Visual Servoing Platform  version 3.3.0
vpMbEdgeTracker.h
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20  * Inria Rennes - Bretagne Atlantique
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29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Make the complete tracking of an object by using its CAD model
33  *
34  * Authors:
35  * Nicolas Melchior
36  * Romain Tallonneau
37  * Eric Marchand
38  *
39  *****************************************************************************/
40 
46 #ifndef vpMbEdgeTracker_HH
47 #define vpMbEdgeTracker_HH
48 
49 #include <visp3/core/vpPoint.h>
50 #include <visp3/mbt/vpMbTracker.h>
51 #include <visp3/mbt/vpMbtDistanceCircle.h>
52 #include <visp3/mbt/vpMbtDistanceCylinder.h>
53 #include <visp3/mbt/vpMbtDistanceLine.h>
54 #include <visp3/mbt/vpMbtMeLine.h>
55 #include <visp3/me/vpMe.h>
56 
57 #include <fstream>
58 #include <iostream>
59 #include <list>
60 #include <vector>
61 
62 #if defined(VISP_HAVE_COIN3D)
63 // Inventor includes
64 #include <Inventor/VRMLnodes/SoVRMLCoordinate.h>
65 #include <Inventor/VRMLnodes/SoVRMLGroup.h>
66 #include <Inventor/VRMLnodes/SoVRMLIndexedFaceSet.h>
67 #include <Inventor/VRMLnodes/SoVRMLIndexedLineSet.h>
68 #include <Inventor/VRMLnodes/SoVRMLShape.h>
69 #include <Inventor/actions/SoGetMatrixAction.h>
70 #include <Inventor/actions/SoGetPrimitiveCountAction.h>
71 #include <Inventor/actions/SoSearchAction.h>
72 #include <Inventor/actions/SoToVRML2Action.h>
73 #include <Inventor/actions/SoWriteAction.h>
74 #include <Inventor/misc/SoChildList.h>
75 #include <Inventor/nodes/SoSeparator.h>
76 #endif
77 
78 #ifdef VISP_HAVE_OPENCV
79 #if VISP_HAVE_OPENCV_VERSION >= 0x020101
80 #include <opencv2/core/core.hpp>
81 #include <opencv2/imgproc/imgproc.hpp>
82 #include <opencv2/imgproc/imgproc_c.h>
83 #else
84 #include <cv.h>
85 #endif
86 #endif
87 
258 class VISP_EXPORT vpMbEdgeTracker : public virtual vpMbTracker
259 {
260  friend class vpMbEdgeMultiTracker;
262 
263 protected:
269  std::vector<std::list<vpMbtDistanceLine *> > lines;
270 
272  std::vector<std::list<vpMbtDistanceCircle *> > circles;
273 
275  std::vector<std::list<vpMbtDistanceCylinder *> > cylinders;
276 
279  unsigned int nline;
280 
283  unsigned int ncircle;
284 
287  unsigned int ncylinder;
288 
290  unsigned int nbvisiblepolygone;
291 
295 
297  std::vector<bool> scales;
298 
301  std::vector<const vpImage<unsigned char> *> Ipyramid;
302 
306  unsigned int scaleLevel;
307 
310 
333  std::vector<std::vector<double> > m_featuresToBeDisplayedEdge;
334 
335 public:
336  vpMbEdgeTracker();
337  virtual ~vpMbEdgeTracker();
338 
341 
342  virtual void display(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
343  const vpColor &col, unsigned int thickness = 1, bool displayFullModel = false);
344  virtual void display(const vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
345  const vpColor &col, unsigned int thickness = 1, bool displayFullModel = false);
346 
347  void getLline(std::list<vpMbtDistanceLine *> &linesList, unsigned int level = 0) const;
348  void getLcircle(std::list<vpMbtDistanceCircle *> &circlesList, unsigned int level = 0) const;
349  void getLcylinder(std::list<vpMbtDistanceCylinder *> &cylindersList, unsigned int level = 0) const;
350 
351  virtual std::vector<std::vector<double> > getModelForDisplay(unsigned int width, unsigned int height,
352  const vpHomogeneousMatrix &cMo,
353  const vpCameraParameters &cam,
354  bool displayFullModel=false);
355 
362  virtual inline void getMovingEdge(vpMe &p_me) const { p_me = this->me; }
368  virtual inline vpMe getMovingEdge() const { return this->me; }
369 
370  virtual unsigned int getNbPoints(unsigned int level = 0) const;
371 
377  std::vector<bool> getScales() const { return scales; }
387  inline double getGoodMovingEdgesRatioThreshold() const { return percentageGdPt; }
388 
389  virtual inline vpColVector getError() const { return m_error_edge; }
390 
391  virtual inline vpColVector getRobustWeights() const { return m_w_edge; }
392 
393  void loadConfigFile(const std::string &configFile);
394 
395  virtual void reInitModel(const vpImage<unsigned char> &I, const std::string &cad_name,
396  const vpHomogeneousMatrix &cMo, bool verbose = false,
398  void resetTracker();
399 
405  virtual void setCameraParameters(const vpCameraParameters &cam)
406  {
407  m_cam = cam;
408 
409  for (unsigned int i = 0; i < scales.size(); i += 1) {
410  if (scales[i]) {
411  for (std::list<vpMbtDistanceLine *>::const_iterator it = lines[i].begin(); it != lines[i].end(); ++it) {
412  (*it)->setCameraParameters(m_cam);
413  }
414 
415  for (std::list<vpMbtDistanceCylinder *>::const_iterator it = cylinders[i].begin(); it != cylinders[i].end();
416  ++it) {
417  (*it)->setCameraParameters(m_cam);
418  }
419 
420  for (std::list<vpMbtDistanceCircle *>::const_iterator it = circles[i].begin(); it != circles[i].end(); ++it) {
421  (*it)->setCameraParameters(m_cam);
422  }
423  }
424  }
425  }
426 
427  virtual void setClipping(const unsigned int &flags);
428 
429  virtual void setFarClippingDistance(const double &dist);
430 
431  virtual void setNearClippingDistance(const double &dist);
432 
441  virtual void setOgreVisibilityTest(const bool &v)
442  {
444 #ifdef VISP_HAVE_OGRE
445  faces.getOgreContext()->setWindowName("MBT Edge");
446 #endif
447  }
448 
454  virtual void setScanLineVisibilityTest(const bool &v)
455  {
457 
458  for (unsigned int i = 0; i < scales.size(); i += 1) {
459  if (scales[i]) {
460  for (std::list<vpMbtDistanceLine *>::const_iterator it = lines[i].begin(); it != lines[i].end(); ++it) {
461  (*it)->useScanLine = v;
462  }
463  }
464  }
465  }
466 
480  void setGoodMovingEdgesRatioThreshold(double threshold) { percentageGdPt = threshold; }
481 
482  void setMovingEdge(const vpMe &me);
483 
484  virtual void setPose(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cdMo);
485  virtual void setPose(const vpImage<vpRGBa> &I_color, const vpHomogeneousMatrix &cdMo);
486 
487  void setScales(const std::vector<bool> &_scales);
488 
489  void setUseEdgeTracking(const std::string &name, const bool &useEdgeTracking);
490 
491  virtual void track(const vpImage<unsigned char> &I);
492  virtual void track(const vpImage<vpRGBa> &I);
494 
495 protected:
498  void addCircle(const vpPoint &P1, const vpPoint &P2, const vpPoint &P3, double r, int idFace = -1,
499  const std::string &name = "");
500  void addCylinder(const vpPoint &P1, const vpPoint &P2, double r, int idFace = -1, const std::string &name = "");
501  void addLine(vpPoint &p1, vpPoint &p2, int polygon = -1, std::string name = "");
502  void addPolygon(vpMbtPolygon &p);
503 
504  void cleanPyramid(std::vector<const vpImage<unsigned char> *> &_pyramid);
506 
507  void computeVVS(const vpImage<unsigned char> &_I, unsigned int lvl);
508  void computeVVSFirstPhase(const vpImage<unsigned char> &I, unsigned int iter, double &count,
509  unsigned int lvl = 0);
510  void computeVVSFirstPhaseFactor(const vpImage<unsigned char> &I, unsigned int lvl = 0);
511  void computeVVSFirstPhasePoseEstimation(unsigned int iter, bool &isoJoIdentity_);
512  virtual void computeVVSInit();
515  virtual void computeVVSWeights();
517 
520  void downScale(const unsigned int _scale);
521  virtual std::vector<std::vector<double> > getFeaturesForDisplayEdge();
522  virtual void init(const vpImage<unsigned char> &I);
523  virtual void initCircle(const vpPoint &p1, const vpPoint &p2, const vpPoint &p3, double radius,
524  int idFace = 0, const std::string &name = "");
525  virtual void initCylinder(const vpPoint &p1, const vpPoint &p2, double radius, int idFace = 0,
526  const std::string &name = "");
527  virtual void initFaceFromCorners(vpMbtPolygon &polygon);
528  virtual void initFaceFromLines(vpMbtPolygon &polygon);
529  unsigned int initMbtTracking(unsigned int &nberrors_lines, unsigned int &nberrors_cylinders,
530  unsigned int &nberrors_circles);
531  void initMovingEdge(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &_cMo);
532  void initPyramid(const vpImage<unsigned char> &_I, std::vector<const vpImage<unsigned char> *> &_pyramid);
533  void reInitLevel(const unsigned int _lvl);
534  void reinitMovingEdge(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &_cMo);
535  void removeCircle(const std::string &name);
536  void removeCylinder(const std::string &name);
537  void removeLine(const std::string &name);
538  void resetMovingEdge();
539  virtual void testTracking();
543  void upScale(const unsigned int _scale);
544  void visibleFace(const vpImage<unsigned char> &_I, const vpHomogeneousMatrix &_cMo, bool &newvisibleline);
546 };
547 
548 #endif
vpMbEdgeTracker::getScales
std::vector< bool > getScales() const
Definition: vpMbEdgeTracker.h:377
vpMbEdgeMultiTracker::getNbPoints
virtual unsigned int getNbPoints(unsigned int level=0) const
Definition: vpMbEdgeMultiTracker.cpp:1039
vpMbEdgeTracker::m_error_edge
vpColVector m_error_edge
(s - s*)
Definition: vpMbEdgeTracker.h:325
vpMbEdgeTracker::upScale
void upScale(const unsigned int _scale)
Definition: vpMbEdgeTracker.cpp:2877
vpMbEdgeTracker::removeCircle
void removeCircle(const std::string &name)
Definition: vpMbEdgeTracker.cpp:2176
vpMbTracker::loadConfigFile
virtual void loadConfigFile(const std::string &configFile)
Definition: vpMbTracker.cpp:3785
vpMbEdgeTracker::m_weightedError_edge
vpColVector m_weightedError_edge
Weighted error.
Definition: vpMbEdgeTracker.h:329
vpMbEdgeMultiTracker::computeProjectionError
virtual void computeProjectionError()
Definition: vpMbEdgeMultiTracker.cpp:163
vpMbEdgeTracker::downScale
void downScale(const unsigned int _scale)
Definition: vpMbEdgeTracker.cpp:2856
vpMbEdgeTracker::m_robustCircles
vpRobust m_robustCircles
Definition: vpMbEdgeTracker.h:315
vpMbEdgeTracker::m_factor
vpColVector m_factor
Edge VVS variables.
Definition: vpMbEdgeTracker.h:312
vpMbEdgeTracker::~vpMbEdgeTracker
virtual ~vpMbEdgeTracker()
Definition: vpMbEdgeTracker.cpp:86
vpMbEdgeTracker::m_featuresToBeDisplayedEdge
std::vector< std::vector< double > > m_featuresToBeDisplayedEdge
Display features.
Definition: vpMbEdgeTracker.h:333
vpMbTracker::m_cam
vpCameraParameters m_cam
The camera parameters.
Definition: vpMbTracker.h:111
vpMbTracker::computeVVSInteractionMatrixAndResidu
virtual void computeVVSInteractionMatrixAndResidu()=0
vpMbEdgeTracker::visibleFace
void visibleFace(const vpImage< unsigned char > &_I, const vpHomogeneousMatrix &_cMo, bool &newvisibleline)
Definition: vpMbEdgeTracker.cpp:2219
vpMbEdgeTracker
Make the complete tracking of an object by using its CAD model.
Definition: vpMbEdgeTracker.h:258
vpMbEdgeKltMultiTracker
Hybrid stereo (or more) tracker based on moving-edges and keypoints tracked using KLT tracker.
Definition: vpMbEdgeKltMultiTracker.h:77
vpMbEdgeTracker::m_errorCircles
vpColVector m_errorCircles
Definition: vpMbEdgeTracker.h:321
vpMbEdgeTracker::setGoodMovingEdgesRatioThreshold
void setGoodMovingEdgesRatioThreshold(double threshold)
Definition: vpMbEdgeTracker.h:480
vpMbTracker::computeVVSInit
virtual void computeVVSInit()=0
vpMbEdgeTracker::ncircle
unsigned int ncircle
Definition: vpMbEdgeTracker.h:283
vpCameraParameters
Generic class defining intrinsic camera parameters.
Definition: vpCameraParameters.h:233
vpMbEdgeTracker::m_errorLines
vpColVector m_errorLines
Definition: vpMbEdgeTracker.h:319
vpMbEdgeTracker::getMovingEdge
virtual vpMe getMovingEdge() const
Definition: vpMbEdgeTracker.h:368
vpMbEdgeTracker::getError
virtual vpColVector getError() const
Definition: vpMbEdgeTracker.h:389
vpMbEdgeTracker::trackMovingEdge
void trackMovingEdge(const vpImage< unsigned char > &I)
Definition: vpMbEdgeTracker.cpp:1636
vpMbEdgeTracker::getFeaturesForDisplayEdge
virtual std::vector< std::vector< double > > getFeaturesForDisplayEdge()
Definition: vpMbEdgeTracker.cpp:1364
vpMbEdgeTracker::initMovingEdge
void initMovingEdge(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &_cMo)
Definition: vpMbEdgeTracker.cpp:1523
vpMbTracker::track
virtual void track(const vpImage< unsigned char > &I)=0
vpMbKltMultiTracker::computeVVS
virtual void computeVVS()
Definition: vpMbKltMultiTracker.cpp:158
vpMbEdgeTracker::displayFeaturesOnImage
void displayFeaturesOnImage(const vpImage< unsigned char > &I)
Definition: vpMbEdgeTracker.cpp:1445
vpRobust
Contains an M-Estimator and various influence function.
Definition: vpRobust.h:58
vpMbTracker::faces
vpMbHiddenFaces< vpMbtPolygon > faces
Set of faces describing the object.
Definition: vpMbTracker.h:143
vpMbEdgeTracker::setOgreVisibilityTest
virtual void setOgreVisibilityTest(const bool &v)
Definition: vpMbEdgeTracker.h:441
vpMbEdgeTracker::scaleLevel
unsigned int scaleLevel
Definition: vpMbEdgeTracker.h:306
vpMbEdgeMultiTracker::cleanPyramid
virtual void cleanPyramid(std::map< std::string, std::vector< const vpImage< unsigned char > * > > &pyramid)
Definition: vpMbEdgeMultiTracker.cpp:146
vpMbEdgeTracker::m_robustLines
vpRobust m_robustLines
Definition: vpMbEdgeTracker.h:313
vpMbEdgeTracker::m_wCircles
vpColVector m_wCircles
Definition: vpMbEdgeTracker.h:318
vpMbEdgeTracker::computeVVSFirstPhase
void computeVVSFirstPhase(const vpImage< unsigned char > &I, unsigned int iter, double &count, unsigned int lvl=0)
Definition: vpMbEdgeTracker.cpp:290
vpMbTracker::init
virtual void init(const vpImage< unsigned char > &I)=0
vpMbEdgeKltMultiTracker::initMbtTracking
virtual unsigned int initMbtTracking(std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, unsigned int lvl)
Definition: vpMbEdgeKltMultiTracker.cpp:1195
vpMbEdgeTracker::reInitLevel
void reInitLevel(const unsigned int _lvl)
Definition: vpMbEdgeTracker.cpp:2899
vpMbEdgeTracker::reinitMovingEdge
void reinitMovingEdge(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &_cMo)
Definition: vpMbEdgeTracker.cpp:1879
vpMbTracker::initCircle
virtual void initCircle(const vpPoint &p1, const vpPoint &p2, const vpPoint &p3, double radius, int idFace=0, const std::string &name="")=0
vpMbEdgeTracker::removeCylinder
void removeCylinder(const std::string &name)
Definition: vpMbEdgeTracker.cpp:2154
vpMbEdgeTracker::scales
std::vector< bool > scales
Vector of scale level to use for the multi-scale tracking.
Definition: vpMbEdgeTracker.h:297
vpMbEdgeTracker::updateMovingEdge
void updateMovingEdge(const vpImage< unsigned char > &I)
Definition: vpMbEdgeTracker.cpp:1679
vpMbTracker::display
virtual void display(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, unsigned int thickness=1, bool displayFullModel=false)=0
vpMbEdgeTracker::m_w_edge
vpColVector m_w_edge
Robust weights.
Definition: vpMbEdgeTracker.h:327
vpMe
Definition: vpMe.h:60
vpMbEdgeTracker::removeLine
void removeLine(const std::string &name)
Definition: vpMbEdgeTracker.cpp:2024
vpMbEdgeMultiTracker::setMovingEdge
virtual void setMovingEdge(const vpMe &moving_edge)
Definition: vpMbEdgeMultiTracker.cpp:2506
vpMbEdgeTracker::m_robustCylinders
vpRobust m_robustCylinders
Definition: vpMbEdgeTracker.h:314
vpMbEdgeTracker::resetMovingEdge
void resetMovingEdge()
Definition: vpMbEdgeTracker.cpp:1912
vpColVector
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
vpMbEdgeTracker::me
vpMe me
The moving edges parameters.
Definition: vpMbEdgeTracker.h:265
vpAROgre::setWindowName
void setWindowName(const Ogre::String &n)
Definition: vpAROgre.h:269
vpMbEdgeMultiTracker
Make the complete stereo (or more) tracking of an object by using its CAD model.
Definition: vpMbEdgeMultiTracker.h:73
vpMbTracker::resetTracker
virtual void resetTracker()=0
vpMatrix
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:164
vpMbEdgeTracker::getGoodMovingEdgesRatioThreshold
double getGoodMovingEdgesRatioThreshold() const
Definition: vpMbEdgeTracker.h:387
vpMbEdgeTracker::percentageGdPt
double percentageGdPt
Definition: vpMbEdgeTracker.h:294
vpMbtPolygon
Implementation of a polygon of the model used by the model-based tracker.
Definition: vpMbtPolygon.h:66
vpMbEdgeTracker::addCylinder
void addCylinder(const vpPoint &P1, const vpPoint &P2, double r, int idFace=-1, const std::string &name="")
Definition: vpMbEdgeTracker.cpp:2110
vpMbEdgeMultiTracker::setScales
virtual void setScales(const std::vector< bool > &scales)
Definition: vpMbEdgeMultiTracker.cpp:2878
vpMbTracker::getModelForDisplay
virtual std::vector< std::vector< double > > getModelForDisplay(unsigned int width, unsigned int height, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, bool displayFullModel=false)=0
vpMbEdgeTracker::nbvisiblepolygone
unsigned int nbvisiblepolygone
Number of polygon (face) currently visible.
Definition: vpMbEdgeTracker.h:290
vpMbEdgeTracker::getMovingEdge
virtual void getMovingEdge(vpMe &p_me) const
Definition: vpMbEdgeTracker.h:362
vpMbEdgeTracker::m_wCylinders
vpColVector m_wCylinders
Definition: vpMbEdgeTracker.h:317
vpMbEdgeMultiTracker::getLcylinder
void getLcylinder(std::list< vpMbtDistanceCylinder * > &cylindersList, unsigned int level=0) const
Definition: vpMbEdgeMultiTracker.cpp:884
vpMbTracker::initFaceFromCorners
virtual void initFaceFromCorners(vpMbtPolygon &polygon)=0
vpMbTracker::initCylinder
virtual void initCylinder(const vpPoint &p1, const vpPoint &p2, double radius, int idFace=0, const std::string &name="")=0
vpMbEdgeMultiTracker::getLcircle
void getLcircle(std::list< vpMbtDistanceCircle * > &circlesList, unsigned int level=0) const
Definition: vpMbEdgeMultiTracker.cpp:841
vpMbEdgeTracker::nbFeaturesForProjErrorComputation
unsigned int nbFeaturesForProjErrorComputation
Number of features used in the computation of the projection error.
Definition: vpMbEdgeTracker.h:309
vpMbHiddenFaces::getOgreContext
vpAROgre * getOgreContext()
Definition: vpMbHiddenFaces.h:155
vpMbEdgeTracker::getRobustWeights
virtual vpColVector getRobustWeights() const
Definition: vpMbEdgeTracker.h:391
vpMbEdgeTracker::updateMovingEdgeWeights
void updateMovingEdgeWeights()
Definition: vpMbEdgeTracker.cpp:1718
vpMbEdgeTracker::cylinders
std::vector< std::list< vpMbtDistanceCylinder * > > cylinders
Vector of the tracked cylinders.
Definition: vpMbEdgeTracker.h:275
vpMbTracker::computeVVSWeights
virtual void computeVVSWeights(vpRobust &robust, const vpColVector &error, vpColVector &w)
Definition: vpMbTracker.cpp:2988
vpMbEdgeTracker::ncylinder
unsigned int ncylinder
Definition: vpMbEdgeTracker.h:287
vpMbEdgeTracker::computeVVSFirstPhaseFactor
void computeVVSFirstPhaseFactor(const vpImage< unsigned char > &I, unsigned int lvl=0)
Definition: vpMbEdgeTracker.cpp:556
vpMbEdgeMultiTracker::getLline
void getLline(std::list< vpMbtDistanceLine * > &linesList, unsigned int level=0) const
Definition: vpMbEdgeMultiTracker.cpp:929
vpMbEdgeTracker::Ipyramid
std::vector< const vpImage< unsigned char > * > Ipyramid
Definition: vpMbEdgeTracker.h:301
vpMbEdgeTracker::setScanLineVisibilityTest
virtual void setScanLineVisibilityTest(const bool &v)
Definition: vpMbEdgeTracker.h:454
vpMbKltMultiTracker::addCircle
virtual void addCircle(const vpPoint &P1, const vpPoint &P2, const vpPoint &P3, double r, const std::string &name="")
Definition: vpMbKltMultiTracker.cpp:149
vpMbEdgeMultiTracker::initPyramid
virtual void initPyramid(const std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, std::map< std::string, std::vector< const vpImage< unsigned char > * > > &pyramid)
Definition: vpMbEdgeMultiTracker.cpp:1645
vpMbEdgeTracker::setCameraParameters
virtual void setCameraParameters(const vpCameraParameters &cam)
Definition: vpMbEdgeTracker.h:405
vpMbTracker::setOgreVisibilityTest
virtual void setOgreVisibilityTest(const bool &v)
Definition: vpMbTracker.cpp:2692
vpMbTracker::setPose
virtual void setPose(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cdMo)=0
vpMbEdgeTracker::m_errorCylinders
vpColVector m_errorCylinders
Definition: vpMbEdgeTracker.h:320
vpMbTracker::setClipping
virtual void setClipping(const unsigned int &flags)
Definition: vpMbTracker.cpp:2816
vpMbEdgeTracker::m_robust_edge
vpRobust m_robust_edge
Robust.
Definition: vpMbEdgeTracker.h:331
vpMbEdgeTracker::nline
unsigned int nline
Definition: vpMbEdgeTracker.h:279
vpMbEdgeTracker::m_L_edge
vpMatrix m_L_edge
Interaction matrix.
Definition: vpMbEdgeTracker.h:323
vpMbTracker::initFaceFromLines
virtual void initFaceFromLines(vpMbtPolygon &polygon)=0
vpMbEdgeMultiTracker::computeVVSFirstPhasePoseEstimation
virtual void computeVVSFirstPhasePoseEstimation(unsigned int iter, bool &isoJoIdentity_)
Definition: vpMbEdgeMultiTracker.cpp:355
vpMbTracker::testTracking
virtual void testTracking()=0
vpMbTracker::addPolygon
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)
Definition: vpMbTracker.cpp:1232
vpMbEdgeTracker::circles
std::vector< std::list< vpMbtDistanceCircle * > > circles
Vector of the tracked circles.
Definition: vpMbEdgeTracker.h:272
vpMbEdgeTracker::vpMbEdgeTracker
vpMbEdgeTracker()
Definition: vpMbEdgeTracker.cpp:69
vpMbEdgeTracker::addLine
void addLine(vpPoint &p1, vpPoint &p2, int polygon=-1, std::string name="")
Definition: vpMbEdgeTracker.cpp:1968
vpMbTracker::setNearClippingDistance
virtual void setNearClippingDistance(const double &dist)
Definition: vpMbTracker.cpp:2789
vpMbTracker::setFarClippingDistance
virtual void setFarClippingDistance(const double &dist)
Definition: vpMbTracker.cpp:2710
vpImage< unsigned char >
vpMbEdgeKltMultiTracker::reInitModel
virtual void reInitModel(const vpImage< unsigned char > &I, const std::string &cad_name, const vpHomogeneousMatrix &cMo, bool verbose=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
Definition: vpMbEdgeKltMultiTracker.cpp:1438
vpMbTracker
Main methods for a model-based tracker.
Definition: vpMbTracker.h:104
vpPoint
Class that defines what is a point.
Definition: vpPoint.h:58
vpMbEdgeMultiTracker::setUseEdgeTracking
virtual void setUseEdgeTracking(const std::string &name, const bool &useEdgeTracking)
Definition: vpMbEdgeMultiTracker.cpp:2910
vpColor
Class to define colors available for display functionnalities.
Definition: vpColor.h:119
vpHomogeneousMatrix
Implementation of an homogeneous matrix and operations on such kind of matrices.
Definition: vpHomogeneousMatrix.h:149
vpMbTracker::setScanLineVisibilityTest
virtual void setScanLineVisibilityTest(const bool &v)
Definition: vpMbTracker.h:597
vpMbEdgeTracker::lines
std::vector< std::list< vpMbtDistanceLine * > > lines
Definition: vpMbEdgeTracker.h:269
vpMbEdgeTracker::m_wLines
vpColVector m_wLines
Definition: vpMbEdgeTracker.h:316