vpMbKltTracker.h

/****************************************************************************
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2015 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://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * 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:
 * Model based tracker using only KLT
 *
 * Authors:
 * Romain Tallonneau
 * Aurelien Yol
 *
 *****************************************************************************/
#ifndef vpMbKltTracker_h
#define vpMbKltTracker_h

#include <visp3/core/vpConfig.h>

#if defined(VISP_HAVE_MODULE_KLT) && (defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020100))

#include <visp3/mbt/vpMbTracker.h>
#include <visp3/klt/vpKltOpencv.h>
#include <visp3/core/vpMeterPixelConversion.h>
#include <visp3/core/vpPixelMeterConversion.h>
#include <visp3/mbt/vpMbtKltXmlParser.h>
#include <visp3/vision/vpHomography.h>
#include <visp3/core/vpRobust.h>
#include <visp3/core/vpSubColVector.h>
#include <visp3/core/vpSubMatrix.h>
#include <visp3/core/vpExponentialMap.h>
#include <visp3/mbt/vpMbtDistanceKltPoints.h>
#include <visp3/mbt/vpMbtDistanceCircle.h>
#include <visp3/mbt/vpMbtDistanceKltCylinder.h>

class VISP_EXPORT vpMbKltTracker: virtual public vpMbTracker
{
protected:
#if (VISP_HAVE_OPENCV_VERSION >= 0x020408)
  cv::Mat cur;
#else
  IplImage *cur;
#endif
  vpHomogeneousMatrix c0Mo;
  bool compute_interaction;
  bool firstInitialisation;
  unsigned int maskBorder;
  double lambda;
  unsigned int  maxIter;
  double threshold_outlier;
  double percentGood;
  vpHomogeneousMatrix ctTc0;
  vpKltOpencv tracker;
  std::list<vpMbtDistanceKltPoints*> kltPolygons;
  std::list<vpMbtDistanceKltCylinder*> kltCylinders;
  std::list<vpMbtDistanceCircle*> circles_disp;

public:
            vpMbKltTracker();
  virtual   ~vpMbKltTracker();
  
            void addCircle(const vpPoint &P1, const vpPoint &P2, const vpPoint &P3, const double r, const std::string &name="");
  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);

protected:
  virtual void            init(const vpImage<unsigned char>& I);
  virtual void            reinit(const vpImage<unsigned char>& I);
  
public:
  std::list<vpMbtDistanceCircle*> &getFeaturesCircle() { return circles_disp; }
  std::list<vpMbtDistanceKltCylinder*> &getFeaturesKltCylinder() { return kltCylinders; }
  std::list<vpMbtDistanceKltPoints*> &getFeaturesKlt() { return kltPolygons; }
  virtual void            loadConfigFile(const std::string& configFile);
          void            loadConfigFile(const char* configFile);
          
#if (VISP_HAVE_OPENCV_VERSION >= 0x020408)
          inline  std::vector<cv::Point2f> getKltPoints() {return tracker.getFeatures();}
#else
          inline  CvPoint2D32f*   getKltPoints() {return tracker.getFeatures();}
#endif
  
          std::vector<vpImagePoint> getKltImagePoints() const;
          
          std::map<int, vpImagePoint> getKltImagePointsWithId() const;
          
  inline  vpKltOpencv     getKltOpencv() const { return tracker; }
          
  virtual inline  double  getLambda() const {return lambda;}
  
  inline  unsigned int    getMaskBorder() const { return maskBorder; }
  
  virtual inline unsigned int getMaxIter() const {return maxIter;}
  
  inline  int             getNbKltPoints() const {return tracker.getNbFeatures();}
        
  inline  double          getThresholdAcceptation() const { return threshold_outlier;}
  
  void reInitModel(const vpImage<unsigned char>& I, const std::string &cad_name, const vpHomogeneousMatrix& cMo_,
          const bool verbose=false);
  void reInitModel(const vpImage<unsigned char>& I, const char* cad_name, const vpHomogeneousMatrix& cMo,
          const bool verbose=false);
          void            resetTracker();
            
          void            setCameraParameters(const vpCameraParameters& cam);

          void            setKltOpencv(const vpKltOpencv& t);
          
  virtual inline  void    setLambda(const double gain) {this->lambda = gain;}
  
  inline  void            setMaskBorder(const unsigned int &e)
                          {
                            maskBorder = e;
                            //if(useScanLine)
                            faces.getMbScanLineRenderer().setMaskBorder(maskBorder);
                          }
  
  virtual inline  void    setMaxIter(const unsigned int max) {maxIter = max;}

  virtual         void    setOgreVisibilityTest(const bool &v){
      vpMbTracker::setOgreVisibilityTest(v);
#ifdef VISP_HAVE_OGRE
      faces.getOgreContext()->setWindowName("MBT Klt");
#endif
  }

  virtual void setScanLineVisibilityTest(const bool &v){
    vpMbTracker::setScanLineVisibilityTest(v);

    for(std::list<vpMbtDistanceKltPoints*>::const_iterator it=kltPolygons.begin(); it!=kltPolygons.end(); ++it)
      (*it)->useScanLine = v;
  }
  
  virtual void            setPose(const vpImage<unsigned char> &I, const vpHomogeneousMatrix& cdMo);

  virtual void            setProjectionErrorComputation(const bool &flag) {
                if(flag)
                  vpCTRACE << "This option is not yet implemented in vpMbKltTracker, projection error computation set to false." << std::endl ; }
  
  inline  void            setThresholdAcceptation(const double th) {threshold_outlier = th;}  

          void            setUseKltTracking(const std::string &name, const bool &useKltTracking);
  
  virtual void            testTracking();
  virtual void            track(const vpImage<unsigned char>& I);
  
protected:
          void            computeVVS(const unsigned int &nbInfos, vpColVector &w);
          
          virtual void            initFaceFromCorners(vpMbtPolygon &polygon);
          virtual void            initFaceFromLines(vpMbtPolygon &polygon);
          virtual void    initCircle(const vpPoint&, const vpPoint &, const vpPoint &, const double, const int,
              const std::string &name="");
          virtual void    initCylinder(const vpPoint&, const vpPoint &, const double, const int,
              const std::string &name="");

          void            preTracking(const vpImage<unsigned char>& I, unsigned int &nbInfos, unsigned int &nbFaceUsed);
          bool            postTracking(const vpImage<unsigned char>& I, vpColVector &w);
};

#endif
#endif // VISP_HAVE_OPENCV