vpMbtKltPolygon.h

/****************************************************************************
 *
 * $Id: vpMbtKltPolygon.h 4339 2013-07-23 15:24:42Z 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 polygon, containing points of interest.
 *
 * Authors:
 * Romain Tallonneau
 * Aurelien Yol
 *
 *****************************************************************************/

#ifndef vpMbtKltPolygon_h
#define vpMbtKltPolygon_h

#include <visp/vpConfig.h>

#ifdef VISP_HAVE_OPENCV

#include <visp/vpMbtPolygon.h>
#include <visp/vpKltOpencv.h>
#include <visp/vpPlane.h>
#include <visp/vpDisplay.h>
#include <visp/vpGEMM.h>
#include <visp/vpHomography.h>
#include <visp/vpPlot.h>

class VISP_EXPORT vpMbtKltPolygon: public vpMbtPolygon
{
private:
  vpMatrix H; 
  vpColVector N;
  vpColVector N_cur;
  double invd0;
  vpColVector cRc0_0n;
  std::map<int, vpImagePoint> initPoints;
  std::map<int, vpImagePoint> curPoints;
  std::map<int, int> curPointsInd;
  unsigned int nbPointsCur;
  unsigned int nbPointsInit;
  unsigned int minNbPoint;
  bool enoughPoints;
  double dt;
  double d0;
  vpCameraParameters cam;
  
private:
  
  double              compute_1_over_Z(const double x, const double y);
  void                computeP_mu_t(const double x_in, const double y_in, double& x_out, double& y_out, const vpMatrix& cHc0);
  bool                isTrackedFeature(const int id);
  
public:
                      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);
  
  inline vpCameraParameters& getCameraParameters(){ return cam; }
  
  inline vpColVector  getCurrentNormal() const {return N_cur; }
  
  inline std::map<int, vpImagePoint>& getCurrentPoints() {return curPoints; }
  
  inline std::map<int, int>& getCurrentPointsInd() {return curPointsInd; }
  
  inline unsigned int getInitialNumberPoint() const { return nbPointsInit;}
  
  inline unsigned int getNbPointsCur() const {return nbPointsCur;}
  
  inline  bool        hasEnoughPoints() const {return enoughPoints;}
  
          void        init(const vpKltOpencv& _tracker);
          
          void        removeOutliers(const vpColVector& weight, const double &threshold_outlier);
  
  virtual inline void setCameraParameters(const vpCameraParameters& _cam){ cam = _cam; } 
  
  void                updateMask(IplImage* _mask, unsigned int _nb = 255, unsigned int _shiftBorder = 0);
  
//###################
// Static Functions
//###################
private:
  static bool         isInside(const std::vector<vpImagePoint>& roi, const double i, const double  j);
  static bool         intersect(const vpImagePoint& p1, const vpImagePoint& p2, const double  i, const double  j, const double  i_test, const double  j_test);
};

#endif

#endif // VISP_HAVE_OPENCV