Visual Servoing Platform version 3.5.0
vpMbKltTracker.h
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 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 http://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 * Model based tracker using only KLT
33 *
34 * Authors:
35 * Romain Tallonneau
36 * Aurelien Yol
37 *
38 *****************************************************************************/
44#ifndef vpMbKltTracker_h
45#define vpMbKltTracker_h
46
47#include <visp3/core/vpConfig.h>
48
49#if defined(VISP_HAVE_MODULE_KLT) && (defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020100))
50
51#include <visp3/core/vpExponentialMap.h>
52#include <visp3/core/vpMeterPixelConversion.h>
53#include <visp3/core/vpPixelMeterConversion.h>
54#include <visp3/core/vpSubColVector.h>
55#include <visp3/core/vpSubMatrix.h>
56#include <visp3/klt/vpKltOpencv.h>
57#include <visp3/mbt/vpMbTracker.h>
58#include <visp3/mbt/vpMbtDistanceCircle.h>
59#include <visp3/mbt/vpMbtDistanceKltCylinder.h>
60#include <visp3/mbt/vpMbtDistanceKltPoints.h>
61#include <visp3/vision/vpHomography.h>
62
210class VISP_EXPORT vpMbKltTracker : public virtual vpMbTracker
211{
212protected:
214#if (VISP_HAVE_OPENCV_VERSION >= 0x020408)
215 cv::Mat cur;
216#else
217 IplImage *cur;
218#endif
225 unsigned int maskBorder;
238 std::list<vpMbtDistanceKltPoints *> kltPolygons;
240 std::list<vpMbtDistanceKltCylinder *> kltCylinders;
242 std::list<vpMbtDistanceCircle *> circles_disp;
244 unsigned int m_nbInfos;
246 unsigned int m_nbFaceUsed;
258 std::vector<std::vector<double> > m_featuresToBeDisplayedKlt;
259
260public:
262 virtual ~vpMbKltTracker();
263
266
267 void addCircle(const vpPoint &P1, const vpPoint &P2, const vpPoint &P3, double r, const std::string &name = "");
268 virtual void display(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
269 const vpColor &col, unsigned int thickness = 1, bool displayFullModel = false);
270 virtual void display(const vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
271 const vpColor &col, unsigned int thickness = 1, bool displayFullModel = false);
272
274 virtual std::list<vpMbtDistanceCircle *> &getFeaturesCircle() { return circles_disp; }
276 virtual std::list<vpMbtDistanceKltCylinder *> &getFeaturesKltCylinder() { return kltCylinders; }
278 virtual std::list<vpMbtDistanceKltPoints *> &getFeaturesKlt() { return kltPolygons; }
279
285#if (VISP_HAVE_OPENCV_VERSION >= 0x020408)
286 inline std::vector<cv::Point2f> getKltPoints() const { return tracker.getFeatures(); }
287#else
288 inline CvPoint2D32f *getKltPoints() { return tracker.getFeatures(); }
289#endif
290
291 std::vector<vpImagePoint> getKltImagePoints() const;
292
293 std::map<int, vpImagePoint> getKltImagePointsWithId() const;
294
300 inline vpKltOpencv getKltOpencv() const { return tracker; }
301
307 inline unsigned int getKltMaskBorder() const { return maskBorder; }
308
314 inline int getKltNbPoints() const { return tracker.getNbFeatures(); }
315
322 inline double getKltThresholdAcceptation() const { return threshold_outlier; }
323
324 virtual inline vpColVector getError() const { return m_error_klt; }
325
326 virtual inline vpColVector getRobustWeights() const { return m_w_klt; }
327
328 virtual std::vector<std::vector<double> > getModelForDisplay(unsigned int width, unsigned int height,
329 const vpHomogeneousMatrix &cMo,
330 const vpCameraParameters &cam,
331 bool displayFullModel=false);
332
333 virtual void loadConfigFile(const std::string &configFile, bool verbose=true);
334
335 virtual void reInitModel(const vpImage<unsigned char> &I, const std::string &cad_name,
336 const vpHomogeneousMatrix &cMo, bool verbose = false,
338 void resetTracker();
339
341
347 inline void setKltMaskBorder(const unsigned int &e)
348 {
349 maskBorder = e;
350 // if(useScanLine)
351 faces.getMbScanLineRenderer().setMaskBorder(maskBorder);
352 }
353
354 virtual void setKltOpencv(const vpKltOpencv &t);
355
361 inline void setKltThresholdAcceptation(double th) { threshold_outlier = th; }
362
371 virtual void setOgreVisibilityTest(const bool &v)
372 {
374#ifdef VISP_HAVE_OGRE
375 faces.getOgreContext()->setWindowName("MBT Klt");
376#endif
377 }
378
384 virtual void setScanLineVisibilityTest(const bool &v)
385 {
387
388 for (std::list<vpMbtDistanceKltPoints *>::const_iterator it = kltPolygons.begin(); it != kltPolygons.end(); ++it)
389 (*it)->useScanLine = v;
390 }
391
392 virtual void setPose(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cdMo);
393 virtual void setPose(const vpImage<vpRGBa> &I_color, const vpHomogeneousMatrix &cdMo);
394
401 virtual void setProjectionErrorComputation(const bool &flag)
402 {
403 if (flag)
404 std::cerr << "This option is not yet implemented in vpMbKltTracker, "
405 "projection error computation set to false."
406 << std::endl;
407 }
408
409 void setUseKltTracking(const std::string &name, const bool &useKltTracking);
410
411 virtual void testTracking();
412 virtual void track(const vpImage<unsigned char> &I);
413 virtual void track(const vpImage<vpRGBa> &I_color);
414
419
426 /* vp_deprecated */ inline unsigned int getMaskBorder() const { return maskBorder; }
433 /* vp_deprecated */ inline int getNbKltPoints() const { return tracker.getNbFeatures(); }
434
442 /* vp_deprecated */ inline double getThresholdAcceptation() const { return threshold_outlier; }
448 /* vp_deprecated */ inline void setMaskBorder(const unsigned int &e)
449 {
450 maskBorder = e;
451 // if(useScanLine)
452 faces.getMbScanLineRenderer().setMaskBorder(maskBorder);
453 }
454
461 /* vp_deprecated */ inline void setThresholdAcceptation(double th) { threshold_outlier = th; }
462
464
465protected:
468 void computeVVS();
469 virtual void computeVVSInit();
471
472 virtual std::vector<std::vector<double> > getFeaturesForDisplayKlt();
473
474 virtual void init(const vpImage<unsigned char> &I);
475 virtual void initFaceFromCorners(vpMbtPolygon &polygon);
476 virtual void initFaceFromLines(vpMbtPolygon &polygon);
477 virtual void initCircle(const vpPoint &, const vpPoint &, const vpPoint &, double, int,
478 const std::string &name = "");
479 virtual void initCylinder(const vpPoint &, const vpPoint &, double, int, const std::string &name = "");
480
481 void preTracking(const vpImage<unsigned char> &I);
482 bool postTracking(const vpImage<unsigned char> &I, vpColVector &w);
483 virtual void reinit(const vpImage<unsigned char> &I);
484 virtual void setPose(const vpImage<unsigned char> * const I, const vpImage<vpRGBa> * const I_color,
485 const vpHomogeneousMatrix &cdMo);
487};
488
489#endif
490#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.
Wrapper for the KLT (Kanade-Lucas-Tomasi) feature tracker implemented in OpenCV. Thus to enable this ...
Definition: vpKltOpencv.h:79
int getNbFeatures() const
Get the number of current features.
Definition: vpKltOpencv.h:120
std::vector< cv::Point2f > getFeatures() const
Get the list of current features.
Definition: vpKltOpencv.h:105
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:154
Model based tracker using only KLT.
std::list< vpMbtDistanceKltCylinder * > kltCylinders
virtual std::list< vpMbtDistanceCircle * > & getFeaturesCircle()
vpColVector m_error_klt
(s - s*)
vpHomogeneousMatrix c0Mo
Initial pose.
virtual void setScanLineVisibilityTest(const bool &v)
void setMaskBorder(const unsigned int &e)
vpHomogeneousMatrix ctTc0
std::list< vpMbtDistanceKltPoints * > kltPolygons
double getKltThresholdAcceptation() const
cv::Mat cur
Temporary OpenCV image for fast conversion.
std::vector< cv::Point2f > getKltPoints() const
unsigned int getKltMaskBorder() const
std::list< vpMbtDistanceCircle * > circles_disp
Vector of the circles used here only to display the full model.
vpColVector m_weightedError_klt
Weighted error.
vpKltOpencv tracker
Points tracker.
virtual void setProjectionErrorComputation(const bool &flag)
double threshold_outlier
unsigned int m_nbInfos
unsigned int getMaskBorder() const
vpKltOpencv getKltOpencv() const
void setKltThresholdAcceptation(double th)
void setThresholdAcceptation(double th)
vpRobust m_robust_klt
Robust.
int getKltNbPoints() const
virtual void setOgreVisibilityTest(const bool &v)
virtual std::list< vpMbtDistanceKltCylinder * > & getFeaturesKltCylinder()
double getThresholdAcceptation() const
virtual vpColVector getError() const
unsigned int maskBorder
Erosion of the mask.
unsigned int m_nbFaceUsed
vpColVector m_w_klt
Robust weights.
std::vector< std::vector< double > > m_featuresToBeDisplayedKlt
Display features.
vpMatrix m_L_klt
Interaction matrix.
void setKltMaskBorder(const unsigned int &e)
int getNbKltPoints() const
virtual std::list< vpMbtDistanceKltPoints * > & getFeaturesKlt()
virtual vpColVector getRobustWeights() const
Main methods for a model-based tracker.
Definition: vpMbTracker.h:105
virtual void track(const vpImage< unsigned char > &I)=0
virtual void resetTracker()=0
virtual void init(const vpImage< unsigned char > &I)=0
virtual void initFaceFromLines(vpMbtPolygon &polygon)=0
virtual void initCircle(const vpPoint &p1, const vpPoint &p2, const vpPoint &p3, double radius, int idFace=0, const std::string &name="")=0
virtual void initCylinder(const vpPoint &p1, const vpPoint &p2, double radius, int idFace=0, const std::string &name="")=0
virtual std::vector< std::vector< double > > getModelForDisplay(unsigned int width, unsigned int height, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, bool displayFullModel=false)=0
virtual void setCameraParameters(const vpCameraParameters &cam)
Definition: vpMbTracker.h:487
virtual void setScanLineVisibilityTest(const bool &v)
Definition: vpMbTracker.h:601
virtual void setOgreVisibilityTest(const bool &v)
virtual void setPose(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cdMo)=0
virtual void computeVVSInteractionMatrixAndResidu()=0
virtual void display(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, unsigned int thickness=1, bool displayFullModel=false)=0
virtual void computeVVSInit()=0
virtual void testTracking()=0
virtual void initFaceFromCorners(vpMbtPolygon &polygon)=0
virtual void loadConfigFile(const std::string &configFile, bool verbose=true)
Implementation of a polygon of the model used by the model-based tracker.
Definition: vpMbtPolygon.h:67
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition: vpPoint.h:82
Contains an M-estimator and various influence function.
Definition: vpRobust.h:89