Visual Servoing Platform  version 3.2.0 under development (2018-10-16)
vpMbtDistanceKltPoints Class Reference

#include <visp3/mbt/vpMbtDistanceKltPoints.h>

Public Member Functions

 vpMbtDistanceKltPoints ()
 
virtual ~vpMbtDistanceKltPoints ()
 
unsigned int computeNbDetectedCurrent (const vpKltOpencv &_tracker, const vpImage< bool > *mask=NULL)
 
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, const unsigned int thickness=1, const bool displayFullModel=false)
 
void display (const vpImage< vpRGBa > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, const unsigned int thickness=1, const bool displayFullModel=false)
 
void displayPrimitive (const vpImage< unsigned char > &_I)
 
void displayPrimitive (const vpImage< vpRGBa > &_I)
 
vpCameraParametersgetCameraParameters ()
 
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=NULL)
 
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

vpMbtPolygonpolygon
 
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 67 of file vpMbtDistanceKltPoints.h.

Constructor & Destructor Documentation

vpMbtDistanceKltPoints::vpMbtDistanceKltPoints ( )

Basic constructor.

Definition at line 58 of file vpMbtDistanceKltPoints.cpp.

vpMbtDistanceKltPoints::~vpMbtDistanceKltPoints ( )
virtual

Basic destructor.

Definition at line 70 of file vpMbtDistanceKltPoints.cpp.

Member Function Documentation

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 283 of file vpMbtDistanceKltPoints.cpp.

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

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

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 194 of file vpMbtDistanceKltPoints.cpp.

References vpPixelMeterConversion::convertPoint(), and vpException::divideByZeroError.

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

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

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

Definition at line 153 of file vpMbtDistanceKltPoints.cpp.

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

Referenced by vpMbKltTracker::preTracking().

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

Display the primitives tracked for the face.

Parameters
_I: The image where to display.

Definition at line 569 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().

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.

vpColVector vpMbtDistanceKltPoints::getCurrentNormal ( ) const
inline

Definition at line 159 of file vpMbtDistanceKltPoints.h.

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(), vpMbKltTracker::setPose(), and vpMbKltTracker::testTracking().

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

Definition at line 161 of file vpMbtDistanceKltPoints.h.

Referenced by vpMbKltTracker::setPose().

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

Definition at line 163 of file vpMbtDistanceKltPoints.h.

Referenced by vpMbKltTracker::setPose().

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().

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

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

Definition at line 80 of file vpMbtDistanceKltPoints.cpp.

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

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

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 507 of file vpMbtDistanceKltPoints.cpp.

Referenced by vpMbKltTracker::postTracking().

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().

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().

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: Optionnal value to set to the pixels included in the face.
shiftBorder: Optionnal 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 354 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

vpMbHiddenFaces<vpMbtPolygon>* vpMbtDistanceKltPoints::hiddenface

Pointer to the list of faces.

Definition at line 108 of file vpMbtDistanceKltPoints.h.

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

bool vpMbtDistanceKltPoints::useScanLine

Use scanline rendering.

Definition at line 110 of file vpMbtDistanceKltPoints.h.

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