Visual Servoing Platform version 3.7.0
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vpRBTrackingResult Class Reference

#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:

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.