Visual Servoing Platform version 3.5.0
vpMbtDistanceKltPoints.h
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30 *
31 * Description:
32 * Klt polygon, containing points of interest.
33 *
34 * Authors:
35 * Romain Tallonneau
36 * Aurelien Yol
37 *
38 *****************************************************************************/
39
40#ifndef vpMbtDistanceKltPoints_h
41#define vpMbtDistanceKltPoints_h
42
43#include <visp3/core/vpConfig.h>
44
45#if defined(VISP_HAVE_MODULE_KLT) && (defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020100))
46
47#include <map>
48
49#include <visp3/core/vpDisplay.h>
50#include <visp3/core/vpGEMM.h>
51#include <visp3/core/vpPlane.h>
52#include <visp3/core/vpPolygon3D.h>
53#include <visp3/klt/vpKltOpencv.h>
54#include <visp3/mbt/vpMbHiddenFaces.h>
55#include <visp3/vision/vpHomography.h>
56
67class VISP_EXPORT vpMbtDistanceKltPoints
68{
69private:
71 vpMatrix H;
75 vpColVector N_cur;
78 double invd0;
80 vpColVector cRc0_0n;
82 std::map<int, vpImagePoint> initPoints;
84 std::map<int, vpImagePoint> curPoints;
86 std::map<int, int> curPointsInd;
88 unsigned int nbPointsCur;
90 unsigned int nbPointsInit;
92 unsigned int minNbPoint;
94 bool enoughPoints;
96 double dt;
98 double d0;
102 bool isTrackedKltPoints;
103
104public:
111
112private:
113 double compute_1_over_Z(double x, double y);
114 void computeP_mu_t(double x_in, double y_in, double &x_out, double &y_out, const vpMatrix &cHc0);
115 bool isTrackedFeature(int id);
116
117 // private:
118 //#ifndef DOXYGEN_SHOULD_SKIP_THIS
119 // vpMbtDistanceKltPoints(const vpMbtDistanceKltPoints &)
120 // : H(), N(), N_cur(), invd0(1.), cRc0_0n(), initPoints(),
121 // curPoints(), curPointsInd(),
122 // nbPointsCur(0), nbPointsInit(0), minNbPoint(4),
123 // enoughPoints(false), dt(1.), d0(1.), cam(),
124 // isTrackedKltPoints(true), polygon(NULL), hiddenface(NULL),
125 // useScanLine(false)
126 // {
127 // throw vpException(vpException::functionNotImplementedError, "Not
128 // implemented!");
129 // }
130 // vpMbtDistanceKltPoints &operator=(const vpMbtDistanceKltPoints &){
131 // throw vpException(vpException::functionNotImplementedError, "Not
132 // implemented!"); return *this;
133 // }
134 //#endif
135
136public:
138 virtual ~vpMbtDistanceKltPoints();
139
140 unsigned int computeNbDetectedCurrent(const vpKltOpencv &_tracker, const vpImage<bool> *mask = NULL);
141 void computeHomography(const vpHomogeneousMatrix &_cTc0, vpHomography &cHc0);
142 void computeInteractionMatrixAndResidu(vpColVector &_R, vpMatrix &_J);
143
144 void display(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
145 const vpColor &col, unsigned int thickness = 1, bool displayFullModel = false);
146 void display(const vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
147 const vpColor &col, unsigned int thickness = 1, bool displayFullModel = false);
148
149 void displayPrimitive(const vpImage<unsigned char> &_I);
150 void displayPrimitive(const vpImage<vpRGBa> &_I);
151
152 std::vector<std::vector<double> > getFeaturesForDisplay();
153
154 std::vector<std::vector<double> > getModelForDisplay(const vpCameraParameters &cam,
155 bool displayFullModel = false);
156
162 inline vpCameraParameters &getCameraParameters() { return cam; }
163
164 inline vpColVector getCurrentNormal() const { return N_cur; }
165
166 inline std::map<int, vpImagePoint> &getCurrentPoints() { return curPoints; }
167
168 inline std::map<int, int> &getCurrentPointsInd() { return curPointsInd; }
169
178 inline unsigned int getInitialNumberPoint() const { return nbPointsInit; }
189 inline unsigned int getCurrentNumberPoints() const { return nbPointsCur; }
190
191 inline bool hasEnoughPoints() const { return enoughPoints; }
192
193 void init(const vpKltOpencv &_tracker, const vpImage<bool> *mask = NULL);
194
200 inline bool isTracked() const { return isTrackedKltPoints; }
201
202 void removeOutliers(const vpColVector &weight, const double &threshold_outlier);
203
209 virtual inline void setCameraParameters(const vpCameraParameters &_cam) { cam = _cam; }
210
216 inline void setTracked(const bool &track) { this->isTrackedKltPoints = track; }
217
218#if (VISP_HAVE_OPENCV_VERSION >= 0x020408)
219 void updateMask(cv::Mat &mask, unsigned char _nb = 255, unsigned int _shiftBorder = 0);
220#else
221 void updateMask(IplImage *mask, unsigned char _nb = 255, unsigned int _shiftBorder = 0);
222#endif
223};
224
225#endif
226
227#endif // VISP_HAVE_OPENCV
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
Class to define RGB colors available for display functionnalities.
Definition: vpColor.h:158
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of an homography and operations on homographies.
Definition: vpHomography.h:175
Wrapper for the KLT (Kanade-Lucas-Tomasi) feature tracker implemented in OpenCV. Thus to enable this ...
Definition: vpKltOpencv.h:79
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:154
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.
Definition: vpMbtPolygon.h:67