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Visual Servoing Platform
version 3.3.0
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#include <vpMbKltTracker.h>
Public Types | |
enum | vpMbtOptimizationMethod { GAUSS_NEWTON_OPT = 0, LEVENBERG_MARQUARDT_OPT = 1 } |
Public Member Functions | |
vpMbKltTracker () | |
virtual | ~vpMbKltTracker () |
Inherited functionalities from vpMbKltTracker | |
void | addCircle (const vpPoint &P1, const vpPoint &P2, const vpPoint &P3, double r, const std::string &name="") |
virtual void | display (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, unsigned int thickness=1, bool displayFullModel=false) |
virtual void | display (const vpImage< vpRGBa > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, unsigned int thickness=1, bool displayFullModel=false) |
virtual std::list< vpMbtDistanceCircle * > & | getFeaturesCircle () |
virtual std::list< vpMbtDistanceKltCylinder * > & | getFeaturesKltCylinder () |
virtual std::list< vpMbtDistanceKltPoints * > & | getFeaturesKlt () |
std::vector< cv::Point2f > | getKltPoints () const |
std::vector< vpImagePoint > | getKltImagePoints () const |
std::map< int, vpImagePoint > | getKltImagePointsWithId () const |
vpKltOpencv | getKltOpencv () const |
unsigned int | getKltMaskBorder () const |
int | getKltNbPoints () const |
double | getKltThresholdAcceptation () const |
virtual vpColVector | getError () const |
virtual vpColVector | getRobustWeights () const |
virtual std::vector< std::vector< double > > | getModelForDisplay (unsigned int width, unsigned int height, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, bool displayFullModel=false) |
virtual void | loadConfigFile (const std::string &configFile) |
virtual void | reInitModel (const vpImage< unsigned char > &I, const std::string &cad_name, const vpHomogeneousMatrix &cMo, bool verbose=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix()) |
void | resetTracker () |
void | setCameraParameters (const vpCameraParameters &cam) |
void | setKltMaskBorder (const unsigned int &e) |
virtual void | setKltOpencv (const vpKltOpencv &t) |
void | setKltThresholdAcceptation (double th) |
virtual void | setOgreVisibilityTest (const bool &v) |
virtual void | setScanLineVisibilityTest (const bool &v) |
virtual void | setPose (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cdMo) |
virtual void | setPose (const vpImage< vpRGBa > &I_color, const vpHomogeneousMatrix &cdMo) |
virtual void | setProjectionErrorComputation (const bool &flag) |
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< vpRGBa > &I_color) |
Deprecated functions | |
unsigned int | getMaskBorder () const |
int | getNbKltPoints () const |
double | getThresholdAcceptation () const |
void | setMaskBorder (const unsigned int &e) |
void | setThresholdAcceptation (double th) |
Inherited functionalities from vpMbTracker | |
virtual double | computeCurrentProjectionError (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &_cMo, const vpCameraParameters &_cam) |
virtual double | getAngleAppear () const |
virtual double | getAngleDisappear () const |
virtual void | getCameraParameters (vpCameraParameters &cam) const |
virtual unsigned int | getClipping () const |
virtual vpMatrix | getCovarianceMatrix () const |
virtual double | getInitialMu () const |
virtual double | getLambda () const |
virtual unsigned int | getMaxIter () const |
virtual double | getProjectionError () const |
virtual vpColVector | getEstimatedDoF () const |
virtual vpMbHiddenFaces< vpMbtPolygon > & | getFaces () |
virtual double | getFarClippingDistance () const |
virtual unsigned int | getNbPolygon () const |
virtual double | getNearClippingDistance () const |
virtual vpMbtOptimizationMethod | getOptimizationMethod () const |
virtual vpMbtPolygon * | getPolygon (unsigned int index) |
virtual std::pair< std::vector< vpPolygon >, std::vector< std::vector< vpPoint > > > | getPolygonFaces (bool orderPolygons=true, bool useVisibility=true, bool clipPolygon=false) |
virtual void | getPose (vpHomogeneousMatrix &cMo) const |
virtual vpHomogeneousMatrix | getPose () const |
virtual double | getStopCriteriaEpsilon () const |
virtual void | initClick (const vpImage< unsigned char > &I, const std::string &initFile, bool displayHelp=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix()) |
virtual void | initClick (const vpImage< vpRGBa > &I_color, const std::string &initFile, 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 | initClick (const vpImage< vpRGBa > &I_color, 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< vpRGBa > &I_color, 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 | initFromPoints (const vpImage< vpRGBa > &I_color, 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< vpRGBa > &I_color, const std::string &initFile) |
virtual void | initFromPose (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo) |
virtual void | initFromPose (const vpImage< vpRGBa > &I_color, const vpHomogeneousMatrix &cMo) |
virtual void | initFromPose (const vpImage< unsigned char > &I, const vpPoseVector &cPo) |
virtual void | initFromPose (const vpImage< vpRGBa > &I_color, const vpPoseVector &cPo) |
virtual void | loadModel (const std::string &modelFile, bool verbose=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix()) |
virtual void | setAngleAppear (const double &a) |
virtual void | setAngleDisappear (const double &a) |
virtual void | setClipping (const unsigned int &flags) |
virtual void | setCovarianceComputation (const bool &flag) |
virtual void | setDisplayFeatures (bool displayF) |
virtual void | setEstimatedDoF (const vpColVector &v) |
virtual void | setFarClippingDistance (const double &dist) |
virtual void | setInitialMu (double mu) |
virtual void | setLambda (double gain) |
virtual void | setLod (bool useLod, const std::string &name="") |
virtual void | setMaxIter (unsigned int max) |
virtual void | setMinLineLengthThresh (double minLineLengthThresh, const std::string &name="") |
virtual void | setMinPolygonAreaThresh (double minPolygonAreaThresh, const std::string &name="") |
virtual void | setNearClippingDistance (const double &dist) |
virtual void | setOptimizationMethod (const vpMbtOptimizationMethod &opt) |
void | setProjectionErrorMovingEdge (const vpMe &me) |
void | setProjectionErrorKernelSize (const unsigned int &size) |
virtual void | setMask (const vpImage< bool > &mask) |
virtual void | setStopCriteriaEpsilon (const double eps) |
virtual void | setProjectionErrorDisplay (bool display) |
virtual void | setProjectionErrorDisplayArrowLength (unsigned int length) |
virtual void | setProjectionErrorDisplayArrowThickness (unsigned int thickness) |
void | savePose (const std::string &filename) const |
virtual void | setGoodNbRayCastingAttemptsRatio (const double &ratio) |
virtual void | setNbRayCastingAttemptsForVisibility (const unsigned int &attempts) |
virtual void | setOgreShowConfigDialog (bool showConfigDialog) |
void | setPoseSavingFilename (const std::string &filename) |
Protected Member Functions | |
Protected Member Functions Inherited from vpMbKltTracker | |
void | computeVVS () |
virtual void | computeVVSInit () |
virtual void | computeVVSInteractionMatrixAndResidu () |
virtual std::vector< std::vector< double > > | getFeaturesForDisplayKlt () |
virtual void | init (const vpImage< unsigned char > &I) |
virtual void | initFaceFromCorners (vpMbtPolygon &polygon) |
virtual void | initFaceFromLines (vpMbtPolygon &polygon) |
virtual void | initCircle (const vpPoint &, const vpPoint &, const vpPoint &, double, int, const std::string &name="") |
virtual void | initCylinder (const vpPoint &, const vpPoint &, double, int, const std::string &name="") |
void | preTracking (const vpImage< unsigned char > &I) |
bool | postTracking (const vpImage< unsigned char > &I, vpColVector &w) |
virtual void | reinit (const vpImage< unsigned char > &I) |
virtual void | setPose (const vpImage< unsigned char > *const I, const vpImage< vpRGBa > *const I_color, const vpHomogeneousMatrix &cdMo) |
Protected Member Functions Inherited from vpMbTracker | |
virtual void | initClick (const vpImage< unsigned char > *const I, const vpImage< vpRGBa > *const I_color, const std::string &initFile, bool displayHelp=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix()) |
virtual void | initClick (const vpImage< unsigned char > *const I, const vpImage< vpRGBa > *const I_color, const std::vector< vpPoint > &points3D_list, const std::string &displayFile="") |
virtual void | initFromPoints (const vpImage< unsigned char > *const I, const vpImage< vpRGBa > *const I_color, const std::string &initFile) |
virtual void | initFromPoints (const vpImage< unsigned char > *const I, const vpImage< vpRGBa > *const I_color, const std::vector< vpImagePoint > &points2D_list, const std::vector< vpPoint > &points3D_list) |
virtual void | initFromPose (const vpImage< unsigned char > *const I, const vpImage< vpRGBa > *const I_color, const std::string &initFile) |
void | addPolygon (const std::vector< vpPoint > &corners, int idFace=-1, const std::string &polygonName="", bool useLod=false, double minPolygonAreaThreshold=2500.0, double minLineLengthThreshold=50.0) |
void | addPolygon (const vpPoint &p1, const vpPoint &p2, const vpPoint &p3, double radius, int idFace=-1, const std::string &polygonName="", bool useLod=false, double minPolygonAreaThreshold=2500.0) |
void | addPolygon (const vpPoint &p1, const vpPoint &p2, int idFace=-1, const std::string &polygonName="", bool useLod=false, double minLineLengthThreshold=50) |
void | addPolygon (const std::vector< std::vector< vpPoint > > &listFaces, int idFace=-1, const std::string &polygonName="", bool useLod=false, double minLineLengthThreshold=50) |
void | addProjectionErrorCircle (const vpPoint &P1, const vpPoint &P2, const vpPoint &P3, double r, int idFace=-1, const std::string &name="") |
void | addProjectionErrorCylinder (const vpPoint &P1, const vpPoint &P2, 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, int idFace=-1, const std::string &polygonName="", bool useLod=false, double minPolygonAreaThreshold=2500.0, const double minLineLengthThreshold=50.0) |
void | addProjectionErrorPolygon (const vpPoint &p1, const vpPoint &p2, const vpPoint &p3, double radius, int idFace=-1, const std::string &polygonName="", bool useLod=false, double minPolygonAreaThreshold=2500.0) |
void | addProjectionErrorPolygon (const vpPoint &p1, const vpPoint &p2, int idFace=-1, const std::string &polygonName="", bool useLod=false, double minLineLengthThreshold=50) |
void | addProjectionErrorPolygon (const std::vector< std::vector< vpPoint > > &listFaces, int idFace=-1, const std::string &polygonName="", bool useLod=false, 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 (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_, 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, double radius, int idFace=0, const std::string &name="") |
void | initProjectionErrorCylinder (const vpPoint &p1, const vpPoint &p2, double radius, 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, bool verbose=false, bool parent=true, const vpHomogeneousMatrix &T=vpHomogeneousMatrix()) |
void | projectionErrorInitMovingEdge (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &_cMo) |
void | projectionErrorResetMovingEdges () |
void | projectionErrorVisibleFace (unsigned int width, unsigned int height, const vpHomogeneousMatrix &_cMo) |
void | removeComment (std::ifstream &fileId) |
std::map< std::string, std::string > | parseParameters (std::string &endLine) |
bool | samePoint (const vpPoint &P1, const vpPoint &P2) const |
Friends | |
class | vpMbKltMultiTracker |
class | vpMbEdgeKltMultiTracker |
Model based tracker using only KLT.
The Tutorial: Markerless model-based tracking (deprecated) is a good starting point to use this class.
The tracker requires the knowledge of the 3D model that could be provided in a vrml or in a cao file. The cao format is described in loadCAOModel(). It may also use an xml file used to tune the behavior of the tracker and an init file used to compute the pose at the very first image.
The following code shows the simplest way to use the tracker. The Tutorial: Markerless model-based tracking (deprecated) is also a good starting point to use this class.
The tracker can also be used without display, in that case the initial pose must be known (object always at the same initial pose for example) or computed using another method:
Finally it can be used not to track an object but just to display a model at a given pose:
Definition at line 215 of file vpMbKltTracker.h.
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Enumerator | |
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GAUSS_NEWTON_OPT | |
LEVENBERG_MARQUARDT_OPT |
Definition at line 106 of file vpMbTracker.h.
vpMbKltTracker::vpMbKltTracker | ( | ) |
Definition at line 51 of file vpMbKltTracker.cpp.
References vpMbTracker::faces, vpMbHiddenFaces< PolygonType >::getOgreContext(), vpMbTracker::m_lambda, vpMbTracker::m_maxIter, vpKltOpencv::setBlockSize(), vpKltOpencv::setHarrisFreeParameter(), vpKltOpencv::setMaxFeatures(), vpKltOpencv::setMinDistance(), vpKltOpencv::setPyramidLevels(), vpKltOpencv::setQuality(), vpKltOpencv::setTrackerId(), vpKltOpencv::setUseHarris(), vpAROgre::setWindowName(), vpKltOpencv::setWindowSize(), and tracker.
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virtual |
Basic destructor.
Definition at line 84 of file vpMbKltTracker.cpp.
void vpMbKltTracker::addCircle | ( | const vpPoint & | P1, |
const vpPoint & | P2, | ||
const vpPoint & | P3, | ||
double | r, | ||
const std::string & | name = "" |
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Add a circle to the list of circles.
P1 | : Center of the circle. |
P2,P3 | : Two points on the plane containing the circle. With the center of the circle we have 3 points defining the plane that contains the circle. |
r | : Radius of the circle. |
name | : Name of the circle. |
Definition at line 1354 of file vpMbKltTracker.cpp.
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protectedinherited |
Definition at line 1406 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 1231 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 1287 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 1368 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 3378 of file vpMbTracker.cpp.
References vpMbtDistanceCircle::buildFrom(), vpMbtDistanceCircle::hiddenface, vpMbtDistanceCircle::index_polygon, vpMbTracker::m_cam, 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 3408 of file vpMbTracker.cpp.
References vpMbtDistanceCylinder::buildFrom(), vpMbtDistanceCylinder::hiddenface, vpMbtDistanceCylinder::index_polygon, vpMbTracker::m_cam, 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 3336 of file vpMbTracker.cpp.
References vpMbtDistanceLine::addPolygon(), vpMbtDistanceLine::buildFrom(), vpMbTracker::clippingFlag, vpMbTracker::distFarClip, vpMbTracker::distNearClip, vpPolygon3D::FAR_CLIPPING, vpMbtDistanceLine::getPolygon(), vpMbtDistanceLine::hiddenface, vpMbTracker::m_cam, vpMbTracker::m_projectionErrorFaces, vpMbTracker::m_projectionErrorLines, vpMbTracker::m_projectionErrorMe, vpPolygon3D::NEAR_CLIPPING, vpPolygon3D::NO_CLIPPING, vpMbtDistanceLine::p1, vpMbtDistanceLine::p2, vpMbTracker::samePoint(), vpMbtDistanceLine::setCameraParameters(), vpPolygon3D::setClipping(), vpPolygon3D::setFarClippingDistance(), vpMbtDistanceLine::setIndex(), vpMbtDistanceLine::setMovingEdge(), vpMbtDistanceLine::setName(), vpPolygon3D::setNearClippingDistance(), vpMbtDistanceLine::useScanLine, and vpMbTracker::useScanLine.
Referenced by vpMbTracker::initProjectionErrorFaceFromCorners(), and vpMbTracker::initProjectionErrorFaceFromLines().
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protectedinherited |
Definition at line 3304 of file vpMbTracker.cpp.
References vpPolygon3D::addPoint(), vpMbHiddenFaces< PolygonType >::addPolygon(), vpMbTracker::clippingFlag, vpMbTracker::distFarClip, vpMbTracker::distNearClip, vpPolygon3D::FAR_CLIPPING, vpMbHiddenFaces< PolygonType >::getPolygon(), vpMbTracker::m_projectionErrorFaces, vpMbTracker::minPolygonAreaThresholdGeneral, vpPolygon3D::NEAR_CLIPPING, vpPolygon3D::NO_CLIPPING, vpMbtPolygon::setIndex(), vpMbtPolygon::setIsPolygonOriented(), vpMbtPolygon::setLod(), vpMbtPolygon::setMinLineLengthThresh(), vpMbtPolygon::setMinPolygonAreaThresh(), vpMbtPolygon::setName(), and vpPolygon3D::setNbPoint().
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protectedinherited |
Definition at line 3155 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 3197 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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protectedinherited |
Definition at line 3272 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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protectedvirtualinherited |
Definition at line 2822 of file vpMbTracker.cpp.
References vpMbTracker::computeCovariance, vpMatrix::computeCovarianceMatrixVVS(), and vpMbTracker::covarianceMatrix.
Referenced by vpMbDepthDenseTracker::computeVVS(), vpMbDepthNormalTracker::computeVVS(), vpMbKltMultiTracker::computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVS(), and vpMbGenericTracker::computeVVS().
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virtualinherited |
Compute projection error given an input image and camera pose, parameters. This projection error uses locations sampled exactly where the model is projected using the camera pose and intrinsic parameters. You may want to use
to get a projection error computed at the ME locations after a call to track(). It works similarly to vpMbTracker::getProjectionError function:
Get the error angle between the gradient direction of the model features projected at the resulting pose and their normal. The error is expressed in degree between 0 and 90.
I | : Input grayscale image. |
_cMo | : Camera pose. |
_cam | : Camera parameters. |
Reimplemented in vpMbGenericTracker.
Definition at line 3486 of file vpMbTracker.cpp.
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protectedinherited |
Compute , with J the interaction matrix and R the vector of residu.
vpMatrixException::incorrectMatrixSizeError | if the sizes of the matrices do not allow the computation. |
interaction | : The interaction matrix (size Nx6). |
error | : The residu vector (size Nx1). |
JTR | : The resulting JTR column vector (size 6x1). |
Definition at line 2853 of file vpMbTracker.cpp.
Referenced by vpMbEdgeMultiTracker::computeVVSFirstPhasePoseEstimation(), vpMbEdgeTracker::computeVVSFirstPhasePoseEstimation(), and vpMbTracker::computeVVSPoseEstimation().
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protectedinherited |
Definition at line 3503 of file vpMbTracker.cpp.
References vpMbTracker::clippingFlag, vpMbHiddenFaces< PolygonType >::computeClippedPolygons(), vpCameraParameters::computeFov(), vpMbHiddenFaces< PolygonType >::computeScanLineRender(), vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpMbHiddenFaces< PolygonType >::initOgre(), vpMbHiddenFaces< PolygonType >::isOgreInitialised(), vpMbtDistanceCircle::isTracked(), vpMbtDistanceLine::isTracked(), vpMbtDistanceCylinder::isTracked(), vpMbtDistanceCircle::isVisible(), vpMbtDistanceLine::isVisible(), vpMbtDistanceCylinder::isVisible(), vpMbTracker::m_projectionErrorCam, vpMbTracker::m_projectionErrorCircles, vpMbTracker::m_projectionErrorCylinders, vpMbTracker::m_projectionErrorDisplay, vpMbTracker::m_projectionErrorDisplayLength, vpMbTracker::m_projectionErrorDisplayThickness, vpMbTracker::m_projectionErrorFaces, vpMbTracker::m_projectionErrorLines, vpMbTracker::m_projectionErrorOgreShowConfigDialog, vpMbTracker::m_SobelX, vpMbTracker::m_SobelY, vpMbtDistanceCircle::meEllipse, vpMbtDistanceLine::meline, vpMbtDistanceCylinder::meline1, vpMbtDistanceCylinder::meline2, vpMbTracker::projectionErrorInitMovingEdge(), vpMbTracker::projectionErrorResetMovingEdges(), vpMbTracker::projectionErrorVisibleFace(), vpMbHiddenFaces< PolygonType >::setBackgroundSizeOgre(), vpMbtDistanceCircle::setCameraParameters(), vpMbtDistanceLine::setCameraParameters(), vpMbtDistanceCylinder::setCameraParameters(), vpMbHiddenFaces< PolygonType >::setOgreShowConfigDialog(), vpMbTracker::useOgre, and vpMbTracker::useScanLine.
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protected |
Realize the VVS loop for the tracking
Definition at line 788 of file vpMbKltTracker.cpp.
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protectedvirtualinherited |
Definition at line 2902 of file vpMbTracker.cpp.
References vpTrackingException::fatalError, vpArray2D< Type >::getRows(), vpMbTracker::LEVENBERG_MARQUARDT_OPT, vpMbTracker::m_cMo, vpMbTracker::m_optimizationMethod, and vpColVector::sumSquare().
Referenced by vpMbDepthDenseTracker::computeVVS(), vpMbDepthNormalTracker::computeVVS(), vpMbKltMultiTracker::computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVS(), and vpMbGenericTracker::computeVVS().
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protectedvirtual |
Implements vpMbTracker.
Reimplemented in vpMbEdgeKltMultiTracker, vpMbKltMultiTracker, and vpMbEdgeKltTracker.
Definition at line 859 of file vpMbKltTracker.cpp.
References vpCameraParameters::get_px(), vpMbTracker::m_cam, m_error_klt, m_L_klt, m_nbInfos, m_robust_klt, m_w_klt, m_weightedError_klt, vpRobust::resize(), vpArray2D< Type >::resize(), vpColVector::resize(), and vpRobust::setThreshold().
Referenced by vpMbKltMultiTracker::computeVVS(), and vpMbEdgeKltMultiTracker::computeVVSInit().
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protectedvirtual |
Implements vpMbTracker.
Reimplemented in vpMbEdgeKltMultiTracker, vpMbKltMultiTracker, and vpMbEdgeKltTracker.
Definition at line 874 of file vpMbKltTracker.cpp.
References vpMbtDistanceKltPoints::computeHomography(), vpMbtDistanceKltCylinder::computeInteractionMatrixAndResidu(), vpMbtDistanceKltPoints::computeInteractionMatrixAndResidu(), ctTc0, vpTrackingException::fatalError, vpMbtDistanceKltCylinder::getCurrentNumberPoints(), vpMbtDistanceKltPoints::getCurrentNumberPoints(), vpPolygon3D::getNbPoint(), vpMbtDistanceKltCylinder::hasEnoughPoints(), vpMbtDistanceKltPoints::hasEnoughPoints(), vpMbtDistanceKltCylinder::isTracked(), vpMbtDistanceKltPoints::isTracked(), vpMbtPolygon::isVisible(), kltCylinders, kltPolygons, m_error_klt, m_L_klt, and vpMbtDistanceKltPoints::polygon.
Referenced by vpMbKltMultiTracker::computeVVSInteractionMatrixAndResidu(), and vpMbEdgeKltMultiTracker::computeVVSInteractionMatrixAndResidu().
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protectedvirtualinherited |
Definition at line 2924 of file vpMbTracker.cpp.
References vpVelocityTwistMatrix::buildFrom(), vpMbTracker::computeJTR(), vpMatrix::eye(), vpMbTracker::GAUSS_NEWTON_OPT, vpArray2D< Type >::getCols(), vpArray2D< Type >::getRows(), vpMbTracker::LEVENBERG_MARQUARDT_OPT, vpMbTracker::m_cMo, vpMbTracker::m_lambda, vpMbTracker::m_optimizationMethod, vpMbTracker::oJo, and vpMatrix::pseudoInverse().
Referenced by vpMbDepthDenseTracker::computeVVS(), vpMbDepthNormalTracker::computeVVS(), vpMbKltMultiTracker::computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVS(), and vpMbGenericTracker::computeVVS().
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protectedvirtualinherited |
Definition at line 2987 of file vpMbTracker.cpp.
References vpRobust::MEstimator(), and vpRobust::TUKEY.
Referenced by vpMbDepthNormalTracker::computeVVS(), vpMbKltMultiTracker::computeVVSWeights(), and vpMbEdgeKltMultiTracker::computeVVSWeights().
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protectedinherited |
Definition at line 3043 of file vpMbTracker.cpp.
References vpException::badValue, vpColVector::clear(), vpColVector::crossProd(), vpColVector::frobeniusNorm(), vpPoint::get_oX(), vpPoint::get_oY(), vpPoint::get_oZ(), and vpColVector::normalize().
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virtual |
Display the 3D model at a given position using the given camera parameters
I | : The image. |
cMo | : Pose used to project the 3D model into the image. |
cam | : The camera parameters. |
col | : The desired color. |
thickness | : The thickness of the lines. |
displayFullModel | : Boolean to say if all the model has to be displayed, even the faces that are visible. |
Implements vpMbTracker.
Reimplemented in vpMbEdgeKltTracker, vpMbEdgeKltMultiTracker, and vpMbKltMultiTracker.
Definition at line 1087 of file vpMbKltTracker.cpp.
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virtual |
Display the 3D model at a given position using the given camera parameters
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 | : Boolean to say if all the model has to be displayed, even the faces that are not visible. |
Implements vpMbTracker.
Reimplemented in vpMbEdgeKltTracker, vpMbEdgeKltMultiTracker, and vpMbKltMultiTracker.
Definition at line 1139 of file vpMbKltTracker.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 2437 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 2384 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 2295 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 2522 of file vpMbTracker.cpp.
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inlinevirtualinherited |
Return the angle used to test polygons appearance.
Definition at line 233 of file vpMbTracker.h.
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inlinevirtualinherited |
Return the angle used to test polygons disappearance.
Definition at line 236 of file vpMbTracker.h.
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inlinevirtualinherited |
Get the camera parameters.
cam | : copy of the camera parameters used by the tracker. |
Reimplemented in vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, vpMbKltMultiTracker, and vpMbGenericTracker.
Definition at line 243 of file vpMbTracker.h.
Referenced by vpMbGenericTracker::getCameraParameters().
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inlinevirtualinherited |
Get the clipping used and defined in vpPolygon3D::vpMbtPolygonClippingType.
Definition at line 251 of file vpMbTracker.h.
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inlinevirtualinherited |
Get the covariance matrix. This matrix is only computed if setCovarianceComputation() is turned on.
Definition at line 260 of file vpMbTracker.h.
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inlinevirtual |
Return the error vector reached after the virtual visual servoing process used to estimate the pose.
The following example shows how to use this function to compute the norm of the residual and the norm of the residual normalized by the number of features that are tracked:
Implements vpMbTracker.
Reimplemented in vpMbEdgeKltTracker, vpMbKltMultiTracker, and vpMbEdgeKltMultiTracker.
Definition at line 332 of file vpMbKltTracker.h.
References m_error_klt.
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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 3004 of file vpMbTracker.cpp.
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inlinevirtualinherited |
Return a reference to the faces structure.
Reimplemented in vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, vpMbKltMultiTracker, and vpMbGenericTracker.
Definition at line 327 of file vpMbTracker.h.
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inlinevirtualinherited |
Get the far distance for clipping.
Definition at line 334 of file vpMbTracker.h.
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inlinevirtual |
Return the address of the circle feature list.
Reimplemented in vpMbKltMultiTracker.
Definition at line 282 of file vpMbKltTracker.h.
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protectedvirtual |
Definition at line 1180 of file vpMbKltTracker.cpp.
References vpMbtDistanceKltPoints::getFeaturesForDisplay(), vpMbtDistanceKltCylinder::getFeaturesForDisplay(), vpMbtDistanceKltCylinder::hasEnoughPoints(), vpMbtDistanceKltPoints::hasEnoughPoints(), vpMbtDistanceKltCylinder::isTracked(), vpMbtDistanceKltPoints::isTracked(), vpMbtPolygon::isVisible(), kltCylinders, kltPolygons, and vpMbtDistanceKltPoints::polygon.
Referenced by vpMbKltMultiTracker::postTracking().
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inlinevirtual |
Return the address of the Klt feature list.
Reimplemented in vpMbKltMultiTracker.
Definition at line 286 of file vpMbKltTracker.h.
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inlinevirtual |
Return the address of the cylinder feature list.
Reimplemented in vpMbKltMultiTracker.
Definition at line 284 of file vpMbKltTracker.h.
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protectedinherited |
Compute the center of gravity of a set of point. This is used in the cylinder extraction to find the center of the circles.
vpException::dimensionError | if the set is empty. |
pts | : Set of point to extract the center of gravity. |
Definition at line 2567 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 279 of file vpMbTracker.h.
std::vector< vpImagePoint > vpMbKltTracker::getKltImagePoints | ( | ) | const |
Get the current list of KLT points.
Definition at line 329 of file vpMbKltTracker.cpp.
std::map< int, vpImagePoint > vpMbKltTracker::getKltImagePointsWithId | ( | ) | const |
Get the current list of KLT points and their id.
Definition at line 350 of file vpMbKltTracker.cpp.
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inline |
Get the erosion of the mask used on the Model faces.
Definition at line 315 of file vpMbKltTracker.h.
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inline |
Get the current number of klt points.
Definition at line 322 of file vpMbKltTracker.h.
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inline |
Get the klt tracker at the current state.
Definition at line 308 of file vpMbKltTracker.h.
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inline |
Get the current list of KLT points.
Definition at line 294 of file vpMbKltTracker.h.
References vpKltOpencv::getFeatures(), and tracker.
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inline |
Get the threshold for the acceptation of a point.
Definition at line 330 of file vpMbKltTracker.h.
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inlinevirtualinherited |
Get the value of the gain used to compute the control law.
Definition at line 286 of file vpMbTracker.h.
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inline |
Get the erosion of the mask used on the Model faces.
Definition at line 434 of file vpMbKltTracker.h.
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inlinevirtualinherited |
Get the maximum number of iterations of the virtual visual servoing stage.
Definition at line 293 of file vpMbTracker.h.
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virtual |
Return a list of primitives parameters to display the model at a given pose and camera parameters.
<primitive id (here 0 for line)>
, <pt_start.i()>
, <pt_start.j()>
, <pt_end.i()>
, <pt_end.j()>
<primitive id (here 1 for ellipse)>
, <pt_center.i()>
, <pt_center.j()>
, <mu20>
, <mu11>
, <mu02>
width | : Image width. |
height | : Image height. |
cMo | : Pose used to project the 3D model into the image. |
cam | : The camera parameters. |
displayFullModel | : If true, the line is displayed even if it is not |
Implements vpMbTracker.
Reimplemented in vpMbEdgeKltMultiTracker, vpMbKltMultiTracker, and vpMbEdgeKltTracker.
Definition at line 1219 of file vpMbKltTracker.cpp.
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inline |
Get the current number of klt points.
Definition at line 441 of file vpMbKltTracker.h.
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inlinevirtualinherited |
Get the number of polygons (faces) representing the object to track.
Reimplemented in vpMbGenericTracker, vpMbKltMultiTracker, vpMbEdgeMultiTracker, and vpMbEdgeKltMultiTracker.
Definition at line 363 of file vpMbTracker.h.
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inlinevirtualinherited |
Get the near distance for clipping.
Reimplemented in vpMbEdgeKltTracker.
Definition at line 370 of file vpMbTracker.h.
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inlinevirtualinherited |
Get the optimization method used during the tracking. 0 = Gauss-Newton approach. 1 = Levenberg-Marquardt approach.
Definition at line 379 of file vpMbTracker.h.
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inlinevirtualinherited |
Return the polygon (face) "index".
vpException::dimensionError | if index does not represent a good polygon. |
index | : Index of the polygon to return. |
Reimplemented in vpMbGenericTracker.
Definition at line 390 of file vpMbTracker.h.
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virtualinherited |
Get the list of polygons faces (a vpPolygon representing the projection of the face in the image and a list of face corners in 3D), with the possibility to order by distance to the camera or to use the visibility check to consider if the polygon face must be retrieved or not.
orderPolygons | : If true, the resulting list is ordered from the nearest polygon faces to the farther. |
useVisibility | : If true, only visible faces will be retrieved. |
clipPolygon | : If true, the polygons will be clipped according to the clipping flags set in vpMbTracker. |
Reimplemented in vpMbGenericTracker.
Definition at line 2601 of file vpMbTracker.cpp.
References vpMbTracker::faces, vpMbHiddenFaces< PolygonType >::getPolygon(), vpMbTracker::m_cam, and vpMbTracker::m_cMo.
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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 418 of file vpMbTracker.h.
Referenced by vpMbGenericTracker::getPose().
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inlinevirtualinherited |
Get the current pose between the object and the camera. cMo is the matrix which can be used to express coordinates from the object frame to camera frame.
cMo | : the pose |
Reimplemented in vpMbGenericTracker.
Definition at line 409 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 305 of file vpMbTracker.h.
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inlinevirtual |
Return the weights vector computed by the robust scheme.
The following example shows how to use this function to compute the norm of the weighted residual and the norm of the weighted residual normalized by the sum of the weights associated to the features that are tracked:
Implements vpMbTracker.
Reimplemented in vpMbEdgeKltTracker, vpMbKltMultiTracker, and vpMbEdgeKltMultiTracker.
Definition at line 334 of file vpMbKltTracker.h.
References m_w_klt.
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inlinevirtualinherited |
Definition at line 420 of file vpMbTracker.h.
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inline |
Get the threshold for the acceptation of a point.
Definition at line 450 of file vpMbKltTracker.h.
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protectedvirtual |
Initialise the tracking.
I | : Input image. |
Implements vpMbTracker.
Reimplemented in vpMbEdgeKltTracker, vpMbKltMultiTracker, and vpMbEdgeKltMultiTracker.
Definition at line 125 of file vpMbKltTracker.cpp.
References vpMbTracker::angleAppears, vpMbTracker::angleDisappears, vpMbTracker::faces, vpException::fatalError, vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpMbHiddenFaces< PolygonType >::initOgre(), vpMbHiddenFaces< PolygonType >::isOgreInitialised(), vpMbTracker::m_cam, vpMbTracker::m_cMo, vpMbTracker::modelInitialised, vpMbTracker::ogreShowConfigDialog, reinit(), vpMbHiddenFaces< PolygonType >::setBackgroundSizeOgre(), vpMbHiddenFaces< PolygonType >::setOgreShowConfigDialog(), vpMbHiddenFaces< PolygonType >::setVisible(), vpMbHiddenFaces< PolygonType >::setVisibleOgre(), and vpMbTracker::useOgre.
Referenced by setPose().
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protectedvirtual |
Add a circle to display (not for tracking) from its center, 3 points (including the center) defining the plane that contain the circle and its radius.
p1 | : Center of the circle. |
p2,p3 | : Two points on the plane containing the circle. With the center of the circle we have 3 points defining the plane that contains the circle. |
radius | : Radius of the circle. |
name | : The optional name of the circle. |
Implements vpMbTracker.
Reimplemented in vpMbEdgeKltTracker, and vpMbEdgeKltMultiTracker.
Definition at line 1340 of file vpMbKltTracker.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 grayscale 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 547 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 grayscale 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 771 of file vpMbTracker.cpp.
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protectedvirtualinherited |
Definition at line 190 of file vpMbTracker.cpp.
References vpPose::addPoint(), vpException::badValue, vpHomogeneousMatrix::buildFrom(), vpMouseButton::button1, vpIoTools::checkFilename(), vpPose::clearPoint(), vpPose::computePose(), vpPose::computeResidual(), vpImageConvert::convert(), vpPixelMeterConversion::convertPoint(), vpPose::DEMENTHON, vpImage< Type >::display, vpMbTracker::display(), vpDisplay::display(), vpDisplay::displayCross(), vpDisplay::displayFrame(), vpDisplay::displayText(), vpHomogeneousMatrix::eye(), vpDisplay::flush(), vpDisplay::getClick(), vpImage< Type >::getWidth(), vpDisplay::getWindowXPosition(), vpDisplay::getWindowYPosition(), vpColor::green, vpMbTracker::init(), vpException::ioError, vpPose::LAGRANGE, vpMbTracker::m_cam, vpMbTracker::m_cMo, vpMbTracker::m_I, vpMbTracker::poseSavingFilename, vpImageIo::read(), vpColor::red, vpMbTracker::removeComment(), vpMbTracker::savePose(), and vpPose::VIRTUAL_VS.
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protectedvirtualinherited |
Definition at line 590 of file vpMbTracker.cpp.
References vpPose::addPoint(), vpMouseButton::button1, vpIoTools::checkFilename(), vpPose::clearPoint(), vpPose::computePose(), vpPose::computeResidual(), vpImageConvert::convert(), vpPixelMeterConversion::convertPoint(), vpPose::DEMENTHON, vpImage< Type >::display, vpMbTracker::display(), vpDisplay::display(), vpDisplay::displayCross(), vpDisplay::displayFrame(), vpDisplay::displayPoint(), vpDisplay::displayText(), vpDisplay::flush(), vpDisplay::getClick(), vpImage< Type >::getWidth(), vpDisplay::getWindowXPosition(), vpDisplay::getWindowYPosition(), vpColor::green, vpMbTracker::init(), vpPose::LAGRANGE, vpMbTracker::m_cam, vpMbTracker::m_cMo, vpMbTracker::m_I, vpImageIo::read(), vpColor::red, and vpPose::VIRTUAL_VS.
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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_color | : Input color 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 584 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_color | : Input color 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 788 of file vpMbTracker.cpp.
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protectedvirtual |
Add a cylinder to display (not for tracking) 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 | : Identifier of the polygon representing the revolution axis of the cylinder. |
name | : The optional name of the cylinder. |
Implements vpMbTracker.
Reimplemented in vpMbEdgeKltTracker, and vpMbEdgeKltMultiTracker.
Definition at line 1310 of file vpMbKltTracker.cpp.
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protectedvirtual |
Initialise a new face from the coordinates given in parameter.
polygon | : The polygon describing the set of lines that has to be tracked. |
Implements vpMbTracker.
Reimplemented in vpMbEdgeKltTracker, and vpMbEdgeKltMultiTracker.
Definition at line 647 of file vpMbKltTracker.cpp.
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protectedvirtual |
Initialise a new face from the coordinates given in parameter.
polygon | : The polygon describing the set of lines that has to be tracked. |
Implements vpMbTracker.
Reimplemented in vpMbEdgeKltTracker, and vpMbEdgeKltMultiTracker.
Definition at line 662 of file vpMbKltTracker.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 grayscale image |
initFile | : Path to the file containing all the points. |
Definition at line 966 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 grayscale image |
points2D_list | : List of image points. |
points3D_list | : List of 3D points (object frame). |
Definition at line 1061 of file vpMbTracker.cpp.
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protectedvirtualinherited |
Definition at line 795 of file vpMbTracker.cpp.
References vpPose::addPoint(), vpException::badValue, vpPose::computePose(), vpPose::computeResidual(), vpImageConvert::convert(), vpPixelMeterConversion::convertPoint(), vpPose::DEMENTHON, vpMbTracker::init(), vpException::ioError, vpPose::LAGRANGE, vpMbTracker::m_cam, vpMbTracker::m_cMo, vpMbTracker::m_I, vpPoint::set_x(), vpPoint::set_y(), vpPoint::setWorldCoordinates(), and vpPose::VIRTUAL_VS.
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protectedvirtualinherited |
Definition at line 1000 of file vpMbTracker.cpp.
References vpPose::addPoint(), vpPose::computePose(), vpPose::computeResidual(), vpImageConvert::convert(), vpPixelMeterConversion::convertPoint(), vpPose::DEMENTHON, vpMbTracker::init(), vpPose::LAGRANGE, vpMbTracker::m_cam, vpMbTracker::m_cMo, vpMbTracker::m_I, vpPose::VIRTUAL_VS, and vpERROR_TRACE.
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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_color | : Input color image |
initFile | : Path to the file containing all the points. |
Definition at line 995 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_color | : Input color grayscale image |
points2D_list | : List of image points. |
points3D_list | : List of 3D points (object frame). |
Definition at line 1075 of file vpMbTracker.cpp.
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virtualinherited |
Initialise the tracking thanks to the pose in vpPoseVector format, and read in the file initFile. The structure of this file is (without the comments):
Where the three firsts lines refer to the translation and the three last to the rotation in thetaU parametrisation (see vpThetaUVector).
I | : Input grayscale image |
initFile | : Path to the file containing the pose. |
Reimplemented in vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.
Definition at line 1134 of file vpMbTracker.cpp.
Referenced by vpMbGenericTracker::initFromPose(), vpMbDepthDenseTracker::reInitModel(), and vpMbDepthNormalTracker::reInitModel().
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virtualinherited |
Initialise the tracking thanks to the pose.
I | : Input grayscale image |
cMo | : Pose matrix. |
Reimplemented in vpMbGenericTracker, vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.
Definition at line 1168 of file vpMbTracker.cpp.
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virtualinherited |
Initialise the tracking thanks to the pose vector.
I | : Input grayscale image |
cPo | : Pose vector. |
Reimplemented in vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.
Definition at line 1193 of file vpMbTracker.cpp.
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protectedvirtualinherited |
Definition at line 1081 of file vpMbTracker.cpp.
References vpHomogeneousMatrix::buildFrom(), vpImageConvert::convert(), vpMbTracker::init(), vpException::ioError, vpMbTracker::m_cMo, and vpMbTracker::m_I.
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virtualinherited |
Initialise the tracking thanks to the pose in vpPoseVector format, and read in the file initFile. The structure of this file is (without the comments):
Where the three firsts lines refer to the translation and the three last to the rotation in thetaU parametrisation (see vpThetaUVector).
I_color | : Input color image |
initFile | : Path to the file containing the pose. |
Definition at line 1157 of file vpMbTracker.cpp.
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virtualinherited |
Initialise the tracking thanks to the pose.
I_color | : Input color image |
cMo | : Pose matrix. |
Definition at line 1180 of file vpMbTracker.cpp.
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virtualinherited |
Initialise the tracking thanks to the pose vector.
I_color | : Input color image |
cPo | : Pose vector. |
Definition at line 1205 of file vpMbTracker.cpp.
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protectedinherited |
Definition at line 3438 of file vpMbTracker.cpp.
References vpMbTracker::addProjectionErrorCircle().
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protectedinherited |
Definition at line 3444 of file vpMbTracker.cpp.
References vpMbTracker::addProjectionErrorCylinder().
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protectedinherited |
Definition at line 3450 of file vpMbTracker.cpp.
References vpMbTracker::addProjectionErrorLine(), vpMbtPolygon::getIndex(), vpMbtPolygon::getName(), vpPolygon3D::getNbPoint(), and vpPolygon3D::p.
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protectedinherited |
Definition at line 3460 of file vpMbTracker.cpp.
References vpMbTracker::addProjectionErrorLine(), vpMbtPolygon::getIndex(), vpMbtPolygon::getName(), vpPolygon3D::getNbPoint(), and vpPolygon3D::p.
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protectedvirtualinherited |
Load a 3D model contained in a *.cao file.
Since ViSP 2.9.1, lines starting with # character are considered as comments. It is also possible to add comment at the end of the lines. No specific character is requested before the comment. In the following example we use "//" but it could be an other character.
Since ViSP 2.9.1, circles are supported.
The structure of the file is :
modelFile | : Full name of the main *.cao file containing the model. |
vectorOfModelFilename | : A vector of *.cao files. |
startIdFace | : Current Id of the face. |
verbose | : If true, will print additional information with CAO model files which include other CAO model files. |
parent | : This parameter is set to true when parsing a parent CAO model file, and false when parsing an included CAO model file. |
odTo | : 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 1688 of file vpMbTracker.cpp.
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virtual |
Load the xml configuration file. From the configuration file initialize the parameters corresponding to the objects: KLT, camera.
vpException::ioError | if the file has not been properly parsed (file not found or wrong format for the data). |
configFile | : full name of the xml file. |
The XML configuration file has the following form:
Reimplemented from vpMbTracker.
Reimplemented in vpMbEdgeKltTracker, vpMbEdgeKltMultiTracker, and vpMbKltMultiTracker.
Definition at line 1005 of file vpMbKltTracker.cpp.
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virtualinherited |
Load a 3D model from the file in parameter. This file must either be a vrml file (.wrl) or a CAO file (.cao). CAO format is described in the loadCAOModel() method.
vpException::ioError | if the file cannot be open, or if its extension is not wrl or cao. |
modelFile | : the file containing the the 3D model description. The extension of this file is either .wrl or .cao. |
verbose | : verbose option to print additional information when loading CAO model files which include other CAO model files. |
odTo | : optional transformation matrix (currently only for .cao) to transform 3D points expressed in the original object frame to the desired object frame. |
Reimplemented in vpMbGenericTracker, vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.
Definition at line 1465 of file vpMbTracker.cpp.
Referenced by vpMbDepthDenseTracker::reInitModel(), and vpMbDepthNormalTracker::reInitModel().
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protectedvirtualinherited |
Load the 3D model of the object from a vrml file. Only LineSet and FaceSet are extracted from the vrml file.
vpException::fatalError | if the file cannot be open. |
modelFile | : The full name of the file containing the 3D model. |
Definition at line 1526 of file vpMbTracker.cpp.
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protectedinherited |
Definition at line 1587 of file vpMbTracker.cpp.
References vpMbTracker::mapOfParameterNames, and vpIoTools::trim().
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protected |
Realize the post tracking operations. Mostly visibility tests
Definition at line 715 of file vpMbKltTracker.cpp.
Referenced by vpMbKltMultiTracker::postTracking().
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protected |
Achieve the tracking of the KLT features and associate the features to the faces.
I | : The input image. |
Definition at line 678 of file vpMbKltTracker.cpp.
Referenced by vpMbKltMultiTracker::preTracking().
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protectedinherited |
Definition at line 3677 of file vpMbTracker.cpp.
References vpMbtDistanceCircle::hiddenface, vpMbtDistanceLine::hiddenface, vpMbtDistanceCylinder::hiddenface, vpMbtDistanceCircle::index_polygon, vpMbtDistanceCylinder::index_polygon, vpMbtDistanceCircle::initMovingEdge(), vpMbtDistanceLine::initMovingEdge(), vpMbtDistanceCylinder::initMovingEdge(), vpMbtDistanceCircle::isTracked(), vpMbtDistanceLine::isTracked(), vpMbtDistanceCylinder::isTracked(), vpMbHiddenFaces< PolygonType >::isVisible(), vpMbtDistanceLine::Lindex_polygon, vpMbTracker::m_mask, vpMbTracker::m_projectionErrorCircles, vpMbTracker::m_projectionErrorCylinders, vpMbTracker::m_projectionErrorLines, vpMbtDistanceCircle::meEllipse, vpMbtDistanceLine::meline, vpMbtDistanceCylinder::meline1, vpMbtDistanceCylinder::meline2, vpMbtDistanceCircle::nbFeature, vpMbtDistanceLine::nbFeature, vpMbtDistanceCylinder::nbFeature, vpMbtDistanceCylinder::nbFeaturel1, vpMbtDistanceCylinder::nbFeaturel2, vpMbtDistanceLine::nbFeatureTotal, vpMbtDistanceCircle::setVisible(), vpMbtDistanceLine::setVisible(), vpMbtDistanceCylinder::setVisible(), and vpMbtDistanceLine::updateTracked().
Referenced by vpMbTracker::computeProjectionErrorImpl().
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protectedinherited |
Definition at line 3637 of file vpMbTracker.cpp.
References vpMbTracker::m_projectionErrorCircles, vpMbTracker::m_projectionErrorCylinders, and vpMbTracker::m_projectionErrorLines.
Referenced by vpMbTracker::computeProjectionErrorImpl().
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protectedinherited |
Definition at line 3622 of file vpMbTracker.cpp.
References vpMbTracker::angleAppears, vpMbTracker::angleDisappears, vpMbTracker::m_projectionErrorCam, vpMbTracker::m_projectionErrorFaces, vpMbHiddenFaces< PolygonType >::setVisible(), vpMbHiddenFaces< PolygonType >::setVisibleOgre(), and vpMbTracker::useOgre.
Referenced by vpMbTracker::computeProjectionErrorImpl().
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protectedvirtual |
Definition at line 155 of file vpMbKltTracker.cpp.
References c0Mo, vpPolygon3D::changeFrame(), vpMbHiddenFaces< PolygonType >::computeClippedPolygons(), vpCameraParameters::computeFov(), vpPolygon3D::computePolygonClipped(), vpMbHiddenFaces< PolygonType >::computeScanLineRender(), vpImageConvert::convert(), ctTc0, cur, vpHomogeneousMatrix::eye(), vpMbTracker::faces, vpImage< Type >::getCols(), vpImage< Type >::getHeight(), vpMbHiddenFaces< PolygonType >::getMbScanLineRenderer(), vpPolygon3D::getNbPoint(), vpImage< Type >::getRows(), vpImage< Type >::getWidth(), vpMbtDistanceKltPoints::init(), vpMbtDistanceKltCylinder::init(), vpKltOpencv::initTracking(), vpMbtDistanceKltCylinder::isTracked(), vpMbtDistanceKltPoints::isTracked(), vpMbtPolygon::isVisible(), kltCylinders, kltPolygons, vpMbtDistanceKltCylinder::listIndicesCylinderBBox, vpMbTracker::m_cam, vpMbTracker::m_cMo, vpMbTracker::m_mask, maskBorder, vpMbtDistanceKltPoints::polygon, tracker, vpMbtDistanceKltCylinder::updateMask(), vpMbtDistanceKltPoints::updateMask(), and vpMbTracker::useScanLine.
Referenced by init(), and vpMbKltMultiTracker::postTracking().
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virtual |
Re-initialize the model used by the tracker.
I | : The image containing the object to initialize. |
cad_name | : Path to the file containing the 3D model description. |
cMo | : The new vpHomogeneousMatrix between the camera and the new model |
verbose | : verbose option to print additional information when loading CAO model files which include other CAO model files. |
T | : optional transformation matrix (currently only for .cao) to transform 3D points expressed in the original object frame to the desired object frame. |
Reimplemented in vpMbEdgeKltTracker, vpMbEdgeKltMultiTracker, and vpMbKltMultiTracker.
Definition at line 1394 of file vpMbKltTracker.cpp.
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protectedinherited |
Definition at line 1572 of file vpMbTracker.cpp.
References vpException::ioError.
Referenced by vpMbTracker::initClick().
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virtual |
Reset the tracker. The model is removed and the pose is set to identity. The tracker needs to be initialized with a new model and a new pose.
Implements vpMbTracker.
Definition at line 241 of file vpMbKltTracker.cpp.
Check if two vpPoints are similar.
To be similar : .
P1 | : The first point to compare |
P2 | : The second point to compare |
Definition at line 3142 of file vpMbTracker.cpp.
Referenced by vpMbTracker::addProjectionErrorCircle(), vpMbTracker::addProjectionErrorCylinder(), and vpMbTracker::addProjectionErrorLine().
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inherited |
Save the pose in the given filename
filename | : Path to the file used to save the pose. |
Definition at line 1217 of file vpMbTracker.cpp.
Referenced by vpMbTracker::initClick().
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inlinevirtualinherited |
Set the angle used to test polygons appearance. If the angle between the normal of the polygon and the line going from the camera to the polygon center has a value lower than this parameter, the polygon is considered as appearing. The polygon will then be tracked.
a | : new angle in radian. |
Reimplemented in vpMbGenericTracker, vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.
Definition at line 464 of file vpMbTracker.h.
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inlinevirtualinherited |
Set the angle used to test polygons disappearance. If the angle between the normal of the polygon and the line going from the camera to the polygon center has a value greater than this parameter, the polygon is considered as disappearing. The tracking of the polygon will then be stopped.
a | : new angle in radian. |
Reimplemented in vpMbGenericTracker, vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.
Definition at line 475 of file vpMbTracker.h.
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virtual |
Set the camera parameters.
cam | : the new camera parameters. |
Reimplemented from vpMbTracker.
Definition at line 388 of file vpMbKltTracker.cpp.
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virtualinherited |
Specify which clipping to use.
flags | : New clipping flags. |
Reimplemented in vpMbEdgeTracker, vpMbGenericTracker, vpMbEdgeKltMultiTracker, vpMbEdgeKltTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.
Definition at line 2815 of file vpMbTracker.cpp.
Referenced by vpMbDepthDenseTracker::loadConfigFile(), and vpMbDepthNormalTracker::loadConfigFile().
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inlinevirtualinherited |
Set if the covariance matrix has to be computed.
flag | : True if the covariance has to be computed, false otherwise. If computed its value is available with getCovarianceMatrix() |
Reimplemented in vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.
Definition at line 494 of file vpMbTracker.h.
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inlinevirtualinherited |
Enable to display the features. By features, we meant the moving edges (ME) and the klt points if used.
Note that if present, the moving edges can be displayed with different colors:
displayF | : set it to true to display the features. |
Reimplemented in vpMbGenericTracker, vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.
Definition at line 512 of file vpMbTracker.h.
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virtualinherited |
Set a 6-dim column vector representing the degrees of freedom in the object frame that are estimated by the tracker. When set to 1, all the 6 dof are estimated.
Below we give the correspondance between the index of the vector and the considered dof:
Definition at line 3027 of file vpMbTracker.cpp.
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virtualinherited |
Set the far distance for clipping.
dist | : Far clipping value. |
Reimplemented in vpMbEdgeTracker, vpMbGenericTracker, vpMbEdgeKltMultiTracker, vpMbEdgeKltTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.
Definition at line 2709 of file vpMbTracker.cpp.
Referenced by vpMbDepthDenseTracker::loadConfigFile(), and vpMbDepthNormalTracker::loadConfigFile().
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inlinevirtualinherited |
Set the ratio of visibility attempts that has to be successful to consider a polygon as visible.
ratio | : Ratio of succesful attempts that has to be considered. Value has to be between 0.0 (0%) and 1.0 (100%). |
Reimplemented in vpMbGenericTracker, vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.
Definition at line 612 of file vpMbTracker.h.
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inlinevirtualinherited |
Set the initial value of mu for the Levenberg Marquardt optimization loop.
mu | : initial mu. |
Definition at line 523 of file vpMbTracker.h.
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inline |
Set the erosion of the mask used on the Model faces.
e | : The desired erosion. |
Definition at line 355 of file vpMbKltTracker.h.
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virtual |
Set the new value of the klt tracker.
t | : Klt tracker containing the new values. |
Reimplemented in vpMbKltMultiTracker.
Definition at line 372 of file vpMbKltTracker.cpp.
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inline |
Set the threshold for the acceptation of a point.
th | : Threshold for the weight below which a point is rejected. |
Definition at line 369 of file vpMbKltTracker.h.
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inlinevirtualinherited |
Set the value of the gain used to compute the control law.
gain | : the desired value for the gain. |
Definition at line 530 of file vpMbTracker.h.
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virtualinherited |
Set the flag to consider if the level of detail (LOD) is used.
useLod | : true if the level of detail must be used, false otherwise. When true, two parameters can be set, see setMinLineLengthThresh() and setMinPolygonAreaThresh(). |
name | : name of the face we want to modify the LOD parameter. |
Reimplemented in vpMbGenericTracker, vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.
Definition at line 2739 of file vpMbTracker.cpp.
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inlinevirtualinherited |
Reimplemented in vpMbGenericTracker.
Definition at line 558 of file vpMbTracker.h.
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inline |
Set the erosion of the mask used on the Model faces.
e | : The desired erosion. |
Definition at line 456 of file vpMbKltTracker.h.
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inlinevirtualinherited |
Set the maximum iteration of the virtual visual servoing stage.
max | : the desired number of iteration |
Definition at line 539 of file vpMbTracker.h.
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virtualinherited |
Set the threshold for the minimum line length to be considered as visible in the LOD case.
minLineLengthThresh | : threshold for the minimum line length in pixel. |
name | : name of the face we want to modify the LOD threshold. |
Reimplemented in vpMbGenericTracker, vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.
Definition at line 2757 of file vpMbTracker.cpp.
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virtualinherited |
Set the minimum polygon area to be considered as visible in the LOD case.
minPolygonAreaThresh | : threshold for the minimum polygon area in pixel. |
name | : name of the face we want to modify the LOD threshold. |
Reimplemented in vpMbGenericTracker, vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.
Definition at line 2774 of file vpMbTracker.cpp.
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inlinevirtualinherited |
Set the number of rays that will be sent toward each polygon for visibility test. Each ray will go from the optic center of the camera to a random point inside the considered polygon.
attempts | Number of rays to be sent. |
Reimplemented in vpMbGenericTracker, vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.
Definition at line 622 of file vpMbTracker.h.
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virtualinherited |
Set the near distance for clipping.
dist | : Near clipping value. |
Reimplemented in vpMbEdgeTracker, vpMbGenericTracker, vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, vpMbKltMultiTracker, and vpMbEdgeKltTracker.
Definition at line 2788 of file vpMbTracker.cpp.
Referenced by vpMbDepthDenseTracker::loadConfigFile(), and vpMbDepthNormalTracker::loadConfigFile().
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inlinevirtualinherited |
Enable/Disable the appearance of Ogre config dialog on startup.
showConfigDialog | : if true, shows Ogre dialog window (used to set Ogre rendering options) when Ogre visibility is enabled. By default, this functionality is turned off. |
Reimplemented in vpMbGenericTracker, vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.
Definition at line 638 of file vpMbTracker.h.
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inlinevirtual |
Use Ogre3D for visibility tests
v | : True to use it, False otherwise |
Reimplemented from vpMbTracker.
Reimplemented in vpMbEdgeKltMultiTracker, vpMbKltMultiTracker, and vpMbEdgeKltTracker.
Definition at line 379 of file vpMbKltTracker.h.
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inlinevirtualinherited |
Set the optimization method used during the tracking.
opt | : Optimization method to use. |
Reimplemented in vpMbGenericTracker, vpMbEdgeKltMultiTracker, vpMbEdgeMultiTracker, and vpMbKltMultiTracker.
Definition at line 552 of file vpMbTracker.h.
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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 | : grayscale image corresponding to the desired pose. |
cdMo | : Pose to affect. |
Implements vpMbTracker.
Reimplemented in vpMbEdgeKltMultiTracker, vpMbKltMultiTracker, and vpMbEdgeKltTracker.
Definition at line 622 of file vpMbKltTracker.cpp.
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protectedvirtual |
Definition at line 408 of file vpMbKltTracker.cpp.
References vpMbTracker::angleAppears, vpMbTracker::angleDisappears, c0Mo, vpPolygon3D::changeFrame(), vpPlane::changeFrame(), vpMbHiddenFaces< PolygonType >::computeClippedPolygons(), vpCameraParameters::computeFov(), vpPolygon3D::computePolygonClipped(), vpMbHiddenFaces< PolygonType >::computeScanLineRender(), vpImageConvert::convert(), ctTc0, cur, vpException::divideByZeroError, vpHomogeneousMatrix::extract(), vpHomogeneousMatrix::eye(), vpMbTracker::faces, vpCameraParameters::get_K(), vpCameraParameters::get_K_inverse(), vpMbtDistanceKltPoints::getCurrentNumberPoints(), vpMbtDistanceKltPoints::getCurrentPoints(), vpMbtDistanceKltPoints::getCurrentPointsInd(), vpPlane::getD(), vpImage< Type >::getHeight(), vpKltOpencv::getMaxFeatures(), vpPolygon3D::getNbPoint(), vpPlane::getNormal(), vpImage< Type >::getWidth(), vpMbtDistanceKltPoints::init(), init(), vpHomogeneousMatrix::inverse(), vpMbtPolygon::isVisible(), kltCylinders, kltPolygons, vpMbTracker::m_cam, vpMbTracker::m_cMo, vpMbTracker::m_I, vpMbTracker::m_mask, vpColVector::normalize(), vpPolygon3D::p, vpMbtDistanceKltPoints::polygon, vpKltOpencv::setInitialGuess(), vpMbHiddenFaces< PolygonType >::setVisible(), vpMbHiddenFaces< PolygonType >::setVisibleOgre(), tracker, vpMbTracker::useOgre, and vpMbTracker::useScanLine.
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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_color | : color image corresponding to the desired pose. |
cdMo | : Pose to affect. |
Implements vpMbTracker.
Reimplemented in vpMbEdgeKltMultiTracker, vpMbKltMultiTracker, and vpMbEdgeKltTracker.
Definition at line 636 of file vpMbKltTracker.cpp.
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inlineinherited |
Set the filename used to save the initial pose computed using the initClick() method. It is also used to read a previous pose in the same method. If the file is not set then, the initClick() method will create a .0.pos file in the root directory. This directory is the path to the file given to the method initClick() used to know the coordinates in the object frame.
filename | : The new filename. |
Definition at line 650 of file vpMbTracker.h.
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inlinevirtual |
Set if the projection error criteria has to be computed.
flag | : True if the projection error criteria has to be computed, false otherwise |
Reimplemented from vpMbTracker.
Reimplemented in vpMbEdgeKltMultiTracker, and vpMbEdgeKltTracker.
Definition at line 409 of file vpMbKltTracker.h.
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inlinevirtualinherited |
Display or not gradient and model orientation when computing the projection error.
Reimplemented in vpMbGenericTracker.
Definition at line 584 of file vpMbTracker.h.
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inlinevirtualinherited |
Arrow length used to display gradient and model orientation for projection error computation.
Reimplemented in vpMbGenericTracker.
Definition at line 589 of file vpMbTracker.h.
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inlinevirtualinherited |
Arrow thickness used to display gradient and model orientation for projection error computation.
Reimplemented in vpMbGenericTracker.
Definition at line 594 of file vpMbTracker.h.
Referenced by vpMbGenericTracker::setProjectionErrorDisplayArrowThickness().
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inherited |
Set kernel size used for projection error computation.
size | : Kernel size computed as kernel_size = size*2 + 1. |
Definition at line 3840 of file vpMbTracker.cpp.
Referenced by vpMbTracker::loadConfigFile().
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inherited |
Set Moving-Edges parameters for projection error computation.
me | : Moving-Edges parameters. |
Definition at line 3814 of file vpMbTracker.cpp.
Referenced by vpMbTracker::loadConfigFile().
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inlinevirtual |
Use Scanline algorithm for visibility tests
v | : True to use it, False otherwise |
Reimplemented from vpMbTracker.
Reimplemented in vpMbEdgeKltMultiTracker, vpMbKltMultiTracker, and vpMbEdgeKltTracker.
Definition at line 392 of file vpMbKltTracker.h.
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inlinevirtualinherited |
Set the minimal error (previous / current estimation) to determine if there is convergence or not.
eps | : Epsilon threshold. |
Definition at line 566 of file vpMbTracker.h.
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inline |
Set the threshold for the acceptation of a point.
th | : Threshold for the weight below which a point is rejected. |
Definition at line 469 of file vpMbKltTracker.h.
void vpMbKltTracker::setUseKltTracking | ( | const std::string & | name, |
const bool & | useKltTracking | ||
) |
Set if the polygons that have the given name have to be considered during the tracking phase.
name | : name of the polygon(s). |
useKltTracking | : True if it has to be considered, False otherwise. |
Definition at line 1451 of file vpMbKltTracker.cpp.
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virtual |
Test the quality of the tracking. The tracking is supposed to fail if less than 10 points are tracked.
vpTrackingException::fatalError | if the test fails. |
Implements vpMbTracker.
Reimplemented in vpMbEdgeKltMultiTracker, and vpMbEdgeKltTracker.
Definition at line 1274 of file vpMbKltTracker.cpp.
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Realize the tracking of the object in the image
vpException | : if the tracking is supposed to have failed |
I | : the input grayscale image |
Implements vpMbTracker.
Reimplemented in vpMbEdgeKltMultiTracker, vpMbKltMultiTracker, and vpMbEdgeKltTracker.
Definition at line 923 of file vpMbKltTracker.cpp.
Realize the tracking of the object in the image
vpException | : if the tracking is supposed to have failed |
I_color | : the input color image |
Implements vpMbTracker.
Reimplemented in vpMbEdgeKltMultiTracker, vpMbKltMultiTracker, and vpMbEdgeKltTracker.
Definition at line 948 of file vpMbKltTracker.cpp.
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Definition at line 218 of file vpMbKltTracker.h.
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Definition at line 217 of file vpMbKltTracker.h.
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Angle used to detect a face appearance.
Definition at line 144 of file vpMbTracker.h.
Referenced by vpMbDepthDenseTracker::computeVisibility(), vpMbDepthNormalTracker::computeVisibility(), vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), init(), vpMbDepthDenseTracker::loadConfigFile(), vpMbDepthNormalTracker::loadConfigFile(), vpMbTracker::projectionErrorVisibleFace(), vpMbDepthDenseTracker::resetTracker(), vpMbDepthNormalTracker::resetTracker(), and setPose().
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Angle used to detect a face disappearance.
Definition at line 146 of file vpMbTracker.h.
Referenced by vpMbDepthDenseTracker::computeVisibility(), vpMbDepthNormalTracker::computeVisibility(), vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), init(), vpMbDepthDenseTracker::loadConfigFile(), vpMbDepthNormalTracker::loadConfigFile(), vpMbTracker::projectionErrorVisibleFace(), vpMbDepthDenseTracker::resetTracker(), vpMbDepthNormalTracker::resetTracker(), and setPose().
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True if the CAO model is loaded before the call to loadConfigFile, (deduced by the number of polygons)
Definition at line 174 of file vpMbTracker.h.
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Initial pose.
Definition at line 228 of file vpMbKltTracker.h.
Referenced by vpMbKltMultiTracker::computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), vpMbEdgeKltMultiTracker::computeVVSInteractionMatrixAndResidu(), reinit(), and setPose().
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Vector of the circles used here only to display the full model.
Definition at line 250 of file vpMbKltTracker.h.
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Flags specifying which clipping to used.
Definition at line 152 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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Flag used to specify if the covariance matrix has to be computed or not.
Definition at line 127 of file vpMbTracker.h.
Referenced by vpMbTracker::computeCovarianceMatrixVVS(), vpMbDepthDenseTracker::computeVVS(), vpMbDepthNormalTracker::computeVVS(), vpMbKltMultiTracker::computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVS(), vpMbGenericTracker::computeVVS(), vpMbDepthDenseTracker::resetTracker(), vpMbDepthNormalTracker::resetTracker(), and vpMbEdgeKltTracker::vpMbEdgeKltTracker().
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Flag used to specify if the gradient error criteria has to be computed or not.
Definition at line 132 of file vpMbTracker.h.
Referenced by vpMbEdgeMultiTracker::computeProjectionError(), vpMbGenericTracker::computeProjectionError(), and vpMbEdgeKltMultiTracker::postTracking().
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Covariance matrix.
Definition at line 129 of file vpMbTracker.h.
Referenced by vpMbTracker::computeCovarianceMatrixVVS().
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The estimated displacement of the pose between the current instant and the initial position.
Definition at line 242 of file vpMbKltTracker.h.
Referenced by vpMbKltMultiTracker::computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), vpMbKltMultiTracker::computeVVSInteractionMatrixAndResidu(), vpMbEdgeKltMultiTracker::computeVVSInteractionMatrixAndResidu(), computeVVSInteractionMatrixAndResidu(), reinit(), and setPose().
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Temporary OpenCV image for fast conversion.
Definition at line 223 of file vpMbKltTracker.h.
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If true, the features are displayed.
Definition at line 137 of file vpMbTracker.h.
Referenced by vpMbDepthNormalTracker::display(), vpMbKltMultiTracker::postTracking(), and vpMbEdgeKltMultiTracker::postTracking().
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Distance for near clipping.
Definition at line 150 of file vpMbTracker.h.
Referenced by vpMbDepthDenseTracker::addFace(), vpMbDepthNormalTracker::addFace(), vpMbTracker::addPolygon(), vpMbTracker::addProjectionErrorLine(), and vpMbTracker::addProjectionErrorPolygon().
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Distance for near clipping.
Definition at line 148 of file vpMbTracker.h.
Referenced by vpMbDepthDenseTracker::addFace(), vpMbDepthNormalTracker::addFace(), vpMbTracker::addPolygon(), vpMbTracker::addProjectionErrorLine(), and vpMbTracker::addProjectionErrorPolygon().
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Set of faces describing the object.
Definition at line 142 of file vpMbTracker.h.
Referenced by vpMbDepthDenseTracker::addFace(), vpMbDepthNormalTracker::addFace(), vpMbTracker::addPolygon(), vpMbDepthDenseTracker::computeVisibility(), vpMbDepthNormalTracker::computeVisibility(), vpMbEdgeKltMultiTracker::getFaces(), vpMbEdgeKltTracker::getModelForDisplay(), vpMbTracker::getPolygonFaces(), vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), init(), vpMbEdgeKltMultiTracker::postTracking(), reinit(), vpMbDepthDenseTracker::resetTracker(), vpMbDepthNormalTracker::resetTracker(), vpMbDepthDenseTracker::setOgreVisibilityTest(), vpMbDepthNormalTracker::setOgreVisibilityTest(), setPose(), vpMbDepthDenseTracker::vpMbDepthDenseTracker(), vpMbDepthNormalTracker::vpMbDepthNormalTracker(), vpMbEdgeKltTracker::vpMbEdgeKltTracker(), and vpMbKltTracker().
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Flag to specify whether the init method is called the first or not (specific calls to realize in this case).
Definition at line 231 of file vpMbKltTracker.h.
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Boolean to know if oJo is identity (for fast computation)
Definition at line 116 of file vpMbTracker.h.
Referenced by vpMbKltMultiTracker::computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), and vpMbEdgeMultiTracker::computeVVS().
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Definition at line 248 of file vpMbKltTracker.h.
Referenced by computeVVSInteractionMatrixAndResidu(), getFeaturesForDisplayKlt(), reinit(), and setPose().
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Definition at line 246 of file vpMbKltTracker.h.
Referenced by computeVVSInteractionMatrixAndResidu(), getFeaturesForDisplayKlt(), reinit(), and setPose().
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The camera parameters.
Definition at line 110 of file vpMbTracker.h.
Referenced by vpMbDepthDenseTracker::addFace(), vpMbDepthNormalTracker::addFace(), vpMbTracker::addProjectionErrorCircle(), vpMbTracker::addProjectionErrorCylinder(), vpMbTracker::addProjectionErrorLine(), vpMbDepthDenseTracker::computeVisibility(), vpMbDepthNormalTracker::computeVisibility(), vpMbEdgeTracker::computeVVSFirstPhase(), computeVVSInit(), vpMbEdgeTracker::computeVVSInit(), vpMbDepthNormalTracker::getFeaturesForDisplayDepthNormal(), vpMbTracker::getPolygonFaces(), vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), init(), vpMbTracker::initClick(), vpMbTracker::initFromPoints(), vpMbDepthDenseTracker::loadConfigFile(), vpMbDepthNormalTracker::loadConfigFile(), reinit(), vpMbDepthDenseTracker::setCameraParameters(), vpMbDepthNormalTracker::setCameraParameters(), and setPose().
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The current pose.
Definition at line 112 of file vpMbTracker.h.
Referenced by vpMbDepthDenseTracker::computeVisibility(), vpMbDepthNormalTracker::computeVisibility(), vpMbDepthDenseTracker::computeVVS(), vpMbDepthNormalTracker::computeVVS(), vpMbKltMultiTracker::computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVS(), vpMbGenericTracker::computeVVS(), vpMbTracker::computeVVSCheckLevenbergMarquardt(), vpMbEdgeTracker::computeVVSFirstPhase(), vpMbEdgeTracker::computeVVSFirstPhaseFactor(), vpMbEdgeMultiTracker::computeVVSFirstPhasePoseEstimation(), vpMbEdgeTracker::computeVVSFirstPhasePoseEstimation(), vpMbDepthDenseTracker::computeVVSInteractionMatrixAndResidu(), vpMbDepthNormalTracker::computeVVSInteractionMatrixAndResidu(), vpMbKltMultiTracker::computeVVSInteractionMatrixAndResidu(), vpMbEdgeMultiTracker::computeVVSInteractionMatrixAndResidu(), vpMbEdgeKltMultiTracker::computeVVSInteractionMatrixAndResidu(), vpMbGenericTracker::computeVVSInteractionMatrixAndResidu(), vpMbEdgeTracker::computeVVSInteractionMatrixAndResidu(), vpMbTracker::computeVVSPoseEstimation(), vpMbDepthNormalTracker::getFeaturesForDisplayDepthNormal(), vpMbTracker::getPolygonFaces(), vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), vpMbGenericTracker::init(), init(), vpMbTracker::initClick(), vpMbGenericTracker::initFromPoints(), vpMbTracker::initFromPoints(), vpMbTracker::initFromPose(), vpMbEdgeKltMultiTracker::initMbtTracking(), vpMbKltMultiTracker::postTracking(), reinit(), vpMbDepthDenseTracker::reInitModel(), vpMbDepthNormalTracker::reInitModel(), vpMbDepthDenseTracker::resetTracker(), vpMbDepthNormalTracker::resetTracker(), vpMbDepthDenseTracker::segmentPointCloud(), vpMbDepthNormalTracker::segmentPointCloud(), vpMbDepthDenseTracker::setPose(), vpMbDepthNormalTracker::setPose(), setPose(), and vpMbEdgeKltTracker::trackFirstLoop().
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If true, compute the interaction matrix at each iteration of the minimization. Otherwise, compute it only on the first iteration
Definition at line 184 of file vpMbTracker.h.
Referenced by vpMbKltMultiTracker::computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVSFirstPhasePoseEstimation(), vpMbEdgeTracker::computeVVSFirstPhasePoseEstimation(), vpMbDepthDenseTracker::resetTracker(), and vpMbDepthNormalTracker::resetTracker().
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(s - s*)
Definition at line 258 of file vpMbKltTracker.h.
Referenced by computeVVSInit(), vpMbKltMultiTracker::computeVVSInteractionMatrixAndResidu(), vpMbEdgeKltMultiTracker::computeVVSInteractionMatrixAndResidu(), computeVVSInteractionMatrixAndResidu(), vpMbKltMultiTracker::computeVVSWeights(), vpMbEdgeKltMultiTracker::computeVVSWeights(), and getError().
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Display features.
Definition at line 266 of file vpMbKltTracker.h.
Referenced by vpMbKltMultiTracker::postTracking().
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Grayscale image buffer, used when passing color images.
Definition at line 222 of file vpMbTracker.h.
Referenced by vpMbTracker::initClick(), vpMbTracker::initFromPoints(), vpMbTracker::initFromPose(), vpMbDepthDenseTracker::setPose(), vpMbDepthNormalTracker::setPose(), setPose(), and vpMbEdgeTracker::track().
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Initial Mu for Levenberg Marquardt optimization loop.
Definition at line 192 of file vpMbTracker.h.
Referenced by vpMbDepthDenseTracker::computeVVS(), vpMbDepthNormalTracker::computeVVS(), vpMbKltMultiTracker::computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVS(), and vpMbGenericTracker::computeVVS().
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Interaction matrix.
Definition at line 256 of file vpMbKltTracker.h.
Referenced by computeVVSInit(), vpMbKltMultiTracker::computeVVSInteractionMatrixAndResidu(), vpMbEdgeKltMultiTracker::computeVVSInteractionMatrixAndResidu(), and computeVVSInteractionMatrixAndResidu().
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Gain of the virtual visual servoing stage.
Definition at line 186 of file vpMbTracker.h.
Referenced by vpMbTracker::computeVVSPoseEstimation(), vpMbDepthDenseTracker::resetTracker(), vpMbDepthNormalTracker::resetTracker(), vpMbEdgeKltTracker::vpMbEdgeKltTracker(), and vpMbKltTracker().
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Mask used to disable tracking on a part of image.
Definition at line 220 of file vpMbTracker.h.
Referenced by vpMbTracker::projectionErrorInitMovingEdge(), reinit(), vpMbDepthDenseTracker::segmentPointCloud(), vpMbDepthNormalTracker::segmentPointCloud(), and setPose().
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Maximum number of iterations of the virtual visual servoing stage.
Definition at line 188 of file vpMbTracker.h.
Referenced by vpMbDepthDenseTracker::computeVVS(), vpMbDepthNormalTracker::computeVVS(), vpMbKltMultiTracker::computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVS(), vpMbGenericTracker::computeVVS(), vpMbDepthDenseTracker::resetTracker(), vpMbEdgeKltTracker::vpMbEdgeKltTracker(), and vpMbKltTracker().
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Definition at line 254 of file vpMbKltTracker.h.
Referenced by vpMbKltMultiTracker::preTracking().
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Definition at line 252 of file vpMbKltTracker.h.
Referenced by vpMbEdgeKltMultiTracker::computeVVS(), vpMbKltMultiTracker::computeVVSInit(), vpMbEdgeKltMultiTracker::computeVVSInit(), computeVVSInit(), vpMbEdgeKltMultiTracker::computeVVSInteractionMatrixAndResidu(), vpMbKltMultiTracker::postTracking(), and vpMbKltMultiTracker::preTracking().
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Optimization method used.
Definition at line 139 of file vpMbTracker.h.
Referenced by vpMbTracker::computeVVSCheckLevenbergMarquardt(), vpMbTracker::computeVVSPoseEstimation(), vpMbDepthDenseTracker::resetTracker(), and vpMbDepthNormalTracker::resetTracker().
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Camera parameters used for projection error computation.
Definition at line 218 of file vpMbTracker.h.
Referenced by vpMbTracker::computeProjectionErrorImpl(), and vpMbTracker::projectionErrorVisibleFace().
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Distance circle primitive for projection error.
Definition at line 199 of file vpMbTracker.h.
Referenced by vpMbTracker::addProjectionErrorCircle(), vpMbTracker::computeProjectionErrorImpl(), vpMbTracker::projectionErrorInitMovingEdge(), vpMbTracker::projectionErrorResetMovingEdges(), and vpMbTracker::~vpMbTracker().
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Distance cylinder primitives for projection error.
Definition at line 197 of file vpMbTracker.h.
Referenced by vpMbTracker::addProjectionErrorCylinder(), vpMbTracker::computeProjectionErrorImpl(), vpMbTracker::projectionErrorInitMovingEdge(), vpMbTracker::projectionErrorResetMovingEdges(), and vpMbTracker::~vpMbTracker().
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Display gradient and model orientation for projection error computation.
Definition at line 212 of file vpMbTracker.h.
Referenced by vpMbTracker::computeProjectionErrorImpl().
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Length of the arrows used to show the gradient and model orientation.
Definition at line 214 of file vpMbTracker.h.
Referenced by vpMbTracker::computeProjectionErrorImpl().
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Thickness of the arrows used to show the gradient and model orientation.
Definition at line 216 of file vpMbTracker.h.
Referenced by vpMbTracker::computeProjectionErrorImpl().
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Set of faces describing the object, used for projection error.
Definition at line 201 of file vpMbTracker.h.
Referenced by vpMbTracker::addProjectionErrorCircle(), vpMbTracker::addProjectionErrorCylinder(), vpMbTracker::addProjectionErrorLine(), vpMbTracker::addProjectionErrorPolygon(), vpMbTracker::computeProjectionErrorImpl(), and vpMbTracker::projectionErrorVisibleFace().
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Kernel size used to compute the gradient orientation.
Definition at line 206 of file vpMbTracker.h.
Referenced by vpMbTracker::loadConfigFile().
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Distance line primitives for projection error.
Definition at line 195 of file vpMbTracker.h.
Referenced by vpMbTracker::addProjectionErrorLine(), vpMbTracker::computeProjectionErrorImpl(), vpMbTracker::projectionErrorInitMovingEdge(), vpMbTracker::projectionErrorResetMovingEdges(), and vpMbTracker::~vpMbTracker().
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Moving-Edges parameters for projection error.
Definition at line 204 of file vpMbTracker.h.
Referenced by vpMbTracker::addProjectionErrorCircle(), vpMbTracker::addProjectionErrorCylinder(), vpMbTracker::addProjectionErrorLine(), and vpMbTracker::loadConfigFile().
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Definition at line 202 of file vpMbTracker.h.
Referenced by vpMbTracker::computeProjectionErrorImpl().
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Robust.
Definition at line 264 of file vpMbKltTracker.h.
Referenced by computeVVSInit(), vpMbKltMultiTracker::computeVVSWeights(), and vpMbEdgeKltMultiTracker::computeVVSWeights().
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Sobel kernel in X.
Definition at line 208 of file vpMbTracker.h.
Referenced by vpMbTracker::computeProjectionErrorImpl().
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Sobel kernel in Y.
Definition at line 210 of file vpMbTracker.h.
Referenced by vpMbTracker::computeProjectionErrorImpl().
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Epsilon threshold to stop the VVS optimization loop.
Definition at line 190 of file vpMbTracker.h.
Referenced by vpMbDepthDenseTracker::computeVVS(), vpMbDepthNormalTracker::computeVVS(), and vpMbGenericTracker::computeVVS().
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Robust weights.
Definition at line 260 of file vpMbKltTracker.h.
Referenced by computeVVSInit(), vpMbKltMultiTracker::computeVVSWeights(), vpMbEdgeKltMultiTracker::computeVVSWeights(), getRobustWeights(), and vpMbKltMultiTracker::postTracking().
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Map with [map.first]=parameter_names and [map.second]=type (string, number or boolean)
Definition at line 181 of file vpMbTracker.h.
Referenced by vpMbTracker::parseParameters().
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Minimum line length threshold for LOD mode (general setting)
Definition at line 176 of file vpMbTracker.h.
Referenced by vpMbTracker::addPolygon(), and vpMbTracker::addProjectionErrorPolygon().
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Minimum polygon area threshold for LOD mode (general setting)
Definition at line 178 of file vpMbTracker.h.
Referenced by vpMbTracker::addPolygon(), and vpMbTracker::addProjectionErrorPolygon().
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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 119 of file vpMbTracker.h.
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Flag used to ensure that the CAD model is loaded before the initialisation.
Definition at line 122 of file vpMbTracker.h.
Referenced by vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), vpMbEdgeKltMultiTracker::init(), and init().
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Number of circles in CAO model.
Definition at line 169 of file vpMbTracker.h.
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Number of cylinders in CAO model.
Definition at line 167 of file vpMbTracker.h.
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Number of lines in CAO model.
Definition at line 161 of file vpMbTracker.h.
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Number of points in CAO model.
Definition at line 159 of file vpMbTracker.h.
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Number of polygon lines in CAO model.
Definition at line 163 of file vpMbTracker.h.
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Number of polygon points in CAO model.
Definition at line 165 of file vpMbTracker.h.
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Definition at line 155 of file vpMbTracker.h.
Referenced by vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), and init().
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The Degrees of Freedom to estimate.
Definition at line 114 of file vpMbTracker.h.
Referenced by vpMbDepthDenseTracker::computeVVS(), vpMbDepthNormalTracker::computeVVS(), vpMbKltMultiTracker::computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVS(), vpMbGenericTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVSFirstPhasePoseEstimation(), vpMbEdgeTracker::computeVVSFirstPhasePoseEstimation(), and vpMbTracker::computeVVSPoseEstimation().
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Percentage of good points, according to the initial number, that must have the tracker.
Definition at line 239 of file vpMbKltTracker.h.
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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 125 of file vpMbTracker.h.
Referenced by vpMbTracker::initClick().
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Error angle between the gradient direction of the model features projected at the resulting pose and their normal.
Definition at line 135 of file vpMbTracker.h.
Referenced by vpMbEdgeMultiTracker::computeProjectionError(), and vpMbGenericTracker::computeProjectionError().
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Threshold below which the weight associated to a point to consider this one as an outlier.
Definition at line 236 of file vpMbKltTracker.h.
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Points tracker.
Definition at line 244 of file vpMbKltTracker.h.
Referenced by getKltPoints(), reinit(), setPose(), and vpMbKltTracker().
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True if LOD mode is enabled.
Definition at line 171 of file vpMbTracker.h.
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Use Ogre3d for visibility tests.
Definition at line 154 of file vpMbTracker.h.
Referenced by vpMbTracker::computeProjectionErrorImpl(), vpMbEdgeKltTracker::getModelForDisplay(), vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), init(), vpMbTracker::projectionErrorVisibleFace(), vpMbDepthDenseTracker::resetTracker(), vpMbDepthNormalTracker::resetTracker(), and setPose().
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Use Scanline for visibility tests.
Definition at line 157 of file vpMbTracker.h.
Referenced by vpMbDepthDenseTracker::addFace(), vpMbDepthNormalTracker::addFace(), vpMbTracker::addProjectionErrorLine(), vpMbTracker::computeProjectionErrorImpl(), vpMbDepthDenseTracker::computeVisibility(), vpMbDepthNormalTracker::computeVisibility(), vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), vpMbEdgeKltMultiTracker::postTracking(), reinit(), vpMbDepthDenseTracker::resetTracker(), vpMbDepthNormalTracker::resetTracker(), and setPose().