Visual Servoing Platform  version 3.1.0
vpMbKltTracker.h
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30  *
31  * Description:
32  * Model based tracker using only KLT
33  *
34  * Authors:
35  * Romain Tallonneau
36  * Aurelien Yol
37  *
38  *****************************************************************************/
44 #ifndef vpMbKltTracker_h
45 #define vpMbKltTracker_h
46 
47 #include <visp3/core/vpConfig.h>
48 
49 #if defined(VISP_HAVE_MODULE_KLT) && (defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020100))
50 
51 #include <visp3/core/vpExponentialMap.h>
52 #include <visp3/core/vpMeterPixelConversion.h>
53 #include <visp3/core/vpPixelMeterConversion.h>
54 #include <visp3/core/vpSubColVector.h>
55 #include <visp3/core/vpSubMatrix.h>
56 #include <visp3/klt/vpKltOpencv.h>
57 #include <visp3/mbt/vpMbTracker.h>
58 #include <visp3/mbt/vpMbtDistanceCircle.h>
59 #include <visp3/mbt/vpMbtDistanceKltCylinder.h>
60 #include <visp3/mbt/vpMbtDistanceKltPoints.h>
61 #include <visp3/mbt/vpMbtKltXmlParser.h>
62 #include <visp3/vision/vpHomography.h>
63 
230 class VISP_EXPORT vpMbKltTracker : public virtual vpMbTracker
231 {
232  friend class vpMbKltMultiTracker;
234 
235 protected:
237 #if (VISP_HAVE_OPENCV_VERSION >= 0x020408)
238  cv::Mat cur;
239 #else
240  IplImage *cur;
241 #endif
248  unsigned int maskBorder;
254  double percentGood;
261  std::list<vpMbtDistanceKltPoints *> kltPolygons;
263  std::list<vpMbtDistanceKltCylinder *> kltCylinders;
265  std::list<vpMbtDistanceCircle *> circles_disp;
267  unsigned int m_nbInfos;
269  unsigned int m_nbFaceUsed;
280 
281 public:
282  vpMbKltTracker();
283  virtual ~vpMbKltTracker();
284 
287 
288  void addCircle(const vpPoint &P1, const vpPoint &P2, const vpPoint &P3, const double r, const std::string &name = "");
289  virtual void display(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
290  const vpColor &col, const unsigned int thickness = 1, const bool displayFullModel = false);
291  virtual void display(const vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
292  const vpColor &col, const unsigned int thickness = 1, const bool displayFullModel = false);
293 
295  virtual std::list<vpMbtDistanceCircle *> &getFeaturesCircle() { return circles_disp; }
297  virtual std::list<vpMbtDistanceKltCylinder *> &getFeaturesKltCylinder() { return kltCylinders; }
299  virtual std::list<vpMbtDistanceKltPoints *> &getFeaturesKlt() { return kltPolygons; }
300 
306 #if (VISP_HAVE_OPENCV_VERSION >= 0x020408)
307  inline std::vector<cv::Point2f> getKltPoints() const { return tracker.getFeatures(); }
308 #else
309  inline CvPoint2D32f *getKltPoints() { return tracker.getFeatures(); }
310 #endif
311 
312  std::vector<vpImagePoint> getKltImagePoints() const;
313 
314  std::map<int, vpImagePoint> getKltImagePointsWithId() const;
315 
321  inline vpKltOpencv getKltOpencv() const { return tracker; }
322 
328  inline unsigned int getKltMaskBorder() const { return maskBorder; }
329 
335  inline int getKltNbPoints() const { return tracker.getNbFeatures(); }
336 
343  inline double getKltThresholdAcceptation() const { return threshold_outlier; }
344 
345  virtual inline vpColVector getError() const { return m_error_klt; }
346 
347  virtual inline vpColVector getRobustWeights() const { return m_w_klt; }
348 
349  virtual void loadConfigFile(const std::string &configFile);
350  void loadConfigFile(const char *configFile);
351 
352  virtual void reInitModel(const vpImage<unsigned char> &I, const std::string &cad_name,
353  const vpHomogeneousMatrix &cMo_, const bool verbose = false);
354  void reInitModel(const vpImage<unsigned char> &I, const char *cad_name, const vpHomogeneousMatrix &cMo,
355  const bool verbose = false);
356  void resetTracker();
357 
359 
365  inline void setKltMaskBorder(const unsigned int &e)
366  {
367  maskBorder = e;
368  // if(useScanLine)
369  faces.getMbScanLineRenderer().setMaskBorder(maskBorder);
370  }
371 
372  virtual void setKltOpencv(const vpKltOpencv &t);
373 
379  inline void setKltThresholdAcceptation(const double th) { threshold_outlier = th; }
380 
389  virtual void setOgreVisibilityTest(const bool &v)
390  {
392 #ifdef VISP_HAVE_OGRE
393  faces.getOgreContext()->setWindowName("MBT Klt");
394 #endif
395  }
396 
402  virtual void setScanLineVisibilityTest(const bool &v)
403  {
405 
406  for (std::list<vpMbtDistanceKltPoints *>::const_iterator it = kltPolygons.begin(); it != kltPolygons.end(); ++it)
407  (*it)->useScanLine = v;
408  }
409 
410  virtual void setPose(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cdMo);
411 
418  virtual void setProjectionErrorComputation(const bool &flag)
419  {
420  if (flag)
421  std::cerr << "This option is not yet implemented in vpMbKltTracker, "
422  "projection error computation set to false."
423  << std::endl;
424  }
425 
426  void setUseKltTracking(const std::string &name, const bool &useKltTracking);
427 
428  virtual void testTracking();
429  virtual void track(const vpImage<unsigned char> &I);
430 
435 
442  /* vp_deprecated */ inline unsigned int getMaskBorder() const { return maskBorder; }
449  /* vp_deprecated */ inline int getNbKltPoints() const { return tracker.getNbFeatures(); }
450 
458  /* vp_deprecated */ inline double getThresholdAcceptation() const { return threshold_outlier; }
464  /* vp_deprecated */ inline void setMaskBorder(const unsigned int &e)
465  {
466  maskBorder = e;
467  // if(useScanLine)
468  faces.getMbScanLineRenderer().setMaskBorder(maskBorder);
469  }
470 
477  /* vp_deprecated */ inline void setThresholdAcceptation(const double th) { threshold_outlier = th; }
478 
480 
481 protected:
484  void computeVVS();
485  virtual void computeVVSInit();
487 
488  virtual void init(const vpImage<unsigned char> &I);
489  virtual void initFaceFromCorners(vpMbtPolygon &polygon);
490  virtual void initFaceFromLines(vpMbtPolygon &polygon);
491  virtual void initCircle(const vpPoint &, const vpPoint &, const vpPoint &, const double, const int,
492  const std::string &name = "");
493  virtual void initCylinder(const vpPoint &, const vpPoint &, const double, const int, const std::string &name = "");
494 
495  void preTracking(const vpImage<unsigned char> &I);
497  virtual void reinit(const vpImage<unsigned char> &I);
499 };
500 
501 #endif
502 #endif // VISP_HAVE_OPENCV
void setWindowName(const Ogre::String &n)
Definition: vpAROgre.h:269
void setThresholdAcceptation(const double th)
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:104
virtual ~vpMbKltTracker()
virtual void setScanLineVisibilityTest(const bool &v)
virtual void track(const vpImage< unsigned char > &I)=0
virtual void computeVVSInteractionMatrixAndResidu()=0
virtual void addCircle(const vpPoint &P1, const vpPoint &P2, const vpPoint &P3, const double r, const std::string &name="")
virtual void setUseKltTracking(const std::string &name, const bool &useKltTracking)
virtual void computeVVSInit()=0
unsigned int getKltMaskBorder() const
vpMbHiddenFaces< vpMbtPolygon > faces
Set of faces describing the object.
Definition: vpMbTracker.h:145
virtual std::map< std::string, std::map< int, vpImagePoint > > getKltImagePointsWithId() const
Implementation of an homogeneous matrix and operations on such kind of matrices.
int getKltNbPoints() const
virtual std::list< vpMbtDistanceKltPoints * > & getFeaturesKlt()
virtual void setProjectionErrorComputation(const bool &flag)
virtual std::map< std::string, std::vector< vpImagePoint > > getKltImagePoints() const
Class to define colors available for display functionnalities.
Definition: vpColor.h:120
std::list< vpMbtDistanceKltCylinder * > kltCylinders
vpHomogeneousMatrix cMo
The current pose.
Definition: vpMbTracker.h:115
virtual void initCircle(const vpPoint &p1, const vpPoint &p2, const vpPoint &p3, const double radius, const int idFace=0, const std::string &name="")=0
vpKltOpencv getKltOpencv() const
std::vector< cv::Point2f > getFeatures() const
Get the list of current features.
Definition: vpKltOpencv.h:105
int getNbFeatures() const
Get the number of current features.
Definition: vpKltOpencv.h:120
vpMbScanLine & getMbScanLineRenderer()
vpColVector m_weightedError_klt
Weighted error.
Hybrid stereo (or more) tracker based on moving-edges and keypoints tracked using KLT tracker...
virtual vpColVector getRobustWeights() const
std::vector< cv::Point2f > getKltPoints() const
void setKltMaskBorder(const unsigned int &e)
virtual void resetTracker()=0
Class that defines what is a point.
Definition: vpPoint.h:58
vpCameraParameters cam
The camera parameters.
Definition: vpMbTracker.h:113
vpHomogeneousMatrix ctTc0
virtual void init(const vpImage< unsigned char > &I)=0
virtual void postTracking(std::map< std::string, const vpImage< unsigned char > *> &mapOfImages, const unsigned int lvl)
vpAROgre * getOgreContext()
vpRobust m_robust_klt
Robust.
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)=0
void setKltThresholdAcceptation(const double th)
Implementation of a polygon of the model used by the model-based tracker.
Definition: vpMbtPolygon.h:66
virtual void setCameraParameters(const vpCameraParameters &camera)
Definition: vpMbTracker.h:440
virtual std::list< vpMbtDistanceCircle * > & getFeaturesCircle()
virtual void reInitModel(const vpImage< unsigned char > &I, const std::string &cad_name, const vpHomogeneousMatrix &cMo_, const bool verbose=false)
unsigned int maskBorder
Erosion of the mask.
virtual void initFaceFromCorners(vpMbtPolygon &polygon)=0
Generic class defining intrinsic camera parameters.
double getThresholdAcceptation() const
unsigned int m_nbFaceUsed
Main methods for a model-based tracker.
Definition: vpMbTracker.h:106
virtual void preTracking(std::map< std::string, const vpImage< unsigned char > *> &mapOfImages)
Model based tracker using only KLT.
virtual void loadConfigFile(const std::string &configFile)=0
vpKltOpencv tracker
Points tracker.
double getKltThresholdAcceptation() const
double threshold_outlier
virtual void setKltOpencv(const vpKltOpencv &t)
cv::Mat cur
Temporary OpenCV image for fast conversion.
vpColVector m_w_klt
Robust weights.
std::list< vpMbtDistanceCircle * > circles_disp
Vector of the circles used here only to display the full model.
virtual std::list< vpMbtDistanceKltCylinder * > & getFeaturesKltCylinder()
virtual void setOgreVisibilityTest(const bool &v)
void setMaskBorder(const unsigned int &e)
Implementation of column vector and the associated operations.
Definition: vpColVector.h:72
virtual void initFaceFromLines(vpMbtPolygon &polygon)=0
virtual void setOgreVisibilityTest(const bool &v)
virtual void testTracking()=0
Wrapper for the KLT (Kanade-Lucas-Tomasi) feature tracker implemented in OpenCV. Thus to enable this ...
Definition: vpKltOpencv.h:78
unsigned int getMaskBorder() const
int getNbKltPoints() const
Contains an M-Estimator and various influence function.
Definition: vpRobust.h:58
virtual void setPose(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cdMo)=0
virtual void setScanLineVisibilityTest(const bool &v)
Definition: vpMbTracker.h:533
unsigned int m_nbInfos
virtual std::map< std::string, std::vector< cv::Point2f > > getKltPoints() const
vpColVector m_error_klt
(s - s*)
std::list< vpMbtDistanceKltPoints * > kltPolygons
Model based stereo (or more) tracker using only KLT.
vpHomogeneousMatrix c0Mo
Initial pose.
virtual vpColVector getError() const
virtual void initCylinder(const vpPoint &p1, const vpPoint &p2, const double radius, const int idFace=0, const std::string &name="")=0
vpMatrix m_L_klt
Interaction matrix.