vpMbEdgeKltTracker.h

/****************************************************************************
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2017 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:
 * Hybrid tracker based on edges (vpMbt) and points of interests (KLT)
 *
 * Authors:
 * Romain Tallonneau
 * Aurelien Yol
 *
 *****************************************************************************/

#ifndef vpMbEdgeKltTracker_HH
#define vpMbEdgeKltTracker_HH

#include <visp3/core/vpConfig.h>

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

#include <visp3/core/vpRobust.h>
#include <visp3/core/vpSubMatrix.h>
#include <visp3/core/vpSubColVector.h>
#include <visp3/core/vpExponentialMap.h>
#include <visp3/mbt/vpMbTracker.h>
#include <visp3/klt/vpKltOpencv.h>
#include <visp3/mbt/vpMbEdgeTracker.h>
#include <visp3/core/vpPoseVector.h>
#include <visp3/mbt/vpMbtEdgeKltXmlParser.h>
#include <visp3/mbt/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 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);
  
  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();

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

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

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

  virtual void setScanLineVisibilityTest(const bool &v){
    vpMbEdgeTracker::setScanLineVisibilityTest(v);
    vpMbKltTracker::setScanLineVisibilityTest(v);
  }

  virtual void  setPose(const vpImage<unsigned char> &I, const vpHomogeneousMatrix& cdMo);
  virtual void setProjectionErrorComputation(const bool &flag) {
      vpMbEdgeTracker::setProjectionErrorComputation(flag);
  }

  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 initCircle(const vpPoint&, const vpPoint &, const vpPoint &, const double r, const int idFace=0,
                          const std::string &name="");
  virtual void initCylinder(const vpPoint&, const vpPoint &, const double r, const int idFace,
                            const std::string &name="");
  virtual void initFaceFromCorners(vpMbtPolygon &polygon);
  virtual void initFaceFromLines(vpMbtPolygon &polygon);
  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