vpMbEdgeKltTracker.h

/****************************************************************************
 *
 * $Id: vpMbEdgeKltTracker.h 4649 2014-02-07 14:57:11Z fspindle $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2014 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:
 * 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/vpMbTracker.h>
#include <visp/vpKltOpencv.h>
#include <visp/vpMbEdgeTracker.h>
#include <visp/vpPoseVector.h>
#include <visp/vpMbtEdgeKltXmlParser.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() const { return vpMbKltTracker::getAngleAppear(); }   
  
  virtual inline  double  getAngleDisappear() const { return vpMbKltTracker::getAngleDisappear(); } 
  
  virtual inline  unsigned int getClipping() const { return vpMbKltTracker::clippingFlag; } 
  
  inline  vpMbHiddenFaces<vpMbtKltPolygon>& getFaces() { return vpMbKltTracker::faces;}

  virtual inline  double  getFarClippingDistance() const { return vpMbKltTracker::getFarClippingDistance(); }

  virtual inline  double  getLambda() const {return lambda;}

  virtual inline  unsigned int getMaxIter() const {return maxIter;}
  
  virtual inline  double  getNearClippingDistance() const { return vpMbKltTracker::getNearClippingDistance(); }

          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); vpMbEdgeTracker::setAngleAppear(a);}
  
  virtual inline  void setAngleDisappear(const double &a) { vpMbKltTracker::setAngleDisappear(a); vpMbEdgeTracker::setAngleDisappear(a);}

  virtual void    setCameraParameters(const vpCameraParameters& cam);
  
  virtual void    setClipping(const unsigned int &flags) {vpMbEdgeTracker::setClipping(flags); vpMbKltTracker::setClipping(flags);}

  virtual void   setFarClippingDistance(const double &dist) { vpMbEdgeTracker::setFarClippingDistance(dist); vpMbKltTracker::setFarClippingDistance(dist); }

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

  virtual inline  void setMaxIter(const unsigned int max) {maxIter = max;}
  
  virtual void   setNearClippingDistance(const double &dist) { vpMbEdgeTracker::setNearClippingDistance(dist); vpMbKltTracker::setNearClippingDistance(dist); }
          
  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