#include <visp3/mbt/vpMbtDistanceKltPoints.h>

Public Member Functions
	vpMbtDistanceKltPoints ()

virtual	~vpMbtDistanceKltPoints ()

unsigned int	computeNbDetectedCurrent (const vpKltOpencv &_tracker, const vpImage< bool > *mask=nullptr)

void	computeHomography (const vpHomogeneousMatrix &_cTc0, vpHomography &cHc0)

void	computeInteractionMatrixAndResidu (vpColVector &_R, vpMatrix &_J)

void	display (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, unsigned int thickness=1, bool displayFullModel=false)

void	display (const vpImage< vpRGBa > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, unsigned int thickness=1, bool displayFullModel=false)

void	displayPrimitive (const vpImage< unsigned char > &_I)

void	displayPrimitive (const vpImage< vpRGBa > &_I)

std::vector< std::vector< double > >	getFeaturesForDisplay ()

std::vector< std::vector< double > >	getModelForDisplay (const vpCameraParameters &cam, bool displayFullModel=false)

vpCameraParameters &	getCameraParameters ()

vpColVector	getCurrentNormal () const

std::map< int, vpImagePoint > &	getCurrentPoints ()

std::map< int, int > &	getCurrentPointsInd ()

unsigned int	getInitialNumberPoint () const

unsigned int	getCurrentNumberPoints () const

bool	hasEnoughPoints () const

void	init (const vpKltOpencv &_tracker, const vpImage< bool > *mask=nullptr)

bool	isTracked () const

void	removeOutliers (const vpColVector &weight, const double &threshold_outlier)

virtual void	setCameraParameters (const vpCameraParameters &_cam)

void	setTracked (const bool &track)

void	updateMask (cv::Mat &mask, unsigned char _nb=255, unsigned int _shiftBorder=0)

Public Attributes
vpMbtPolygon *	polygon

vpMbHiddenFaces< vpMbtPolygon > *	hiddenface

bool	useScanLine

Detailed Description

Implementation of a polygon of the model containing points of interest. It is used by the model-based tracker KLT, and hybrid.

Warning: This class is only available if OpenCV is installed, and used.

Definition at line 63 of file vpMbtDistanceKltPoints.h.

Constructor & Destructor Documentation

◆ vpMbtDistanceKltPoints()

vpMbtDistanceKltPoints::vpMbtDistanceKltPoints ( )

Basic constructor.

Definition at line 54 of file vpMbtDistanceKltPoints.cpp.

◆ ~vpMbtDistanceKltPoints()

vpMbtDistanceKltPoints::~vpMbtDistanceKltPoints ( )

virtual

Basic destructor.

Definition at line 65 of file vpMbtDistanceKltPoints.cpp.

Member Function Documentation

◆ computeHomography()

void vpMbtDistanceKltPoints::computeHomography	(	const vpHomogeneousMatrix &	_cTc0,
		vpHomography &	_cHc0
	)

Compute the homography using a displacement matrix.

the homography is given by:

${}^cH_{c_0} = {}^cR_{c_0} + \frac{{}^cT_{c_0} . {}^tN}{d_0}$

Several internal variables are computed (dt, cRc0_0n).

Parameters

_cTc0	: The displacement matrix of the camera between the initial position of the camera and the current camera position
_cHc0	: The homography of the plane.

Definition at line 280 of file vpMbtDistanceKltPoints.cpp.

References vpHomography::convert(), and vpHomogeneousMatrix::extract().

Referenced by vpMbEdgeKltTracker::computeVVS(), and vpMbKltTracker::computeVVSInteractionMatrixAndResidu().

◆ computeInteractionMatrixAndResidu()

void vpMbtDistanceKltPoints::computeInteractionMatrixAndResidu	(	vpColVector &	_R,
		vpMatrix &	_J
	)

Compute the interaction matrix and the residu vector for the face. The method assumes that these two objects are properly sized in order to be able to improve the speed with the use of SubCoVector and subMatrix.

Warning: The function preCompute must be called before the this method.

Parameters

_R	: the residu vector
_J	: the interaction matrix

Definition at line 191 of file vpMbtDistanceKltPoints.cpp.

References vpPixelMeterConversion::convertPoint().

Referenced by vpMbEdgeKltTracker::computeVVS(), and vpMbKltTracker::computeVVSInteractionMatrixAndResidu().

◆ computeNbDetectedCurrent()

unsigned int vpMbtDistanceKltPoints::computeNbDetectedCurrent	(	const vpKltOpencv &	_tracker,
		const vpImage< bool > *	mask = `nullptr`
	)

compute the number of point in this instanciation of the tracker that corresponds to the points of the face

Parameters

_tracker : the KLT tracker

Returns: the number of points that are tracked in this face and in this instanciation of the tracker

Parameters

mask	Mask image or nullptr if not wanted. Mask values that are set to true are considered in the tracking. To disable a pixel, set false.

Definition at line 150 of file vpMbtDistanceKltPoints.cpp.

References vpKltOpencv::getFeature(), vpKltOpencv::getNbFeatures(), and vpMeTracker::inRoiMask().

Referenced by vpMbKltTracker::preTracking().

◆ display() [1/2]

void vpMbtDistanceKltPoints::display	(	const vpImage< unsigned char > &	I,
		const vpHomogeneousMatrix &	cMo,
		const vpCameraParameters &	cam,
		const vpColor &	col,
		unsigned int	thickness = `1`,
		bool	displayFullModel = `false`
	)

Definition at line 552 of file vpMbtDistanceKltPoints.cpp.

References vpDisplay::displayLine(), and getModelForDisplay().

◆ display() [2/2]

void vpMbtDistanceKltPoints::display	(	const vpImage< vpRGBa > &	I,
		const vpHomogeneousMatrix &	cMo,
		const vpCameraParameters &	cam,
		const vpColor &	col,
		unsigned int	thickness = `1`,
		bool	displayFullModel = `false`
	)

Definition at line 566 of file vpMbtDistanceKltPoints.cpp.

References vpDisplay::displayLine(), and getModelForDisplay().

◆ displayPrimitive() [1/2]

void vpMbtDistanceKltPoints::displayPrimitive ( const vpImage< unsigned char > & _I )

Display the primitives tracked for the face.

Parameters

_I	: The image where to display.

Definition at line 509 of file vpMbtDistanceKltPoints.cpp.

References vpDisplay::displayCross(), vpDisplay::displayText(), vpImagePoint::get_i(), vpImagePoint::get_j(), vpColor::red, vpMath::round(), vpImagePoint::set_i(), and vpImagePoint::set_j().

◆ displayPrimitive() [2/2]

void vpMbtDistanceKltPoints::displayPrimitive ( const vpImage< vpRGBa > & _I )

Display the primitives tracked for the face.

Parameters

_I	: The image where to display.

Definition at line 533 of file vpMbtDistanceKltPoints.cpp.

References vpDisplay::displayCross(), vpDisplay::displayText(), vpImagePoint::get_i(), vpImagePoint::get_j(), vpColor::red, vpMath::round(), vpImagePoint::set_i(), and vpImagePoint::set_j().

◆ getCameraParameters()

vpCameraParameters& vpMbtDistanceKltPoints::getCameraParameters ( )

inline

Get the camera parameters of the face.

Returns: cam : the camera parameters of the face.

Definition at line 157 of file vpMbtDistanceKltPoints.h.

◆ getCurrentNormal()

vpColVector vpMbtDistanceKltPoints::getCurrentNormal ( ) const

inline

Definition at line 159 of file vpMbtDistanceKltPoints.h.

◆ getCurrentNumberPoints()

unsigned int vpMbtDistanceKltPoints::getCurrentNumberPoints ( ) const

inline

Get the number of points detected in the last image.

Warning: To have the real number of points, the function computeNbDetectedCurrent() must be called first.

Returns: the number of points detected in the current image.

See also: getInitialNumberPoint()

Definition at line 184 of file vpMbtDistanceKltPoints.h.

Referenced by vpMbEdgeKltTracker::computeVVS(), vpMbKltTracker::computeVVSInteractionMatrixAndResidu(), vpMbKltTracker::postTracking(), vpMbKltTracker::preTracking(), and vpMbKltTracker::testTracking().

◆ getCurrentPoints()

std::map<int, vpImagePoint>& vpMbtDistanceKltPoints::getCurrentPoints ( )

inline

Definition at line 161 of file vpMbtDistanceKltPoints.h.

Referenced by vpMbKltTracker::setPose().

◆ getCurrentPointsInd()

std::map<int, int>& vpMbtDistanceKltPoints::getCurrentPointsInd ( )

inline

Definition at line 163 of file vpMbtDistanceKltPoints.h.

Referenced by vpMbKltTracker::setPose().

◆ getFeaturesForDisplay()

std::vector< std::vector< double > > vpMbtDistanceKltPoints::getFeaturesForDisplay ( )

Return a list of features parameters for display.

Parameters are: <feature id (here 1 for KLT)>, <pt.i()>, <pt.j()>, <klt_id.i()>, <klt_id.j()>, <klt_id.id>

Definition at line 585 of file vpMbtDistanceKltPoints.cpp.

References vpImagePoint::get_i(), vpImagePoint::get_j(), vpMath::round(), vpImagePoint::set_i(), and vpImagePoint::set_j().

Referenced by vpMbKltTracker::getFeaturesForDisplayKlt().

◆ getInitialNumberPoint()

unsigned int vpMbtDistanceKltPoints::getInitialNumberPoint ( ) const

inline

Get the number of point that was belonging to the face at the initialisation

Returns: the number of initial point.

See also: getCurrentNumberPoints()

Definition at line 173 of file vpMbtDistanceKltPoints.h.

Referenced by vpMbKltTracker::postTracking().

◆ getModelForDisplay()

std::vector< std::vector< double > > vpMbtDistanceKltPoints::getModelForDisplay	(	const vpCameraParameters &	camera,
		bool	displayFullModel = `false`
	)

Return a list of line parameters to display the primitive at a given pose and camera parameters. Parameters are: <primitive id (here 0 for line)>, <pt_start.i()>, <pt_start.j()> <pt_end.i()>, <pt_end.j()>

Parameters

camera	: The camera parameters.
displayFullModel	: If true, the line is displayed even if it is not

Definition at line 615 of file vpMbtDistanceKltPoints.cpp.

References vpMbHiddenFaces< PolygonType >::computeScanLineQuery(), vpMeterPixelConversion::convertPoint(), vpPolygon3D::DOWN_CLIPPING, vpPolygon3D::FAR_CLIPPING, vpImagePoint::get_i(), vpImagePoint::get_j(), vpPolygon3D::getPolygonClipped(), hiddenface, vpMbtPolygon::isVisible(), vpPolygon3D::LEFT_CLIPPING, vpPolygon3D::NEAR_CLIPPING, polygon, vpPolygon3D::RIGHT_CLIPPING, vpPolygon3D::UP_CLIPPING, and useScanLine.

Referenced by display(), and vpMbKltTracker::getModelForDisplay().

◆ hasEnoughPoints()

bool vpMbtDistanceKltPoints::hasEnoughPoints ( ) const

inline

Definition at line 186 of file vpMbtDistanceKltPoints.h.

Referenced by vpMbEdgeKltTracker::computeVVS(), vpMbKltTracker::computeVVSInteractionMatrixAndResidu(), vpMbKltTracker::getFeaturesForDisplayKlt(), vpMbKltTracker::postTracking(), vpMbKltTracker::preTracking(), and vpMbKltTracker::testTracking().

◆ init()

void vpMbtDistanceKltPoints::init	(	const vpKltOpencv &	_tracker,
		const vpImage< bool > *	mask = `nullptr`
	)

Initialise the face to track. All the points in the map, representing all the map detected in the image, are parsed in order to extract the id of the points that are indeed in the face.

Parameters

_tracker	: ViSP OpenCV KLT Tracker.
mask	Mask image or nullptr if not wanted. Mask values that are set to true are considered in the tracking. To disable a pixel, set false.

Definition at line 76 of file vpMbtDistanceKltPoints.cpp.

References vpPlane::getD(), vpKltOpencv::getFeature(), vpMbtPolygon::getIndex(), vpMbHiddenFaces< PolygonType >::getMbScanLineRenderer(), vpKltOpencv::getNbFeatures(), vpPlane::getNormal(), vpPolygon3D::getPoint(), vpPolygon3D::getRoiClipped(), hiddenface, vpMeTracker::inRoiMask(), vpPolygon::isInside(), vpColVector::normalize(), polygon, and useScanLine.

Referenced by vpMbKltTracker::reinit(), and vpMbKltTracker::setPose().

◆ isTracked()

bool vpMbtDistanceKltPoints::isTracked ( ) const

inline

Return if the klt points are used for tracking.

Returns: True if it is used, False otherwise.

Definition at line 195 of file vpMbtDistanceKltPoints.h.

Referenced by vpMbEdgeKltTracker::computeVVS(), vpMbKltTracker::computeVVSInteractionMatrixAndResidu(), vpMbKltTracker::getFeaturesForDisplayKlt(), vpMbKltTracker::postTracking(), vpMbKltTracker::preTracking(), vpMbKltTracker::reinit(), and vpMbKltTracker::testTracking().

◆ removeOutliers()

void vpMbtDistanceKltPoints::removeOutliers	(	const vpColVector &	_w,
		const double &	threshold_outlier
	)

This method removes the outliers. A point is considered as outlier when its associated weight is below a given threshold (threshold_outlier).

Parameters

_w	: Vector containing the weight of all the tracked points.
threshold_outlier	: Threshold to specify wether or not a point has to be deleted.

Definition at line 470 of file vpMbtDistanceKltPoints.cpp.

Referenced by vpMbKltTracker::postTracking().

◆ setCameraParameters()

virtual void vpMbtDistanceKltPoints::setCameraParameters ( const vpCameraParameters & _cam )

inlinevirtual

Set the camera parameters

Parameters

_cam	: the new camera parameters

Definition at line 204 of file vpMbtDistanceKltPoints.h.

Referenced by vpMbKltTracker::initFaceFromCorners(), vpMbKltTracker::initFaceFromLines(), and vpMbKltTracker::setCameraParameters().

◆ setTracked()

void vpMbtDistanceKltPoints::setTracked ( const bool & track )

inline

Set if the klt points have to considered during tracking phase.

Parameters

track : True if they have to be tracked, False otherwise.

Definition at line 211 of file vpMbtDistanceKltPoints.h.

Referenced by vpMbKltTracker::setUseKltTracking().

◆ updateMask()

void vpMbtDistanceKltPoints::updateMask	(	cv::Mat &	mask,
		unsigned char	nb = `255`,
		unsigned int	shiftBorder = `0`
	)

Modification of all the pixels that are in the roi to the value of _nb ( default is 255).

Parameters

mask	: the mask to update (0, not in the object, _nb otherwise).
nb	: Optional value to set to the pixels included in the face.
shiftBorder	: Optional shift for the border in pixel (sort of built-in erosion) to avoid to consider pixels near the limits of the face.

Definition at line 351 of file vpMbtDistanceKltPoints.cpp.

References vpPolygon::buildFrom(), vpPolygon::getArea(), vpPolygon3D::getMinMaxRoi(), vpPolygon3D::getRoiClipped(), vpPolygon::isInside(), polygon, and vpImagePoint::set_ij().

Referenced by vpMbKltTracker::reinit().

Member Data Documentation

◆ hiddenface

vpMbHiddenFaces<vpMbtPolygon>* vpMbtDistanceKltPoints::hiddenface

Pointer to the list of faces.

Definition at line 104 of file vpMbtDistanceKltPoints.h.

Referenced by getModelForDisplay(), init(), vpMbKltTracker::initFaceFromCorners(), and vpMbKltTracker::initFaceFromLines().

◆ polygon

vpMbtPolygon* vpMbtDistanceKltPoints::polygon

Pointer to the polygon that define a face.

Definition at line 102 of file vpMbtDistanceKltPoints.h.

Referenced by vpMbEdgeKltTracker::computeVVS(), vpMbKltTracker::computeVVSInteractionMatrixAndResidu(), vpMbKltTracker::getFeaturesForDisplayKlt(), getModelForDisplay(), init(), vpMbKltTracker::initFaceFromCorners(), vpMbKltTracker::initFaceFromLines(), vpMbKltTracker::postTracking(), vpMbKltTracker::preTracking(), vpMbKltTracker::reinit(), vpMbKltTracker::setPose(), vpMbKltTracker::setUseKltTracking(), vpMbKltTracker::testTracking(), and updateMask().

◆ useScanLine

bool vpMbtDistanceKltPoints::useScanLine

Use scanline rendering.

Definition at line 106 of file vpMbtDistanceKltPoints.h.

Referenced by getModelForDisplay(), init(), vpMbKltTracker::initFaceFromCorners(), and vpMbKltTracker::initFaceFromLines().

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ vpMbtDistanceKltPoints()

◆ ~vpMbtDistanceKltPoints()

Member Function Documentation

◆ computeHomography()

◆ computeInteractionMatrixAndResidu()

◆ computeNbDetectedCurrent()

◆ display() [1/2]

◆ display() [2/2]

◆ displayPrimitive() [1/2]

◆ displayPrimitive() [2/2]

◆ getCameraParameters()

◆ getCurrentNormal()

◆ getCurrentNumberPoints()

◆ getCurrentPoints()

◆ getCurrentPointsInd()

◆ getFeaturesForDisplay()

◆ getInitialNumberPoint()

◆ getModelForDisplay()

◆ hasEnoughPoints()

◆ init()

◆ isTracked()

◆ removeOutliers()

◆ setCameraParameters()

◆ setTracked()

◆ updateMask()

Member Data Documentation

◆ hiddenface

◆ polygon

◆ useScanLine