vpMbEdgeKltTracker.h

/****************************************************************************
 *
 * $Id: vpMbEdgeKltTracker.h 4119 2013-02-08 10:30:53Z fspindle $
 *
 * Copyright (C) 2005 - 2013 Inria. All rights reserved.
 *
 * This software was developed at:
 * IRISA/INRIA Rennes
 * Projet Lagadic
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * http://www.irisa.fr/lagadic
 *
 * This file is part of the ViSP toolkit
 *
 * This file may be distributed under the terms of the Q Public License
 * as defined by Trolltech AS of Norway and appearing in the file
 * LICENSE included in the packaging of this file.
 *
 * Licensees holding valid ViSP Professional Edition licenses may
 * use this file in accordance with the ViSP Commercial License
 * Agreement provided with the Software.
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Contact visp@irisa.fr if any conditions of this licensing are
 * not clear to you.
 *
 * Description:
 * Hybrid tracker based on edges (vpMbt) and points of interests (KLT)
 *
 * Authors:
 * Romain Tallonneau
 * Aurelien Yol
 *
 *****************************************************************************/

#ifndef vpMbEdgeKltTracker_HH
#define vpMbEdgeKltTracker_HH

#include <visp/vpConfig.h>

#ifdef VISP_HAVE_OPENCV

#include <visp/vpRobust.h>
#include <visp/vpSubMatrix.h>
#include <visp/vpSubColVector.h>
#include <visp/vpExponentialMap.h>
#include <visp/vpMbtXmlParser.h>
#include <visp/vpMbTracker.h>
#include <visp/vpKltOpencv.h>
#include <visp/vpMbEdgeTracker.h>
#include <visp/vpPoseVector.h>
#include <visp/vpMbKltTracker.h>

class VISP_EXPORT vpMbEdgeKltTracker: public vpMbKltTracker, public vpMbEdgeTracker
{
protected:
  bool compute_interaction;
  double lambda;
  double thresholdKLT;
  double thresholdMBT;
  unsigned int  maxIter;

public:
  
  vpMbEdgeKltTracker();
  virtual         ~vpMbEdgeKltTracker();

  virtual 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);
  virtual void    display(const vpImage<vpRGBa>& I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
                          const vpColor& col , const unsigned int thickness=1, const bool displayFullModel = false);
  
  virtual inline  double  getAngleAppear() { return vpMbKltTracker::getAngleAppear(); }   
  
  virtual inline  double  getAngleDisappear() { return vpMbKltTracker::getAngleDisappear(); } 
  
  vpMbHiddenFaces<vpMbtKltPolygon> & getFaces() { return vpMbKltTracker::faces;}

  inline  double  getLambda() {return lambda;}

  inline  unsigned int getMaxIter() {return maxIter;}

          void    loadConfigFile(const char* configFile);
  virtual void    loadConfigFile(const std::string& configFile);
  virtual void    loadModel(const std::string& modelFile);
  
          void    resetTracker();
          
  virtual inline  void setAngleAppear(const double &a) { vpMbKltTracker::setAngleAppear(a); }
  
  virtual inline  void setAngleDisappear(const double &a) { vpMbKltTracker::setAngleDisappear(a); }

  virtual void    setCameraParameters(const vpCameraParameters& cam);

  inline  void    setLambda(const double lambda) {this->lambda = lambda; vpMbEdgeTracker::setLambda(lambda); vpMbKltTracker::setLambda(lambda);}

  inline  void    setMaxIter(const unsigned int max) {maxIter = max;}
          
  virtual inline  void    setOgreVisibilityTest(const bool &v) { vpMbKltTracker::setOgreVisibilityTest(v); }
  
  virtual void    setPose(const vpImage<unsigned char> &I, const vpHomogeneousMatrix& cdMo);

  virtual void    testTracking(){};
  virtual void    track(const vpImage<unsigned char>& I);

protected:
          void    computeVVS(const vpImage<unsigned char>& I, const unsigned int &nbInfos, vpColVector &w_mbt,
                             vpColVector &w_klt, const unsigned int lvl=0);

  virtual void    init(const vpImage<unsigned char>& I);
  virtual void    initCylinder(const vpPoint& , const vpPoint , const double , const unsigned int );
  virtual void    initFaceFromCorners(const std::vector<vpPoint>& corners, const unsigned int indexFace = -1);
  unsigned int    initMbtTracking(const unsigned int level=0);

          bool    postTracking(const vpImage<unsigned char>& I, vpColVector &w_mbt, vpColVector &w_klt,
                               const unsigned int lvl=0);
          void    postTrackingMbt(vpColVector &w, const unsigned int level=0);

  unsigned int    trackFirstLoop(const vpImage<unsigned char>& I, vpColVector &factor, const unsigned int lvl = 0);
          void    trackSecondLoop(const vpImage<unsigned char>& I, vpMatrix &L, vpColVector &_error,
                                  vpHomogeneousMatrix& cMo, const unsigned int lvl=0);
};

#endif

#endif //VISP_HAVE_OPENCV