vpMbEdgeKltMultiTracker.h

/****************************************************************************
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2016 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 as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * 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 https://visp.inria.fr/download/ 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:
 * Model-based edge klt tracker with multiple cameras.
 *
 * Authors:
 * Souriya Trinh
 *
 *****************************************************************************/

#ifndef __vpMbEdgeKltMultiTracker_h__
#define __vpMbEdgeKltMultiTracker_h__

#include <iostream>
#include <vector>

#include <visp3/core/vpConfig.h>

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

#include <visp3/mbt/vpMbEdgeMultiTracker.h>
#include <visp3/mbt/vpMbKltMultiTracker.h>

class VISP_EXPORT vpMbEdgeKltMultiTracker : public vpMbEdgeMultiTracker, public vpMbKltMultiTracker
{
protected:
  double m_factorKLT;
  double m_factorMBT;
  double thresholdKLT;
  double thresholdMBT;

  std::map<std::string, vpHomogeneousMatrix> m_mapOfCameraTransformationMatrix;

  std::string m_referenceCameraName;
  unsigned int m_nbrow;
  vpMatrix m_L_hybridMulti;
  vpColVector m_error_hybridMulti;
  vpColVector m_w_hybridMulti;
  vpColVector m_weightedError_hybridMulti;

public:
  vpMbEdgeKltMultiTracker();
  vpMbEdgeKltMultiTracker(const unsigned int nbCameras);
  vpMbEdgeKltMultiTracker(const std::vector<std::string> &cameraNames);

  virtual ~vpMbEdgeKltMultiTracker();

  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 void display(const vpImage<unsigned char> &I1, const vpImage<unsigned char> &I2,
                       const vpHomogeneousMatrix &c1Mo, const vpHomogeneousMatrix &c2Mo, const vpCameraParameters &cam1,
                       const vpCameraParameters &cam2, const vpColor &color, const unsigned int thickness = 1,
                       const bool displayFullModel = false);

  virtual void display(const vpImage<vpRGBa> &I1, const vpImage<vpRGBa> &I2, const vpHomogeneousMatrix &c1Mo,
                       const vpHomogeneousMatrix &c2Mo, const vpCameraParameters &cam1, const vpCameraParameters &cam2,
                       const vpColor &color, const unsigned int thickness = 1, const bool displayFullModel = false);

  virtual void display(const std::map<std::string, const vpImage<unsigned char> *> &mapOfImages,
                       const std::map<std::string, vpHomogeneousMatrix> &mapOfCameraPoses,
                       const std::map<std::string, vpCameraParameters> &mapOfCameraParameters, const vpColor &col,
                       const unsigned int thickness = 1, const bool displayFullModel = false);

  virtual void display(const std::map<std::string, const vpImage<vpRGBa> *> &mapOfImages,
                       const std::map<std::string, vpHomogeneousMatrix> &mapOfCameraPoses,
                       const std::map<std::string, vpCameraParameters> &mapOfCameraParameters, const vpColor &col,
                       const unsigned int thickness = 1, const bool displayFullModel = false);

  virtual std::vector<std::string> getCameraNames() const;

  virtual void getCameraParameters(vpCameraParameters &camera) const;
  virtual void getCameraParameters(vpCameraParameters &cam1, vpCameraParameters &cam2) const;
  virtual void getCameraParameters(const std::string &cameraName, vpCameraParameters &camera) const;
  virtual void getCameraParameters(std::map<std::string, vpCameraParameters> &mapOfCameraParameters) const;

  using vpMbTracker::getClipping;
  virtual unsigned int getClipping(const std::string &cameraName) const;

  virtual vpMbHiddenFaces<vpMbtPolygon> &getFaces();
  vpMbHiddenFaces<vpMbtPolygon> &getEdgeFaces(const std::string &cameraName);
  std::map<std::string, vpMbHiddenFaces<vpMbtPolygon> > getEdgeFaces() const;
  vpMbHiddenFaces<vpMbtPolygon> &getKltFaces(const std::string &cameraName);
  std::map<std::string, vpMbHiddenFaces<vpMbtPolygon> > getKltFaces() const;

  inline double getFactorKLT() const { return m_factorKLT; }

  inline double getFactorMBT() const { return m_factorMBT; }

  virtual unsigned int getNbPolygon() const;
  virtual std::map<std::string, unsigned int> getEdgeMultiNbPolygon() const;
  virtual std::map<std::string, unsigned int> getKltMultiNbPolygon() const;

  inline unsigned int getNumberOfCameras() const { return (unsigned int)m_mapOfKltTrackers.size(); }

  using vpMbKltMultiTracker::getPose;
  virtual void getPose(vpHomogeneousMatrix &c1Mo, vpHomogeneousMatrix &c2Mo) const;
  virtual void getPose(const std::string &cameraName, vpHomogeneousMatrix &cMo_) const;
  virtual void getPose(std::map<std::string, vpHomogeneousMatrix> &mapOfCameraPoses) const;

  virtual inline vpColVector getError() const { return m_error_hybridMulti; }

  virtual inline vpColVector getRobustWeights() const { return m_w_hybridMulti; }

  virtual void init(const vpImage<unsigned char> &I);

#ifdef VISP_HAVE_MODULE_GUI
  virtual void initClick(const vpImage<unsigned char> &I, const std::vector<vpPoint> &points3D_list,
                         const std::string &displayFile = "");

  virtual void initClick(const vpImage<unsigned char> &I, const std::string &initFile, const bool displayHelp = false);

  virtual void initClick(const vpImage<unsigned char> &I1, const vpImage<unsigned char> &I2,
                         const std::string &initFile1, const std::string &initFile2, const bool displayHelp = false,
                         const bool firstCameraIsReference = true);

  virtual void initClick(const std::map<std::string, const vpImage<unsigned char> *> &mapOfImages,
                         const std::string &initFile, const bool displayHelp = false);

  virtual void initClick(const std::map<std::string, const vpImage<unsigned char> *> &mapOfImages,
                         const std::map<std::string, std::string> &mapOfInitFiles, const bool displayHelp = false);
#endif

  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 = "");

  virtual void initFromPose(const vpImage<unsigned char> &I, const std::string &initFile);
  virtual void initFromPose(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo);
  virtual void initFromPose(const vpImage<unsigned char> &I, const vpPoseVector &cPo);

  virtual void initFromPose(const vpImage<unsigned char> &I1, const vpImage<unsigned char> &I2,
                            const vpHomogeneousMatrix &c1Mo, const vpHomogeneousMatrix &c2Mo,
                            const bool firstCameraIsReference = true);
  virtual void initFromPose(const std::map<std::string, const vpImage<unsigned char> *> &mapOfImages,
                            const vpHomogeneousMatrix &cMo_);
  virtual void initFromPose(const std::map<std::string, const vpImage<unsigned char> *> &mapOfImages,
                            const std::map<std::string, vpHomogeneousMatrix> &mapOfCameraPoses);

  virtual void initFaceFromCorners(vpMbtPolygon &polygon);
  virtual void initFaceFromLines(vpMbtPolygon &polygon);

  virtual void loadConfigFile(const std::string &configFile);

  virtual void loadConfigFile(const std::string &configFile1, const std::string &configFile2,
                              const bool firstCameraIsReference = true);

  virtual void loadConfigFile(const std::map<std::string, std::string> &mapOfConfigFiles);

  virtual void loadModel(const std::string &modelFile, const bool verbose = false);

  virtual void reInitModel(const vpImage<unsigned char> &I, const std::string &cad_name,
                           const vpHomogeneousMatrix &cMo_, const bool verbose = false);
  virtual void reInitModel(const vpImage<unsigned char> &I1, const vpImage<unsigned char> &I2,
                           const std::string &cad_name, const vpHomogeneousMatrix &c1Mo,
                           const vpHomogeneousMatrix &c2Mo, const bool verbose = false,
                           const bool firstCameraIsReference = true);
  virtual void reInitModel(const std::map<std::string, const vpImage<unsigned char> *> &mapOfImages,
                           const std::string &cad_name,
                           const std::map<std::string, vpHomogeneousMatrix> &mapOfCameraPoses,
                           const bool verbose = false);

  virtual void resetTracker();

  virtual void setAngleAppear(const double &a);
  virtual void setAngleDisappear(const double &a);

  virtual void setCameraParameters(const vpCameraParameters &camera);

  virtual void setCameraParameters(const vpCameraParameters &camera1, const vpCameraParameters &camera2,
                                   const bool firstCameraIsReference = true);

  virtual void setCameraParameters(const std::string &cameraName, const vpCameraParameters &camera);

  virtual void setCameraParameters(const std::map<std::string, vpCameraParameters> &mapOfCameraParameters);

  virtual void setCameraTransformationMatrix(const std::string &cameraName,
                                             const vpHomogeneousMatrix &cameraTransformationMatrix);

  virtual void
  setCameraTransformationMatrix(const std::map<std::string, vpHomogeneousMatrix> &mapOfTransformationMatrix);

  virtual void setClipping(const unsigned int &flags);
  virtual void setClipping(const std::string &cameraName, const unsigned int &flags);

  virtual void setCovarianceComputation(const bool &flag);

  virtual void setDisplayFeatures(const bool displayF);

  virtual void setFarClippingDistance(const double &dist);
  virtual void setFarClippingDistance(const std::string &cameraName, const double &dist);

  inline void setFactorKLT(const double factor) { m_factorKLT = factor; }

  inline void setFactorMBT(const double factor) { m_factorMBT = factor; }

#ifdef VISP_HAVE_OGRE

  void setGoodNbRayCastingAttemptsRatio(const double &ratio);

  void setNbRayCastingAttemptsForVisibility(const unsigned int &attempts);
#endif

  virtual void setLod(const bool useLod, const std::string &name = "");
  virtual void setLod(const bool useLod, const std::string &cameraName, const std::string &name);

  virtual void setMinLineLengthThresh(const double minLineLengthThresh, const std::string &name = "");
  virtual void setMinLineLengthThresh(const double minLineLengthThresh, const std::string &cameraName,
                                      const std::string &name);

  virtual void setMinPolygonAreaThresh(const double minPolygonAreaThresh, const std::string &name = "");
  virtual void setMinPolygonAreaThresh(const double minPolygonAreaThresh, const std::string &cameraName,
                                       const std::string &name);

  virtual void setNearClippingDistance(const double &dist);
  virtual void setNearClippingDistance(const std::string &cameraName, const double &dist);

  virtual void setOgreShowConfigDialog(const bool showConfigDialog);

  virtual void setOgreVisibilityTest(const bool &v);

  virtual void setOptimizationMethod(const vpMbtOptimizationMethod &opt);

  virtual void setPose(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo);

  virtual void setPose(const vpImage<unsigned char> &I1, const vpImage<unsigned char> &I2,
                       const vpHomogeneousMatrix &c1Mo, const vpHomogeneousMatrix &c2Mo,
                       const bool firstCameraIsReference = true);

  virtual void setPose(const std::map<std::string, const vpImage<unsigned char> *> &mapOfImages,
                       const vpHomogeneousMatrix &cMo_);

  virtual void setPose(const std::map<std::string, const vpImage<unsigned char> *> &mapOfImages,
                       const std::map<std::string, vpHomogeneousMatrix> &mapOfCameraPoses);

  virtual void setProjectionErrorComputation(const bool &flag);

  virtual void setReferenceCameraName(const std::string &referenceCameraName);

  virtual void setScanLineVisibilityTest(const bool &v);

  virtual void setThresholdAcceptation(const double th);

  virtual void testTracking();

  virtual void track(const vpImage<unsigned char> &I);
  virtual void track(const vpImage<unsigned char> &I1, const vpImage<unsigned char> &I2);
  virtual void track(std::map<std::string, const vpImage<unsigned char> *> &mapOfImages);

protected:
  // Current computeVVS function hides the base computeVVS but it is intended.
  // The two following lines should have been added to remove compiler
  // warning.
  using vpMbEdgeMultiTracker::computeVVS;
  using vpMbKltMultiTracker::computeVVS;

  virtual void computeVVS(std::map<std::string, const vpImage<unsigned char> *> &mapOfImages,
                          const unsigned int lvl = 0);
  virtual void computeVVSInit();
  virtual void computeVVSInteractionMatrixAndResidu();
  using vpMbEdgeMultiTracker::computeVVSInteractionMatrixAndResidu;
  using vpMbKltMultiTracker::computeVVSInteractionMatrixAndResidu;
  virtual void computeVVSInteractionMatrixAndResidu(std::map<std::string, const vpImage<unsigned char> *> &mapOfImages,
                                                    std::map<std::string, vpVelocityTwistMatrix> &mapOfVelocityTwist);
  virtual void computeVVSWeights();
  using vpMbTracker::computeVVSWeights;

  virtual unsigned int initMbtTracking(std::map<std::string, const vpImage<unsigned char> *> &mapOfImages,
                                       unsigned int lvl);

  // Same thing as computeVVS
  using vpMbKltMultiTracker::postTracking;

  virtual void postTracking(std::map<std::string, const vpImage<unsigned char> *> &mapOfImages, const unsigned int lvl);

  virtual void reinit(/*const vpImage<unsigned char>& I*/);

  virtual void trackMovingEdges(std::map<std::string, const vpImage<unsigned char> *> &mapOfImages);
};

#endif // VISP_HAVE_OPENCV
#endif //__vpMbEdgeKltMultiTracker_h__