vpMegaPoseTracker.h

/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Tracker based on MegaPose.
 *
*****************************************************************************/
 
#ifndef _vpMegaPoseTracker_h_
#define _vpMegaPoseTracker_h_
 
#include <visp3/core/vpConfig.h>
#if defined(VISP_HAVE_NLOHMANN_JSON) && defined(VISP_HAVE_THREADS)
 
#include <future>
#include <memory>
#include <visp3/dnn_tracker/vpMegaPose.h>
 
class VISP_EXPORT vpMegaPoseTracker
{
public:
  vpMegaPoseTracker(std::shared_ptr<vpMegaPose> megapose, const std::string &objectLabel, const int refinerIterations) :
    m_megapose(megapose), m_objectLabel(objectLabel), m_refinerIterations(refinerIterations), m_initialized(false)
  { }
  std::future<vpMegaPoseEstimate> init(const vpImage<vpRGBa> &I, const vpRect & bb);
  std::future<vpMegaPoseEstimate> init(const vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cTo);
 
 
  std::future<vpMegaPoseEstimate> track(const vpImage<vpRGBa> &I);
 
  void updatePose(const vpHomogeneousMatrix& cTo);
 
private:
  std::shared_ptr<vpMegaPose> m_megapose;
  vpMegaPoseEstimate m_poseEstimate;
  std::string m_objectLabel;
  int m_refinerIterations;
  bool m_initialized;
};
 
#endif // VISP_HAVE_NLOHMANN_JSON
 
#endif