vpMbtDistanceKltCylinder.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:
 * Klt cylinder, containing points of interest.
 *
 * Authors:
 * Aurelien Yol
 *
 *****************************************************************************/

#ifndef vpMbtDistanceKltCylinder_h
#define vpMbtDistanceKltCylinder_h

#include <visp3/core/vpConfig.h>

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

#include <map>

#include <visp3/core/vpPolygon3D.h>
#include <visp3/klt/vpKltOpencv.h>
#include <visp3/core/vpPlane.h>
#include <visp3/core/vpDisplay.h>
#include <visp3/core/vpGEMM.h>
#include <visp3/vision/vpHomography.h>
#include <visp3/mbt/vpMbHiddenFaces.h>
#include <visp3/core/vpCylinder.h>
#include <visp3/core/vpCircle.h>

class VISP_EXPORT vpMbtDistanceKltCylinder
{
private:
  vpHomogeneousMatrix c0Mo;
  vpPoint p1Ext;
  vpPoint p2Ext;
  vpCylinder cylinder;
  vpCircle circle1;
  vpCircle circle2;
  std::map<int, vpImagePoint> initPoints;
  std::map<int, vpPoint> initPoints3D;
  std::map<int, vpImagePoint> curPoints;
  std::map<int, int> curPointsInd;
  unsigned int nbPointsCur;
  unsigned int nbPointsInit;
  unsigned int minNbPoint;
  bool enoughPoints;
  vpCameraParameters cam;
  bool isTrackedKltCylinder;

public:
  std::vector<int> listIndicesCylinderBBox;
  vpMbHiddenFaces<vpMbtPolygon> *hiddenface;
  bool useScanLine;

private:
  double              computeZ(const double &x, const double &y);
  bool                isTrackedFeature(const int id);

//private:
//#ifndef DOXYGEN_SHOULD_SKIP_THIS
//    vpMbtDistanceKltCylinder(const vpMbtDistanceKltCylinder &)
//      : c0Mo(), p1Ext(), p2Ext(), cylinder(), circle1(), circle2(),
//        initPoints(), initPoints3D(), curPoints(), curPointsInd(),
//        nbPointsCur(0), nbPointsInit(0), minNbPoint(4), enoughPoints(false),
//        cam(), isTrackedKltCylinder(true), listIndicesCylinderBBox(), hiddenface(NULL), useScanLine(false)
//    {
//      throw vpException(vpException::functionNotImplementedError, "Not implemented!");
//    }
//    vpMbtDistanceKltCylinder &operator=(const vpMbtDistanceKltCylinder &){
//      throw vpException(vpException::functionNotImplementedError, "Not implemented!");
//      return *this;
//    }
//#endif

public:
                      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);

  inline vpCameraParameters& getCameraParameters(){ return cam; }

  inline std::map<int, vpImagePoint>& getCurrentPoints() {return curPoints; }

  inline std::map<int, int>& getCurrentPointsInd() {return curPointsInd; }

  inline vpCylinder getCylinder() const {
    return cylinder;
  }

  inline unsigned int getInitialNumberPoint() const { return nbPointsInit;}
  inline unsigned int getCurrentNumberPoints() const {return nbPointsCur;}

  inline  bool        hasEnoughPoints() const {return enoughPoints;}

  inline  bool        isTracked() const {return isTrackedKltCylinder;}

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

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

  virtual inline void setCameraParameters(const vpCameraParameters& _cam){ cam = _cam; }

  inline void         setTracked(const bool& track) {this->isTrackedKltCylinder = track;}

#if (VISP_HAVE_OPENCV_VERSION >= 0x020408)
  void updateMask(cv::Mat &mask, unsigned char _nb = 255, unsigned int _shiftBorder = 0);
#else
  void updateMask(IplImage* mask, unsigned char _nb = 255, unsigned int _shiftBorder = 0);
#endif
};

#endif

#endif // VISP_HAVE_OPENCV