#include <vpMbtKltPolygon.h>

Inheritance diagram for vpMbtKltPolygon:

Public Member Functions
	vpMbtKltPolygon ()

virtual	~vpMbtKltPolygon ()

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 ()

vpImagePoint &	getImagePoint (const unsigned int _index)

unsigned int	getInitialNumberPoint () const

unsigned int	getNbPointsCur () 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 (IplImage *_mask, unsigned int _nb=255, unsigned int _shiftBorder=0)

void	addPoint (const unsigned int n, const vpPoint &P)

void	changeFrame (const vpHomogeneousMatrix &cMo)

int	getIndex () const

unsigned int	getNbPoint () const

vpPoint &	getPoint (const unsigned int _index)

std::vector< vpImagePoint >	getRoi (const vpCameraParameters &_cam)

bool	isAppearing () const

bool	isVisible (const vpHomogeneousMatrix &cMo, const bool &depthTest=false)

virtual bool	isVisible (const vpHomogeneousMatrix &cMo, const double alpha)

bool	isVisible () const

virtual void	setIndex (const int i)

virtual void	setNbPoint (const unsigned int nb)

Static Public Member Functions
static void	getMinMaxRoi (const std::vector< vpImagePoint > &roi, int &i_min, int &i_max, int &j_min, int &j_max)

static bool	roiInsideImage (const vpImage< unsigned char > &I, const std::vector< vpImagePoint > &corners)

Public Attributes
int	index

unsigned int	nbpt

bool	isvisible

bool	isappearing

vpPoint *	p

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 vpMbtKltPolygon.h.

Constructor & Destructor Documentation

vpMbtKltPolygon::vpMbtKltPolygon ( )

Basic constructor.

Definition at line 48 of file vpMbtKltPolygon.cpp.

References vpMbtPolygon::isvisible.

vpMbtKltPolygon::~vpMbtKltPolygon ( )

virtual

Basic destructor.

Definition at line 66 of file vpMbtKltPolygon.cpp.

Member Function Documentation

void vpMbtPolygon::addPoint	(	const unsigned int	n,
		const vpPoint &	P
	)

inherited

Add a corner point to the list of polygon's corners.

Parameters

n	: The index of the corner.
P	: The point to add.

Definition at line 115 of file vpMbtPolygon.cpp.

References vpMbtPolygon::p.

Referenced by vpMbKltTracker::initFaceFromCorners(), and vpMbEdgeTracker::initFaceFromCorners().

void vpMbtPolygon::changeFrame ( const vpHomogeneousMatrix & cMo )

inherited

Project the 3D corner points into the image thanks to the pose of the camera.

Parameters

cMo	: The pose of the camera.

Definition at line 127 of file vpMbtPolygon.cpp.

References vpPoint::changeFrame(), vpMbtPolygon::nbpt, vpMbtPolygon::p, and vpPoint::projection().

Referenced by vpMbtPolygon::isVisible().

void vpMbtKltPolygon::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 242 of file vpMbtKltPolygon.cpp.

References vpHomogeneousMatrix::extract().

void vpMbtKltPolygon::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 153 of file vpMbtKltPolygon.cpp.

References vpPixelMeterConversion::convertPoint(), and vpMbtPolygon::index.

unsigned int vpMbtKltPolygon::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 119 of file vpMbtKltPolygon.cpp.

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

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

Display the primitives tracked for the face.

Parameters

_I	: The image where to display.

Definition at line 412 of file vpMbtKltPolygon.cpp.

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

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

Display the primitives tracked for the face.

Parameters

_I	: The image where to display.

Definition at line 437 of file vpMbtKltPolygon.cpp.

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

vpCameraParameters& vpMbtKltPolygon::getCameraParameters ( )

inline

Get the camera parameters of the face.

Returns: cam : the camera parameters of the face.

Definition at line 119 of file vpMbtKltPolygon.h.

vpColVector vpMbtKltPolygon::getCurrentNormal ( ) const

inline

Definition at line 121 of file vpMbtKltPolygon.h.

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

inline

Definition at line 123 of file vpMbtKltPolygon.h.

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

inline

Definition at line 125 of file vpMbtKltPolygon.h.

vpImagePoint& vpMbtKltPolygon::getImagePoint ( const unsigned int _index )

int vpMbtPolygon::getIndex ( ) const

inlineinherited

Get the index of the face.

Returns: index : the index of the face.

Definition at line 94 of file vpMbtPolygon.h.

unsigned int vpMbtKltPolygon::getInitialNumberPoint ( ) const

inline

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

Returns: the number of initial point

Definition at line 133 of file vpMbtKltPolygon.h.

void vpMbtPolygon::getMinMaxRoi	(	const std::vector< vpImagePoint > &	roi,
		int &	i_min,
		int &	i_max,
		int &	j_min,
		int &	j_max
	)

staticinherited

Definition at line 285 of file vpMbtPolygon.cpp.

Referenced by updateMask().

unsigned int vpMbtPolygon::getNbPoint ( ) const

inlineinherited

Return the number of corners.

Returns: number of corner of the face

Definition at line 101 of file vpMbtPolygon.h.

Referenced by vpMbEdgeTracker::addPolygon().

unsigned int vpMbtKltPolygon::getNbPointsCur ( ) 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

Definition at line 143 of file vpMbtKltPolygon.h.

vpPoint & vpMbtPolygon::getPoint ( const unsigned int _index )

inherited

Get a reference to a corner.

Exceptions

vpException::dimensionError if the _index is out of range.

Parameters

_index : the index of the corner

Definition at line 86 of file vpMbtPolygon.cpp.

References vpException::dimensionError, vpMbtPolygon::nbpt, and vpMbtPolygon::p.

std::vector< vpImagePoint > vpMbtPolygon::getRoi ( const vpCameraParameters & _cam )

inherited

Definition at line 269 of file vpMbtPolygon.cpp.

References vpMeterPixelConversion::convertPoint(), vpMbtPolygon::nbpt, and vpMbtPolygon::p.

Referenced by init(), and updateMask().

bool vpMbtKltPolygon::hasEnoughPoints ( ) const

inline

Definition at line 145 of file vpMbtKltPolygon.h.

void vpMbtKltPolygon::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 77 of file vpMbtKltPolygon.cpp.

References vpPlane::getD(), vpKltOpencv::getFeature(), vpKltOpencv::getNbFeatures(), vpPlane::getNormal(), vpMbtPolygon::getRoi(), vpColVector::normalize(), and vpMbtPolygon::p.

bool vpMbtPolygon::isAppearing ( ) const

inlineinherited

Definition at line 107 of file vpMbtPolygon.h.

bool vpMbtPolygon::isVisible	(	const vpHomogeneousMatrix &	cMo,
		const bool &	depthTest = `false`
	)

inherited

Check if the polygon is visible in the image. To do that, the polygon is projected into the image thanks to the camera pose.

Parameters

cMo	: The pose of the camera.
depthTest	: True if a face has to be entirely visible (in front of the camera). False if it can be partially visible.

Returns: Return true if the polygon is visible.

Definition at line 145 of file vpMbtPolygon.cpp.

References vpMbtPolygon::changeFrame(), vpColVector::crossProd(), vpPoint::get_X(), vpPoint::get_Y(), vpPoint::get_Z(), vpMbtPolygon::isappearing, vpMbtPolygon::isvisible, vpMbtPolygon::nbpt, and vpMbtPolygon::p.

bool vpMbtPolygon::isVisible	(	const vpHomogeneousMatrix &	cMo,
		const double	alpha
	)

virtualinherited

Check if the polygon is visible in the image and if the angle between the normal to the face and the normal to the camera plane is below the given threshold. To do that, the polygon is projected into the image thanks to the camera pose.

Parameters

cMo	: The pose of the camera.
alpha	: maximum angle to detect if the face is visible (in rad)

Returns: Return true if the polygon is visible.

Definition at line 212 of file vpMbtPolygon.cpp.

References vpMbtPolygon::changeFrame(), vpColVector::crossProd(), vpColVector::dotProd(), vpPoint::get_X(), vpPoint::get_Y(), vpPoint::get_Z(), vpMbtPolygon::isappearing, vpMbtPolygon::isvisible, vpMbtPolygon::nbpt, vpColVector::normalize(), vpMbtPolygon::p, vpPoint::set_X(), vpPoint::set_Y(), and vpPoint::set_Z().

bool vpMbtPolygon::isVisible ( ) const

inlineinherited

Definition at line 110 of file vpMbtPolygon.h.

void vpMbtKltPolygon::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 371 of file vpMbtKltPolygon.cpp.

bool vpMbtPolygon::roiInsideImage	(	const vpImage< unsigned char > &	I,
		const std::vector< vpImagePoint > &	corners
	)

staticinherited

Static method to check whether the region defined by the vector of image point is contained entirely in the image.

Parameters

I	: The image used for its size.
corners	: The vector of points defining a region

Definition at line 326 of file vpMbtPolygon.cpp.

References vpImage< Type >::getHeight(), and vpImage< Type >::getWidth().

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

inlinevirtual

Set the camera parameters

Parameters

_cam	: the new camera parameters

Definition at line 156 of file vpMbtKltPolygon.h.

virtual void vpMbtPolygon::setIndex ( const int i )

inlinevirtualinherited

Set the index of the face.

Parameters

i	: the new index of the face.

Definition at line 117 of file vpMbtPolygon.h.

Referenced by vpMbEdgeTracker::addPolygon(), vpMbKltTracker::initFaceFromCorners(), and vpMbEdgeTracker::initFaceFromCorners().

void vpMbtPolygon::setNbPoint ( const unsigned int nb )

virtualinherited

Set the number of points which are the corners of the polygon.

Parameters

nb	: The number of corners.

Definition at line 100 of file vpMbtPolygon.cpp.

References vpMbtPolygon::nbpt, and vpMbtPolygon::p.

Referenced by vpMbKltTracker::initFaceFromCorners(), and vpMbEdgeTracker::initFaceFromCorners().

void vpMbtKltPolygon::updateMask	(	IplImage *	_mask,
		unsigned int	_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 312 of file vpMbtKltPolygon.cpp.

References vpMbtPolygon::getMinMaxRoi(), and vpMbtPolygon::getRoi().