vpMbTracker.h

/****************************************************************************
 *
 * $Id: vpMbTracker.h 4122 2013-02-08 10:45:54Z ayol $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2013 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>
#include <visp/vpMbtPolygon.h>
#include <visp/vpMbHiddenFaces.h>

#ifdef VISP_HAVE_COIN
//Work arround to avoid type redefinition int8_t with Coin
// #if defined(WIN32) && defined(VISP_HAVE_OGRE) && (_MSC_VER >= 1600) // Visual Studio 2010
//   #define HAVE_INT8_T 1
// #endif

//Inventor includes
# include <Inventor/VRMLnodes/SoVRMLGroup.h>
# 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 coinUsed;
  std::string poseSavingFilename;
  bool computeCovariance;
  vpMatrix covarianceMatrix;
  bool displayFeatures;

public:
  vpMbTracker();
  virtual ~vpMbTracker();
  
  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)=0;
  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)=0;

  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;}

  /* PURE VIRTUAL METHODS */

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

  // 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);

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

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

  virtual void resetTracker() = 0;

  void savePose(const std::string &filename);
  
  virtual void setCameraParameters(const vpCameraParameters& cam) {this->cam = cam;}
  
  virtual void setCovarianceComputation(const bool& flag) { computeCovariance = flag; }

  void setDisplayFeatures(const bool displayF) {displayFeatures = displayF;}
  
  virtual void setPose(const vpImage<unsigned char> &I, const vpHomogeneousMatrix& cdMo) = 0;
  
  inline void setPoseSavingFilename(const std::string& filename){
    poseSavingFilename = filename;
  }

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

protected:
  void computeJTR(const vpMatrix& J, const vpColVector& R, vpMatrix& JTR);
  
#ifdef VISP_HAVE_COIN
  virtual void extractGroup(SoVRMLGroup *sceneGraphVRML2, vpHomogeneousMatrix &transform, unsigned int &indexFace);
  virtual void extractFaces(SoVRMLIndexedFaceSet* face_set, vpHomogeneousMatrix &transform, unsigned int &indexFace);
  virtual void extractLines(SoVRMLIndexedLineSet* line_set);
  virtual void extractCylinders(SoVRMLIndexedFaceSet* face_set, vpHomogeneousMatrix &transform);
#endif
  
  vpPoint getGravityCenter(const std::vector<vpPoint>& _pts);
  
  virtual void initCylinder(const vpPoint& p1, const vpPoint p2, const double radius, const unsigned int indexCylinder=0)=0;

  virtual void initFaceFromCorners(const std::vector<vpPoint>& corners, const unsigned int indexFace = -1)=0;
  
  virtual void loadVRMLModel(const std::string& modelFile);
  virtual void loadCAOModel(const std::string& modelFile);
};


#endif