Visual Servoing Platform  version 3.2.0 under development (2019-01-22)
vpMbEdgeKltTracker.h
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30  *
31  * Description:
32  * Hybrid tracker based on edges (vpMbt) and points of interests (KLT)
33  *
34  * Authors:
35  * Romain Tallonneau
36  * Aurelien Yol
37  *
38  *****************************************************************************/
39 
45 #ifndef vpMbEdgeKltTracker_HH
46 #define vpMbEdgeKltTracker_HH
47 
48 #include <visp3/core/vpConfig.h>
49 
50 #if defined(VISP_HAVE_MODULE_KLT) && (defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020100))
51 
52 #include <visp3/core/vpExponentialMap.h>
53 #include <visp3/core/vpPoseVector.h>
54 #include <visp3/core/vpSubColVector.h>
55 #include <visp3/core/vpSubMatrix.h>
56 #include <visp3/klt/vpKltOpencv.h>
57 #include <visp3/mbt/vpMbEdgeTracker.h>
58 #include <visp3/mbt/vpMbKltTracker.h>
59 #include <visp3/mbt/vpMbTracker.h>
60 #include <visp3/mbt/vpMbtEdgeKltXmlParser.h>
61 
234 class VISP_EXPORT vpMbEdgeKltTracker : public vpMbKltTracker, public vpMbEdgeTracker
235 {
236 protected:
238  double thresholdKLT;
240  double thresholdMBT;
242  unsigned int m_maxIterKlt;
251 
252 public:
254  virtual ~vpMbEdgeKltTracker();
255 
256  virtual void display(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
257  const vpColor &col, const unsigned int thickness = 1, const bool displayFullModel = false);
258  virtual void display(const vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
259  const vpColor &col, const unsigned int thickness = 1, const bool displayFullModel = false);
260 
261  virtual inline vpColVector getError() const { return m_error_hybrid; }
262 
263  virtual inline vpColVector getRobustWeights() const { return m_w_hybrid; }
264 
270  virtual inline double getNearClippingDistance() const { return vpMbKltTracker::getNearClippingDistance(); }
271 
272  virtual void loadConfigFile(const std::string &configFile);
273 
274  void reInitModel(const vpImage<unsigned char> &I, const std::string &cad_name, const vpHomogeneousMatrix &cMo_,
275  const bool verbose = false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix());
276  void resetTracker();
277 
278  virtual void setCameraParameters(const vpCameraParameters &cam);
279 
287  virtual void setClipping(const unsigned int &flags) { vpMbEdgeTracker::setClipping(flags); }
288 
294  virtual void setFarClippingDistance(const double &dist) { vpMbEdgeTracker::setFarClippingDistance(dist); }
295 
301  virtual void setNearClippingDistance(const double &dist) { vpMbEdgeTracker::setNearClippingDistance(dist); }
302 
311  virtual void setOgreVisibilityTest(const bool &v)
312  {
314 #ifdef VISP_HAVE_OGRE
315  faces.getOgreContext()->setWindowName("MBT Hybrid");
316 #endif
317  }
318 
324  virtual void setScanLineVisibilityTest(const bool &v)
325  {
328  }
329 
330  virtual void setPose(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cdMo);
338 
339  virtual void testTracking() {}
340  virtual void track(const vpImage<unsigned char> &I);
341 
342 protected:
343  virtual void computeVVS(const vpImage<unsigned char> &I, const unsigned int &nbInfos, unsigned int &nbrow,
344  const unsigned int lvl = 0);
345  virtual void computeVVSInit();
349 
350  virtual void init(const vpImage<unsigned char> &I);
351  virtual void initCircle(const vpPoint &, const vpPoint &, const vpPoint &, const double r, const int idFace = 0,
352  const std::string &name = "");
353  virtual void initCylinder(const vpPoint &, const vpPoint &, const double r, const int idFace,
354  const std::string &name = "");
355  virtual void initFaceFromCorners(vpMbtPolygon &polygon);
356  virtual void initFaceFromLines(vpMbtPolygon &polygon);
357  unsigned int initMbtTracking(const unsigned int level = 0);
358 
359  bool postTracking(const vpImage<unsigned char> &I, vpColVector &w_mbt, vpColVector &w_klt,
360  const unsigned int lvl = 0);
361  void postTrackingMbt(vpColVector &w, const unsigned int level = 0);
362 
363  unsigned int trackFirstLoop(const vpImage<unsigned char> &I, vpColVector &factor, const unsigned int lvl = 0);
364  void trackSecondLoop(const vpImage<unsigned char> &I, vpMatrix &L, vpColVector &_error, vpHomogeneousMatrix &cMo,
365  const unsigned int lvl = 0);
366 };
367 
368 #endif
369 
370 #endif // VISP_HAVE_OPENCV
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:104
virtual void setScanLineVisibilityTest(const bool &v)
virtual void initFaceFromCorners(vpMbtPolygon &polygon)
virtual void setScanLineVisibilityTest(const bool &v)
Implementation of an homogeneous matrix and operations on such kind of matrices.
void init(const vpImage< unsigned char > &I)
void track(const vpImage< unsigned char > &I)
Class to define colors available for display functionnalities.
Definition: vpColor.h:120
unsigned int m_maxIterKlt
The maximum iteration of the virtual visual servoing stage.
bool postTracking(const vpImage< unsigned char > &I, vpColVector &w)
double thresholdKLT
The threshold used in the robust estimation of KLT.
virtual vpColVector getRobustWeights() const
virtual void reInitModel(const vpImage< unsigned char > &I, const std::string &cad_name, const vpHomogeneousMatrix &cMo_, const bool verbose=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
virtual void setClipping(const unsigned int &flags)
Make the complete tracking of an object by using its CAD model.
virtual void setPose(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cdMo)
vpColVector m_w_hybrid
Robust weights.
virtual void setCameraParameters(const vpCameraParameters &camera)
void computeVVS(const vpImage< unsigned char > &_I, const unsigned int lvl)
void loadConfigFile(const std::string &configFile)
vpColVector w_mbt
Robust weights for Edge.
virtual void setFarClippingDistance(const double &dist)
Class that defines what is a point.
Definition: vpPoint.h:58
virtual vpColVector getError() const
virtual void setNearClippingDistance(const double &dist)
virtual void setOgreVisibilityTest(const bool &v)
virtual void setScanLineVisibilityTest(const bool &v)
Implementation of a polygon of the model used by the model-based tracker.
Definition: vpMbtPolygon.h:66
virtual void setProjectionErrorComputation(const bool &flag)
vpColVector w_klt
Robust weights for KLT.
Generic class defining intrinsic camera parameters.
unsigned int initMbtTracking(unsigned int &nberrors_lines, unsigned int &nberrors_cylinders, unsigned int &nberrors_circles)
virtual void computeVVSInteractionMatrixAndResidu()
virtual double getNearClippingDistance() const
virtual void setFarClippingDistance(const double &dist)
Model based tracker using only KLT.
virtual void initFaceFromLines(vpMbtPolygon &polygon)
Hybrid tracker based on moving-edges and keypoints tracked using KLT tracker.
virtual void testTracking()
virtual void initCylinder(const vpPoint &p1, const vpPoint &p2, const double radius, const int idFace=0, const std::string &name="")
virtual double getNearClippingDistance() const
Definition: vpMbTracker.h:375
virtual void setOgreVisibilityTest(const bool &v)
Implementation of column vector and the associated operations.
Definition: vpColVector.h:72
vpColVector m_error_hybrid
(s - s*)
virtual void initCircle(const vpPoint &p1, const vpPoint &p2, const vpPoint &p3, const double radius, const int idFace=0, const std::string &name="")
virtual void computeVVSPoseEstimation(const bool isoJoIdentity_, const unsigned int iter, vpMatrix &L, vpMatrix &LTL, vpColVector &R, const vpColVector &error, vpColVector &error_prev, vpColVector &LTR, double &mu, vpColVector &v, const vpColVector *const w=NULL, vpColVector *const m_w_prev=NULL)
virtual void computeCovarianceMatrixVVS(const bool isoJoIdentity_, const vpColVector &w_true, const vpHomogeneousMatrix &cMoPrev, const vpMatrix &L_true, const vpMatrix &LVJ_true, const vpColVector &error)
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 computeVVSInit()
virtual void setClipping(const unsigned int &flags)
double thresholdMBT
The threshold used in the robust estimation of MBT.
virtual void setNearClippingDistance(const double &dist)
virtual void setProjectionErrorComputation(const bool &flag)
Definition: vpMbTracker.h:570