vpRBRenderData Struct Reference

#include <vpRBFeatureTrackerInput.h>

Public Member Functions
	vpRBRenderData ()
	vpRBRenderData (const vpRBRenderData &other)
	vpRBRenderData (vpRBRenderData &&other)
vpRBRenderData &	operator= (const vpRBRenderData &o)
vpRBRenderData &	operator= (vpRBRenderData &&o)

Public Attributes
vpImage< vpRGBf >	normals
vpImage< float >	depth
vpImage< vpRGBa >	color
vpImage< float >	silhouetteCanny
vpImage< unsigned char >	isSilhouette
double	zNear
double	zFar
double	objectDiameter
vpTranslationVector	objectCenter
vpRect	boundingBox
vpHomogeneousMatrix	cMo

Detailed Description

Render data storage.

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

Definition at line 60 of file vpRBFeatureTrackerInput.h.

Constructor & Destructor Documentation

vpRBRenderData() [1/3]

vpRBRenderData::vpRBRenderData ( )

inline

Pose of the object in the camera frame for which the renders were generated.

Definition at line 74 of file vpRBFeatureTrackerInput.h.

References boundingBox, zFar, and zNear.

Referenced by operator=(), operator=(), vpRBRenderData(), and vpRBRenderData().

vpRBRenderData() [2/3]

vpRBRenderData::vpRBRenderData ( const vpRBRenderData & other )

inline

Definition at line 76 of file vpRBFeatureTrackerInput.h.

References vpRBRenderData().

vpRBRenderData() [3/3]

vpRBRenderData::vpRBRenderData ( vpRBRenderData && other )

inline

Definition at line 81 of file vpRBFeatureTrackerInput.h.

References vpRBRenderData().

Member Function Documentation

operator=() [1/2]

vpRBRenderData & vpRBRenderData::operator= ( const vpRBRenderData & o )

inline

Definition at line 86 of file vpRBFeatureTrackerInput.h.

References boundingBox, cMo, color, depth, isSilhouette, normals, objectCenter, objectDiameter, silhouetteCanny, vpRBRenderData(), zFar, and zNear.

operator=() [2/2]

vpRBRenderData & vpRBRenderData::operator= ( vpRBRenderData && o )

inline

Definition at line 102 of file vpRBFeatureTrackerInput.h.

References boundingBox, cMo, color, depth, isSilhouette, normals, objectCenter, objectDiameter, silhouetteCanny, vpRBRenderData(), zFar, and zNear.

Member Data Documentation

boundingBox

vpRect vpRBRenderData::boundingBox

Definition at line 71 of file vpRBFeatureTrackerInput.h.

Referenced by vpRBDenseDepthTracker::computeVVSIter(), vpRBDenseDepthTracker::extractFeatures(), operator=(), operator=(), vpRBProbabilistic3DDriftDetector::update(), vpColorHistogramMask::updateMask(), vpCombinedDepthAndColorMask::updateMask(), vpDepthMask::updateMask(), vpRBTracker::updateRender(), and vpRBRenderData().

cMo

vpHomogeneousMatrix vpRBRenderData::cMo

Definition at line 72 of file vpRBFeatureTrackerInput.h.

Referenced by vpRBDenseDepthTracker::extractFeatures(), vpRBSilhouetteCCDTracker::extractFeatures(), vpRBSilhouetteMeTracker::extractFeatures(), operator=(), operator=(), vpRBProbabilistic3DDriftDetector::score(), vpRBProbabilistic3DDriftDetector::update(), vpDepthMask::updateMask(), and vpRBTracker::updateRender().

color

vpImage<vpRGBa> vpRBRenderData::color

Examples

tutorial-rbt-sequence.cpp.

Definition at line 64 of file vpRBFeatureTrackerInput.h.

Referenced by operator=(), and operator=().

depth

vpImage<float> vpRBRenderData::depth

Image containing the per-pixel normal vector (RGB, in object space).

Definition at line 63 of file vpRBFeatureTrackerInput.h.

Referenced by vpRBVisualOdometryUtils::computeIndicesObjectAndEnvironment(), vpRBDenseDepthTracker::extractFeatures(), operator=(), operator=(), vpRBProbabilistic3DDriftDetector::score(), vpRBTracker::track(), vpRBProbabilistic3DDriftDetector::update(), vpColorHistogramMask::updateMask(), and vpRBTracker::updateRender().

isSilhouette

vpImage<unsigned char> vpRBRenderData::isSilhouette

Image containing the orientation of the gradients.

Examples

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

Definition at line 66 of file vpRBFeatureTrackerInput.h.

Referenced by vpRBTracker::displaySilhouette(), operator=(), operator=(), vpRBTracker::track(), and vpRBTracker::updateRender().

normals

vpImage<vpRGBf> vpRBRenderData::normals

Examples

tutorial-rbt-sequence.cpp.

Definition at line 62 of file vpRBFeatureTrackerInput.h.

Referenced by vpRBDenseDepthTracker::extractFeatures(), operator=(), operator=(), vpRBTracker::track(), and vpRBTracker::updateRender().

objectCenter

vpTranslationVector vpRBRenderData::objectCenter

Center of the 3D bounding box of the object. Expressed in the object frame.

Definition at line 70 of file vpRBFeatureTrackerInput.h.

Referenced by operator=(), operator=(), and vpRBTracker::updateRender().

objectDiameter

double vpRBRenderData::objectDiameter

Definition at line 68 of file vpRBFeatureTrackerInput.h.

Referenced by operator=(), operator=(), vpDepthMask::updateMask(), and vpRBTracker::updateRender().

silhouetteCanny

vpImage<float> vpRBRenderData::silhouetteCanny

Examples

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

Definition at line 65 of file vpRBFeatureTrackerInput.h.

Referenced by operator=(), operator=(), vpRBTracker::track(), and vpRBTracker::updateRender().

zFar

double vpRBRenderData::zFar

Definition at line 67 of file vpRBFeatureTrackerInput.h.

Referenced by vpRBDenseDepthTracker::computeVVSIter(), operator=(), operator=(), vpDepthMask::updateMask(), vpRBTracker::updateRender(), and vpRBRenderData().

zNear

double vpRBRenderData::zNear

Binary image indicating whether a given pixel is part of the silhouette.

Definition at line 67 of file vpRBFeatureTrackerInput.h.

Referenced by vpRBDenseDepthTracker::computeVVSIter(), operator=(), operator=(), vpDepthMask::updateMask(), vpRBTracker::updateRender(), and vpRBRenderData().