vpMbTracker.h

/****************************************************************************
 *
 * $Id: vpMbTracker.h 3837 2012-07-05 09:38:56Z ayol $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2012 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
 * ("GPL") version 2 as published by the Free Software Foundation.
 * 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 http://www.irisa.fr/lagadic/visp/visp.html for more information.
 * 
 * This software was developed at:
 * INRIA Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 * http://www.irisa.fr/lagadic
 *
 * 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:
 * Generic model based tracker. This class declares the methods to implement in 
 * order to have a model based tracker. 
 *
 * Authors:
 * Romain Tallonneau
 * Aurélien Yol
 *
 *****************************************************************************/

#ifndef vpMbTracker_hh
#define vpMbTracker_hh

#include <visp/vpHomogeneousMatrix.h>
#include <visp/vpImage.h>
#include <visp/vpImagePoint.h>
#include <visp/vpColVector.h>
#include <visp/vpMatrix.h>
#include <visp/vpRGBa.h>
#include <visp/vpCameraParameters.h>
#include <visp/vpPoint.h>

#ifdef VISP_HAVE_COIN
//Inventor includes
# include <Inventor/VRMLnodes/SoVRMLIndexedFaceSet.h>
# include <Inventor/VRMLnodes/SoVRMLIndexedLineSet.h>
#endif

#include <vector>
#include <string>

class VISP_EXPORT vpMbTracker
{
protected:
  vpCameraParameters cam;
  vpHomogeneousMatrix cMo;
  std::string modelFileName;
  bool modelInitialised;
  bool cameraInitialised;    
  bool coinUsed;
  std::string poseSavingFilename;
  bool computeCovariance;
  vpMatrix covarianceMatrix;

public:
  vpMbTracker();
  virtual ~vpMbTracker();
    
    // Intializer
    
  virtual void initClick( const vpImage<unsigned char>& _I, const std::string& _initFile, const bool _displayHelp = false );
    virtual void initClick( const vpImage<unsigned char>& _I, const std::vector<vpPoint> &points3D_list, const std::string &displayFile = "" );
    
    virtual void initFromPoints( const vpImage<unsigned char>& _I, const std::string& _initFile );
    virtual void initFromPoints( const vpImage<unsigned char>& _I, const std::vector<vpImagePoint> &points2D_list, const std::vector<vpPoint> &points3D_list );
    
    virtual void initFromPose(const vpImage<unsigned char>& _I, const std::string &_initFile);
    virtual void initFromPose(const vpImage<unsigned char>& _I, const vpHomogeneousMatrix &_cMo);
  virtual void initFromPose(const vpImage<unsigned char>& _I, const vpPoseVector &cPo);
    
  /* PURE VIRTUAL METHODS */

  virtual void init(const vpImage<unsigned char>& _I)=0;

  virtual void testTracking() = 0;

  virtual void loadConfigFile(const std::string& _configFile)=0;

  virtual void track(const vpImage<unsigned char>& _I)=0;

  /* GENERIC METHODS */

  virtual void loadModel(const std::string& _modelFile);

  virtual void display(const vpImage<unsigned char>& _I, const vpHomogeneousMatrix &_cMo, const vpCameraParameters &_cam, const vpColor& _col , const unsigned int _l=1, const bool displayFullModel = false)=0;

  /*  ACCESSORS */

  virtual void setCameraParameters(const vpCameraParameters& _cam) {this->cam = _cam; cameraInitialised = true;}
  
  virtual void setCovarianceComputation(const bool& flag) { computeCovariance = flag; }

  virtual void getCameraParameters(vpCameraParameters& _cam) const { _cam = this->cam;}
  
  virtual vpMatrix getCovarianceMatrix() const { 
    if(!computeCovariance)
      vpTRACE("Warning : The covariance matrix has not been computed. See setCovarianceComputation() to do it.");
    
    return covarianceMatrix; 
  }

  inline void getPose(vpHomogeneousMatrix& _cMo) const {_cMo = this->cMo;}
  
  inline vpHomogeneousMatrix getPose() const {return this->cMo;}
  
  inline void setPoseSavingFilename(const std::string& filename){
    poseSavingFilename = filename;
  }
  
  void savePose(const std::string &filename);

protected:
  virtual void loadVRMLModel(const std::string& _modelFile);
  virtual void loadCAOModel(const std::string& _modelFile);

  void computeJTR(const vpMatrix& _J, const vpColVector& _R, vpMatrix& _JTR);
 
#ifdef VISP_HAVE_COIN
  virtual void extractFaces(SoVRMLIndexedFaceSet* _face_set);
  virtual void extractLines(SoVRMLIndexedLineSet* _line_set);
  virtual void extractCylinders(SoVRMLIndexedFaceSet* _face_set);
#endif
  vpPoint getGravityCenter(const std::vector<vpPoint>& _pts);

  virtual void initFaceFromCorners(const std::vector<vpPoint>& _corners, const unsigned int _indexFace = -1)=0;

  virtual void initCylinder(const vpPoint& _p1, const vpPoint _p2, const double _radius, const unsigned int _indexCylinder=0)=0;
  
#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS

  /* vp_deprecated */ virtual void init(const vpImage<unsigned char>& _I, const vpHomogeneousMatrix& _c0Mo)=0;
#endif
};


#endif