ | : the pose |
Definition at line 413 of file vpMbTracker.h.
|
inlinevirtualinherited |
Get the current pose between the object and the camera. cMo is the matrix which can be used to express coordinates from the object frame to camera frame.
cMo_ | : the pose |
Definition at line 413 of file vpMbTracker.h.
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inlinevirtualinherited |
Get the error angle between the gradient direction of the model features projected at the resulting pose and their normal. The error is expressed in degree between 0 and 90. This value is computed if setProjectionErrorComputation() is turned on.
Definition at line 309 of file vpMbTracker.h.
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inlinevirtual |
Return the weights vector computed by the robust scheme.
The following example shows how to use this function to compute the norm of the weighted residual and the norm of the weighted residual normalized by the sum of the weights associated to the features that are tracked:
Implements vpMbTracker.
Definition at line 200 of file vpMbGenericTracker.h.
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inlinevirtualinherited |
Definition at line 424 of file vpMbTracker.h.
|
virtual |
The tracker type for the reference camera.
Definition at line 1534 of file vpMbGenericTracker.cpp.
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virtual |
Initialise the tracking.
I | : Input image. |
Implements vpMbTracker.
Definition at line 1546 of file vpMbGenericTracker.cpp.
References vpMbTracker::cMo, vpHomogeneousMatrix::init(), m_mapOfCameraTransformationMatrix, and m_mapOfTrackers.
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protectedvirtual |
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 | : A point on the plane containing the circle. |
p3 | : An other point on the plane containing the circle. With the center of the circle p1, p2 and p3 we have 3 points defining the plane that contains the circle. |
radius | : Radius of the circle. |
idFace | : Id of the face associated to the circle. |
name | : Name of the circle. |
Implements vpMbTracker.
Definition at line 1556 of file vpMbGenericTracker.cpp.
References vpException::fatalError.
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virtual |
Initialise the tracker by clicking in the reference image on the pixels that correspond to the 3D points whose coordinates are extracted from a file. In this file, comments starting with # character are allowed. Notice that 3D point coordinates are expressed in meter in the object frame with their X, Y and Z values.
The structure of this file is the following:
The cameras that have not an init file will be automatically initialized but the camera transformation matrices have to be set before.
mapOfImages | : Map of images. |
mapOfInitFiles | : Map of files containing the points where to click for each camera. |
displayHelp | : 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. |
mapOfT | : optional map of transformation matrices to transform 3D points in mapOfInitFiles expressed in the original object frame to the desired object frame (if the init points are expressed in the same object frame which should be the case most of the time, all the transformation matrices are identical). |
vpException::ioError | : The file specified in initFile doesn't exist. |
Definition at line 1674 of file vpMbGenericTracker.cpp.
void vpMbTracker::initClick |
Initialise the tracker by clicking in the image on the pixels that correspond to the 3D points whose coordinates are extracted from a file. In this file, comments starting with # character are allowed. Notice that 3D point coordinates are expressed in meter in the object frame with their X, Y and Z values.
The structure of this file is the following:
I | : Input image where the user has to click. |
initFile | : File containing the coordinates of at least 4 3D points the user has to click in the image. This file should have .init extension (ie teabox.init). |
displayHelp | : Optionnal display of an image (.ppm, .pgm, .jpg, .jpeg, .png) that should have the same generic name as the init file (ie teabox.ppm). This image may be used to show where to click. This functionality is only available if visp_io module is used. |
T | : optional transformation matrix to transform 3D points expressed in the original object frame to the desired object frame. |
vpException::ioError | : The file specified in initFile doesn't exist. |
Definition at line 222 of file vpMbTracker.cpp.
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virtualinherited |
Initialise the tracker by clicking in the image on the pixels that correspond to the 3D points whose coordinates are extracted from a file. In this file, comments starting with # character are allowed. Notice that 3D point coordinates are expressed in meter in the object frame with their X, Y and Z values.
The structure of this file is the following:
I | : Input image where the user has to click. |
initFile | : File containing the coordinates of at least 4 3D points the user has to click in the image. This file should have .init extension (ie teabox.init). |
displayHelp | : Optionnal display of an image (.ppm, .pgm, .jpg, .jpeg, .png) that should have the same generic name as the init file (ie teabox.ppm). This image may be used to show where to click. This functionality is only available if visp_io module is used. |
T | : optional transformation matrix to transform 3D points expressed in the original object frame to the desired object frame. |
vpException::ioError | : The file specified in initFile doesn't exist. |
Reimplemented in vpMbEdgeMultiTracker, vpMbKltMultiTracker, and vpMbEdgeKltMultiTracker.
Definition at line 222 of file vpMbTracker.cpp.
void vpMbTracker::initClick |
Initialise the tracker by clicking in the image on the pixels that correspond to the 3D points whose coordinates are given in points3D_list.
I | : Input image where the user has to click. |
points3D_list | : List of at least 4 3D points with coordinates expressed in meters in the object frame. |
displayFile | : Path to the image used to display the help. This image may be used to show where to click. This functionality is only available if visp_io module is used. |
Definition at line 485 of file vpMbTracker.cpp.
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virtualinherited |
Initialise the tracker by clicking in the image on the pixels that correspond to the 3D points whose coordinates are given in points3D_list.
I | : Input image where the user has to click. |
points3D_list | : List of at least 4 3D points with coordinates expressed in meters in the object frame. |
displayFile | : Path to the image used to display the help. This image may be used to show where to click. This functionality is only available if visp_io module is used. |
Reimplemented in vpMbEdgeMultiTracker, vpMbKltMultiTracker, and vpMbEdgeKltMultiTracker.
Definition at line 485 of file vpMbTracker.cpp.
|
virtual |
Initialise the tracker by clicking in the reference image on the pixels that correspond to the 3D points whose coordinates are extracted from a file. In this file, comments starting with # character are allowed. Notice that 3D point coordinates are expressed in meter in the object frame with their X, Y and Z values.
The structure of this file is the following:
I1 | : Input image for the first camera. |
I2 | : Input image for the second camera. |
initFile1 | : File containing the coordinates of at least 4 3D points the user has to click in the image acquired by the first camera. This file should have .init extension (ie teabox.init). |
initFile2 | : File containing the coordinates of at least 4 3D points the user has to click in the image acquired by the second camera. This file should have .init extension. |
displayHelp | : Optionnal display of an image that should have the same generic name as the init file (ie teabox.ppm). This image may be used to show where to click. This functionality is only available if visp_io module is used. |
T1 | : optional transformation matrix to transform 3D points in initFile1 expressed in the original object frame to the desired object frame. |
T2 | : optional transformation matrix to transform 3D points in initFile2 expressed in the original object frame to the desired object frame (T2==T1 if the init points are expressed in the same object frame which should be the case most of the time). |
vpException::ioError | : The file specified in initFile doesn't exist. |
Definition at line 1606 of file vpMbGenericTracker.cpp.
|
protectedvirtual |
Add a cylinder to track from two points on the axis (defining the length of the cylinder) and its radius.
p1 | : First point on the axis. |
p2 | : Second point on the axis. |
radius | : Radius of the cylinder. |
idFace | : Id of the face associated to the cylinder. |
name | : Name of the cylinder. |
Implements vpMbTracker.
Definition at line 1735 of file vpMbGenericTracker.cpp.
References vpException::fatalError.
|
protectedvirtual |
Add the lines to track from the polygon description. If the polygon has only two points, it defines a single line that is always visible. If it has three or more corners, it defines a face. In that case the visibility of the face is computed in order to track the corresponding lines only if the face is visible.
The id of the polygon is supposed to be set prior calling this function.
polygon | : The polygon describing the set of lines that has to be tracked. |
Implements vpMbTracker.
Definition at line 1741 of file vpMbGenericTracker.cpp.
References vpException::fatalError.
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protectedvirtual |
Implements vpMbTracker.
Definition at line 1746 of file vpMbGenericTracker.cpp.
References vpException::fatalError.
|
virtual |
Definition at line 1811 of file vpMbGenericTracker.cpp.
References vpMbTracker::cMo, vpTrackingException::initializationError, m_mapOfCameraTransformationMatrix, m_mapOfTrackers, and m_referenceCameraName.
void vpMbTracker::initFromPoints |
Initialise the tracker by reading 3D point coordinates and the corresponding 2D image point coordinates from a file. Comments starting with # character are allowed. 3D point coordinates are expressed in meter in the object frame with X, Y and Z values. 2D point coordinates are expressied in pixel coordinates, with first the line and then the column of the pixel in the image. The structure of this file is the following.
I | : Input image |
initFile | : Path to the file containing all the points. |
Definition at line 627 of file vpMbTracker.cpp.
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virtualinherited |
Initialise the 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.
void vpMbTracker::initFromPoints |
Initialise the tracking with the list of image points (points2D_list) and the list of corresponding 3D points (object frame) (points3D_list).
I | : Input image |
points2D_list | : List of image points. |
points3D_list | : List of 3D points (object frame). |
Definition at line 776 of file vpMbTracker.cpp.
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virtualinherited |
Initialise the tracking 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.
|
virtual |
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.
I1 | : Input image for the first camera. |
I2 | : Input image for the second camera. |
initFile1 | : Path to the file containing all the points for the first camera. |
initFile2 | : Path to the file containing all the points for the second camera. |
Definition at line 1780 of file vpMbGenericTracker.cpp.
|
virtual |
Initialise the tracking thanks to the pose in vpPoseVector format, and read in the file initFile.
mapOfImages | : Map of images. |
mapOfInitPoses | : Map of init pose files. |
Definition at line 1918 of file vpMbGenericTracker.cpp.
|
virtual |
Initialize the tracking thanks to the pose.
mapOfImages | : Map of images. |
mapOfCameraPoses | : Map of pose matrix. |
Definition at line 2010 of file vpMbGenericTracker.cpp.
void vpMbTracker::initFromPose |
Initialise the tracking thanks to the pose in vpPoseVector format, and read in the file initFile. The structure of this file is (without the comments):
Where the three firsts lines refer to the translation and the three last to the rotation in thetaU parametrisation (see vpThetaUVector).
I | : Input image |
initFile | : Path to the file containing the pose. |
Definition at line 841 of file vpMbTracker.cpp.
|
virtualinherited |
Initialise the tracking thanks to the pose in vpPoseVector format, and read in the file initFile. The structure of this file is (without the comments):
Where the three firsts lines refer to the translation and the three last to the rotation in thetaU parametrisation (see vpThetaUVector).
I | : Input image |
initFile | : Path to the file containing the pose. |
Reimplemented in vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.
Definition at line 841 of file vpMbTracker.cpp.
Referenced by vpMbDepthDenseTracker::reInitModel(), and vpMbDepthNormalTracker::reInitModel().
void vpMbTracker::initFromPose |
Initialise the tracking thanks to the pose.
I | : Input image |
cMo_ | : Pose matrix. |
Definition at line 876 of file vpMbTracker.cpp.
|
virtualinherited |
Initialise the tracking thanks to the pose.
I | : Input image |
cMo_ | : Pose matrix. |
Reimplemented in vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.
Definition at line 876 of file vpMbTracker.cpp.
void vpMbTracker::initFromPose |
Initialise the tracking thanks to the pose vector.
I | : Input image |
cPo | : Pose vector. |
Definition at line 888 of file vpMbTracker.cpp.
|
virtualinherited |
Initialise the tracking thanks to the pose vector.
I | : Input image |
cPo | : Pose vector. |
Reimplemented in vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.
Definition at line 888 of file vpMbTracker.cpp.
|
virtual |
Initialise the tracking thanks to the pose in vpPoseVector format, and read in the file initFile.
I1 | : Input image for the first camera. |
I2 | : Input image for the second camera. |
initFile1 | : Init pose file for the first camera. |
initFile2 | : Init pose file for the second camera. |
Definition at line 1873 of file vpMbGenericTracker.cpp.
|
virtual |
Initialize the tracking thanks to the pose.
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. |
Definition at line 1979 of file vpMbGenericTracker.cpp.
|
protectedinherited |
Definition at line 3060 of file vpMbTracker.cpp.
References vpMbTracker::addProjectionErrorCircle().
|
protectedinherited |
Definition at line 3066 of file vpMbTracker.cpp.
References vpMbTracker::addProjectionErrorCylinder().
|
protectedinherited |
Definition at line 3072 of file vpMbTracker.cpp.
References vpMbTracker::addProjectionErrorLine(), vpMbtPolygon::getIndex(), vpMbtPolygon::getName(), vpPolygon3D::getNbPoint(), and vpPolygon3D::p.
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protectedinherited |
Definition at line 3082 of file vpMbTracker.cpp.
References vpMbTracker::addProjectionErrorLine(), vpMbtPolygon::getIndex(), vpMbtPolygon::getName(), vpPolygon3D::getNbPoint(), and vpPolygon3D::p.
|
protectedvirtualinherited |
Load a 3D model contained in a *.cao file.
Since ViSP 2.9.1, lines starting with # character are considered as comments. It is also possible to add comment at the end of the lines. No specific character is requested before the comment. In the following example we use "//" but it could be an other character.
Since ViSP 2.9.1, circles are supported.
The structure of the file is :
modelFile | : Full name of the main *.cao file containing the model. |
vectorOfModelFilename | : A vector of *.cao files. |
startIdFace | : Current Id of the face. |
verbose | : If true, will print additional information with CAO model files which include other CAO model files. |
parent | : This parameter is set to true when parsing a parent CAO model file, and false when parsing an included CAO model file. |
T | : optional transformation matrix (currently only for .cao) to transform 3D points expressed in the original object frame to the desired object frame. |
Definition at line 1371 of file vpMbTracker.cpp.
|
virtual |
Load the xml configuration files. From the configuration file initialize the parameters corresponding to the objects: tracking parameters, camera intrinsic parameters.
mapOfConfigFiles | : Map of xml files. |
Definition at line 2147 of file vpMbGenericTracker.cpp.
|
virtual |
Load the xml configuration file. From the configuration file initialize the parameters corresponding to the objects: tracking parameters, camera intrinsic parameters.
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. |
Reimplemented from vpMbTracker.
Definition at line 2076 of file vpMbGenericTracker.cpp.
|
virtual |
Load the xml configuration files. From the configuration file initialize the parameters corresponding to the objects: tracking parameters, camera intrinsic parameters.
configFile1 | : Full name of the xml file for the first camera. |
configFile2 | : Full name of the xml file for the second camera. |
Definition at line 2109 of file vpMbGenericTracker.cpp.
|
virtual |
Load a 3D model from the file in parameter. This file must either be a vrml file (.wrl) or a CAO file (.cao). CAO format is described in the loadCAOModel() method.
vpException::ioError | if the file cannot be open, or if its extension is not wrl or cao. |
mapOfModelFiles | : map of files containing 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. |
mapOfT | : optional map of transformation matrices (currently only for .cao) to transform 3D points in mapOfModelFiles expressed in the original object frame to the desired object frame (if the models have the same object frame which should be the case most of the time, all the transformation matrices are identical). |
Definition at line 2298 of file vpMbGenericTracker.cpp.
|
virtual |
Load a 3D model from the file in parameter. This file must either be a vrml file (.wrl) or a CAO file (.cao). CAO format is described in the loadCAOModel() method.
vpException::ioError | if the file cannot be open, or if its extension is not wrl or cao. |
modelFile | : the file containing the 3D model description. The extension of this file is either .wrl or .cao. |
verbose | : verbose option to print additional information when loading CAO model files which include other CAO model files. |
T | : optional transformation matrix (currently only for .cao) to transform 3D points expressed in the original object frame to the desired object frame. |
Reimplemented from vpMbTracker.
Definition at line 2208 of file vpMbGenericTracker.cpp.
|
virtual |
Load a 3D model from the file in parameter. This file must either be a vrml file (.wrl) or a CAO file (.cao). CAO format is described in the loadCAOModel() method.
vpException::ioError | if the file cannot be open, or if its extension is not wrl or cao. |
modelFile1 | : the file containing the 3D model description for the first camera. The extension of this file is either .wrl or .cao. |
modelFile2 | : the file containing the the 3D model description for the second camera. 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. |
T1 | : optional transformation matrix (currently only for .cao) to transform 3D points in modelFile1 expressed in the original object frame to the desired object frame. |
T2 | : optional transformation matrix (currently only for .cao) to transform 3D points in modelFile2 expressed in the original object frame to the desired object frame ( T2==T1 if the two models have the same object frame which should be the case most of the time). |
Definition at line 2251 of file vpMbGenericTracker.cpp.
|
protectedvirtualinherited |
Load the 3D model of the object from a vrml file. Only LineSet and FaceSet are extracted from the vrml file.
vpException::fatalError | if the file cannot be open. |
modelFile | : The full name of the file containing the 3D model. |
Definition at line 1208 of file vpMbTracker.cpp.
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inlineprotectedinherited |
Definition at line 859 of file vpMbTracker.h.
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inlineprotectedinherited |
Definition at line 846 of file vpMbTracker.h.
|
protectedinherited |
Definition at line 1269 of file vpMbTracker.cpp.
References vpMbTracker::mapOfParameterNames, and vpMbTracker::trim().
|
protectedvirtual |
Definition at line 2332 of file vpMbGenericTracker.cpp.
References m_mapOfTrackers.
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protectedvirtual |
Definition at line 2321 of file vpMbGenericTracker.cpp.
References m_mapOfTrackers.
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protectedinherited |
Definition at line 3299 of file vpMbTracker.cpp.
References vpMbtDistanceCircle::hiddenface, vpMbtDistanceLine::hiddenface, vpMbtDistanceCylinder::hiddenface, vpMbtDistanceCircle::index_polygon, vpMbtDistanceCylinder::index_polygon, vpMbtDistanceCircle::initMovingEdge(), vpMbtDistanceLine::initMovingEdge(), vpMbtDistanceCylinder::initMovingEdge(), vpMbtDistanceCircle::isTracked(), vpMbtDistanceLine::isTracked(), vpMbtDistanceCylinder::isTracked(), vpMbHiddenFaces< PolygonType >::isVisible(), vpMbtDistanceLine::Lindex_polygon, vpMbTracker::m_mask, vpMbTracker::m_projectionErrorCircles, vpMbTracker::m_projectionErrorCylinders, vpMbTracker::m_projectionErrorLines, vpMbtDistanceCircle::meEllipse, vpMbtDistanceLine::meline, vpMbtDistanceCylinder::meline1, vpMbtDistanceCylinder::meline2, vpMbtDistanceCircle::nbFeature, vpMbtDistanceLine::nbFeature, vpMbtDistanceCylinder::nbFeature, vpMbtDistanceCylinder::nbFeaturel1, vpMbtDistanceCylinder::nbFeaturel2, vpMbtDistanceLine::nbFeatureTotal, vpMbtDistanceCircle::setVisible(), vpMbtDistanceLine::setVisible(), vpMbtDistanceCylinder::setVisible(), and vpMbtDistanceLine::updateTracked().
Referenced by vpMbTracker::computeProjectionErrorImpl().
|
protectedinherited |
Definition at line 3259 of file vpMbTracker.cpp.
References vpMbTracker::m_projectionErrorCircles, vpMbTracker::m_projectionErrorCylinders, and vpMbTracker::m_projectionErrorLines.
Referenced by vpMbTracker::computeProjectionErrorImpl().
|
protectedinherited |
Definition at line 3244 of file vpMbTracker.cpp.
References vpMbTracker::angleAppears, vpMbTracker::angleDisappears, vpMbTracker::m_projectionErrorCam, vpMbTracker::m_projectionErrorFaces, vpMbHiddenFaces< PolygonType >::setVisible(), vpMbHiddenFaces< PolygonType >::setVisibleOgre(), and vpMbTracker::useOgre.
Referenced by vpMbTracker::computeProjectionErrorImpl().
|
virtual |
Re-initialize the model used by the tracker.
mapOfImages | : Map of images. |
mapOfModelFiles | : Map of model files. |
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. |
mapOfT | : optional map of transformation matrices (currently only for .cao) to transform 3D points in mapOfModelFiles expressed in the original object frame to the desired object frame (if the models have the same object frame which should be the case most of the time, all the transformation matrices are identical). |
Definition at line 2440 of file vpMbGenericTracker.cpp.
|
virtual |
Re-initialize the model used by the tracker.
I | : The image containing the object to initialize. |
cad_name | : Path to the file containing the 3D model description. |
cMo_ | : The new vpHomogeneousMatrix between the camera and the new model. |
verbose | : verbose option to print additional information when loading CAO model files which include other CAO model files. |
T | : optional transformation matrix (currently only for .cao). |
Definition at line 2356 of file vpMbGenericTracker.cpp.
|
virtual |
Re-initialize the model used by the tracker.
I1 | : The image containing the object to initialize for the first camera. |
I2 | : The image containing the object to initialize for the second camera. |
cad_name1 | : Path to the file containing the 3D model description for the first camera. |
cad_name2 | : Path to the file containing the 3D model description for the second camera. |
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. |
T1 | : optional transformation matrix (currently only for .cao) to transform 3D points in cad_name1 expressed in the original object frame to the desired object frame. |
T2 | : optional transformation matrix (currently only for .cao) to transform 3D points in cad_name2 expressed in the original object frame to the desired object frame ( T2==T1 if the two models have the same object frame which should be the case most of the time). |
Definition at line 2399 of file vpMbGenericTracker.cpp.
|
protectedinherited |
Definition at line 1254 of file vpMbTracker.cpp.
References vpException::ioError.
|
virtual |
Reset the tracker. The model is removed and the pose is set to identity. The tracker needs to be initialized with a new model and a new pose.
Implements vpMbTracker.
Definition at line 2504 of file vpMbGenericTracker.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().
|
inherited |
Save the pose in the given filename
filename | : Path to the file used to save the pose. |
Definition at line 899 of file vpMbTracker.cpp.
|
virtual |
Set the angle used to test polygons appearance. If the angle between the normal of the polygon and the line going from the camera to the polygon center has a value lower than this parameter, the polygon is considered as appearing. The polygon will then be tracked.
a | : new angle in radian. |
Reimplemented from vpMbTracker.
Definition at line 2560 of file vpMbGenericTracker.cpp.
|
virtual |
Set the angle used to test polygons appearance. If the angle between the normal of the polygon and the line going from the camera to the polygon center has a value lower than this parameter, the polygon is considered as appearing. The polygon will then be tracked.
a1 | : new angle in radian for the first camera. |
a2 | : new angle in radian for the second camera. |
Definition at line 2583 of file vpMbGenericTracker.cpp.
|
virtual |
Set the angle used to test polygons appearance. If the angle between the normal of the polygon and the line going from the camera to the polygon center has a value lower than this parameter, the polygon is considered as appearing. The polygon will then be tracked.
mapOfAngles | : Map of new angles in radian. |
Definition at line 2613 of file vpMbGenericTracker.cpp.
|
virtual |
Set the angle used to test polygons disappearance. If the angle between the normal of the polygon and the line going from the camera to the polygon center has a value greater than this parameter, the polygon is considered as disappearing. The tracking of the polygon will then be stopped.
a | : new angle in radian. |
Reimplemented from vpMbTracker.
Definition at line 2638 of file vpMbGenericTracker.cpp.
|
virtual |
Set the angle used to test polygons disappearance. If the angle between the normal of the polygon and the line going from the camera to the polygon center has a value greater than this parameter, the polygon is considered as disappearing. The tracking of the polygon will then be stopped.
a1 | : new angle in radian for the first camera. |
a2 | : new angle in radian for the second camera. |
Definition at line 2661 of file vpMbGenericTracker.cpp.
|
virtual |
Set the angle used to test polygons disappearance. If the angle between the normal of the polygon and the line going from the camera to the polygon center has a value greater than this parameter, the polygon is considered as disappearing. The tracking of the polygon will then be stopped.
mapOfAngles | : Map of new angles in radian. |
Definition at line 2691 of file vpMbGenericTracker.cpp.
|
virtual |
Set the camera parameters.
mapOfCameraParameters | : map of new camera parameters. |
Definition at line 2760 of file vpMbGenericTracker.cpp.
|
virtual |
Set the camera parameters.
camera | : the new camera parameters. |
Reimplemented from vpMbTracker.
Definition at line 2712 of file vpMbGenericTracker.cpp.
|
virtual |
Set the camera parameters.
camera1 | : the new camera parameters for the first camera. |
camera2 | : the new camera parameters for the second camera. |
Definition at line 2731 of file vpMbGenericTracker.cpp.
|
virtual |
Set the map of camera transformation matrices ( ).
mapOfTransformationMatrix | : map of camera transformation matrices. |
Definition at line 2804 of file vpMbGenericTracker.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. |
Definition at line 2785 of file vpMbGenericTracker.cpp.
|
virtual |
Specify which clipping to use.
mapOfClippingFlags | : Map of new clipping flags. |
Definition at line 2877 of file vpMbGenericTracker.cpp.
|
virtual |
Specify which clipping to use.
flags | : New clipping flags. |
Reimplemented from vpMbTracker.
Definition at line 2827 of file vpMbGenericTracker.cpp.
|
virtual |
Specify which clipping to use.
flags1 | : New clipping flags for the first camera. |
flags2 | : New clipping flags for the second camera. |
Definition at line 2848 of file vpMbGenericTracker.cpp.
|
inlinevirtualinherited |
Set if the covariance matrix has to be computed.
flag | : True if the covariance has to be computed, false otherwise. If computed its value is available with getCovarianceMatrix() |
Reimplemented in vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.
Definition at line 484 of file vpMbTracker.h.
|
virtual |
Set maximum distance to consider a face. You should use the maximum depth range of the sensor used.
maxDistance | : Maximum distance to the face. |
Definition at line 2903 of file vpMbGenericTracker.cpp.
|
virtual |
Set method to discard a face, e.g.if outside of the depth range.
method | : Depth dense filtering method. |
Definition at line 2920 of file vpMbGenericTracker.cpp.
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virtual |
Set minimum distance to consider a face. You should use the minimum depth range of the sensor used.
minDistance | : Minimum distance to the face. |
Definition at line 2938 of file vpMbGenericTracker.cpp.
|
virtual |
Set depth occupancy ratio to consider a face, used to discard faces where the depth map is not well reconstructed.
occupancyRatio | : Occupancy ratio, between [0 ; 1]. |
Definition at line 2956 of file vpMbGenericTracker.cpp.
|
virtual |
Set depth dense sampling step.
stepX | : Sampling step in x-direction. |
stepY | : Sampling step in y-direction. |
Definition at line 2973 of file vpMbGenericTracker.cpp.
|
virtual |
Set method to compute the centroid for display for depth tracker.
method | : Centroid computation method. |
Definition at line 2989 of file vpMbGenericTracker.cpp.
|
virtual |
Set depth feature estimation method.
method | : Depth feature estimation method. |
Definition at line 3005 of file vpMbGenericTracker.cpp.
|
virtual |
Set depth PCL plane estimation method.
method | : Depth PCL plane estimation method. |
Definition at line 3022 of file vpMbGenericTracker.cpp.
|
virtual |
Set depth PCL RANSAC maximum number of iterations.
maxIter | : Depth PCL RANSAC maximum number of iterations. |
Definition at line 3038 of file vpMbGenericTracker.cpp.
|
virtual |
Set depth PCL RANSAC threshold.
thresold | : Depth PCL RANSAC threshold. |
Definition at line 3054 of file vpMbGenericTracker.cpp.
|
virtual |
Set depth sampling step.
stepX | : Sampling step in x-direction. |
stepY | : Sampling step in y-direction. |
Definition at line 3071 of file vpMbGenericTracker.cpp.
|
virtual |
Enable to display the features. By features, we meant the moving edges (ME) and the klt points if used.
Note that if present, the moving edges can be displayed with different colors:
displayF | : set it to true to display the features. |
Reimplemented from vpMbTracker.
Definition at line 3098 of file vpMbGenericTracker.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.
|
virtual |
Set the far distance for clipping.
dist | : Far clipping value. |
Reimplemented from vpMbTracker.
Definition at line 3116 of file vpMbGenericTracker.cpp.
|
virtual |
Set the far distance for clipping.
dist1 | : Far clipping value for the first camera. |
dist2 | : Far clipping value for the second camera. |
Definition at line 3135 of file vpMbGenericTracker.cpp.
|
virtual |
Set the far distance for clipping.
mapOfClippingDists | : Map of far clipping values. |
Definition at line 3161 of file vpMbGenericTracker.cpp.
|
virtual |
Set the feature factors used in the VVS stage (ponderation between the feature types).
mapOfFeatureFactors | : Map of feature factors. |
Definition at line 3184 of file vpMbGenericTracker.cpp.
|
virtual |
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 3210 of file vpMbGenericTracker.cpp.
|
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 3233 of file vpMbGenericTracker.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.
|
virtual |
Set the erosion of the mask used on the Model faces.
mapOfErosions | : Map of desired erosions. |
Definition at line 3404 of file vpMbGenericTracker.cpp.
|
virtual |
Set the erosion of the mask used on the Model faces.
e | : The desired erosion. |
Definition at line 3367 of file vpMbGenericTracker.cpp.
|
virtual |
Set the erosion of the mask used on the Model faces.
e1 | : The desired erosion for the first camera. |
e2 | : The desired erosion for the second camera. |
Definition at line 3384 of file vpMbGenericTracker.cpp.
|
virtual |
Set the new value of the klt tracker.
mapOfKlts | : Map of klt tracker containing the new values. |
Definition at line 3307 of file vpMbGenericTracker.cpp.
|
virtual |
Set the new value of the klt tracker.
t | : Klt tracker containing the new values. |
Definition at line 3271 of file vpMbGenericTracker.cpp.
|
virtual |
Set the new value of the klt tracker.
t1 | : Klt tracker containing the new values for the first camera. |
t2 | : Klt tracker containing the new values for the second camera. |
Definition at line 3288 of file vpMbGenericTracker.cpp.
|
virtual |
Set the threshold for the acceptation of a point.
th | : Threshold for the weight below which a point is rejected. |
Definition at line 3326 of file vpMbGenericTracker.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.
useLod | : true if the level of detail must be used, false otherwise. When true, two parameters can be set, see setMinLineLengthThresh() and setMinPolygonAreaThresh(). |
name | : name of the face we want to modify the LOD parameter. |
Reimplemented from vpMbTracker.
Definition at line 3350 of file vpMbGenericTracker.cpp.
|
virtual |
Set the visibility mask.
mask | : visibility mask. |
Reimplemented from vpMbTracker.
Definition at line 3423 of file vpMbGenericTracker.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. |
name | : name of the face we want to modify the LOD threshold. |
Reimplemented from vpMbTracker.
Definition at line 3446 of file vpMbGenericTracker.cpp.
|
virtual |
Set the minimum polygon area to be considered as visible in the LOD case.
minPolygonAreaThresh | : threshold for the minimum polygon area in pixel. |
name | : name of the face we want to modify the LOD threshold. |
Reimplemented from vpMbTracker.
Definition at line 3465 of file vpMbGenericTracker.cpp.
|
virtual |
Set the moving edge parameters.
mapOfMe | : Map of vpMe containing all the desired parameters. |
Definition at line 3519 of file vpMbGenericTracker.cpp.
|
virtual |
Set the moving edge parameters.
me | : an instance of vpMe containing all the desired parameters. |
Definition at line 3481 of file vpMbGenericTracker.cpp.
Set the moving edge parameters.
me1 | : an instance of vpMe containing all the desired parameters for the first camera. |
me2 | : an instance of vpMe containing all the desired parameters for the second camera. |
Definition at line 3499 of file vpMbGenericTracker.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 3253 of file vpMbGenericTracker.cpp.
|
virtual |
Set the near distance for clipping.
dist | : Near clipping value. |
Reimplemented from vpMbTracker.
Definition at line 3538 of file vpMbGenericTracker.cpp.
|
virtual |
Set the near distance for clipping.
dist1 | : Near clipping value for the first camera. |
dist2 | : Near clipping value for the second camera. |
Definition at line 3557 of file vpMbGenericTracker.cpp.
|
virtual |
Set the near distance for clipping.
mapOfDists | : Map of near clipping values. |
Definition at line 3584 of file vpMbGenericTracker.cpp.
|
virtual |
Enable/Disable the appearance of Ogre config dialog on startup.
showConfigDialog | : if true, shows Ogre dialog window (used to set Ogre rendering options) when Ogre visibility is enabled. By default, this functionality is turned off. |
Reimplemented from vpMbTracker.
Definition at line 3612 of file vpMbGenericTracker.cpp.
|
virtual |
Use Ogre3D for visibility tests
v | : True to use it, False otherwise |
Reimplemented from vpMbTracker.
Definition at line 3633 of file vpMbGenericTracker.cpp.
|
virtual |
Set the optimization method used during the tracking.
opt | : Optimization method to use (see vpMbtOptimizationMethod). |
Reimplemented from vpMbTracker.
Definition at line 3659 of file vpMbGenericTracker.cpp.
|
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. |
mapOfCameraPoses | : Map of pose to affect to the cameras. |
Definition at line 3752 of file vpMbGenericTracker.cpp.
|
virtual |
Set the pose to be used in entry (as guess) of the next call to the track() function. This pose will be just used once.
I | : image corresponding to the desired pose. |
cdMo | : Pose to affect. |
Implements vpMbTracker.
Definition at line 3682 of file vpMbGenericTracker.cpp.
|
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. |
Definition at line 3712 of file vpMbGenericTracker.cpp.
|
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.
|
virtual |
Set if the projection error criteria has to be computed. This criteria could be used to detect the quality of the tracking. It computes an angle between 0 and 90 degrees that is available with getProjectionError(). Closer to 0 is the value, better is the tracking.
flag | : True if the projection error criteria has to be computed, false otherwise. |
Reimplemented from vpMbTracker.
Definition at line 3820 of file vpMbGenericTracker.cpp.
|
virtual |
Display or not gradient and model orientation when computing the projection error.
Reimplemented from vpMbTracker.
Definition at line 3834 of file vpMbGenericTracker.cpp.
|
virtual |
Arrow length used to display gradient and model orientation for projection error computation.
Reimplemented from vpMbTracker.
Definition at line 3848 of file vpMbGenericTracker.cpp.
|
virtual |
Arrow thickness used to display gradient and model orientation for projection error computation.
Reimplemented from vpMbTracker.
Definition at line 3859 of file vpMbGenericTracker.cpp.
References m_mapOfTrackers, and vpMbTracker::setProjectionErrorDisplayArrowThickness().
|
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().
|
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().
|
virtual |
Set the reference camera name.
referenceCameraName | : Name of the reference camera. |
Definition at line 3875 of file vpMbGenericTracker.cpp.
|
virtual |
Reimplemented from vpMbTracker.
Definition at line 3885 of file vpMbGenericTracker.cpp.
References m_mapOfTrackers, and vpMbTracker::setScanLineVisibilityTest().
|
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.
|
virtual |
Set the tracker type.
type | : Type of features to used, see vpTrackerType (e.g. vpMbGenericTracker::EDGE_TRACKER or vpMbGenericTracker::EDGE_TRACKER | vpMbGenericTracker::KLT_TRACKER). |
Definition at line 3907 of file vpMbGenericTracker.cpp.
|
virtual |
Set the tracker types.
mapOfTrackerTypes | : Map of feature types to used, see vpTrackerType (e.g. vpMbGenericTracker::EDGE_TRACKER or vpMbGenericTracker::EDGE_TRACKER | vpMbGenericTracker::KLT_TRACKER). |
Definition at line 3925 of file vpMbGenericTracker.cpp.
|
virtual |
Set if the polygon that has the given name has to be considered during the tracking phase.
name | : name of the polygon. |
useDepthDenseTracking | : True if it has to be considered, False otherwise. |
Definition at line 3945 of file vpMbGenericTracker.cpp.
|
virtual |
Set if the polygon that has the given name has to be considered during the tracking phase.
name | : name of the polygon. |
useDepthNormalTracking | : True if it has to be considered, False otherwise. |
Definition at line 3963 of file vpMbGenericTracker.cpp.
|
virtual |
Set if the polygon that has the given name has to be considered during the tracking phase.
name | : name of the polygon. |
useEdgeTracking | : True if it has to be considered, False otherwise. |
Definition at line 3981 of file vpMbGenericTracker.cpp.
|
virtual |
Set if the polygon that has the given name has to be considered during the tracking phase.
name | : name of the polygon. |
useKltTracking | : True if it has to be considered, False otherwise. |
Definition at line 4000 of file vpMbGenericTracker.cpp.
|
virtual |
Test the quality of the tracking.
vpException | if the test fail. |
Implements vpMbTracker.
Definition at line 4010 of file vpMbGenericTracker.cpp.
References vpTrackingException::fatalError, m_mapOfTrackers, and m_percentageGdPt.
|
virtual |
Realize the tracking of the object in the image.
vpException | : if the tracking is supposed to have failed |
I | : The current image. |
Implements vpMbTracker.
Definition at line 4042 of file vpMbGenericTracker.cpp.
|
virtual |
Realize the tracking of the object in the image.
vpException | : if the tracking is supposed to have failed |
I1 | : The first image. |
I2 | : The second image. |
Definition at line 4063 of file vpMbGenericTracker.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. |
Definition at line 4091 of file vpMbGenericTracker.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. |
mapOfPointClouds | : Map of pointclouds. |
mapOfPointCloudWidths | : Map of pointcloud widths. |
mapOfPointCloudHeights | : Map of pointcloud heights. |
Definition at line 4170 of file vpMbGenericTracker.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. |
mapOfPointClouds | : Map of PCL pointclouds. |
Definition at line 4108 of file vpMbGenericTracker.cpp.
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inlineprotectedinherited |
Definition at line 871 of file vpMbTracker.h.
Referenced by vpMbTracker::parseParameters().
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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 |
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 |
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(), vpMbEdgeKltMultiTracker::computeVVS(), computeVVS(), vpMbTracker::computeVVSCheckLevenbergMarquardt(), vpMbEdgeTracker::computeVVSFirstPhase(), vpMbEdgeTracker::computeVVSFirstPhaseFactor(), vpMbEdgeMultiTracker::computeVVSFirstPhasePoseEstimation(), vpMbEdgeTracker::computeVVSFirstPhasePoseEstimation(), vpMbDepthDenseTracker::computeVVSInteractionMatrixAndResidu(), vpMbDepthNormalTracker::computeVVSInteractionMatrixAndResidu(), vpMbKltMultiTracker::computeVVSInteractionMatrixAndResidu(), vpMbEdgeMultiTracker::computeVVSInteractionMatrixAndResidu(), vpMbEdgeKltMultiTracker::computeVVSInteractionMatrixAndResidu(), computeVVSInteractionMatrixAndResidu(), vpMbEdgeTracker::computeVVSInteractionMatrixAndResidu(), vpMbTracker::computeVVSPoseEstimation(), vpMbTracker::getPolygonFaces(), vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), init(), vpMbKltTracker::init(), initFromPoints(), vpMbEdgeKltMultiTracker::initMbtTracking(), vpMbKltMultiTracker::postTracking(), vpMbKltTracker::reinit(), vpMbDepthDenseTracker::reInitModel(), vpMbDepthNormalTracker::reInitModel(), vpMbDepthDenseTracker::resetTracker(), vpMbDepthNormalTracker::resetTracker(), vpMbDepthDenseTracker::segmentPointCloud(), vpMbDepthNormalTracker::segmentPointCloud(), vpMbDepthDenseTracker::setPose(), vpMbDepthNormalTracker::setPose(), and vpMbEdgeKltTracker::trackFirstLoop().
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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(), vpMbEdgeKltMultiTracker::computeVVS(), 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(), computeProjectionError(), and vpMbEdgeKltMultiTracker::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 |
If true, the features are displayed.
Definition at line 143 of file vpMbTracker.h.
Referenced by vpMbDepthDenseTracker::display(), vpMbDepthNormalTracker::display(), and vpMbEdgeKltMultiTracker::postTracking().
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protectedinherited |
Distance for near clipping.
Definition at line 156 of file vpMbTracker.h.
Referenced by vpMbDepthDenseTracker::addFace(), vpMbDepthNormalTracker::addFace(), vpMbTracker::addPolygon(), vpMbTracker::addProjectionErrorLine(), and vpMbTracker::addProjectionErrorPolygon().
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protectedinherited |
Distance for near clipping.
Definition at line 154 of file vpMbTracker.h.
Referenced by vpMbDepthDenseTracker::addFace(), vpMbDepthNormalTracker::addFace(), vpMbTracker::addPolygon(), vpMbTracker::addProjectionErrorLine(), and vpMbTracker::addProjectionErrorPolygon().
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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(), vpMbEdgeKltMultiTracker::getFaces(), vpMbTracker::getPolygonFaces(), vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), vpMbKltTracker::init(), vpMbEdgeKltMultiTracker::postTracking(), vpMbKltTracker::reinit(), vpMbDepthDenseTracker::resetTracker(), vpMbDepthNormalTracker::resetTracker(), vpMbDepthDenseTracker::setOgreVisibilityTest(), vpMbDepthNormalTracker::setOgreVisibilityTest(), vpMbDepthDenseTracker::vpMbDepthDenseTracker(), vpMbDepthNormalTracker::vpMbDepthNormalTracker(), vpMbEdgeKltTracker::vpMbEdgeKltTracker(), and vpMbKltTracker::vpMbKltTracker().
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protectedinherited |
Boolean to know if oJo is identity (for fast computation)
Definition at line 122 of file vpMbTracker.h.
Referenced by vpMbKltMultiTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVS(), and vpMbEdgeKltMultiTracker::computeVVS().
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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(), vpMbEdgeKltMultiTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVSFirstPhasePoseEstimation(), vpMbEdgeTracker::computeVVSFirstPhasePoseEstimation(), vpMbDepthDenseTracker::resetTracker(), and vpMbDepthNormalTracker::resetTracker().
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protected |
(s - s*)
Definition at line 524 of file vpMbGenericTracker.h.
Referenced by computeVVS(), computeVVSInit(), and computeVVSInteractionMatrixAndResidu().
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protectedinherited |
Initial Mu for Levenberg Marquardt optimization loop.
Definition at line 198 of file vpMbTracker.h.
Referenced by vpMbDepthDenseTracker::computeVVS(), vpMbDepthNormalTracker::computeVVS(), vpMbKltMultiTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), and computeVVS().
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protected |
Interaction matrix.
Definition at line 526 of file vpMbGenericTracker.h.
Referenced by computeVVS(), computeVVSInit(), and 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 529 of file vpMbGenericTracker.h.
Referenced by computeVVS(), computeVVSInteractionMatrixAndResidu(), init(), initFromPoints(), and vpMbGenericTracker().
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protected |
Ponderation between each feature type in the VVS stage.
Definition at line 531 of file vpMbGenericTracker.h.
Referenced by computeVVS(), and vpMbGenericTracker().
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protected |
Map of Model-based trackers, key is the name of the camera, value is the tracker
Definition at line 534 of file vpMbGenericTracker.h.
Referenced by computeProjectionError(), computeVVS(), computeVVSInit(), computeVVSInteractionMatrixAndResidu(), computeVVSWeights(), getPolygonFaces(), init(), initFromPoints(), preTracking(), setProjectionErrorDisplayArrowThickness(), setScanLineVisibilityTest(), testTracking(), vpMbGenericTracker(), and ~vpMbGenericTracker().
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protectedinherited |
Mask used to disable tracking on a part of image.
Definition at line 226 of file vpMbTracker.h.
Referenced by vpMbTracker::projectionErrorInitMovingEdge(), vpMbKltTracker::reinit(), vpMbDepthDenseTracker::segmentPointCloud(), and vpMbDepthNormalTracker::segmentPointCloud().
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protectedinherited |
Maximum number of iterations of the virtual visual servoing stage.
Definition at line 194 of file vpMbTracker.h.
Referenced by vpMbDepthDenseTracker::computeVVS(), vpMbDepthNormalTracker::computeVVS(), vpMbKltMultiTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), computeVVS(), vpMbDepthDenseTracker::resetTracker(), vpMbEdgeKltTracker::vpMbEdgeKltTracker(), and vpMbKltTracker::vpMbKltTracker().
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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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protected |
Percentage of good points over total number of points below which tracking is supposed to have failed (only for Edge tracking).
Definition at line 537 of file vpMbGenericTracker.h.
Referenced by testTracking().
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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 539 of file vpMbGenericTracker.h.
Referenced by getPolygonFaces(), initFromPoints(), and vpMbGenericTracker().
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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 computeVVS().
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protected |
Threshold below which the weight associated to a point to consider this one as an outlier (only for KLT tracking).
Definition at line 542 of file vpMbGenericTracker.h.
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protected |
Robust weights.
Definition at line 544 of file vpMbGenericTracker.h.
Referenced by computeVVSInit(), and computeVVSWeights().
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protected |
Weighted error.
Definition at line 546 of file vpMbGenericTracker.h.
Referenced by computeVVS(), and computeVVSInit().
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protectedinherited |
Map with [map.first]=parameter_names and [map.second]=type (string, number or boolean)
Definition at line 187 of file vpMbTracker.h.
Referenced by vpMbTracker::parseParameters().
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protectedinherited |
Minimum line length threshold for LOD mode (general setting)
Definition at line 182 of file vpMbTracker.h.
Referenced by vpMbTracker::addPolygon(), and vpMbTracker::addProjectionErrorPolygon().
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protectedinherited |
Minimum polygon area threshold for LOD mode (general setting)
Definition at line 184 of file vpMbTracker.h.
Referenced by vpMbTracker::addPolygon(), and vpMbTracker::addProjectionErrorPolygon().
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protectedinherited |
The name of the file containing the model (it is used to create a file name.0.pos used to store the compute pose in the initClick method).
Definition at line 125 of file vpMbTracker.h.
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protectedinherited |
Flag used to ensure that the CAD model is loaded before the initialisation.
Definition at line 128 of file vpMbTracker.h.
Referenced by vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), vpMbEdgeKltMultiTracker::init(), and vpMbKltTracker::init().
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protectedinherited |
Number of circles in CAO model.
Definition at line 175 of file vpMbTracker.h.
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protectedinherited |
Number of cylinders in CAO model.
Definition at line 173 of file vpMbTracker.h.
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protectedinherited |
Number of lines in CAO model.
Definition at line 167 of file vpMbTracker.h.
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protectedinherited |
Number of points in CAO model.
Definition at line 165 of file vpMbTracker.h.
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protectedinherited |
Number of polygon lines in CAO model.
Definition at line 169 of file vpMbTracker.h.
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protectedinherited |
Number of polygon points in CAO model.
Definition at line 171 of file vpMbTracker.h.
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protectedinherited |
Definition at line 161 of file vpMbTracker.h.
Referenced by vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), and vpMbKltTracker::init().
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protectedinherited |
The Degrees of Freedom to estimate.
Definition at line 120 of file vpMbTracker.h.
Referenced by vpMbDepthDenseTracker::computeVVS(), vpMbDepthNormalTracker::computeVVS(), vpMbKltMultiTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), computeVVS(), vpMbEdgeMultiTracker::computeVVSFirstPhasePoseEstimation(), vpMbEdgeTracker::computeVVSFirstPhasePoseEstimation(), and vpMbTracker::computeVVSPoseEstimation().
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protectedinherited |
Filename used to save the initial pose computed using the initClick() method. It is also used to read a previous pose in the same method.
Definition at line 131 of file vpMbTracker.h.
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protectedinherited |
Error angle between the gradient direction of the model features projected at the resulting pose and their normal.
Definition at line 141 of file vpMbTracker.h.
Referenced by vpMbEdgeMultiTracker::computeProjectionError(), and computeProjectionError().
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protectedinherited |
True if LOD mode is enabled.
Definition at line 177 of file vpMbTracker.h.
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protectedinherited |
Use Ogre3d for visibility tests.
Definition at line 160 of file vpMbTracker.h.
Referenced by vpMbTracker::computeProjectionErrorImpl(), vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), vpMbKltTracker::init(), vpMbTracker::projectionErrorVisibleFace(), vpMbDepthDenseTracker::resetTracker(), and vpMbDepthNormalTracker::resetTracker().
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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(), vpMbEdgeKltMultiTracker::postTracking(), vpMbKltTracker::reinit(), vpMbDepthDenseTracker::resetTracker(), and vpMbDepthNormalTracker::resetTracker().