#include <visp3/mbt/vpMbtDistanceKltCylinder.h>

Public Member Functions
	vpMbtDistanceKltCylinder ()

virtual	~vpMbtDistanceKltCylinder ()

void	buildFrom (const vpPoint &p1, const vpPoint &p2, const double &r)

unsigned int	computeNbDetectedCurrent (const vpKltOpencv &_tracker)

void	computeInteractionMatrixAndResidu (const vpHomogeneousMatrix &cMc0, vpColVector &_R, vpMatrix &_J)

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)

void	display (const vpImage< vpRGBa > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor col, const unsigned int thickness=1, const bool displayFullModel=false)

void	displayPrimitive (const vpImage< unsigned char > &_I)

void	displayPrimitive (const vpImage< vpRGBa > &_I)

vpCameraParameters &	getCameraParameters ()

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

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

vpCylinder	getCylinder () const

unsigned int	getInitialNumberPoint () const

unsigned int	getCurrentNumberPoints () const

bool	hasEnoughPoints () const

bool	isTracked () const

void	init (const vpKltOpencv &_tracker, const vpHomogeneousMatrix &cMo)

void	removeOutliers (const vpColVector &weight, const double &threshold_outlier)

virtual void	setCameraParameters (const vpCameraParameters &_cam)

void	setTracked (const bool &track)

void	updateMask (cv::Mat &mask, unsigned char _nb=255, unsigned int _shiftBorder=0)

Public Attributes
std::vector< int >	listIndicesCylinderBBox

vpMbHiddenFaces< vpMbtPolygon > *	hiddenface

bool	useScanLine

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 vpMbtDistanceKltCylinder.h.

Constructor & Destructor Documentation

vpMbtDistanceKltCylinder::vpMbtDistanceKltCylinder ( )

Basic constructor.

Definition at line 53 of file vpMbtDistanceKltCylinder.cpp.

vpMbtDistanceKltCylinder::~vpMbtDistanceKltCylinder ( )

virtual

Basic destructor.

Definition at line 65 of file vpMbtDistanceKltCylinder.cpp.

Member Function Documentation

void vpMbtDistanceKltCylinder::buildFrom	(	const vpPoint &	p1,
		const vpPoint &	p2,
		const double &	r
	)

Definition at line 71 of file vpMbtDistanceKltCylinder.cpp.

References vpPoint::get_oX(), vpPoint::get_oY(), vpPoint::get_oZ(), vpCircle::setWorldCoordinates(), and vpCylinder::setWorldCoordinates().

Referenced by vpMbKltTracker::initCylinder().

void vpMbtDistanceKltCylinder::computeInteractionMatrixAndResidu	(	const vpHomogeneousMatrix &	_cMc0,
		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

_cMc0	: camera displacement since initialisation
_R	: the residu vector
_J	: the interaction matrix

Definition at line 282 of file vpMbtDistanceKltCylinder.cpp.

References vpPoint::changeFrame(), vpCylinder::changeFrame(), vpPixelMeterConversion::convertPoint(), vpPoint::get_x(), vpPoint::get_y(), vpMath::isNaN(), and vpForwardProjection::project().

Referenced by vpMbEdgeKltTracker::computeVVS(), and vpMbKltTracker::computeVVSInteractionMatrixAndResidu().

unsigned int vpMbtDistanceKltCylinder::computeNbDetectedCurrent ( const vpKltOpencv & _tracker )

compute the number of point in this instanciation of the tracker that corresponds to the points of the cylinder

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 199 of file vpMbtDistanceKltCylinder.cpp.

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

Referenced by vpMbKltTracker::preTracking().

void vpMbtDistanceKltCylinder::display	(	const vpImage< unsigned char > &	I,
		const vpHomogeneousMatrix &	cMo,
		const vpCameraParameters &	cam,
		const vpColor	col,
		const unsigned int	thickness = `1`,
		const bool	displayFullModel = `false`
	)

Definition at line 524 of file vpMbtDistanceKltCylinder.cpp.

References vpCircle::changeFrame(), vpCylinder::changeFrame(), vpCircle::computeIntersectionPoint(), vpMeterPixelConversion::convertLine(), vpDisplay::displayLine(), vpCylinder::getRho1(), vpCylinder::getRho2(), vpCylinder::getTheta1(), vpCylinder::getTheta2(), vpCircle::projection(), vpCylinder::projection(), and vpImagePoint::set_ij().

Referenced by vpMbKltTracker::display().

void vpMbtDistanceKltCylinder::display	(	const vpImage< vpRGBa > &	I,
		const vpHomogeneousMatrix &	cMo,
		const vpCameraParameters &	cam,
		const vpColor	col,
		const unsigned int	thickness = `1`,
		const bool	displayFullModel = `false`
	)

Definition at line 575 of file vpMbtDistanceKltCylinder.cpp.

References vpCircle::changeFrame(), vpCylinder::changeFrame(), vpCircle::computeIntersectionPoint(), vpMeterPixelConversion::convertLine(), vpDisplay::displayLine(), vpCylinder::getRho1(), vpCylinder::getRho2(), vpCylinder::getTheta1(), vpCylinder::getTheta2(), vpCircle::projection(), vpCylinder::projection(), and vpImagePoint::set_ij().

void vpMbtDistanceKltCylinder::displayPrimitive ( const vpImage< unsigned char > & _I )

Display the primitives tracked for the cylinder.

Parameters

_I	: The image where to display.

Definition at line 479 of file vpMbtDistanceKltCylinder.cpp.

References vpDisplay::displayCross(), vpDisplay::displayText(), vpImagePoint::get_i(), vpImagePoint::get_j(), vpColor::red, vpMath::round(), vpImagePoint::set_i(), and vpImagePoint::set_j().

Referenced by vpMbEdgeKltMultiTracker::display(), vpMbEdgeKltTracker::display(), and vpMbKltTracker::display().

void vpMbtDistanceKltCylinder::displayPrimitive ( const vpImage< vpRGBa > & _I )

Display the primitives tracked for the cylinder.

Parameters

_I	: The image where to display.

Definition at line 504 of file vpMbtDistanceKltCylinder.cpp.

References vpDisplay::displayCross(), vpDisplay::displayText(), vpImagePoint::get_i(), vpImagePoint::get_j(), vpColor::red, vpMath::round(), vpImagePoint::set_i(), and vpImagePoint::set_j().

vpCameraParameters& vpMbtDistanceKltCylinder::getCameraParameters ( )

inline

Get the camera parameters of the face.

Returns: cam : the camera parameters of the face.

Definition at line 150 of file vpMbtDistanceKltCylinder.h.

unsigned int vpMbtDistanceKltCylinder::getCurrentNumberPoints ( ) 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.

See Also: getInitialNumberPoint()

Definition at line 178 of file vpMbtDistanceKltCylinder.h.

Referenced by vpMbEdgeKltTracker::computeVVS(), vpMbKltTracker::computeVVSInteractionMatrixAndResidu(), vpMbKltTracker::postTracking(), vpMbKltTracker::preTracking(), and vpMbKltTracker::testTracking().

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

inline

Definition at line 152 of file vpMbtDistanceKltCylinder.h.

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

inline

Definition at line 154 of file vpMbtDistanceKltCylinder.h.

vpCylinder vpMbtDistanceKltCylinder::getCylinder ( ) const

inline

Definition at line 156 of file vpMbtDistanceKltCylinder.h.

unsigned int vpMbtDistanceKltCylinder::getInitialNumberPoint ( ) const

inline

Get the number of point that was belonging to the face at the initialisation

Returns: the number of initial point.

See Also: getCurrentNumberPoints()

Definition at line 167 of file vpMbtDistanceKltCylinder.h.

Referenced by vpMbKltTracker::postTracking().

bool vpMbtDistanceKltCylinder::hasEnoughPoints ( ) const

inline

Definition at line 180 of file vpMbtDistanceKltCylinder.h.

Referenced by vpMbEdgeKltTracker::computeVVS(), vpMbKltTracker::computeVVSInteractionMatrixAndResidu(), vpMbEdgeKltMultiTracker::display(), vpMbEdgeKltTracker::display(), vpMbKltTracker::display(), vpMbKltTracker::postTracking(), vpMbKltTracker::preTracking(), and vpMbKltTracker::testTracking().

void vpMbtDistanceKltCylinder::init	(	const vpKltOpencv &	_tracker,
		const vpHomogeneousMatrix &	cMo
	)

Initialise the cylinder 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.
cMo	: Pose of the object in the camera frame at initialization.

Definition at line 107 of file vpMbtDistanceKltCylinder.cpp.

References vpCylinder::changeFrame(), vpPixelMeterConversion::convertPoint(), vpKltOpencv::getFeature(), vpMbHiddenFaces< PolygonType >::getMbScanLineRenderer(), vpKltOpencv::getNbFeatures(), vpMbHiddenFaces< PolygonType >::getPolygon(), hiddenface, vpPolygon::isInside(), vpMath::isNaN(), listIndicesCylinderBBox, vpPoint::setWorldCoordinates(), and useScanLine.

Referenced by vpMbKltTracker::reinit().

bool vpMbtDistanceKltCylinder::isTracked ( ) const

inline

Return if the klt cylinder is used for tracking.

Returns: True if it is used, False otherwise.

Definition at line 187 of file vpMbtDistanceKltCylinder.h.

Referenced by vpMbEdgeKltTracker::computeVVS(), vpMbKltTracker::computeVVSInteractionMatrixAndResidu(), vpMbEdgeKltMultiTracker::display(), vpMbEdgeKltTracker::display(), vpMbKltTracker::display(), vpMbKltTracker::postTracking(), vpMbKltTracker::preTracking(), vpMbKltTracker::reinit(), and vpMbKltTracker::testTracking().

void vpMbtDistanceKltCylinder::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 235 of file vpMbtDistanceKltCylinder.cpp.

Referenced by vpMbKltTracker::postTracking().

virtual void vpMbtDistanceKltCylinder::setCameraParameters ( const vpCameraParameters & _cam )

inlinevirtual

Set the camera parameters

Parameters

_cam	: the new camera parameters

Definition at line 198 of file vpMbtDistanceKltCylinder.h.

Referenced by vpMbKltTracker::initCylinder(), and vpMbKltTracker::setCameraParameters().

void vpMbtDistanceKltCylinder::setTracked ( const bool & track )

inline

Set if the klt cylinder has to be considered during tracking phase.

Parameters

track : True if is has to be tracked, False otherwise.

Definition at line 205 of file vpMbtDistanceKltCylinder.h.

void vpMbtDistanceKltCylinder::updateMask	(	cv::Mat &	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 377 of file vpMbtDistanceKltCylinder.cpp.

References vpPolygon3D::getMinMaxRoi(), hiddenface, vpPolygon::isInside(), and listIndicesCylinderBBox.

Referenced by vpMbKltTracker::reinit().