Main class of Tracker, defining API. More...

#include <Tracker.h>

Inheritance diagram for Tracking::Tracker:

Classes
struct	Parameter
Public Member Functions
int	addModel (TomGine::tgModel &m, TomGine::tgPose &pose, std::string label, bool bfc=true)
	Adds a geometrical model to the tracker.
int	addModelFromFile (const char *filename, TomGine::tgPose &pose, std::string label, bool bfc=true)
	Adds a geometrical model from file (ply-fileformat) to the tracker.
void	drawCalibrationPattern (float point_size=1.0f)
void	drawCoordinates (float linelength=1.0f)
void	drawCoordinateSystem (float linelength=0.5f, float linewidth=1.0f, TomGine::tgPose pose=TomGine::tgPose())
void	drawImage (unsigned char *image)
void	drawModel (TomGine::tgPose p)
void	drawModel (const TomGine::tgModel &m, const TomGine::tgPose &p)
void	drawModelWireframe (const TomGine::tgModel &m, const TomGine::tgPose &p, float linewidth=1.0f)
void	drawPixel (float u, float v, vec3 color=vec3(1.0, 1.0, 1.0), float size=1.0f)
void	drawPoint (float x, float y, float z, float size=1.0)
virtual void	drawResult (float linewidth=1.0f)=0
	Draw all models.
void	drawTest ()
virtual void	drawTrackerModel (int id, const TomGine::tgPose &p, float linewidth=1.0f)
virtual void	evaluatePDF (int id, float x_min, float y_min, float x_max, float y_max, int res, const char meshfile, const char xfile)
float	getCamZFar ()
float	getCamZNear ()
bool	getDrawParticlesFlag ()
bool	getEdgesImageFlag ()
cv::Mat	getImage ()
	Returns the rendered image.
bool	getLockFlag ()
void	getModelConfidence (int id, float &c)
	Get mean confidence value of distribution of a model.
void	getModelConfidenceColor (int id, float &c)
	Get confidence value of a model at current pose (color based comparison)
void	getModelConfidenceEdge (int id, float &c)
	Get confidence value of a model at current pose (edge based comparison)
void	getModelConfidenceState (int id, confidence_state &q)
	Get a tracking quality state of a model.
void	getModelEdgeMask (int id, Texture &mask)
	Calculates mask produced by the geometry edges of a model.
ModelEntry *	getModelEntry (int id)
	Adds a pose hypothesis to model.
void	getModelInitialPose (int id, TomGine::tgPose &p)
	Get the initial pose of a model.
void	getModelMask (int id, Texture &mask)
	Calculates mask produced by the geometry edges of a model.
bool	getModelMaskOwnEdges (int id)
	Gets flag to mask geometry edges of model.
int	getModelModeFlag ()
void	getModelMovementState (int id, movement_state &m)
	Get movement state of a model.
bool	getModelPoint3D (int id, int x_win, int y_win, double &x3, double &y3, double &z3)
	Get 3D point from 2D window coordinates.
void	getModelPose (int id, TomGine::tgPose &p)
	Get current pose of a model.
void	getModelPoseCamCoords (int id, TomGine::tgPose &p)
	Get current pose of a model in camera coordinates.
void	getModelPoseLPF (int id, TomGine::tgPose &p)
	Get low pass filtered pose of a model.
void	getModelQualityState (int id, quality_state &q)
	Get a tracking quality state of a model.
void	getModelVelocity (int id, float &translational, float &angular)
	Get current velocity of a model ( in m/s and rad/s )
const Parameter	getParams ()
virtual std::vector< float >	getPDFxy (Particle pose, float x_min, float y_min, float x_max, float y_max, int res, const char filename=NULL, const char filename2=NULL)
unsigned int	getSpreadLvl ()
virtual void	image_processing (unsigned char *image, GLenum format=GL_BGR)=0
	Perform image processing with edge detection.
virtual void	image_processing (unsigned char *image, const TomGine::tgModel &model, const TomGine::tgPose &pose, GLenum format=GL_BGR)=0
	Perform image processing with edge detection, painting a virtual object into the image.
virtual void	image_processing (unsigned char *image, int model_id, const TomGine::tgPose &pose, GLenum format=GL_BGR)=0
	Perform image processing with edge detection, painting the model with id as virtual object into image.
bool	init (const char trackINIFile, const char camCalFile, const char *poseCalFile)
	Initialize tracker with an INI file and image/window width and height in pixel.
bool	init (const Parameter &trackParam)
void	loadCalibrationPattern (const char *mdl_file)
void	loadImage (unsigned char *image, GLenum format=GL_BGR)
	Perform image processing with edge detection.
void	printStatistics ()
void	removeModel (int id)
	Remove model from tracker by id.
void	reset ()
	Resets the pose of all models to the initial pose.
void	reset (int id)
	Resets the pose of a model to the initial pose.
void	resetUnlockLock ()
	Uses the reset function but also locks, calls track() and unlocks the tracker so every confidence will get updated.
void	saveModel (int id, const char *pathname)
	Save model to file.
void	saveModels (const char *pathname)
	Save all models to file.
virtual void	savePDF (std::vector< float > vPDFMap, float x_min, float y_min, float x_max, float y_max, int res, const char meshfile, const char xfile)
void	saveScreenshot (const char *filename)
	Takes screenshot and saves it to file.
bool	setCameraParameters (TomGine::tgCamera::Parameter cam_par)
virtual void	setColorShader ()
void	setDrawParticlesFlag (bool val)
virtual void	setEdgeShader ()
void	setEdgesImageFlag (bool val)
void	setFrameTime (double dTime)
virtual void	setKernelSize (int val)
void	setLockFlag (bool val)
void	setModelInitialPose (int id, TomGine::tgPose &p)
	Set the initial pose of a model.
void	setModelLock (int id, bool lock)
	Locks the model with id.
void	setModelMask (int id, Texture *mask=0)
	Sets mask for a model to define edges which are not considered for the model.
void	setModelMaskOwnEdges (int id, bool masked)
	Sets flag to mask geometry edges of model.
void	setModelModeFlag (int val)
void	setModelPredictor (int id, Predictor *predictor)
	Set a model predictor.
void	setModelPredictorNoConvergence (int id, float no_conv)
	Set the number of particles (in percent) which are voting for no convergence (for capturing fast movement)
void	setModelRecursionsParticle (int id, int num_recursions, int num_particles)
	Sets the number of recursions and particles used for tracking.
void	setSpreadLvl (unsigned int val)
virtual void	textureFromImage (bool force=false)
	Captures image and attaches it to model as texture.
virtual void	textureFromImage (int id, const TomGine::tgPose &pose, bool use_num_pixels=true)
virtual bool	track ()=0
	Tracks all models by matching their edges against edges of images.
virtual bool	track (int id)=0
	Tracks model by id by matching their edges against edges of images.
	Tracker ()
virtual void	untextureModels ()
	Remove textures from model.
	~Tracker ()
Protected Member Functions
void	computeModelEdgeMask (ModelEntry *modelEntry, Texture &mask)
void	getGlError ()
bool	init ()
bool	initGL ()
virtual bool	initInternal ()=0
bool	loadCamParsFromINI (const char camCalFile, const char poseCalFile)
bool	loadTrackParsFromINI (const char *inifile)
	Load parameter of tracker with an INI file.
Protected Attributes
std::vector< vec3 >	m_calib_points
TomGine::tgCamera	m_cam_default
TomGine::tgCamera	m_cam_perspective
bool	m_draw_edges
bool	m_drawimage
float	m_ftime
ModelEntryList	m_hypotheses
ImageProcessor *	m_ip
TomGine::tgLighting	m_lighting
bool	m_lock
ModelEntryList	m_modellist
int	m_showmodel
bool	m_showparticles
Texture *	m_tex_frame
std::vector< Texture * >	m_tex_frame_ip
Timer	m_timer
bool	m_tracker_initialized
Parameter	params

Detailed Description

Main class of Tracker, defining API.

Definition at line 31 of file Tracker.h.

Constructor & Destructor Documentation

Tracking::Tracker::Tracker ( )

Tracking::Tracker::~Tracker ( )

Member Function Documentation

int Tracking::Tracker::addModel	(	TomGine::tgModel &	m,
		TomGine::tgPose &	pose,
		std::string	label,
		bool	bfc = `true`
	)

Adds a geometrical model to the tracker.

Returns:: id of the added model (-1 if not successfull)

int Tracking::Tracker::addModelFromFile	(	const char *	filename,
		TomGine::tgPose &	pose,
		std::string	label,
		bool	bfc = `true`
	)

Adds a geometrical model from file (ply-fileformat) to the tracker.

Parameters:

filename	absolute filename of the model (or relative to the execution path)
pose	place where the model is initially put to
label	label of the model
bfc	enable/disable backfaceculling (look up OpenGL Backface Culling)

Returns:: id of the added model (-1 if not successfull)

void Tracking::Tracker::computeModelEdgeMask	(	ModelEntry *	modelEntry,
		Texture &	mask
	)		`[protected]`

void Tracking::Tracker::drawCalibrationPattern ( float point_size = 1.0f )

void Tracking::Tracker::drawCoordinates ( float linelength = 1.0f )

void Tracking::Tracker::drawCoordinateSystem	(	float	linelength = `0.5f`,
		float	linewidth = `1.0f`,
		TomGine::tgPose	pose = `TomGine::tgPose()`
	)

void Tracking::Tracker::drawImage ( unsigned char * image )

void Tracking::Tracker::drawModel ( TomGine::tgPose p )

void Tracking::Tracker::drawModel	(	const TomGine::tgModel &	m,
		const TomGine::tgPose &	p
	)

void Tracking::Tracker::drawModelWireframe	(	const TomGine::tgModel &	m,
		const TomGine::tgPose &	p,
		float	linewidth = `1.0f`
	)

void Tracking::Tracker::drawPixel	(	float	u,
		float	v,
		vec3	color = `vec3(1.0, 1.0, 1.0)`,
		float	size = `1.0f`
	)

void Tracking::Tracker::drawPoint	(	float	x,
		float	y,
		float	z,
		float	size = `1.0`
	)

virtual void Tracking::Tracker::drawResult ( float linewidth = 1.0f ) [pure virtual]

Draw all models.

Implemented in Tracking::TextureTracker, and Tracking::EdgeTracker.

void Tracking::Tracker::drawTest ( )

virtual void Tracking::Tracker::drawTrackerModel	(	int	id,
		const TomGine::tgPose &	p,
		float	linewidth = `1.0f`
	)		`[inline, virtual]`

Reimplemented in Tracking::TextureTracker.

Definition at line 220 of file Tracker.h.

virtual void Tracking::Tracker::evaluatePDF	(	int	id,
		float	x_min,
		float	y_min,
		float	x_max,
		float	y_max,
		int	res,
		const char *	meshfile,
		const char *	xfile
	)		`[inline, virtual]`

Reimplemented in Tracking::TextureTracker.

Definition at line 260 of file Tracker.h.

float Tracking::Tracker::getCamZFar ( ) [inline]

Definition at line 244 of file Tracker.h.

float Tracking::Tracker::getCamZNear ( ) [inline]

Definition at line 243 of file Tracker.h.

bool Tracking::Tracker::getDrawParticlesFlag ( ) [inline]

Definition at line 250 of file Tracker.h.

bool Tracking::Tracker::getEdgesImageFlag ( ) [inline]

Definition at line 249 of file Tracker.h.

void Tracking::Tracker::getGlError ( ) [protected]

cv::Mat Tracking::Tracker::getImage ( )

Returns the rendered image.

bool Tracking::Tracker::getLockFlag ( ) [inline]

Definition at line 248 of file Tracker.h.

void Tracking::Tracker::getModelConfidence	(	int	id,
		float &	c
	)

Get mean confidence value of distribution of a model.

void Tracking::Tracker::getModelConfidenceColor	(	int	id,
		float &	c
	)

Get confidence value of a model at current pose (color based comparison)

void Tracking::Tracker::getModelConfidenceEdge	(	int	id,
		float &	c
	)

Get confidence value of a model at current pose (edge based comparison)

void Tracking::Tracker::getModelConfidenceState	(	int	id,
		confidence_state &	q
	)

Get a tracking quality state of a model.

void Tracking::Tracker::getModelEdgeMask	(	int	id,
		Texture &	mask
	)

Calculates mask produced by the geometry edges of a model.

ModelEntry* Tracking::Tracker::getModelEntry ( int id )

Adds a pose hypothesis to model.

DO NOT USE THIS FUNCTION!

void Tracking::Tracker::getModelInitialPose	(	int	id,
		TomGine::tgPose &	p
	)

Get the initial pose of a model.

void Tracking::Tracker::getModelMask	(	int	id,
		Texture &	mask
	)

Calculates mask produced by the geometry edges of a model.

bool Tracking::Tracker::getModelMaskOwnEdges ( int id )

Gets flag to mask geometry edges of model.

int Tracking::Tracker::getModelModeFlag ( ) [inline]

Definition at line 251 of file Tracker.h.

void Tracking::Tracker::getModelMovementState	(	int	id,
		movement_state &	m
	)

Get movement state of a model.

bool Tracking::Tracker::getModelPoint3D	(	int	id,
		int	x_win,
		int	y_win,
		double &	x3,
		double &	y3,
		double &	z3
	)

Get 3D point from 2D window coordinates.

void Tracking::Tracker::getModelPose	(	int	id,
		TomGine::tgPose &	p
	)

Get current pose of a model.

void Tracking::Tracker::getModelPoseCamCoords	(	int	id,
		TomGine::tgPose &	p
	)

Get current pose of a model in camera coordinates.

void Tracking::Tracker::getModelPoseLPF	(	int	id,
		TomGine::tgPose &	p
	)

Get low pass filtered pose of a model.

void Tracking::Tracker::getModelQualityState	(	int	id,
		quality_state &	q
	)

Get a tracking quality state of a model.

void Tracking::Tracker::getModelVelocity	(	int	id,
		float &	translational,
		float &	angular
	)

Get current velocity of a model ( in m/s and rad/s )

const Parameter Tracking::Tracker::getParams ( ) [inline]

Definition at line 278 of file Tracker.h.

virtual std::vector<float> Tracking::Tracker::getPDFxy	(	Particle	pose,
		float	x_min,
		float	y_min,
		float	x_max,
		float	y_max,
		int	res,
		const char *	filename = `NULL`,
		const char *	filename2 = `NULL`
	)		`[inline, virtual]`

Definition at line 266 of file Tracker.h.

unsigned int Tracking::Tracker::getSpreadLvl ( ) [inline]

Definition at line 245 of file Tracker.h.

virtual void Tracking::Tracker::image_processing	(	unsigned char *	image,
		GLenum	format = `GL_BGR`
	)		`[pure virtual]`

Perform image processing with edge detection.

Parameters:

image	image data
format	data format

Implemented in Tracking::TextureTracker, and Tracking::EdgeTracker.

virtual void Tracking::Tracker::image_processing	(	unsigned char *	image,
		const TomGine::tgModel &	model,
		const TomGine::tgPose &	pose,
		GLenum	format = `GL_BGR`
	)		`[pure virtual]`

Perform image processing with edge detection, painting a virtual object into the image.

Parameters:

image	image data
model	geometry of virtual object
pose	position and orientation of the virtual object in world space
format	data format

Implemented in Tracking::TextureTracker, and Tracking::EdgeTracker.

virtual void Tracking::Tracker::image_processing	(	unsigned char *	image,
		int	model_id,
		const TomGine::tgPose &	pose,
		GLenum	format = `GL_BGR`
	)		`[pure virtual]`

Perform image processing with edge detection, painting the model with id as virtual object into image.

Parameters:

image	image data
model_id	id of the model
pose	position and orientation of the virtual object in world space
format	data format

Implemented in Tracking::TextureTracker, and Tracking::EdgeTracker.

bool Tracking::Tracker::init	(	const char *	trackINIFile,
		const char *	camCalFile,
		const char *	poseCalFile
	)

Initialize tracker with an INI file and image/window width and height in pixel.

bool Tracking::Tracker::init ( const Parameter & trackParam )

bool Tracking::Tracker::init ( ) [protected]

bool Tracking::Tracker::initGL ( ) [protected]

virtual bool Tracking::Tracker::initInternal ( ) [protected, pure virtual]

Implemented in Tracking::TextureTracker, and Tracking::EdgeTracker.

void Tracking::Tracker::loadCalibrationPattern ( const char * mdl_file )

bool Tracking::Tracker::loadCamParsFromINI	(	const char *	camCalFile,
		const char *	poseCalFile
	)		`[protected]`

void Tracking::Tracker::loadImage	(	unsigned char *	image,
		GLenum	format = `GL_BGR`
	)

Perform image processing with edge detection.

bool Tracking::Tracker::loadTrackParsFromINI ( const char * inifile ) [protected]

Load parameter of tracker with an INI file.

void Tracking::Tracker::printStatistics ( )

void Tracking::Tracker::removeModel ( int id )

Remove model from tracker by id.

void Tracking::Tracker::reset ( )

Resets the pose of all models to the initial pose.

void Tracking::Tracker::reset ( int id )

Resets the pose of a model to the initial pose.

Parameters:

id	the id of the model given by addModel() or addModelFromFile()

void Tracking::Tracker::resetUnlockLock ( )

Uses the reset function but also locks, calls track() and unlocks the tracker so every confidence will get updated.

void Tracking::Tracker::saveModel	(	int	id,
		const char *	pathname
	)

Save model to file.

void Tracking::Tracker::saveModels ( const char * pathname )

Save all models to file.

virtual void Tracking::Tracker::savePDF	(	std::vector< float >	vPDFMap,
		float	x_min,
		float	y_min,
		float	x_max,
		float	y_max,
		int	res,
		const char *	meshfile,
		const char *	xfile
	)		`[inline, virtual]`