Visual Servoing Platform version 3.6.0
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vpMbtDistanceKltPoints.h
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See https://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Klt polygon, containing points of interest.
33 *
34*****************************************************************************/
35
36#ifndef _vpMbtDistanceKltPoints_h_
37#define _vpMbtDistanceKltPoints_h_
38
39#include <visp3/core/vpConfig.h>
40
41#if defined(VISP_HAVE_MODULE_KLT) && defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_VIDEO)
42
43#include <map>
44
45#include <visp3/core/vpDisplay.h>
46#include <visp3/core/vpGEMM.h>
47#include <visp3/core/vpPlane.h>
48#include <visp3/core/vpPolygon3D.h>
49#include <visp3/klt/vpKltOpencv.h>
50#include <visp3/mbt/vpMbHiddenFaces.h>
51#include <visp3/vision/vpHomography.h>
52
63class VISP_EXPORT vpMbtDistanceKltPoints
64{
65private:
67 vpMatrix H;
71 vpColVector N_cur;
74 double invd0;
76 vpColVector cRc0_0n;
78 std::map<int, vpImagePoint> initPoints;
80 std::map<int, vpImagePoint> curPoints;
82 std::map<int, int> curPointsInd;
84 unsigned int nbPointsCur;
86 unsigned int nbPointsInit;
88 unsigned int minNbPoint;
90 bool enoughPoints;
92 double dt;
94 double d0;
98 bool isTrackedKltPoints;
99
100public:
107
108private:
109 double compute_1_over_Z(double x, double y);
110 void computeP_mu_t(double x_in, double y_in, double &x_out, double &y_out, const vpMatrix &cHc0);
111 bool isTrackedFeature(int id);
112
113 // private:
114 //#ifndef DOXYGEN_SHOULD_SKIP_THIS
115 // vpMbtDistanceKltPoints(const vpMbtDistanceKltPoints &)
116 // : H(), N(), N_cur(), invd0(1.), cRc0_0n(), initPoints(),
117 // curPoints(), curPointsInd(),
118 // nbPointsCur(0), nbPointsInit(0), minNbPoint(4),
119 // enoughPoints(false), dt(1.), d0(1.), cam(),
120 // isTrackedKltPoints(true), polygon(NULL), hiddenface(NULL),
121 // useScanLine(false)
122 // {
123 // throw vpException(vpException::functionNotImplementedError, "Not
124 // implemented!");
125 // }
126 // vpMbtDistanceKltPoints &operator=(const vpMbtDistanceKltPoints &){
127 // throw vpException(vpException::functionNotImplementedError, "Not
128 // implemented!"); return *this;
129 // }
130 //#endif
131
132public:
134 virtual ~vpMbtDistanceKltPoints();
135
136 unsigned int computeNbDetectedCurrent(const vpKltOpencv &_tracker, const vpImage<bool> *mask = NULL);
137 void computeHomography(const vpHomogeneousMatrix &_cTc0, vpHomography &cHc0);
138 void computeInteractionMatrixAndResidu(vpColVector &_R, vpMatrix &_J);
139
140 void display(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
141 const vpColor &col, unsigned int thickness = 1, bool displayFullModel = false);
142 void display(const vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
143 const vpColor &col, unsigned int thickness = 1, bool displayFullModel = false);
144
145 void displayPrimitive(const vpImage<unsigned char> &_I);
146 void displayPrimitive(const vpImage<vpRGBa> &_I);
147
148 std::vector<std::vector<double> > getFeaturesForDisplay();
149
150 std::vector<std::vector<double> > getModelForDisplay(const vpCameraParameters &cam, bool displayFullModel = false);
151
157 inline vpCameraParameters &getCameraParameters() { return cam; }
158
159 inline vpColVector getCurrentNormal() const { return N_cur; }
160
161 inline std::map<int, vpImagePoint> &getCurrentPoints() { return curPoints; }
162
163 inline std::map<int, int> &getCurrentPointsInd() { return curPointsInd; }
164
173 inline unsigned int getInitialNumberPoint() const { return nbPointsInit; }
184 inline unsigned int getCurrentNumberPoints() const { return nbPointsCur; }
185
186 inline bool hasEnoughPoints() const { return enoughPoints; }
187
188 void init(const vpKltOpencv &_tracker, const vpImage<bool> *mask = NULL);
189
195 inline bool isTracked() const { return isTrackedKltPoints; }
196
197 void removeOutliers(const vpColVector &weight, const double &threshold_outlier);
198
204 virtual inline void setCameraParameters(const vpCameraParameters &_cam) { cam = _cam; }
205
211 inline void setTracked(const bool &track) { this->isTrackedKltPoints = track; }
212
213 void updateMask(cv::Mat &mask, unsigned char _nb = 255, unsigned int _shiftBorder = 0);
214};
215
216#endif
217
218#endif // VISP_HAVE_OPENCV
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
Class to define RGB colors available for display functionalities.
Definition vpColor.h:152
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of an homography and operations on homographies.
Definition of the vpImage class member functions.
Definition vpImage.h:135
Wrapper for the KLT (Kanade-Lucas-Tomasi) feature tracker implemented in OpenCV. Thus to enable this ...
Definition vpKltOpencv.h:73
Implementation of a matrix and operations on matrices.
Definition vpMatrix.h:152
Implementation of the polygons management for the model-based trackers.
Implementation of a polygon of the model containing points of interest. It is used by the model-based...
bool useScanLine
Use scanline rendering.
vpColVector getCurrentNormal() const
vpMbHiddenFaces< vpMbtPolygon > * hiddenface
Pointer to the list of faces.
vpCameraParameters & getCameraParameters()
virtual void setCameraParameters(const vpCameraParameters &_cam)
unsigned int getCurrentNumberPoints() const
vpMbtPolygon * polygon
Pointer to the polygon that define a face.
std::map< int, int > & getCurrentPointsInd()
unsigned int getInitialNumberPoint() const
std::map< int, vpImagePoint > & getCurrentPoints()
void setTracked(const bool &track)
Implementation of a polygon of the model used by the model-based tracker.