Visual Servoing Platform version 3.7.0
Loading...
Searching...
No Matches
vpRBSilhouetteCCDTracker Class Reference
tracker: ViSP trackers » RBT: Render-Based Tracker module » Trackable features

#include <vpRBSilhouetteCCDTracker.h>

Inheritance diagram for vpRBSilhouetteCCDTracker:

Public Types

enum  vpDisplayType {
  DT_SIMPLE = 0 , DT_WEIGHT = 1 , DT_ERROR = 2 , DT_WEIGHT_AND_ERROR = 3 ,
  DT_INVALID = 4
}

Public Member Functions

 vpRBSilhouetteCCDTracker ()
virtual ~vpRBSilhouetteCCDTracker ()=default
bool requiresRGB () const VP_OVERRIDE
bool requiresDepth () const VP_OVERRIDE
bool requiresSilhouetteCandidates () const VP_OVERRIDE
void onTrackingIterStart (const vpRBFeatureTrackerInput &, const vpHomogeneousMatrix &) VP_OVERRIDE
void onTrackingIterEnd (const vpHomogeneousMatrix &) VP_OVERRIDE
void reset () VP_OVERRIDE
double getVVSTrackerWeight (double optimizationProgress) const VP_OVERRIDE
void extractFeatures (const vpRBFeatureTrackerInput &frame, const vpRBFeatureTrackerInput &previousFrame, const vpHomogeneousMatrix &cMo) VP_OVERRIDE
void trackFeatures (const vpRBFeatureTrackerInput &, const vpRBFeatureTrackerInput &, const vpHomogeneousMatrix &) VP_OVERRIDE
void initVVS (const vpRBFeatureTrackerInput &frame, const vpRBFeatureTrackerInput &previousFrame, const vpHomogeneousMatrix &cMo) VP_OVERRIDE
void computeVVSIter (const vpRBFeatureTrackerInput &frame, const vpHomogeneousMatrix &cMo, unsigned int iteration) VP_OVERRIDE
void updateCovariance (const double) VP_OVERRIDE
void buildGradientAndHessianStorageViews (unsigned int normalsPerPoint, bool clear)
void changeScale ()
void display (const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpImage< vpRGBa > &IRGB, const vpImage< unsigned char > &depth) const VP_OVERRIDE
 NLOHMANN_JSON_SERIALIZE_ENUM (vpRBSilhouetteCCDTracker::vpDisplayType, { {vpRBSilhouetteCCDTracker::vpDisplayType::DT_INVALID, nullptr}, {vpRBSilhouetteCCDTracker::vpDisplayType::DT_SIMPLE, "simple"}, {vpRBSilhouetteCCDTracker::vpDisplayType::DT_WEIGHT, "weight"}, {vpRBSilhouetteCCDTracker::vpDisplayType::DT_ERROR, "error"}, {vpRBSilhouetteCCDTracker::vpDisplayType::DT_WEIGHT_AND_ERROR, "weightAndError"} })
virtual void loadJsonConfiguration (const nlohmann::json &j) VP_OVERRIDE
unsigned getNumFeatures () const
bool vvsHasConverged () const
const std::shared_ptr< vpTemporalWeighting > getTemporalTrackerWeight () const
void setTrackerWeight (double weight)
void setTrackerWeight (const std::shared_ptr< vpTemporalWeighting > &weight)
virtual vpMatrix getLTL () const
virtual vpColVector getLTR () const
const vpColVector & getWeightedError () const
void setComputeJacobianObjectSpace (bool inObjectSpace)
bool hasIgnoredDofs () const
void setEstimatedDofs (const std::array< bool, 6 > &dofs)
void updateOptimizerTerms (const vpHomogeneousMatrix &cMo)
Settings
void setCCDParameters (const vpCCDParameters &parameters)
vpCCDParameters getCCDParameters () const
double getTemporalSmoothingFactor () const
void setTemporalSmoothingFactor (double factor)
bool shouldUseMask () const
void setShouldUseMask (bool useMask)
double getMinimumMaskConfidence () const
void setMinimumMaskConfidence (double confidence)
unsigned int getMaxNumPoints () const
void setMaxNumPoints (unsigned int maxPoints)
void setDisplayType (vpDisplayType type)
Display
bool featuresShouldBeDisplayed () const
void setFeaturesShouldBeDisplayed (bool enableDisplay)
Covariance computation
virtual const vpMatrix getCovariance () const

Static Public Member Functions

static void computeJTR (const vpMatrix &interaction, const vpColVector &error, vpColVector &JTR)
static vpMatrix computeCovarianceMatrix (const vpMatrix &A, const vpColVector &b, const vpMatrix &W)

Protected Member Functions

void updateCCDPoints (const vpHomogeneousMatrix &cMo)
void computeLocalStatistics (const vpImage< vpRGBa > &I, vpCCDStatistics &stats)
template<bool hasTemporalSmoothing>
void computeErrorAndInteractionMatrix (const vpHomogeneousMatrix &cMo)
vpMatrix computeoJo () const

Protected Attributes

vpCCDParameters m_ccdParameters
std::vector< vpRBSilhouetteControlPoint > m_controlPoints
vpRobust m_robust
vpCCDStatistics m_stats
vpCCDStatistics m_prevStats
vpMatrix m_sigma
double m_vvsConvergenceThreshold
double tol
std::vector< double > m_gradientData
std::vector< double > m_hessianData
std::vector< vpColVector > m_gradients
std::vector< vpMatrix > m_hessians
vpColVector m_gradient
vpMatrix m_hessian
double m_temporalSmoothingFac
bool m_useMask
double m_minMaskConfidence
unsigned int m_maxPoints
vpUniRand m_random
vpDisplayType m_displayType
const vpRBFeatureTrackerInput * m_previousFrame
vpMatrix m_L
vpMatrix m_LTL
vpColVector m_LTR
vpMatrix m_cov
vpColVector m_covWeightDiag
vpColVector m_error
vpColVector m_weighted_error
vpColVector m_weights
unsigned m_numFeatures
std::shared_ptr< vpTemporalWeighting > m_weighting
bool m_vvsConverged
bool m_enableDisplay
std::array< bool, 6 > m_estimatedDofs
vpMatrix m_oJo
bool m_jacobianInObjectSpace

Static Protected Attributes

static const unsigned int BASE_SEED = 421

Detailed Description

Tracking based on the Contracting Curve Density algorithm.

Tutorials & Examples

Tutorials
If you want to have an in-depth presentation of the Render-Based Tracker (RBT), you may have a look at:

Examples
catchRBT.cpp.

Definition at line 212 of file vpRBSilhouetteCCDTracker.h.

Member Enumeration Documentation

◆ vpDisplayType

enum vpRBSilhouetteCCDTracker::vpDisplayType
Enumerator
DT_SIMPLE 
DT_WEIGHT 
DT_ERROR 
DT_WEIGHT_AND_ERROR 
DT_INVALID 

Definition at line 216 of file vpRBSilhouetteCCDTracker.h.

Constructor & Destructor Documentation

◆ vpRBSilhouetteCCDTracker()

vpRBSilhouetteCCDTracker::vpRBSilhouetteCCDTracker ( )

Definition at line 143 of file vpRBSilhouetteCCDTracker.cpp.

References BASE_SEED, DT_SIMPLE, m_displayType, m_maxPoints, m_minMaskConfidence, m_random, m_temporalSmoothingFac, m_useMask, m_vvsConvergenceThreshold, vpRBFeatureTracker::vpRBFeatureTracker(), and vpRBSilhouetteCCDTracker().

Referenced by vpRBSilhouetteCCDTracker().

◆ ~vpRBSilhouetteCCDTracker()

virtual vpRBSilhouetteCCDTracker::~vpRBSilhouetteCCDTracker ( )
virtualdefault

Member Function Documentation

◆ buildGradientAndHessianStorageViews()

void vpRBSilhouetteCCDTracker::buildGradientAndHessianStorageViews ( unsigned int normalsPerPoint,
bool clear )

Update the gradient and hessian storage views. Reserve new memory if required and ensure that gradients and hessians point on correct memory.

Parameters
normalsPerPointthe size of the normal vector (one side)

Definition at line 244 of file vpRBSilhouetteCCDTracker.cpp.

References m_controlPoints, m_gradientData, m_gradients, m_hessianData, m_hessians, vpColVector::view(), and vpMatrix::view().

Referenced by changeScale(), and initVVS().

◆ changeScale()

void vpRBSilhouetteCCDTracker::changeScale ( )

To be called when the scale of the normal vectors is changed.

Definition at line 297 of file vpRBSilhouetteCCDTracker.cpp.

References buildGradientAndHessianStorageViews(), computeLocalStatistics(), m_ccdParameters, m_controlPoints, vpRBFeatureTracker::m_cov, vpRBFeatureTracker::m_numFeatures, m_previousFrame, m_prevStats, m_sigma, m_stats, m_temporalSmoothingFac, and vpRBFeatureTracker::m_weights.

Referenced by computeVVSIter().

◆ computeCovarianceMatrix()

vpMatrix vpRBFeatureTracker::computeCovarianceMatrix ( const vpMatrix & A,
const vpColVector & b,
const vpMatrix & W )
staticinherited

Definition at line 78 of file vpRBFeatureTracker.cpp.

References vpColVector::t(), and vpMatrix::t().

Referenced by updateCovariance().

◆ computeErrorAndInteractionMatrix()

template<bool hasTemporalSmoothing>
void vpRBSilhouetteCCDTracker::computeErrorAndInteractionMatrix ( const vpHomogeneousMatrix & cMo)
protected

Definition at line 813 of file vpRBSilhouetteCCDTracker.cpp.

References FastMat63< T >::data, vpArray2D< Type >::getRows(), vpRBFeatureTracker::hasIgnoredDofs(), FastMat33< T >::inverse(), m_ccdParameters, m_controlPoints, vpRBFeatureTracker::m_error, m_gradient, m_gradients, m_hessian, m_hessians, vpRBFeatureTracker::m_jacobianInObjectSpace, vpRBFeatureTracker::m_L, vpRBFeatureTracker::m_LTL, vpRBFeatureTracker::m_LTR, vpRBFeatureTracker::m_oJo, m_prevStats, m_robust, m_sigma, m_stats, m_temporalSmoothingFac, vpRBFeatureTracker::m_weighted_error, vpRBFeatureTracker::m_weights, FastMat63< T >::multiply(), FastVec3< T >::multiply(), FastMat63< T >::multiplyBTranspose(), and vpRobust::TUKEY.

Referenced by computeVVSIter().

◆ computeJTR()

void vpRBFeatureTracker::computeJTR ( const vpMatrix & interaction,
const vpColVector & error,
vpColVector & JTR )
staticinherited

Definition at line 56 of file vpRBFeatureTracker.cpp.

References vpArray2D< Type >::data, vpArray2D< Type >::getCols(), vpArray2D< Type >::getRows(), vpMatrixException::incorrectMatrixSizeError, and vpColVector::resize().

Referenced by updateOptimizerTerms().

◆ computeLocalStatistics()

void vpRBSilhouetteCCDTracker::computeLocalStatistics ( const vpImage< vpRGBa > & I,
vpCCDStatistics & stats )
protected

Definition at line 500 of file vpRBSilhouetteCCDTracker.cpp.

References vpRGBa::B, vpException::badValue, vpCCDStatistics::cov_vic, vpException::fatalError, vpRGBa::G, vpCCDStatistics::imgPoints, m_ccdParameters, m_controlPoints, vpCCDStatistics::mean_vic, vpCCDStatistics::nv, vpRGBa::R, and vpCCDStatistics::vic.

Referenced by changeScale(), computeVVSIter(), and initVVS().

◆ computeoJo()

vpMatrix vpRBFeatureTracker::computeoJo ( ) const
inlineprotectedinherited

Definition at line 284 of file vpRBFeatureTracker.h.

References m_estimatedDofs.

Referenced by setEstimatedDofs().

◆ computeVVSIter()

void vpRBSilhouetteCCDTracker::computeVVSIter ( const vpRBFeatureTrackerInput & frame,
const vpHomogeneousMatrix & cMo,
unsigned int iteration )
virtual

Implements vpRBFeatureTracker.

Definition at line 317 of file vpRBSilhouetteCCDTracker.cpp.

References changeScale(), computeErrorAndInteractionMatrix(), computeLocalStatistics(), vpRBFeatureTrackerInput::IRGB, m_ccdParameters, m_controlPoints, vpRBFeatureTracker::m_numFeatures, m_stats, m_temporalSmoothingFac, vpRBFeatureTracker::m_vvsConverged, m_vvsConvergenceThreshold, tol, and updateCCDPoints().

◆ display()

void vpRBSilhouetteCCDTracker::display ( const vpCameraParameters & cam,
const vpImage< unsigned char > & I,
const vpImage< vpRGBa > & IRGB,
const vpImage< unsigned char > & depth ) const
virtual

Implements vpRBFeatureTracker.

Definition at line 371 of file vpRBSilhouetteCCDTracker.cpp.

References vpRGBa::B, vpException::badValue, vpDisplay::displayCross(), vpDisplay::displayPoint(), DT_ERROR, DT_SIMPLE, DT_WEIGHT, DT_WEIGHT_AND_ERROR, vpRGBa::G, vpArray2D< Type >::getMaxValue(), vpColor::green, m_ccdParameters, m_controlPoints, m_displayType, vpRBFeatureTracker::m_error, vpRBFeatureTracker::m_weights, vpRGBa::R, and vpColor::red.

◆ extractFeatures()

void vpRBSilhouetteCCDTracker::extractFeatures ( const vpRBFeatureTrackerInput & frame,
const vpRBFeatureTrackerInput & previousFrame,
const vpHomogeneousMatrix & cMo )
virtual

Extract features from the frame data and the current pose estimate.

Implements vpRBFeatureTracker.

Definition at line 155 of file vpRBSilhouetteCCDTracker.cpp.

References vpRBSilhouetteControlPoint::buildSilhouettePoint(), vpRBFeatureTrackerInput::cam, vpRBRenderData::cMo, vpImage< Type >::getHeight(), vpRBSilhouetteControlPoint::getMaxMaskGradientAlongLine(), vpImage< Type >::getWidth(), vpRBFeatureTrackerInput::hasMask(), vpRBFeatureTrackerInput::I, vpRBSilhouettePoint::i, vpRBSilhouettePoint::isSilhouette, vpRBSilhouetteControlPoint::isValid(), vpRBSilhouettePoint::j, m_ccdParameters, m_controlPoints, m_maxPoints, m_minMaskConfidence, m_random, m_useMask, vpRBFeatureTrackerInput::mask, vpRBSilhouettePoint::normal, vpRBSilhouettePoint::orientation, vpRBFeatureTrackerInput::renders, vpRBFeatureTrackerInput::silhouettePoints, and vpRBSilhouettePoint::Z.

◆ featuresShouldBeDisplayed()

bool vpRBFeatureTracker::featuresShouldBeDisplayed ( ) const
inlineinherited

Definition at line 163 of file vpRBFeatureTracker.h.

References m_enableDisplay.

◆ getCCDParameters()

vpCCDParameters vpRBSilhouetteCCDTracker::getCCDParameters ( ) const
inline

Definition at line 237 of file vpRBSilhouetteCCDTracker.h.

References m_ccdParameters.

◆ getCovariance()

virtual const vpMatrix vpRBFeatureTracker::getCovariance ( ) const
inlinevirtualinherited

Retrieve the 6 x 6 pose covariance matrix, computed from the weights associated to each feature.

The updateCovariance method should have been called before

Definition at line 186 of file vpRBFeatureTracker.h.

References m_cov.

◆ getLTL()

virtual vpMatrix vpRBFeatureTracker::getLTL ( ) const
inlinevirtualinherited

Get the left-side term of the Gauss-Newton optimization term.

Definition at line 215 of file vpRBFeatureTracker.h.

References m_LTL.

◆ getLTR()

virtual vpColVector vpRBFeatureTracker::getLTR ( ) const
inlinevirtualinherited

Get the right-side term of the Gauss-Newton optimization term.

Definition at line 220 of file vpRBFeatureTracker.h.

References m_LTR.

◆ getMaxNumPoints()

unsigned int vpRBSilhouetteCCDTracker::getMaxNumPoints ( ) const
inline

Get the maximum number of silhouette control points that will be used by the tracker at a given iteration. If there are more control points on the silhouette than getMaxNumPoints(), they will be subsampled randomly. If maxNumPoints is zero, then all points are used.

Definition at line 287 of file vpRBSilhouetteCCDTracker.h.

References m_maxPoints.

◆ getMinimumMaskConfidence()

double vpRBSilhouetteCCDTracker::getMinimumMaskConfidence ( ) const
inline

Returns the minimum mask gradient required for a silhouette point to be considered.

This value is between 0 and 1.

Definition at line 276 of file vpRBSilhouetteCCDTracker.h.

References m_minMaskConfidence.

◆ getNumFeatures()

unsigned vpRBFeatureTracker::getNumFeatures ( ) const
inlineinherited

Return the type of feature that is used by this tracker.

Returns
vpRBFeatureType

Get the number of features used to compute the pose update

Definition at line 88 of file vpRBFeatureTracker.h.

References m_numFeatures.

◆ getTemporalSmoothingFactor()

double vpRBSilhouetteCCDTracker::getTemporalSmoothingFactor ( ) const
inline

Returns the amount of temporal smoothing applied when computing the tracking error and its jacobian. This factor is used to interpolate with the error computed on the previous frame for the features selected at the current iteration. Temporal smoothing may help smooth out the motion and reduce jitter.

Definition at line 246 of file vpRBSilhouetteCCDTracker.h.

References m_temporalSmoothingFac.

◆ getTemporalTrackerWeight()

const std::shared_ptr< vpTemporalWeighting > vpRBFeatureTracker::getTemporalTrackerWeight ( ) const
inlineinherited

Definition at line 208 of file vpRBFeatureTracker.h.

References m_weighting.

◆ getVVSTrackerWeight()

double vpRBSilhouetteCCDTracker::getVVSTrackerWeight ( double optimizationProgress) const
inlinevirtual

Get the importance of this tracker in the optimization step. The default computation is the following: $ w / N $, where $ w$ is the weight defined by setTrackerWeight, and $ N $ is the number of features.

Reimplemented from vpRBFeatureTracker.

Definition at line 319 of file vpRBSilhouetteCCDTracker.h.

References vpRBFeatureTracker::m_error, and vpRBFeatureTracker::m_weighting.

◆ getWeightedError()

const vpColVector & vpRBFeatureTracker::getWeightedError ( ) const
inlineinherited

Get a weighted version of the error vector. This should not include the userVVSWeight, but may include reweighting to remove outliers, occlusions, etc.

Definition at line 226 of file vpRBFeatureTracker.h.

References m_weighted_error.

◆ hasIgnoredDofs()

bool vpRBFeatureTracker::hasIgnoredDofs ( ) const
inlineinherited

Definition at line 246 of file vpRBFeatureTracker.h.

References m_estimatedDofs.

Referenced by vpRBSilhouetteCCDTracker::computeErrorAndInteractionMatrix().

◆ initVVS()

void vpRBSilhouetteCCDTracker::initVVS ( const vpRBFeatureTrackerInput & frame,
const vpRBFeatureTrackerInput & previousFrame,
const vpHomogeneousMatrix & cMo )
virtual

Implements vpRBFeatureTracker.

Definition at line 272 of file vpRBSilhouetteCCDTracker.cpp.

References buildGradientAndHessianStorageViews(), computeLocalStatistics(), vpRBFeatureTrackerInput::IRGB, m_ccdParameters, m_controlPoints, vpRBFeatureTracker::m_cov, m_gradient, m_hessian, vpRBFeatureTracker::m_numFeatures, m_previousFrame, m_prevStats, m_sigma, m_stats, m_temporalSmoothingFac, vpRBFeatureTracker::m_vvsConverged, and vpRBFeatureTracker::m_weights.

◆ loadJsonConfiguration()

virtual void vpRBSilhouetteCCDTracker::loadJsonConfiguration ( const nlohmann::json & j)
inlinevirtual

Reimplemented from vpRBFeatureTracker.

Definition at line 362 of file vpRBSilhouetteCCDTracker.h.

References vpRBFeatureTracker::loadJsonConfiguration(), m_ccdParameters, m_displayType, m_maxPoints, m_minMaskConfidence, m_temporalSmoothingFac, m_useMask, m_vvsConvergenceThreshold, setDisplayType(), setMaxNumPoints(), setMinimumMaskConfidence(), setShouldUseMask(), and setTemporalSmoothingFactor().

◆ NLOHMANN_JSON_SERIALIZE_ENUM()

vpRBSilhouetteCCDTracker::NLOHMANN_JSON_SERIALIZE_ENUM ( vpRBSilhouetteCCDTracker::vpDisplayType ,
{ {vpRBSilhouetteCCDTracker::vpDisplayType::DT_INVALID, nullptr}, {vpRBSilhouetteCCDTracker::vpDisplayType::DT_SIMPLE, "simple"}, {vpRBSilhouetteCCDTracker::vpDisplayType::DT_WEIGHT, "weight"}, {vpRBSilhouetteCCDTracker::vpDisplayType::DT_ERROR, "error"}, {vpRBSilhouetteCCDTracker::vpDisplayType::DT_WEIGHT_AND_ERROR, "weightAndError"} }  )

References DT_ERROR, DT_INVALID, DT_SIMPLE, DT_WEIGHT, and DT_WEIGHT_AND_ERROR.

◆ onTrackingIterEnd()

void vpRBSilhouetteCCDTracker::onTrackingIterEnd ( const vpHomogeneousMatrix & cMo)
inlinevirtual

Method called after the tracking iteration has finished.

Implements vpRBFeatureTracker.

Definition at line 303 of file vpRBSilhouetteCCDTracker.h.

◆ onTrackingIterStart()

void vpRBSilhouetteCCDTracker::onTrackingIterStart ( const vpRBFeatureTrackerInput & frame,
const vpHomogeneousMatrix & cMo )
virtual

Method called when starting a tracking iteration.

Implements vpRBFeatureTracker.

Definition at line 147 of file vpRBSilhouetteCCDTracker.cpp.

References m_ccdParameters, and m_controlPoints.

◆ requiresDepth()

bool vpRBSilhouetteCCDTracker::requiresDepth ( ) const
inlinevirtual

Whether this tracker requires depth image to extract features.

Implements vpRBFeatureTracker.

Definition at line 229 of file vpRBSilhouetteCCDTracker.h.

◆ requiresRGB()

bool vpRBSilhouetteCCDTracker::requiresRGB ( ) const
inlinevirtual

Whether this tracker requires RGB image to extract features.

Returns
true if the tracker requires an RGB image
false otherwise

Implements vpRBFeatureTracker.

Definition at line 228 of file vpRBSilhouetteCCDTracker.h.

◆ requiresSilhouetteCandidates()

bool vpRBSilhouetteCCDTracker::requiresSilhouetteCandidates ( ) const
inlinevirtual

Whether this tracker requires Silhouette candidates.

Implements vpRBFeatureTracker.

Definition at line 230 of file vpRBSilhouetteCCDTracker.h.

◆ reset()

void vpRBSilhouetteCCDTracker::reset ( )
inlinevirtual

Resets feature state. Can be called when the object changes or is lost, Ensuring that prior data does not influence the tracking behaviour.

Reimplemented from vpRBFeatureTracker.

Definition at line 304 of file vpRBSilhouetteCCDTracker.h.

References BASE_SEED, m_controlPoints, vpRBFeatureTracker::m_error, m_gradientData, m_gradients, m_hessian, m_hessianData, m_previousFrame, m_prevStats, m_random, m_stats, and vpRBFeatureTracker::m_vvsConverged.

◆ setCCDParameters()

void vpRBSilhouetteCCDTracker::setCCDParameters ( const vpCCDParameters & parameters)
inline

Definition at line 236 of file vpRBSilhouetteCCDTracker.h.

References m_ccdParameters.

◆ setComputeJacobianObjectSpace()

void vpRBFeatureTracker::setComputeJacobianObjectSpace ( bool inObjectSpace)
inlineinherited

Definition at line 238 of file vpRBFeatureTracker.h.

References m_jacobianInObjectSpace.

◆ setDisplayType()

void vpRBSilhouetteCCDTracker::setDisplayType ( vpDisplayType type)
inline

Definition at line 290 of file vpRBSilhouetteCCDTracker.h.

References vpException::badValue, DT_INVALID, and m_displayType.

Referenced by loadJsonConfiguration().

◆ setEstimatedDofs()

void vpRBFeatureTracker::setEstimatedDofs ( const std::array< bool, 6 > & dofs)
inlineinherited

Definition at line 255 of file vpRBFeatureTracker.h.

References computeoJo(), m_estimatedDofs, and m_oJo.

Referenced by loadJsonConfiguration(), and vpRBFeatureTracker().

◆ setFeaturesShouldBeDisplayed()

void vpRBFeatureTracker::setFeaturesShouldBeDisplayed ( bool enableDisplay)
inlineinherited

Definition at line 164 of file vpRBFeatureTracker.h.

References m_enableDisplay.

Referenced by visp.python.rbt.xfeat.RBXFeatFeatureTracker.RBXFeatFeatureTracker::load_settings().

◆ setMaxNumPoints()

void vpRBSilhouetteCCDTracker::setMaxNumPoints ( unsigned int maxPoints)
inline

Definition at line 288 of file vpRBSilhouetteCCDTracker.h.

References m_maxPoints.

Referenced by loadJsonConfiguration().

◆ setMinimumMaskConfidence()

void vpRBSilhouetteCCDTracker::setMinimumMaskConfidence ( double confidence)
inline

Definition at line 277 of file vpRBSilhouetteCCDTracker.h.

References m_minMaskConfidence.

Referenced by loadJsonConfiguration().

◆ setShouldUseMask()

void vpRBSilhouetteCCDTracker::setShouldUseMask ( bool useMask)
inline

Definition at line 269 of file vpRBSilhouetteCCDTracker.h.

References m_useMask.

Referenced by loadJsonConfiguration().

◆ setTemporalSmoothingFactor()

void vpRBSilhouetteCCDTracker::setTemporalSmoothingFactor ( double factor)
inline

Sets the temporal smoothing factor.

See also
getTemporalSmoothingFactor
Parameters
factorthe new temporal smoothing factor. Should be greater than 0

Definition at line 255 of file vpRBSilhouetteCCDTracker.h.

References vpException::badValue, and m_temporalSmoothingFac.

Referenced by loadJsonConfiguration().

◆ setTrackerWeight() [1/2]

void vpRBFeatureTracker::setTrackerWeight ( const std::shared_ptr< vpTemporalWeighting > & weight)
inlineinherited

Definition at line 210 of file vpRBFeatureTracker.h.

References m_weighting.

Referenced by visp.python.rbt.xfeat.RBXFeatFeatureTracker.RBXFeatFeatureTracker::load_settings().

◆ setTrackerWeight() [2/2]

void vpRBFeatureTracker::setTrackerWeight ( double weight)
inlineinherited

Definition at line 209 of file vpRBFeatureTracker.h.

References m_weighting.

Referenced by visp.python.rbt.xfeat.RBXFeatFeatureTracker.RBXFeatFeatureTracker::load_settings().

◆ shouldUseMask()

bool vpRBSilhouetteCCDTracker::shouldUseMask ( ) const
inline

Returns whether the tracking algorithm should filter out points that are unlikely to be on the object according to the mask. If the mask is not computed beforehand, then it has no effect.

Definition at line 268 of file vpRBSilhouetteCCDTracker.h.

References m_useMask.

◆ trackFeatures()

void vpRBSilhouetteCCDTracker::trackFeatures ( const vpRBFeatureTrackerInput & frame,
const vpRBFeatureTrackerInput & previousFrame,
const vpHomogeneousMatrix & cMo )
inlinevirtual

Track the features.

Implements vpRBFeatureTracker.

Definition at line 325 of file vpRBSilhouetteCCDTracker.h.

◆ updateCCDPoints()

void vpRBSilhouetteCCDTracker::updateCCDPoints ( const vpHomogeneousMatrix & cMo)
protected

Definition at line 472 of file vpRBSilhouetteCCDTracker.cpp.

References m_controlPoints.

Referenced by computeVVSIter().

◆ updateCovariance()

void vpRBSilhouetteCCDTracker::updateCovariance ( const double lambda)
inlinevirtual

Update the covariance matrix.

Parameters
lambdathe visual servoing gain

Reimplemented from vpRBFeatureTracker.

Definition at line 329 of file vpRBSilhouetteCCDTracker.h.

References vpRBFeatureTracker::m_cov, and m_sigma.

◆ updateOptimizerTerms()

void vpRBFeatureTracker::updateOptimizerTerms ( const vpHomogeneousMatrix & cMo)
inlineinherited

Definition at line 262 of file vpRBFeatureTracker.h.

References computeJTR(), m_covWeightDiag, m_error, m_jacobianInObjectSpace, m_L, m_LTL, m_LTR, m_oJo, m_weighted_error, and m_weights.

Referenced by vpRBDenseDepthTracker::computeVVSIter(), and vpRBSilhouetteMeTracker::computeVVSIter().

◆ vvsHasConverged()

bool vpRBFeatureTracker::vvsHasConverged ( ) const
inlineinherited

Returns whether the tracker is considered as having converged to the desired pose.

Definition at line 200 of file vpRBFeatureTracker.h.

References m_vvsConverged.

Member Data Documentation

◆ BASE_SEED

const unsigned int vpRBSilhouetteCCDTracker::BASE_SEED = 421
staticprotected

Definition at line 414 of file vpRBSilhouetteCCDTracker.h.

Referenced by reset(), and vpRBSilhouetteCCDTracker().

◆ m_ccdParameters

vpCCDParameters vpRBSilhouetteCCDTracker::m_ccdParameters
protected

Definition at line 388 of file vpRBSilhouetteCCDTracker.h.

Referenced by changeScale(), computeErrorAndInteractionMatrix(), computeLocalStatistics(), computeVVSIter(), display(), extractFeatures(), getCCDParameters(), initVVS(), loadJsonConfiguration(), onTrackingIterStart(), and setCCDParameters().

◆ m_controlPoints

std::vector<vpRBSilhouetteControlPoint> vpRBSilhouetteCCDTracker::m_controlPoints
protected

Definition at line 390 of file vpRBSilhouetteCCDTracker.h.

Referenced by buildGradientAndHessianStorageViews(), changeScale(), computeErrorAndInteractionMatrix(), computeLocalStatistics(), computeVVSIter(), display(), extractFeatures(), initVVS(), onTrackingIterStart(), reset(), and updateCCDPoints().

◆ m_cov

vpMatrix vpRBFeatureTracker::m_cov
protectedinherited

Right side of the Gauss Newton minimization.

Definition at line 301 of file vpRBFeatureTracker.h.

Referenced by vpRBSilhouetteCCDTracker::changeScale(), vpRBDenseDepthTracker::computeVVSIter(), vpRBDenseDepthTracker::extractFeatures(), getCovariance(), vpRBSilhouetteCCDTracker::initVVS(), updateCovariance(), and vpRBSilhouetteCCDTracker::updateCovariance().

◆ m_covWeightDiag

vpColVector vpRBFeatureTracker::m_covWeightDiag
protectedinherited

Covariance matrix.

Definition at line 302 of file vpRBFeatureTracker.h.

Referenced by vpRBDenseDepthTracker::computeVVSIter(), vpRBDenseDepthTracker::extractFeatures(), vpRBSilhouetteMeTracker::initVVS(), updateCovariance(), and updateOptimizerTerms().

◆ m_displayType

vpDisplayType vpRBSilhouetteCCDTracker::m_displayType
protected

Definition at line 417 of file vpRBSilhouetteCCDTracker.h.

Referenced by display(), loadJsonConfiguration(), setDisplayType(), and vpRBSilhouetteCCDTracker().

◆ m_enableDisplay

bool vpRBFeatureTracker::m_enableDisplay
protectedinherited

Whether VVS has converged, should be updated every VVS iteration.

Definition at line 314 of file vpRBFeatureTracker.h.

Referenced by featuresShouldBeDisplayed(), loadJsonConfiguration(), setFeaturesShouldBeDisplayed(), and vpRBFeatureTracker().

◆ m_error

vpColVector vpRBFeatureTracker::m_error
protectedinherited

Definition at line 304 of file vpRBFeatureTracker.h.

Referenced by vpRBSilhouetteCCDTracker::computeErrorAndInteractionMatrix(), vpRBDenseDepthTracker::computeVVSIter(), vpRBSilhouetteMeTracker::computeVVSIter(), vpRBDenseDepthTracker::display(), vpRBSilhouetteCCDTracker::display(), vpRBDenseDepthTracker::extractFeatures(), vpRBSilhouetteCCDTracker::getVVSTrackerWeight(), vpRBSilhouetteMeTracker::initVVS(), vpRBSilhouetteCCDTracker::reset(), updateCovariance(), and updateOptimizerTerms().

◆ m_estimatedDofs

std::array<bool, 6> vpRBFeatureTracker::m_estimatedDofs
protectedinherited

Whether the tracked features should be displayed.

Definition at line 315 of file vpRBFeatureTracker.h.

Referenced by computeoJo(), hasIgnoredDofs(), and setEstimatedDofs().

◆ m_gradient

vpColVector vpRBSilhouetteCCDTracker::m_gradient
protected

Definition at line 406 of file vpRBSilhouetteCCDTracker.h.

Referenced by computeErrorAndInteractionMatrix(), and initVVS().

◆ m_gradientData

std::vector<double> vpRBSilhouetteCCDTracker::m_gradientData
protected

Definition at line 401 of file vpRBSilhouetteCCDTracker.h.

Referenced by buildGradientAndHessianStorageViews(), and reset().

◆ m_gradients

std::vector<vpColVector> vpRBSilhouetteCCDTracker::m_gradients
protected

Definition at line 404 of file vpRBSilhouetteCCDTracker.h.

Referenced by buildGradientAndHessianStorageViews(), computeErrorAndInteractionMatrix(), and reset().

◆ m_hessian

vpMatrix vpRBSilhouetteCCDTracker::m_hessian
protected

Sum of local gradients.

Definition at line 407 of file vpRBSilhouetteCCDTracker.h.

Referenced by computeErrorAndInteractionMatrix(), initVVS(), and reset().

◆ m_hessianData

std::vector<double> vpRBSilhouetteCCDTracker::m_hessianData
protected

Definition at line 402 of file vpRBSilhouetteCCDTracker.h.

Referenced by buildGradientAndHessianStorageViews(), and reset().

◆ m_hessians

std::vector<vpMatrix> vpRBSilhouetteCCDTracker::m_hessians
protected

Definition at line 405 of file vpRBSilhouetteCCDTracker.h.

Referenced by buildGradientAndHessianStorageViews(), and computeErrorAndInteractionMatrix().

◆ m_jacobianInObjectSpace

bool vpRBFeatureTracker::m_jacobianInObjectSpace
protectedinherited

Matrix representation of the estimated DOFS.

Definition at line 317 of file vpRBFeatureTracker.h.

Referenced by vpRBSilhouetteCCDTracker::computeErrorAndInteractionMatrix(), setComputeJacobianObjectSpace(), updateOptimizerTerms(), and vpRBFeatureTracker().

◆ m_L

vpMatrix vpRBFeatureTracker::m_L
protectedinherited

Definition at line 298 of file vpRBFeatureTracker.h.

Referenced by vpRBSilhouetteCCDTracker::computeErrorAndInteractionMatrix(), vpRBDenseDepthTracker::computeVVSIter(), vpRBSilhouetteMeTracker::computeVVSIter(), vpRBDenseDepthTracker::extractFeatures(), vpRBSilhouetteMeTracker::initVVS(), updateCovariance(), and updateOptimizerTerms().

◆ m_LTL

vpMatrix vpRBFeatureTracker::m_LTL
protectedinherited

Error jacobian (In VS terms, the interaction matrix).

Definition at line 299 of file vpRBFeatureTracker.h.

Referenced by vpRBSilhouetteCCDTracker::computeErrorAndInteractionMatrix(), vpRBDenseDepthTracker::computeVVSIter(), getLTL(), and updateOptimizerTerms().

◆ m_LTR

vpColVector vpRBFeatureTracker::m_LTR
protectedinherited

Left side of the Gauss newton minimization.

Definition at line 300 of file vpRBFeatureTracker.h.

Referenced by vpRBSilhouetteCCDTracker::computeErrorAndInteractionMatrix(), vpRBDenseDepthTracker::computeVVSIter(), vpRBSilhouetteMeTracker::computeVVSIter(), getLTR(), and updateOptimizerTerms().

◆ m_maxPoints

unsigned int vpRBSilhouetteCCDTracker::m_maxPoints
protected

Definition at line 413 of file vpRBSilhouetteCCDTracker.h.

Referenced by extractFeatures(), getMaxNumPoints(), loadJsonConfiguration(), setMaxNumPoints(), and vpRBSilhouetteCCDTracker().

◆ m_minMaskConfidence

double vpRBSilhouetteCCDTracker::m_minMaskConfidence
protected

Definition at line 411 of file vpRBSilhouetteCCDTracker.h.

Referenced by extractFeatures(), getMinimumMaskConfidence(), loadJsonConfiguration(), setMinimumMaskConfidence(), and vpRBSilhouetteCCDTracker().

◆ m_numFeatures

unsigned vpRBFeatureTracker::m_numFeatures
protectedinherited

Error weights.

Definition at line 309 of file vpRBFeatureTracker.h.

Referenced by vpRBSilhouetteCCDTracker::changeScale(), vpRBDenseDepthTracker::computeVVSIter(), vpRBSilhouetteCCDTracker::computeVVSIter(), vpRBSilhouetteMeTracker::computeVVSIter(), vpRBDenseDepthTracker::extractFeatures(), vpRBSilhouetteMeTracker::extractFeatures(), getNumFeatures(), getVVSTrackerWeight(), vpRBSilhouetteCCDTracker::initVVS(), vpRBSilhouetteMeTracker::initVVS(), and vpRBFeatureTracker().

◆ m_oJo

vpMatrix vpRBFeatureTracker::m_oJo
protectedinherited

Definition at line 316 of file vpRBFeatureTracker.h.

Referenced by vpRBSilhouetteCCDTracker::computeErrorAndInteractionMatrix(), setEstimatedDofs(), and updateOptimizerTerms().

◆ m_previousFrame

const vpRBFeatureTrackerInput* vpRBSilhouetteCCDTracker::m_previousFrame
protected

Definition at line 418 of file vpRBSilhouetteCCDTracker.h.

Referenced by changeScale(), initVVS(), and reset().

◆ m_prevStats

vpCCDStatistics vpRBSilhouetteCCDTracker::m_prevStats
protected

Definition at line 394 of file vpRBSilhouetteCCDTracker.h.

Referenced by changeScale(), computeErrorAndInteractionMatrix(), initVVS(), and reset().

◆ m_random

vpUniRand vpRBSilhouetteCCDTracker::m_random
protected

Definition at line 415 of file vpRBSilhouetteCCDTracker.h.

Referenced by extractFeatures(), reset(), and vpRBSilhouetteCCDTracker().

◆ m_robust

vpRobust vpRBSilhouetteCCDTracker::m_robust
protected

Silhouette points where to compute CCD statistics.

Definition at line 391 of file vpRBSilhouetteCCDTracker.h.

Referenced by computeErrorAndInteractionMatrix().

◆ m_sigma

vpMatrix vpRBSilhouetteCCDTracker::m_sigma
protected

Definition at line 396 of file vpRBSilhouetteCCDTracker.h.

Referenced by changeScale(), computeErrorAndInteractionMatrix(), initVVS(), and updateCovariance().

◆ m_stats

vpCCDStatistics vpRBSilhouetteCCDTracker::m_stats
protected

Definition at line 393 of file vpRBSilhouetteCCDTracker.h.

Referenced by changeScale(), computeErrorAndInteractionMatrix(), computeVVSIter(), initVVS(), and reset().

◆ m_temporalSmoothingFac

double vpRBSilhouetteCCDTracker::m_temporalSmoothingFac
protected

Sum of local hessians.

Definition at line 408 of file vpRBSilhouetteCCDTracker.h.

Referenced by changeScale(), computeErrorAndInteractionMatrix(), computeVVSIter(), getTemporalSmoothingFactor(), initVVS(), loadJsonConfiguration(), setTemporalSmoothingFactor(), and vpRBSilhouetteCCDTracker().

◆ m_useMask

bool vpRBSilhouetteCCDTracker::m_useMask
protected

Smoothing factor used to integrate data from the previous frame.

Definition at line 410 of file vpRBSilhouetteCCDTracker.h.

Referenced by extractFeatures(), loadJsonConfiguration(), setShouldUseMask(), shouldUseMask(), and vpRBSilhouetteCCDTracker().

◆ m_vvsConverged

bool vpRBFeatureTracker::m_vvsConverged
protectedinherited

User-defined weight for this specific type of feature.

Definition at line 312 of file vpRBFeatureTracker.h.

Referenced by vpRBSilhouetteCCDTracker::computeVVSIter(), vpRBSilhouetteMeTracker::computeVVSIter(), vpRBSilhouetteCCDTracker::initVVS(), vpRBSilhouetteMeTracker::initVVS(), vpRBSilhouetteCCDTracker::reset(), vpRBFeatureTracker(), and vvsHasConverged().

◆ m_vvsConvergenceThreshold

double vpRBSilhouetteCCDTracker::m_vvsConvergenceThreshold
protected

Definition at line 398 of file vpRBSilhouetteCCDTracker.h.

Referenced by computeVVSIter(), loadJsonConfiguration(), and vpRBSilhouetteCCDTracker().

◆ m_weighted_error

vpColVector vpRBFeatureTracker::m_weighted_error
protectedinherited

Raw VS Error vector.

Definition at line 305 of file vpRBFeatureTracker.h.

Referenced by vpRBSilhouetteCCDTracker::computeErrorAndInteractionMatrix(), vpRBDenseDepthTracker::computeVVSIter(), vpRBDenseDepthTracker::extractFeatures(), getWeightedError(), vpRBSilhouetteMeTracker::initVVS(), and updateOptimizerTerms().

◆ m_weighting

std::shared_ptr<vpTemporalWeighting> vpRBFeatureTracker::m_weighting
protectedinherited

Number of considered features.

Definition at line 310 of file vpRBFeatureTracker.h.

Referenced by getTemporalTrackerWeight(), getVVSTrackerWeight(), vpRBSilhouetteCCDTracker::getVVSTrackerWeight(), loadJsonConfiguration(), setTrackerWeight(), setTrackerWeight(), and vpRBFeatureTracker().

◆ m_weights

vpColVector vpRBFeatureTracker::m_weights
protectedinherited

Weighted VS error.

Definition at line 306 of file vpRBFeatureTracker.h.

Referenced by vpRBSilhouetteCCDTracker::changeScale(), vpRBSilhouetteCCDTracker::computeErrorAndInteractionMatrix(), vpRBDenseDepthTracker::computeVVSIter(), vpRBSilhouetteMeTracker::computeVVSIter(), vpRBDenseDepthTracker::display(), vpRBSilhouetteCCDTracker::display(), vpRBDenseDepthTracker::extractFeatures(), vpRBSilhouetteCCDTracker::initVVS(), vpRBSilhouetteMeTracker::initVVS(), and updateOptimizerTerms().

◆ tol

double vpRBSilhouetteCCDTracker::tol
protected

Definition at line 399 of file vpRBSilhouetteCCDTracker.h.

Referenced by computeVVSIter().