ViSP  2.10.0
Public Member Functions | Public Attributes | List of all members
vpMbtDistanceKltPoints Class Reference
ViSP capabilities » Tracking » Tracking in image sequences » Model based tracker

#include <vpMbtDistanceKltPoints.h>

Public Member Functions

 vpMbtDistanceKltPoints ()
 
virtual ~vpMbtDistanceKltPoints ()
 
unsigned int computeNbDetectedCurrent (const vpKltOpencv &_tracker)
 
void computeHomography (const vpHomogeneousMatrix &_cTc0, vpHomography &cHc0)
 
void computeInteractionMatrixAndResidu (vpColVector &_R, vpMatrix &_J)
 
void displayPrimitive (const vpImage< unsigned char > &_I)
 
void displayPrimitive (const vpImage< vpRGBa > &_I)
 
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)
 
void removeOutliers (const vpColVector &weight, const double &threshold_outlier)
 
virtual void setCameraParameters (const vpCameraParameters &_cam)
 
void updateMask (cv::Mat &mask, unsigned char _nb=255, unsigned int _shiftBorder=0)
 
vp_deprecated unsigned int getNbPointsCur () const
 

Public Attributes

vpMbtPolygon * polygon
 

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 69 of file vpMbtDistanceKltPoints.h.

Constructor & Destructor Documentation

vpMbtDistanceKltPoints::vpMbtDistanceKltPoints ( )

Basic constructor.

Definition at line 50 of file vpMbtDistanceKltPoints.cpp.

vpMbtDistanceKltPoints::~vpMbtDistanceKltPoints ( )
virtual

Basic destructor.

Definition at line 64 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 245 of file vpMbtDistanceKltPoints.cpp.

References vpHomogeneousMatrix::extract().

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

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 156 of file vpMbtDistanceKltPoints.cpp.

References vpPixelMeterConversion::convertPoint().

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

unsigned int vpMbtDistanceKltPoints::computeNbDetectedCurrent ( const vpKltOpencv &  _tracker)

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

Definition at line 122 of file vpMbtDistanceKltPoints.cpp.

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

Referenced by vpMbKltTracker::preTracking().

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 455 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().

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

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

Display the primitives tracked for the face.

Parameters
_I: The image where to display.

Definition at line 480 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 129 of file vpMbtDistanceKltPoints.h.

vpColVector vpMbtDistanceKltPoints::getCurrentNormal ( ) const
inline

Definition at line 131 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 155 of file vpMbtDistanceKltPoints.h.

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

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

Definition at line 133 of file vpMbtDistanceKltPoints.h.

Referenced by vpMbKltTracker::setPose().

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

Definition at line 135 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 144 of file vpMbtDistanceKltPoints.h.

Referenced by vpMbKltTracker::postTracking().

vp_deprecated unsigned int vpMbtDistanceKltPoints::getNbPointsCur ( ) const
inline
Deprecated:
Use rather getCurrentNumberPoints() that does the same.

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

Definition at line 191 of file vpMbtDistanceKltPoints.h.

bool vpMbtDistanceKltPoints::hasEnoughPoints ( ) const
inline

Definition at line 157 of file vpMbtDistanceKltPoints.h.

Referenced by vpMbEdgeKltTracker::computeVVS(), vpMbKltTracker::computeVVS(), vpMbEdgeKltTracker::display(), vpMbKltTracker::display(), vpMbKltTracker::postTracking(), vpMbKltTracker::preTracking(), and vpMbKltTracker::setPose().

void vpMbtDistanceKltPoints::init ( const vpKltOpencv &  _tracker)

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.

Definition at line 75 of file vpMbtDistanceKltPoints.cpp.

References vpKltOpencv::getFeature(), vpKltOpencv::getNbFeatures(), vpMbtPolygon::getPoint(), vpMbtPolygon::getRoiClipped(), vpColVector::normalize(), and polygon.

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 414 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 168 of file vpMbtDistanceKltPoints.h.

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

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 317 of file vpMbtDistanceKltPoints.cpp.

References vpMbtPolygon::getMinMaxRoi(), vpMbtPolygon::getRoiClipped(), and polygon.

Referenced by vpMbKltTracker::reinit().

Member Data Documentation

vpMbtPolygon* vpMbtDistanceKltPoints::polygon

Pointer to the polygon that define a face.

Definition at line 105 of file vpMbtDistanceKltPoints.h.

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