#include <vpMbtKltPolygon.h>

Inheritance diagram for vpMbtKltPolygon:

Public Types
enum	vpMbtPolygonClippingType { NO_CLIPPING = 0, NEAR_CLIPPING = 1, FAR_CLIPPING = 2, LEFT_CLIPPING = 4, RIGHT_CLIPPING = 8, UP_CLIPPING = 16, DOWN_CLIPPING = 32, FOV_CLIPPING = 60, ALL_CLIPPING = 63 }

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 ()

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 char _nb=255, unsigned int _shiftBorder=0)

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

void	changeFrame (const vpHomogeneousMatrix &cMo)

void	computeRoiClipped (const vpCameraParameters &cam=vpCameraParameters())

unsigned int	getClipping () const

double	getFarClippingDistance () const

int	getIndex () const

unsigned int	getNbPoint () const

unsigned int	getNbCornerInsidePrevImage () const

unsigned int	getNbCornerInsideImage (const vpImage< unsigned char > &I, const vpCameraParameters &cam)

double	getNearClippingDistance () const

vpPoint &	getPoint (const unsigned int _index)

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

std::vector< vpImagePoint >	getRoi (const vpCameraParameters &cam, const vpHomogeneousMatrix &cMo)

void	getRoiClipped (const vpCameraParameters &cam, std::vector< vpImagePoint > &roi)

void	getRoiClipped (const vpCameraParameters &cam, std::vector< vpImagePoint > &roi, const vpHomogeneousMatrix &cMo)

void	getRoiClipped (const vpCameraParameters &cam, std::vector< std::pair< vpImagePoint, unsigned int > > &roi)

void	getRoiClipped (const vpCameraParameters &cam, std::vector< std::pair< vpImagePoint, unsigned int > > &roi, const vpHomogeneousMatrix &cMo)

bool	isAppearing () const

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

bool	isVisible () const

void	setClipping (const unsigned int &flags)

void	setFarClippingDistance (const double &dist)

virtual void	setIndex (const int i)

virtual void	setNbPoint (const unsigned int nb)

void	setNearClippingDistance (const double &dist)

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

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

unsigned int	nbCornersInsidePrev

bool	isvisible

bool	isappearing

vpPoint *	p

std::vector< std::pair< vpPoint, unsigned int > >	roiPointsClip

unsigned int	clippingFlag

double	distNearClip

double	distFarClip

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 66 of file vpMbtKltPolygon.h.

Member Enumeration Documentation

enum vpMbtPolygon::vpMbtPolygonClippingType

inherited

Enumerator
NO_CLIPPING
NEAR_CLIPPING
FAR_CLIPPING
LEFT_CLIPPING
RIGHT_CLIPPING
UP_CLIPPING
DOWN_CLIPPING
FOV_CLIPPING
ALL_CLIPPING

Definition at line 70 of file vpMbtPolygon.h.

Constructor & Destructor Documentation

vpMbtKltPolygon::vpMbtKltPolygon ( )

Basic constructor.

Definition at line 51 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 141 of file vpMbtPolygon.cpp.

References vpMbtPolygon::p.

Referenced by vpMbtDistanceLine::buildFrom(), 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 153 of file vpMbtPolygon.cpp.

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

Referenced by vpMbtPolygon::getRoi(), vpMbtPolygon::getRoiClipped(), and 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 244 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 155 of file vpMbtKltPolygon.cpp.

References vpPixelMeterConversion::convertPoint().

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 121 of file vpMbtKltPolygon.cpp.

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

void vpMbtPolygon::computeRoiClipped ( const vpCameraParameters & cam = vpCameraParameters() )

inherited

Compute the region of interest in the image according to the used clipping.

Parameters

cam	: camera parameters used to compute the field of view.

Definition at line 252 of file vpMbtPolygon.cpp.

References vpMbtPolygon::clippingFlag, vpCameraParameters::getFovNormals(), vpCameraParameters::isFovComputed(), vpMbtPolygon::nbpt, vpMbtPolygon::NO_CLIPPING, vpMbtPolygon::p, vpPoint::projection(), and vpMbtPolygon::roiPointsClip.

Referenced by vpMbtDistanceLine::display(), vpMbtPolygon::getRoiClipped(), vpMbtDistanceLine::initMovingEdge(), updateMask(), and vpMbtDistanceLine::updateMovingEdge().

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 421 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 446 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 122 of file vpMbtKltPolygon.h.

unsigned int vpMbtPolygon::getClipping ( ) const

inlineinherited

Get the clipping used.

See also: vpMbtPolygonClipping

Returns: Clipping flags.

Definition at line 135 of file vpMbtPolygon.h.

Referenced by vpMbtDistanceLine::display(), vpMbtDistanceLine::initMovingEdge(), and vpMbtDistanceLine::updateMovingEdge().

vpColVector vpMbtKltPolygon::getCurrentNormal ( ) const

inline

Definition at line 124 of file vpMbtKltPolygon.h.

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

inline

Definition at line 126 of file vpMbtKltPolygon.h.

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

inline

Definition at line 128 of file vpMbtKltPolygon.h.

double vpMbtPolygon::getFarClippingDistance ( ) const

inlineinherited

Get the far distance for clipping.

Returns: Far clipping value.

Definition at line 142 of file vpMbtPolygon.h.

int vpMbtPolygon::getIndex ( ) const

inlineinherited

Get the index of the face.

Returns: index : the index of the face.

Definition at line 149 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 135 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 594 of file vpMbtPolygon.cpp.

Referenced by updateMask().

unsigned int vpMbtPolygon::getNbCornerInsideImage	(	const vpImage< unsigned char > &	I,
		const vpCameraParameters &	cam
	)

inherited

Static method to check the number of points of a region defined by the vector of image point that are inside the image.

Parameters

I	: The image used for its size.
cam	: The camera parameters.

Definition at line 572 of file vpMbtPolygon.cpp.

References vpMeterPixelConversion::convertPoint(), vpImagePoint::get_i(), vpImagePoint::get_j(), vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpMbtPolygon::nbCornersInsidePrev, vpMbtPolygon::nbpt, and vpMbtPolygon::p.

unsigned int vpMbtPolygon::getNbCornerInsidePrevImage ( ) const

inlineinherited

Return the number of corners at the previous computation.

Returns: number of corner of the face at the previous computation

Definition at line 163 of file vpMbtPolygon.h.

unsigned int vpMbtPolygon::getNbPoint ( ) const

inlineinherited

Return the number of corners.

Returns: number of corner of the face

Definition at line 156 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 145 of file vpMbtKltPolygon.h.

double vpMbtPolygon::getNearClippingDistance ( ) const

inlineinherited

Get the near distance for clipping.

Returns: Near clipping value.

Definition at line 172 of file vpMbtPolygon.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 112 of file vpMbtPolygon.cpp.

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

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

inherited

Get the region of interest in the image.

Warning: Suppose that changeFrame() has already been called.

Parameters

cam	: camera parameters.

Returns: Image point corresponding to the region of interest.

Definition at line 470 of file vpMbtPolygon.cpp.

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

Referenced by vpMbtPolygon::getRoi().

std::vector< vpImagePoint > vpMbtPolygon::getRoi	(	const vpCameraParameters &	cam,
		const vpHomogeneousMatrix &	cMo
	)

inherited

Get the region of interest in the image.

Parameters

cam	: camera parameters.
cMo	: pose.

Returns: Image point corresponding to the region of interest.

Definition at line 491 of file vpMbtPolygon.cpp.

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

void vpMbtPolygon::getRoiClipped	(	const vpCameraParameters &	cam,
		std::vector< vpImagePoint > &	roi
	)

inherited

Get the region of interest clipped in the image.

Warning: Suppose that changeFrame() and computeRoiClipped() have already been called.

Parameters

cam	: camera parameters.
roi	: image point corresponding to the region of interest.

Definition at line 506 of file vpMbtPolygon.cpp.

References vpMeterPixelConversion::convertPoint(), and vpMbtPolygon::roiPointsClip.

Referenced by vpMbtPolygon::getRoiClipped(), init(), and updateMask().

void vpMbtPolygon::getRoiClipped	(	const vpCameraParameters &	cam,
		std::vector< vpImagePoint > &	roi,
		const vpHomogeneousMatrix &	cMo
	)

inherited

Get the region of interest clipped in the image.

Parameters

cam	: camera parameters.
cMo	: pose.
roi	: image point corresponding to the region of interest.

Definition at line 523 of file vpMbtPolygon.cpp.

References vpMbtPolygon::changeFrame(), vpMbtPolygon::computeRoiClipped(), and vpMbtPolygon::getRoiClipped().

void vpMbtPolygon::getRoiClipped	(	const vpCameraParameters &	cam,
		std::vector< std::pair< vpImagePoint, unsigned int > > &	roi
	)

inherited

Get the region of interest clipped in the image and the information to know if it's a clipped point.

Warning: Suppose that changeFrame() and computeRoiClipped() have already been called.

Parameters

cam	: camera parameters.
roi	: image point corresponding to the region of interest with clipping information.

Definition at line 539 of file vpMbtPolygon.cpp.

References vpMeterPixelConversion::convertPoint(), and vpMbtPolygon::roiPointsClip.

void vpMbtPolygon::getRoiClipped	(	const vpCameraParameters &	cam,
		std::vector< std::pair< vpImagePoint, unsigned int > > &	roi,
		const vpHomogeneousMatrix &	cMo
	)

inherited

Get the region of interest clipped in the image and the information to know if it's a clipped point.

Parameters

cam	: camera parameters.
roi	: image point corresponding to the region of interest with clipping information.
cMo	: pose.

Definition at line 556 of file vpMbtPolygon.cpp.

References vpMbtPolygon::changeFrame(), vpMbtPolygon::computeRoiClipped(), and vpMbtPolygon::getRoiClipped().

bool vpMbtKltPolygon::hasEnoughPoints ( ) const

inline

Definition at line 147 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::getRoiClipped(), vpColVector::normalize(), and vpMbtPolygon::p.

bool vpMbtPolygon::isAppearing ( ) const

inlineinherited

Definition at line 188 of file vpMbtPolygon.h.

bool vpMbtPolygon::isVisible	(	const vpHomogeneousMatrix &	cMo,
		const double	alpha,
		const bool &	modulo = `false`
	)

virtualinherited

Check if the polygon is visible in the image and if the angle between the normal to the face and the line vector going from the optical center to the cog of the face 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).
modulo	: Indicates if the test should also consider faces that are not oriented counter clockwise. If true, the orientation of the face is without importance.

Returns: Return true if the polygon is visible.

Definition at line 176 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, vpMath::rad(), vpPoint::set_X(), vpPoint::set_Y(), and vpPoint::set_Z().

bool vpMbtPolygon::isVisible ( ) const

inlineinherited

Definition at line 190 of file vpMbtPolygon.h.

Referenced by vpMbtPolygon::isVisible().

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

inherited

Deprecated:: This method is deprecated since it is no more used since ViSP 2.7.2.

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 663 of file vpMbtPolygon.cpp.

References vpMbtPolygon::changeFrame(), vpMbtPolygon::isappearing, vpMbtPolygon::isvisible, vpMbtPolygon::isVisible(), vpMbtPolygon::nbpt, vpMbtPolygon::p, and vpMath::rad().

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 380 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 635 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 158 of file vpMbtKltPolygon.h.

void vpMbtPolygon::setClipping ( const unsigned int & flags )

inlineinherited

Specify which clipping to use.

See also: vpMbtPolygonClipping

Parameters

flags : New clipping flags.

Definition at line 201 of file vpMbtPolygon.h.

Referenced by vpMbEdgeTracker::addLine(), and vpMbEdgeTracker::setClipping().

void vpMbtPolygon::setFarClippingDistance ( const double & dist )

inlineinherited

Set the far distance for clipping.

Parameters

dist	: Far clipping value.

Definition at line 208 of file vpMbtPolygon.h.

References vpMbtPolygon::FAR_CLIPPING.

Referenced by vpMbEdgeTracker::addLine(), and vpMbEdgeTracker::setFarClippingDistance().

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 215 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 126 of file vpMbtPolygon.cpp.

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

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

void vpMbtPolygon::setNearClippingDistance ( const double & dist )

inlineinherited

Set the near distance for clipping.

Parameters

dist	: Near clipping value.

Definition at line 223 of file vpMbtPolygon.h.

References vpMbtPolygon::NEAR_CLIPPING.

Referenced by vpMbEdgeTracker::addLine(), and vpMbEdgeTracker::setNearClippingDistance().

void vpMbtKltPolygon::updateMask	(	IplImage *	_mask,
		unsigned char	_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 316 of file vpMbtKltPolygon.cpp.

References vpCameraParameters::computeFov(), vpMbtPolygon::computeRoiClipped(), vpMbtPolygon::getMinMaxRoi(), and vpMbtPolygon::getRoiClipped().