#include <vpRBTrackingResult.h>

Public Member Functions
	vpRBTrackingResult ()
unsigned int	getNumIterations () const
const std::vector< vpHomogeneousMatrix > &	getPoses () const
vpHomogeneousMatrix	getPoseBeforeTracking () const
const std::vector< vpColVector > &	getVelocities () const
const std::vector< double > &	getConvergenceMetricValues () const
vpRBTrackingTimings &	timer ()
vpRBTrackingStoppingReason	getStoppingReason () const
void	setStoppingReason (vpRBTrackingStoppingReason reason)
vpHomogeneousMatrix	getOdometryMotion ()
vpHomogeneousMatrix	getPoseBeforeOdometry ()
vpHomogeneousMatrix	getPoseAfterOdometry ()
void	setOdometryMotion (const vpHomogeneousMatrix &cMo_before, const vpHomogeneousMatrix &cMcp, const vpHomogeneousMatrix &cMo_after)
void	setOdometryMetricAndThreshold (const double metricValue, const double metricThreshold)
void	beforeIter (const vpHomogeneousMatrix &cMo)
std::vector< vpRBFeatureResult >	getFeatureData () const
void	onEndIter (const vpHomogeneousMatrix &cMo, const vpColVector &v, const double convergenceMetric, const vpMatrix &JTJ, const vpColVector &JTR, double mu)
void	logFeatures (unsigned int iter, unsigned int maxIters, const std::vector< std::shared_ptr< vpRBFeatureTracker > > &features)
void	saveToFile (const std::string &path) const

Static Public Member Functions
static vpRBTrackingResult	readFromJsonFile (const std::string &path)

Friends
void	from_json (const nlohmann::json &j, vpRBTrackingResult &result)
void	to_json (nlohmann::json &j, const vpRBTrackingResult &result)

Detailed Description

Tutorials & Examples

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

Tutorial: Tracking with the Render-Based Tracker

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

Definition at line 121 of file vpRBTrackingResult.h.

Constructor & Destructor Documentation

◆ vpRBTrackingResult()

vpRBTrackingResult::vpRBTrackingResult ( )

inline

Definition at line 125 of file vpRBTrackingResult.h.

Referenced by from_json, readFromJsonFile(), and to_json.

Member Function Documentation

◆ beforeIter()

void vpRBTrackingResult::beforeIter ( const vpHomogeneousMatrix & cMo )

inline

Definition at line 160 of file vpRBTrackingResult.h.

Referenced by vpRBTracker::track().

◆ getConvergenceMetricValues()

const std::vector< double > & vpRBTrackingResult::getConvergenceMetricValues ( ) const

inline

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

Definition at line 135 of file vpRBTrackingResult.h.

◆ getFeatureData()

std::vector< vpRBFeatureResult > vpRBTrackingResult::getFeatureData ( ) const

inline

Definition at line 165 of file vpRBTrackingResult.h.

◆ getNumIterations()

unsigned int vpRBTrackingResult::getNumIterations ( ) const

inline

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

Definition at line 130 of file vpRBTrackingResult.h.

◆ getOdometryMotion()

vpHomogeneousMatrix vpRBTrackingResult::getOdometryMotion ( )

inline

Definition at line 142 of file vpRBTrackingResult.h.

◆ getPoseAfterOdometry()

vpHomogeneousMatrix vpRBTrackingResult::getPoseAfterOdometry ( )

inline

Definition at line 145 of file vpRBTrackingResult.h.

◆ getPoseBeforeOdometry()

vpHomogeneousMatrix vpRBTrackingResult::getPoseBeforeOdometry ( )

inline

Definition at line 144 of file vpRBTrackingResult.h.

◆ getPoseBeforeTracking()

vpHomogeneousMatrix vpRBTrackingResult::getPoseBeforeTracking ( ) const

inline

Definition at line 132 of file vpRBTrackingResult.h.

◆ getPoses()

const std::vector< vpHomogeneousMatrix > & vpRBTrackingResult::getPoses ( ) const

inline

Definition at line 131 of file vpRBTrackingResult.h.

◆ getStoppingReason()

vpRBTrackingStoppingReason vpRBTrackingResult::getStoppingReason ( ) const

inline

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

Definition at line 139 of file vpRBTrackingResult.h.

◆ getVelocities()

const std::vector< vpColVector > & vpRBTrackingResult::getVelocities ( ) const

inline

Definition at line 134 of file vpRBTrackingResult.h.

◆ logFeatures()

void vpRBTrackingResult::logFeatures	(	unsigned int	iter,
		unsigned int	maxIters,
		const std::vector< std::shared_ptr< vpRBFeatureTracker > > &	features )

inline

Definition at line 179 of file vpRBTrackingResult.h.

References vpException::dimensionError.

Referenced by vpRBTracker::track().

◆ onEndIter()

void vpRBTrackingResult::onEndIter	(	const vpHomogeneousMatrix &	cMo,
		const vpColVector &	v,
		const double	convergenceMetric,
		const vpMatrix &	JTJ,
		const vpColVector &	JTR,
		double	mu )

inline

Definition at line 168 of file vpRBTrackingResult.h.

Referenced by vpRBTracker::track().

◆ readFromJsonFile()

vpRBTrackingResult vpRBTrackingResult::readFromJsonFile ( const std::string & path )

static

Definition at line 53 of file vpRBTrackingResult.cpp.

References vpException::ioError, and vpRBTrackingResult().

◆ saveToFile()

BEGIN_VISP_NAMESPACE void vpRBTrackingResult::saveToFile ( const std::string & path ) const

Definition at line 42 of file vpRBTrackingResult.cpp.

References vpException::ioError.

◆ setOdometryMetricAndThreshold()

void vpRBTrackingResult::setOdometryMetricAndThreshold	(	const double	metricValue,
		const double	metricThreshold )

inline

Definition at line 154 of file vpRBTrackingResult.h.

Referenced by vpRBTracker::track().

◆ setOdometryMotion()

void vpRBTrackingResult::setOdometryMotion	(	const vpHomogeneousMatrix &	cMo_before,
		const vpHomogeneousMatrix &	cMcp,
		const vpHomogeneousMatrix &	cMo_after )

inline

Definition at line 147 of file vpRBTrackingResult.h.

Referenced by vpRBTracker::track().

◆ setStoppingReason()

void vpRBTrackingResult::setStoppingReason ( vpRBTrackingStoppingReason reason )

inline

Definition at line 140 of file vpRBTrackingResult.h.

Referenced by vpRBTracker::track().

◆ timer()

vpRBTrackingTimings & vpRBTrackingResult::timer ( )

inline

Examples: tutorial-rbt-realsense.cpp.

Definition at line 137 of file vpRBTrackingResult.h.

Referenced by vpRBTracker::track().

◆ from_json

void from_json	(	const nlohmann::json &	j,
		vpRBTrackingResult &	result )

friend

Definition at line 259 of file vpRBTrackingResult.h.

References from_json, and vpRBTrackingResult().

Referenced by from_json.

◆ to_json

void to_json	(	nlohmann::json &	j,
		const vpRBTrackingResult &	result )

friend

Definition at line 282 of file vpRBTrackingResult.h.

References to_json, and vpRBTrackingResult().

Referenced by to_json.

Public Member Functions

Static Public Member Functions

Friends

Detailed Description

Tutorials & Examples

Constructor & Destructor Documentation

◆ vpRBTrackingResult()

Member Function Documentation

◆ beforeIter()

◆ getConvergenceMetricValues()

◆ getFeatureData()

◆ getNumIterations()

◆ getOdometryMotion()

◆ getPoseAfterOdometry()

◆ getPoseBeforeOdometry()

◆ getPoseBeforeTracking()

◆ getPoses()

◆ getStoppingReason()

◆ getVelocities()

◆ logFeatures()

◆ onEndIter()

◆ readFromJsonFile()

◆ saveToFile()

◆ setOdometryMetricAndThreshold()

◆ setOdometryMotion()

◆ setStoppingReason()

◆ timer()

Friends And Related Symbol Documentation

◆ from_json

◆ to_json