#include <vpRBTracker.h>

Public Member Functions
	vpRBTracker ()
	~vpRBTracker ()=default
void	reset ()
double	score (const vpHomogeneousMatrix &cMo, const vpImage< unsigned char > &I, const vpImage< vpRGBa > &IRGB, const vpImage< float > &depth)
template<typename ImageType>
std::enable_if< std::is_same< ImageType, unsignedchar >::value\|\|std::is_same< ImageType, vpRGBa >::value, void >::type	initClick (const vpImage< ImageType > &I, const std::string &initFile, bool displayHelp)
Information retrieval
void	getPose (vpHomogeneousMatrix &cMo) const
void	setPose (const vpHomogeneousMatrix &cMo)
vpObjectCentricRenderer &	getRenderer ()
const vpRBFeatureTrackerInput &	getMostRecentFrame () const
vpMatrix	getCovariance () const
Settings
void	addTracker (std::shared_ptr< vpRBFeatureTracker > tracker)
std::vector< std::shared_ptr< vpRBFeatureTracker > >	getFeatureTrackers () const
std::string	getModelPath () const
void	setModelPath (const std::string &path)
vpCameraParameters	getCameraParameters () const
void	setCameraParameters (const vpCameraParameters &cam, unsigned h, unsigned w)
unsigned int	getImageWidth () const
unsigned int	getImageHeight () const
vpSilhouettePointsExtractionSettings	getSilhouetteExtractionParameters () const
void	setSilhouetteExtractionParameters (const vpSilhouettePointsExtractionSettings &settings)
double	getOptimizationGain () const
void	setOptimizationGain (double lambda)
unsigned int	getMaxOptimizationIters () const
void	setMaxOptimizationIters (unsigned int iters)
double	getOptimizationInitialMu () const
void	setOptimizationInitialMu (double mu)
double	getOptimizationMuIterFactor () const
void	setOptimizationMuIterFactor (double factor)
bool	scaleInvariantRegularization () const
void	setScaleInvariantRegularization (bool invariant)
std::shared_ptr< vpRBDriftDetector >	getDriftDetector () const
void	setDriftDetector (const std::shared_ptr< vpRBDriftDetector > &detector)
std::shared_ptr< vpObjectMask >	getObjectSegmentationMethod () const
void	setObjectSegmentationMethod (const std::shared_ptr< vpObjectMask > &mask)
std::shared_ptr< vpRBVisualOdometry >	getOdometryMethod () const
void	setOdometryMethod (const std::shared_ptr< vpRBVisualOdometry > &odometry)
void	loadConfigurationFile (const std::string &filename)
void	loadConfiguration (const nlohmann::json &j)
Tracking
void	startTracking ()
vpRBTrackingResult	track (const vpImage< unsigned char > &I)
vpRBTrackingResult	track (const vpImage< unsigned char > &I, const vpImage< vpRGBa > &IRGB)
vpRBTrackingResult	track (const vpImage< unsigned char > &I, const vpImage< vpRGBa > &IRGB, const vpImage< float > &depth)
Display
void	displayMask (vpImage< unsigned char > &Imask) const
void	display (const vpImage< unsigned char > &I, const vpImage< vpRGBa > &IRGB, const vpImage< unsigned char > &depth)

Public Attributes
friend	vpRBInitializationHelper

Protected Member Functions
vpRBTrackingResult	track (vpRBFeatureTrackerInput &input)
void	setupRenderer (const std::string &file)
void	updateRender (vpRBFeatureTrackerInput &frame)
void	updateRender (vpRBFeatureTrackerInput &frame, const vpHomogeneousMatrix &cMo)
template<typename T>
void	displaySilhouette (const vpImage< T > &I, const vpRBFeatureTrackerInput &frame)
std::vector< vpRBSilhouettePoint >	extractSilhouettePoints (const vpImage< vpRGBf > &Inorm, const vpImage< float > &Idepth, const vpImage< float > &Ior, const vpImage< unsigned char > &Ivalid, const vpCameraParameters &cam, const vpHomogeneousMatrix &cTcp)
template<typename T>
void	checkDimensionsOrThrow (const vpImage< T > &I, const std::string &imgType) const
bool	shouldRenderSilhouette ()

Protected Attributes
bool	m_firstIteration
std::vector< std::shared_ptr< vpRBFeatureTracker > >	m_trackers
vpRBFeatureTrackerInput	m_currentFrame
vpRBFeatureTrackerInput	m_previousFrame
std::string	m_modelPath
bool	m_modelChanged
vpHomogeneousMatrix	m_cMo
vpHomogeneousMatrix	m_cMoPrev
vpCameraParameters	m_cam
double	m_lambda
unsigned	m_vvsIterations
double	m_muInit
double	m_muIterFactor
bool	m_scaleInvariantOptim
vpSilhouettePointsExtractionSettings	m_depthSilhouetteSettings
vpPanda3DRenderParameters	m_rendererSettings
vpObjectCentricRenderer	m_renderer
bool	m_rendererIsSetup
unsigned	m_imageHeight
unsigned	m_imageWidth
std::shared_ptr< vpObjectMask >	m_mask
std::shared_ptr< vpRBDriftDetector >	m_driftDetector
std::shared_ptr< vpRBVisualOdometry >	m_odometry
std::shared_ptr< vpRBConvergenceMetric >	m_convergenceMetric
bool	m_displaySilhouette

Detailed Description

Class implementing the Render-Based Tracker (RBT).

The RBT is an extension and rework of [45] and of the Model-Based Tracker.

Tracking is framed as a non-linear optimization problem where a visual error (formulated by comparing renders with images) should be minimized.

The RBT supports a various set of features, from tracked 2D points to dense depth information. For a list of base features, see Trackable features.

The RBT can be extended and you can add your own features and other functionalities to the pipeline.

Tutorials & Examples

Tutorials
For a detailed description of the tracker, how to use it and extend it, see:

Tutorial: Tracking with the Render-Based Tracker

Examples: catchRBT.cpp, catchRBTDataset.cpp, tutorial-rbt-realsense.cpp, and tutorial-rbt-sequence.cpp.

Definition at line 86 of file vpRBTracker.h.

Constructor & Destructor Documentation

◆ vpRBTracker()

BEGIN_VISP_NAMESPACE vpRBTracker::vpRBTracker ( )

Definition at line 53 of file vpRBTracker.cpp.

References m_convergenceMetric, m_displaySilhouette, m_driftDetector, m_firstIteration, m_imageHeight, m_imageWidth, m_lambda, m_mask, m_modelChanged, m_muInit, m_muIterFactor, m_odometry, m_renderer, m_rendererIsSetup, m_rendererSettings, m_scaleInvariantOptim, m_trackers, and m_vvsIterations.

◆ ~vpRBTracker()

vpRBTracker::~vpRBTracker ( )

default

References getPose(), getRenderer(), and setPose().

Member Function Documentation

◆ addTracker()

void vpRBTracker::addTracker ( std::shared_ptr< vpRBFeatureTracker > tracker )

Add a new feature to track.

Parameters

tracker the feature to add

Exceptions

vpException if the tracker is null

Definition at line 673 of file vpRBTracker.cpp.

References vpException::badValue, and m_trackers.

◆ checkDimensionsOrThrow()

template<typename T>

void vpRBTracker::checkDimensionsOrThrow	(	const vpImage< T > &	I,
		const std::string &	imgType ) const

inlineprotected

Check that a given image has the correct dimensions, previously specified with setCameraParameters or in the config file.

Template Parameters

T	Pixel type

Parameters

I	Image to check
imgType	Helper string to indicat which image type failed.

Definition at line 508 of file vpRBTracker.h.

References vpException::dimensionError, m_imageHeight, and m_imageWidth.

Referenced by track(), track(), and track().

◆ display()

void vpRBTracker::display	(	const vpImage< unsigned char > &	I,
		const vpImage< vpRGBa > &	IRGB,
		const vpImage< unsigned char > &	depth )

Displays tracker information such as current pose, object silhouette and tracked features on display images.

Parameters

I	Grayscale display image
IRGB	Color display image
depth	Depth display image

Definition at line 688 of file vpRBTracker.cpp.

References displaySilhouette(), m_currentFrame, m_displaySilhouette, and m_trackers.

◆ displayMask()

void vpRBTracker::displayMask ( vpImage< unsigned char > & Imask ) const

Convert the mask output by the object segmentation method to a displayable representation. If no object segmentation method is set, then this method has no effect.

Parameters

Imask the image into which to write the display representation of the mask.

See also: setObjectSegmentationMethod, display

Definition at line 681 of file vpRBTracker.cpp.

References m_currentFrame, and m_mask.

◆ displaySilhouette()

template<typename T>

void vpRBTracker::displaySilhouette	(	const vpImage< T > &	I,
		const vpRBFeatureTrackerInput &	frame )

inlineprotected

Display the object silhouette of the frame in I.

Template Parameters

T	Pixel type of I

Parameters

I	The image where to display the object silhouette
frame	Frame containing the rendered data. Does not have to be last pose or associated to the estimated pose of I.

Definition at line 468 of file vpRBTracker.h.

References vpDisplay::displayPoint(), vpColor::green, vpRBRenderData::isSilhouette, m_renderer, vpRBFeatureTrackerInput::renders, and shouldRenderSilhouette().

Referenced by display().

◆ extractSilhouettePoints()

std::vector< vpRBSilhouettePoint > vpRBTracker::extractSilhouettePoints	(	const vpImage< vpRGBf > &	Inorm,
		const vpImage< float > &	Idepth,
		const vpImage< float > &	Ior,
		const vpImage< unsigned char > &	Ivalid,
		const vpCameraParameters &	cam,
		const vpHomogeneousMatrix &	cTcp )

protected

Converts from pixelwise object silhouette representation to an actionable list of silhouette points.

Parameters

Inorm	Image containing normals in object frame
Idepth	Render image containing depth, in meters
Ior	Image containing the silhouette 2D edge orientation data
Ivalid	Image contianing whether a pixel is a silhouette point
cam	Camera intrinsics
cTcp	Pose of the previous camera in the current camera frame. Used when silhouette extraction settings try to reuse the same silhouette points in successive frames.

Returns: std::vector<vpRBSilhouettePoint>

Definition at line 635 of file vpRBTracker.cpp.

References vpException::badValue, m_depthSilhouetteSettings, and m_previousFrame.

Referenced by track().

◆ getCameraParameters()

vpCameraParameters vpRBTracker::getCameraParameters ( ) const

Get the camera intrinsics that are used to render the 3D object and process the tracked frames.

Returns: vpCameraParameters

Definition at line 101 of file vpRBTracker.cpp.

References m_cam.

◆ getCovariance()

vpMatrix vpRBTracker::getCovariance ( ) const

Definition at line 78 of file vpRBTracker.cpp.

References vpException::dimensionError, vpArray2D< Type >::getCols(), vpArray2D< Type >::getRows(), m_lambda, m_trackers, and vpMatrix::pseudoInverse().

◆ getDriftDetector()

std::shared_ptr< vpRBDriftDetector > vpRBTracker::getDriftDetector ( ) const

inline

See also: setDriftDetector

Definition at line 242 of file vpRBTracker.h.

References m_driftDetector.

◆ getFeatureTrackers()

std::vector< std::shared_ptr< vpRBFeatureTracker > > vpRBTracker::getFeatureTrackers ( ) const

inline

Get the tracked features.

Returns: std::vector<std::shared_ptr<vpRBFeatureTracker>>

Definition at line 155 of file vpRBTracker.h.

References m_trackers.

◆ getImageHeight()

unsigned int vpRBTracker::getImageHeight ( ) const

inline

Definition at line 188 of file vpRBTracker.h.

References m_imageHeight.

◆ getImageWidth()

unsigned int vpRBTracker::getImageWidth ( ) const

inline

Definition at line 187 of file vpRBTracker.h.

References m_imageWidth.

◆ getMaxOptimizationIters()

unsigned int vpRBTracker::getMaxOptimizationIters ( ) const

inline

Definition at line 205 of file vpRBTracker.h.

References m_vvsIterations.

◆ getModelPath()

std::string vpRBTracker::getModelPath ( ) const

inline

Get the path to the 3D model to track.

Definition at line 160 of file vpRBTracker.h.

References m_modelPath.

◆ getMostRecentFrame()

const vpRBFeatureTrackerInput & vpRBTracker::getMostRecentFrame ( ) const

inline

Retrieve the most recent frame that was used when tracking the object. The renders may not correspond to the latest pose that can be retrieved with getPose To retrieve the render pose see vpRBRenderData::cMo.

Returns: const vpRBFeatureTrackerInput&

Definition at line 128 of file vpRBTracker.h.

References m_currentFrame.

◆ getObjectSegmentationMethod()

std::shared_ptr< vpObjectMask > vpRBTracker::getObjectSegmentationMethod ( ) const

inline

See also: setObjectSegmentationMethod

Definition at line 257 of file vpRBTracker.h.

References m_mask.

◆ getOdometryMethod()

std::shared_ptr< vpRBVisualOdometry > vpRBTracker::getOdometryMethod ( ) const

inline

See also: setOdometryMethod

Definition at line 272 of file vpRBTracker.h.

References m_odometry.

◆ getOptimizationGain()

double vpRBTracker::getOptimizationGain ( ) const

inline

Definition at line 197 of file vpRBTracker.h.

References m_lambda.

◆ getOptimizationInitialMu()

double vpRBTracker::getOptimizationInitialMu ( ) const

inline

Definition at line 214 of file vpRBTracker.h.

References m_muInit.

◆ getOptimizationMuIterFactor()

double vpRBTracker::getOptimizationMuIterFactor ( ) const

inline

Definition at line 223 of file vpRBTracker.h.

References m_muIterFactor.

◆ getPose()

void vpRBTracker::getPose ( vpHomogeneousMatrix & cMo ) const

Get the estimated pose of the object in the camera frame.

You should call vpRBTracker::track to update the retrieved pose

Parameters

cMo	pose to update

Definition at line 66 of file vpRBTracker.cpp.

References m_cMo.

Referenced by ~vpRBTracker().

◆ getRenderer()

vpObjectCentricRenderer & vpRBTracker::getRenderer ( )

Get the renderer used to render the object.

Returns: vpObjectCentricRenderer&

Definition at line 705 of file vpRBTracker.cpp.

References m_renderer.

Referenced by ~vpRBTracker().

◆ getSilhouetteExtractionParameters()

vpSilhouettePointsExtractionSettings vpRBTracker::getSilhouetteExtractionParameters ( ) const

inline

Definition at line 190 of file vpRBTracker.h.

References m_depthSilhouetteSettings.

◆ initClick()

template<typename ImageType>

std::enable_if< std::is_same< ImageType, unsignedchar >::value\|\|std::is_same< ImageType, vpRGBa >::value, void >::type vpRBTracker::initClick	(	const vpImage< ImageType > &	I,
		const std::string &	initFile,
		bool	displayHelp )

inline

Perform Pose initialization by asking the user to click on predefined 3D points. This method is similar to the one provided in the MBT.

The 3D points (in the object frame) are defined in a .init file which should look like:

* 4 # Number of points
* 0.0 0.0 0.0 # Point 1 (In object frame coordinates)
* 0.0 0.0 0.1 # Point 2 (In object frame coordinates)
* 0.0 0.1 0.1 # Point 3 (In object frame coordinates)
* 0.1 0.1 0.1 # Point 4 (In object frame coordinates)
*

Template Parameters

ImageType The pixel type for I, either unsigned char or vpRGBa

Parameters

I	the image where to click. It should be associated to a vpDisplay
initFile	The path to the initialization file.
displayHelp	Whether to display an image to help with initialization. If true and the init file is "path/to/object.init", then the function will look for an image "path/to/object.{png, jpg, jpeg, ppm}".

Definition at line 426 of file vpRBTracker.h.

References vpRBInitializationHelper::getPose(), m_cam, vpRBInitializationHelper::setCameraParameters(), setPose(), and vpRBInitializationHelper.

◆ loadConfiguration()

void vpRBTracker::loadConfiguration ( const nlohmann::json & j )

Update the tracker with a new json configuration.

Parameters

j	the full json configuration

Exceptions

if	the parameters are incorrect

Definition at line 732 of file vpRBTracker.cpp.

References vpException::badValue, vpDynamicFactory< T >::buildFromJson(), vpObjectMaskFactory::getFactory(), vpRBDriftDetectorFactory::getFactory(), vpRBFeatureTrackerFactory::getFactory(), vpRBConvergenceMetric::loadFromJSON(), m_cam, m_convergenceMetric, m_depthSilhouetteSettings, m_displaySilhouette, m_driftDetector, m_firstIteration, m_imageHeight, m_imageWidth, m_lambda, m_mask, m_muInit, m_muIterFactor, m_odometry, m_scaleInvariantOptim, m_trackers, m_vvsIterations, setCameraParameters(), setMaxOptimizationIters(), setModelPath(), setOptimizationGain(), setOptimizationInitialMu(), setOptimizationMuIterFactor(), and setScaleInvariantRegularization().

Referenced by loadConfigurationFile().

◆ loadConfigurationFile()

void vpRBTracker::loadConfigurationFile ( const std::string & filename )

Update tracker settings from a .json file. See the tutorials for a full description of the json format.

Parameters

filename The path to the .json file to load

Exceptions

if	the file is ill-formed or settings are incorrect

Definition at line 711 of file vpRBTracker.cpp.

References vpException::ioError, and loadConfiguration().

◆ reset()

void vpRBTracker::reset ( )

Definition at line 128 of file vpRBTracker.cpp.

References m_cMo, m_cMoPrev, m_currentFrame, m_driftDetector, m_firstIteration, m_mask, m_odometry, m_previousFrame, and m_trackers.

◆ scaleInvariantRegularization()

bool vpRBTracker::scaleInvariantRegularization ( ) const

inline

Definition at line 232 of file vpRBTracker.h.

References m_scaleInvariantOptim.

◆ score()

double vpRBTracker::score	(	const vpHomogeneousMatrix &	cMo,
		const vpImage< unsigned char > &	I,
		const vpImage< vpRGBa > &	IRGB,
		const vpImage< float > &	depth )

Using the preconfigured drift detector, score a given pose by comparing the render with the given frame information.

Parameters

cMo	the pose of the object in the camera frame to be scored
I	Grayscale frame
IRGB	Color image
depth	Depth image

Returns: The tracking confidence score estimated by the drift detector.

Exceptions

if	no vpRBDriftDetector is specified, then scoring cannot be performed.

Definition at line 530 of file vpRBTracker.cpp.

References vpRBFeatureTrackerInput::depth, vpException::functionNotImplementedError, vpRBFeatureTrackerInput::I, vpRBFeatureTrackerInput::IRGB, m_driftDetector, and updateRender().

◆ setCameraParameters()

void vpRBTracker::setCameraParameters	(	const vpCameraParameters &	cam,
		unsigned	h,
		unsigned	w )

Sets the camera intrinsics and image resolution for the images where the object will be tracked.

Parameters

cam	Camera intrinsics for the color (and potential depth) image. It should follow a model without distortion.
h	Image height
w	Image width

Exceptions

vpException	if camera intrinsics have distortion
vpException	if image resolution is incorrect

Definition at line 103 of file vpRBTracker.cpp.

References vpException::badValue, m_cam, m_imageHeight, m_imageWidth, m_renderer, m_rendererSettings, and vpCameraParameters::perspectiveProjWithoutDistortion.

Referenced by loadConfiguration().

◆ setDriftDetector()

void vpRBTracker::setDriftDetector ( const std::shared_ptr< vpRBDriftDetector > & detector )

inline

Sets the method to perform drift detection and estimate tracking confidence. Set to null to disable this functionality.

Parameters

detector the algorithm to use

Definition at line 249 of file vpRBTracker.h.

References m_driftDetector.

◆ setMaxOptimizationIters()

void vpRBTracker::setMaxOptimizationIters ( unsigned int iters )

inline

Definition at line 206 of file vpRBTracker.h.

References vpException::badValue, and m_vvsIterations.

Referenced by loadConfiguration().

◆ setModelPath()

void vpRBTracker::setModelPath ( const std::string & path )

Set the path to the 3D model to load.

Parameters

path	a path to an existing file containing a 3D mesh that can be read by Panda3D

Definition at line 148 of file vpRBTracker.cpp.

References m_modelChanged, and m_modelPath.

Referenced by loadConfiguration().

◆ setObjectSegmentationMethod()

void vpRBTracker::setObjectSegmentationMethod ( const std::shared_ptr< vpObjectMask > & mask )

inline

Sets the algorithm to use when performing object segmentation. Set to null to disable the use of segmentation.

Parameters

mask	the segmentation method

Definition at line 264 of file vpRBTracker.h.

References m_mask.

◆ setOdometryMethod()

void vpRBTracker::setOdometryMethod ( const std::shared_ptr< vpRBVisualOdometry > & odometry )

inline

Set the method to use when performing visual odometry to preestimate the camera motion before tracking. If null, then odometry is disabled.

Parameters

odometry

Definition at line 279 of file vpRBTracker.h.

References m_odometry.

◆ setOptimizationGain()

void vpRBTracker::setOptimizationGain ( double lambda )

inline

Definition at line 198 of file vpRBTracker.h.

References vpException::badValue, and m_lambda.

Referenced by loadConfiguration().

◆ setOptimizationInitialMu()

void vpRBTracker::setOptimizationInitialMu ( double mu )

inline

Definition at line 215 of file vpRBTracker.h.

References vpException::badValue, and m_muInit.

Referenced by loadConfiguration().

◆ setOptimizationMuIterFactor()

void vpRBTracker::setOptimizationMuIterFactor ( double factor )

inline

Definition at line 224 of file vpRBTracker.h.

References vpException::badValue, and m_muIterFactor.

Referenced by loadConfiguration().

◆ setPose()

void vpRBTracker::setPose ( const vpHomogeneousMatrix & cMo )

Sets the pose of the object in the camera frame. Should be called when initializing the tracker or when reinitializing after tracking failure.

Parameters

cMo	the new object pose

Definition at line 71 of file vpRBTracker.cpp.

References m_cMo, m_cMoPrev, and m_renderer.

Referenced by initClick(), and ~vpRBTracker().

◆ setScaleInvariantRegularization()

void vpRBTracker::setScaleInvariantRegularization ( bool invariant )

inline

Definition at line 233 of file vpRBTracker.h.

References m_scaleInvariantOptim.

Referenced by loadConfiguration().

◆ setSilhouetteExtractionParameters()

void vpRBTracker::setSilhouetteExtractionParameters ( const vpSilhouettePointsExtractionSettings & settings )

Definition at line 123 of file vpRBTracker.cpp.

References m_depthSilhouetteSettings.

◆ setupRenderer()

void vpRBTracker::setupRenderer ( const std::string & file )

protected

Setup the renderer, and load the 3D model.

Parameters

file	path to the 3D model to load and track

Definition at line 154 of file vpRBTracker.cpp.

References vpException::badValue, vpIoTools::checkFilename(), vpPanda3DFrameworkManager::enableSingleRenderer(), vpPanda3DFrameworkManager::getInstance(), m_modelChanged, m_renderer, m_rendererIsSetup, m_rendererSettings, m_trackers, and vpPanda3DGeometryRenderer::OBJECT_NORMALS.

Referenced by startTracking().

◆ shouldRenderSilhouette()

bool vpRBTracker::shouldRenderSilhouette ( )

inlineprotected

Returns whether the renderer should render the silhouette information.

Definition at line 522 of file vpRBTracker.h.

References m_renderer.

Referenced by displaySilhouette(), and updateRender().

◆ startTracking()

void vpRBTracker::startTracking ( )

Method that should be called before starting tracking.

Initializes the renderer, loads the 3D model and ensures that the parameters are correct

Definition at line 228 of file vpRBTracker.cpp.

References m_convergenceMetric, m_modelPath, m_renderer, setupRenderer(), and updateRender().

◆ track() [1/4]

vpRBTrackingResult vpRBTracker::track ( const vpImage< unsigned char > & I )

track and re-estimate the pose of the object in this frame, given only a grayscale image The pose after tracking should be retrieved using getPose. You should use the returned vpRBTrackingResult to check that tracking was successful

Parameters

I	Grayscale image

Returns: vpRBTrackingResult

Exceptions

if	Image dimensions are incorrect or if one of the used features requires additional data, such as color or depth information

Definition at line 198 of file vpRBTracker.cpp.

References vpException::badValue, vpRBFeatureTrackerInput::cam, checkDimensionsOrThrow(), vpRBFeatureTrackerInput::I, m_cam, m_trackers, and track().

Referenced by track(), track(), and track().

◆ track() [2/4]

vpRBTrackingResult vpRBTracker::track	(	const vpImage< unsigned char > &	I,
		const vpImage< vpRGBa > &	IRGB )

track and re-estimate the pose of the object in this frame, given only a grayscale image The pose after tracking should be retrieved using getPose. You should use the returned vpRBTrackingResult to check that tracking was successful

Parameters

I	Grayscale image
IRGB	Grayscale image

Returns: vpRBTrackingResult

Exceptions

if	Image dimensions are incorrect or if one of the used features requires additional data, such as depth information

Definition at line 212 of file vpRBTracker.cpp.

References vpException::badValue, vpRBFeatureTrackerInput::cam, checkDimensionsOrThrow(), vpRBFeatureTrackerInput::I, vpRBFeatureTrackerInput::IRGB, m_cam, m_trackers, and track().

◆ track() [3/4]

vpRBTrackingResult vpRBTracker::track	(	const vpImage< unsigned char > &	I,
		const vpImage< vpRGBa > &	IRGB,
		const vpImage< float > &	depth )

track and re-estimate the pose of the object in this frame, given only a grayscale image The pose after tracking should be retrieved using getPose. You should use the returned vpRBTrackingResult to check that tracking was successful

Parameters

I	Grayscale image
IRGB	Grayscale image
depth	Depth image, in meters. The Depth image should be aligned with the color and grayscale images.

Returns: vpRBTrackingResult

Exceptions

if	Image dimensions are incorrect

Definition at line 239 of file vpRBTracker.cpp.

References vpRBFeatureTrackerInput::cam, checkDimensionsOrThrow(), vpRBFeatureTrackerInput::depth, vpRBFeatureTrackerInput::I, vpRBFeatureTrackerInput::IRGB, m_cam, and track().

◆ track() [4/4]

vpRBTrackingResult vpRBTracker::track ( vpRBFeatureTrackerInput & input )

protected

Definition at line 252 of file vpRBTracker.cpp.

◆ updateRender() [1/2]

void vpRBTracker::updateRender ( vpRBFeatureTrackerInput & frame )

protected

Update the render data with a render at the last tracked pose.

Parameters

frame the frame to update

Definition at line 546 of file vpRBTracker.cpp.

References m_cMo, and updateRender().

Referenced by score(), startTracking(), track(), and updateRender().

◆ updateRender() [2/2]

void vpRBTracker::updateRender	(	vpRBFeatureTrackerInput &	frame,
		const vpHomogeneousMatrix &	cMo )

protected

Update the frame data with renders at a given pose.

Parameters

frame	the frame to update
cMo	the pose of the object at which to perform rendering

Definition at line 551 of file vpRBTracker.cpp.

References vpRBRenderData::boundingBox, vpRBRenderData::cMo, vpRBRenderData::depth, vpRBRenderData::isSilhouette, m_depthSilhouetteSettings, m_imageHeight, m_imageWidth, m_renderer, m_rendererSettings, vpRBRenderData::normals, vpRBRenderData::objectCenter, vpRBRenderData::objectDiameter, vpRBFeatureTrackerInput::renders, vpImage< Type >::resize(), shouldRenderSilhouette(), vpRBRenderData::silhouetteCanny, vpRBRenderData::zFar, and vpRBRenderData::zNear.

Member Data Documentation

◆ m_cam

vpCameraParameters vpRBTracker::m_cam

protected

Camera intrinsics.

Definition at line 543 of file vpRBTracker.h.

Referenced by getCameraParameters(), initClick(), loadConfiguration(), setCameraParameters(), track(), track(), track(), and track().

◆ m_cMo

vpHomogeneousMatrix vpRBTracker::m_cMo

protected

Current pose of the object in the camera frame.

Definition at line 539 of file vpRBTracker.h.

Referenced by getPose(), reset(), setPose(), track(), and updateRender().

◆ m_cMoPrev

vpHomogeneousMatrix vpRBTracker::m_cMoPrev

protected

Previous pose of the object in the camera frame.

Definition at line 541 of file vpRBTracker.h.

Referenced by reset(), setPose(), and track().

◆ m_convergenceMetric

std::shared_ptr<vpRBConvergenceMetric> vpRBTracker::m_convergenceMetric

protected

Definition at line 571 of file vpRBTracker.h.

Referenced by loadConfiguration(), startTracking(), track(), and vpRBTracker().

◆ m_currentFrame

vpRBFeatureTrackerInput vpRBTracker::m_currentFrame

protected

Definition at line 531 of file vpRBTracker.h.

Referenced by display(), displayMask(), getMostRecentFrame(), reset(), and track().

◆ m_depthSilhouetteSettings

vpSilhouettePointsExtractionSettings vpRBTracker::m_depthSilhouetteSettings

protected

Settings for silhouette extraction.

Definition at line 557 of file vpRBTracker.h.

Referenced by extractSilhouettePoints(), getSilhouetteExtractionParameters(), loadConfiguration(), setSilhouetteExtractionParameters(), and updateRender().

◆ m_displaySilhouette

bool vpRBTracker::m_displaySilhouette

protected

Metric used to compare the motion between different poses.

Definition at line 573 of file vpRBTracker.h.

Referenced by display(), loadConfiguration(), and vpRBTracker().

◆ m_driftDetector

std::shared_ptr<vpRBDriftDetector> vpRBTracker::m_driftDetector

protected

Definition at line 568 of file vpRBTracker.h.

Referenced by getDriftDetector(), loadConfiguration(), reset(), score(), setDriftDetector(), track(), and vpRBTracker().

◆ m_firstIteration

bool vpRBTracker::m_firstIteration

protected

Whether this is the first iteration.

Definition at line 527 of file vpRBTracker.h.

Referenced by loadConfiguration(), reset(), track(), and vpRBTracker().

◆ m_imageHeight

unsigned vpRBTracker::m_imageHeight

protected

Color and render image dimensions.

Definition at line 565 of file vpRBTracker.h.

Referenced by checkDimensionsOrThrow(), getImageHeight(), loadConfiguration(), setCameraParameters(), updateRender(), and vpRBTracker().

◆ m_imageWidth

unsigned vpRBTracker::m_imageWidth

protected

Definition at line 565 of file vpRBTracker.h.

Referenced by checkDimensionsOrThrow(), getImageWidth(), loadConfiguration(), setCameraParameters(), updateRender(), and vpRBTracker().

◆ m_lambda

double vpRBTracker::m_lambda

protected

Optimization gain.

Definition at line 546 of file vpRBTracker.h.

Referenced by getCovariance(), getOptimizationGain(), loadConfiguration(), setOptimizationGain(), track(), and vpRBTracker().

◆ m_mask

std::shared_ptr<vpObjectMask> vpRBTracker::m_mask

protected

Definition at line 567 of file vpRBTracker.h.

Referenced by displayMask(), getObjectSegmentationMethod(), loadConfiguration(), reset(), setObjectSegmentationMethod(), track(), and vpRBTracker().

◆ m_modelChanged

bool vpRBTracker::m_modelChanged

protected

Definition at line 536 of file vpRBTracker.h.

Referenced by setModelPath(), setupRenderer(), and vpRBTracker().

◆ m_modelPath

std::string vpRBTracker::m_modelPath

protected

Location of the 3D model to load.

Definition at line 535 of file vpRBTracker.h.

Referenced by getModelPath(), setModelPath(), and startTracking().

◆ m_muInit

double vpRBTracker::m_muInit

protected

Initial mu value for Levenberg-Marquardt.

Definition at line 550 of file vpRBTracker.h.

Referenced by getOptimizationInitialMu(), loadConfiguration(), setOptimizationInitialMu(), track(), and vpRBTracker().

◆ m_muIterFactor

double vpRBTracker::m_muIterFactor

protected

Factor with which to multiply mu at every iteration during optimization.

Definition at line 552 of file vpRBTracker.h.

Referenced by getOptimizationMuIterFactor(), loadConfiguration(), setOptimizationMuIterFactor(), track(), and vpRBTracker().

◆ m_odometry

std::shared_ptr<vpRBVisualOdometry> vpRBTracker::m_odometry

protected

Definition at line 569 of file vpRBTracker.h.

Referenced by getOdometryMethod(), loadConfiguration(), reset(), setOdometryMethod(), track(), and vpRBTracker().

◆ m_previousFrame

vpRBFeatureTrackerInput vpRBTracker::m_previousFrame

protected

Definition at line 532 of file vpRBTracker.h.

Referenced by extractSilhouettePoints(), reset(), and track().

◆ m_renderer

vpObjectCentricRenderer vpRBTracker::m_renderer

protected

3D renderer

Definition at line 561 of file vpRBTracker.h.

Referenced by displaySilhouette(), getRenderer(), setCameraParameters(), setPose(), setupRenderer(), shouldRenderSilhouette(), startTracking(), updateRender(), and vpRBTracker().

◆ m_rendererIsSetup

bool vpRBTracker::m_rendererIsSetup

protected

Definition at line 562 of file vpRBTracker.h.

Referenced by setupRenderer(), and vpRBTracker().

◆ m_rendererSettings

vpPanda3DRenderParameters vpRBTracker::m_rendererSettings

protected

Camera specific setup for the 3D Panda renderer.

Definition at line 559 of file vpRBTracker.h.

Referenced by setCameraParameters(), setupRenderer(), updateRender(), and vpRBTracker().

◆ m_scaleInvariantOptim

bool vpRBTracker::m_scaleInvariantOptim

protected

Whether to use diagonal scaling in Levenberg-Marquardt regularization.

Definition at line 554 of file vpRBTracker.h.

Referenced by loadConfiguration(), scaleInvariantRegularization(), setScaleInvariantRegularization(), track(), and vpRBTracker().

◆ m_trackers

std::vector<std::shared_ptr<vpRBFeatureTracker> > vpRBTracker::m_trackers

protected

List of feature trackers.

Definition at line 529 of file vpRBTracker.h.

Referenced by addTracker(), display(), getCovariance(), getFeatureTrackers(), loadConfiguration(), reset(), setupRenderer(), track(), track(), track(), and vpRBTracker().

◆ m_vvsIterations

unsigned vpRBTracker::m_vvsIterations

protected

Maximum number of optimization iterations.

Definition at line 548 of file vpRBTracker.h.

Referenced by getMaxOptimizationIters(), loadConfiguration(), setMaxOptimizationIters(), track(), and vpRBTracker().

◆ vpRBInitializationHelper

friend vpRBTracker::vpRBInitializationHelper

Definition at line 435 of file vpRBTracker.h.

Referenced by initClick().

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Tutorials & Examples

Constructor & Destructor Documentation

◆ vpRBTracker()

◆ ~vpRBTracker()

Member Function Documentation

◆ addTracker()

◆ checkDimensionsOrThrow()

◆ display()

◆ displayMask()

◆ displaySilhouette()

◆ extractSilhouettePoints()

◆ getCameraParameters()

◆ getCovariance()

◆ getDriftDetector()

◆ getFeatureTrackers()

◆ getImageHeight()

◆ getImageWidth()

◆ getMaxOptimizationIters()

◆ getModelPath()

◆ getMostRecentFrame()

◆ getObjectSegmentationMethod()

◆ getOdometryMethod()

◆ getOptimizationGain()

◆ getOptimizationInitialMu()

◆ getOptimizationMuIterFactor()

◆ getPose()

◆ getRenderer()

◆ getSilhouetteExtractionParameters()

◆ initClick()

◆ loadConfiguration()

◆ loadConfigurationFile()

◆ reset()

◆ scaleInvariantRegularization()

◆ score()

◆ setCameraParameters()

◆ setDriftDetector()

◆ setMaxOptimizationIters()

◆ setModelPath()

◆ setObjectSegmentationMethod()

◆ setOdometryMethod()

◆ setOptimizationGain()

◆ setOptimizationInitialMu()

◆ setOptimizationMuIterFactor()

◆ setPose()

◆ setScaleInvariantRegularization()

◆ setSilhouetteExtractionParameters()

◆ setupRenderer()

◆ shouldRenderSilhouette()

◆ startTracking()

◆ track() [1/4]

◆ track() [2/4]

◆ track() [3/4]

◆ track() [4/4]

◆ updateRender() [1/2]

◆ updateRender() [2/2]

Member Data Documentation

◆ m_cam

◆ m_cMo

◆ m_cMoPrev

◆ m_convergenceMetric

◆ m_currentFrame

◆ m_depthSilhouetteSettings

◆ m_displaySilhouette

◆ m_driftDetector

◆ m_firstIteration

◆ m_imageHeight

◆ m_imageWidth

◆ m_lambda

◆ m_mask

◆ m_modelChanged

◆ m_modelPath

◆ m_muInit

◆ m_muIterFactor

◆ m_odometry

◆ m_previousFrame