#include <visp3/mbt/vpMbtDistanceKltCylinder.h>

Public Member Functions
	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, unsigned int thickness=1, bool displayFullModel=false)

void	display (const vpImage< vpRGBa > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, unsigned int thickness=1, bool displayFullModel=false)

void	displayPrimitive (const vpImage< unsigned char > &_I)

void	displayPrimitive (const vpImage< vpRGBa > &_I)

vpCameraParameters &	getCameraParameters ()

std::map< int, vpImagePoint > &	getCurrentPoints ()

std::map< int, int > &	getCurrentPointsInd ()

vpCylinder	getCylinder () const

unsigned int	getInitialNumberPoint () const

unsigned int	getCurrentNumberPoints () const

std::vector< std::vector< double > >	getFeaturesForDisplay ()

std::vector< std::vector< double > >	getModelForDisplay (const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam)

bool	hasEnoughPoints () const

bool	isTracked () const

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

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

virtual void	setCameraParameters (const vpCameraParameters &_cam)

void	setTracked (const bool &track)

void	updateMask (cv::Mat &mask, unsigned char _nb=255, unsigned int _shiftBorder=0)

Public Attributes
std::vector< int >	listIndicesCylinderBBox

vpMbHiddenFaces< vpMbtPolygon > *	hiddenface

bool	useScanLine

Detailed Description

Implementation of a polygon of the model containing points of interest. It is used by the model-based tracker KLT, and hybrid.

Warning: This class is only available if OpenCV is installed, and used.

Definition at line 68 of file vpMbtDistanceKltCylinder.h.

Constructor & Destructor Documentation

◆ vpMbtDistanceKltCylinder()

vpMbtDistanceKltCylinder::vpMbtDistanceKltCylinder ( )

Basic constructor.

Definition at line 57 of file vpMbtDistanceKltCylinder.cpp.

◆ ~vpMbtDistanceKltCylinder()

vpMbtDistanceKltCylinder::~vpMbtDistanceKltCylinder ( )

virtual

Basic destructor.

Definition at line 68 of file vpMbtDistanceKltCylinder.cpp.

Member Function Documentation

◆ buildFrom()

void vpMbtDistanceKltCylinder::buildFrom	(	const vpPoint &	p1,
		const vpPoint &	p2,
		const double &	r
	)

Definition at line 70 of file vpMbtDistanceKltCylinder.cpp.

References vpPoint::get_oX(), vpPoint::get_oY(), vpPoint::get_oZ(), vpCircle::setWorldCoordinates(), and vpCylinder::setWorldCoordinates().

Referenced by vpMbKltTracker::initCylinder().

◆ computeInteractionMatrixAndResidu()

void vpMbtDistanceKltCylinder::computeInteractionMatrixAndResidu	(	const vpHomogeneousMatrix &	_cMc0,
		vpColVector &	_R,
		vpMatrix &	_J
	)

Compute the interaction matrix and the residu vector for the face. The method assumes that these two objects are properly sized in order to be able to improve the speed with the use of SubCoVector and subMatrix.

Warning: The function preCompute must be called before the this method.

Parameters

_cMc0	: camera displacement since initialisation
_R	: the residu vector
_J	: the interaction matrix

Definition at line 281 of file vpMbtDistanceKltCylinder.cpp.

References vpPoint::changeFrame(), vpCylinder::changeFrame(), vpPixelMeterConversion::convertPoint(), vpPoint::get_x(), vpPoint::get_y(), vpMath::isNaN(), and vpForwardProjection::project().

Referenced by vpMbEdgeKltTracker::computeVVS(), and vpMbKltTracker::computeVVSInteractionMatrixAndResidu().

◆ computeNbDetectedCurrent()

unsigned int vpMbtDistanceKltCylinder::computeNbDetectedCurrent ( const vpKltOpencv & _tracker )

compute the number of point in this instanciation of the tracker that corresponds to the points of the cylinder

Parameters

_tracker : the KLT tracker

Returns: the number of points that are tracked in this face and in this instanciation of the tracker

Definition at line 196 of file vpMbtDistanceKltCylinder.cpp.

References vpKltOpencv::getFeature(), and vpKltOpencv::getNbFeatures().

Referenced by vpMbKltTracker::preTracking().

◆ display() [1/2]

void vpMbtDistanceKltCylinder::display	(	const vpImage< unsigned char > &	I,
		const vpHomogeneousMatrix &	cMo,
		const vpCameraParameters &	cam,
		const vpColor &	col,
		unsigned int	thickness = `1`,
		bool	displayFullModel = `false`
	)

Definition at line 575 of file vpMbtDistanceKltCylinder.cpp.

References vpDisplay::displayLine(), and getModelForDisplay().

◆ display() [2/2]

void vpMbtDistanceKltCylinder::display	(	const vpImage< vpRGBa > &	I,
		const vpHomogeneousMatrix &	cMo,
		const vpCameraParameters &	cam,
		const vpColor &	col,
		unsigned int	thickness = `1`,
		bool	displayFullModel = `false`
	)

Definition at line 588 of file vpMbtDistanceKltCylinder.cpp.

References vpDisplay::displayLine(), and getModelForDisplay().

◆ displayPrimitive() [1/2]

void vpMbtDistanceKltCylinder::displayPrimitive ( const vpImage< unsigned char > & _I )

Display the primitives tracked for the cylinder.

Parameters

_I	: The image where to display.

Definition at line 532 of file vpMbtDistanceKltCylinder.cpp.

References vpDisplay::displayCross(), vpDisplay::displayText(), vpImagePoint::get_i(), vpImagePoint::get_j(), vpColor::red, vpMath::round(), vpImagePoint::set_i(), and vpImagePoint::set_j().

Referenced by vpMbEdgeKltMultiTracker::display().

◆ displayPrimitive() [2/2]

void vpMbtDistanceKltCylinder::displayPrimitive ( const vpImage< vpRGBa > & _I )

Display the primitives tracked for the cylinder.

Parameters

_I	: The image where to display.

Definition at line 556 of file vpMbtDistanceKltCylinder.cpp.

References vpDisplay::displayCross(), vpDisplay::displayText(), vpImagePoint::get_i(), vpImagePoint::get_j(), vpColor::red, vpMath::round(), vpImagePoint::set_i(), and vpImagePoint::set_j().

◆ getCameraParameters()

vpCameraParameters& vpMbtDistanceKltCylinder::getCameraParameters ( )

inline

Get the camera parameters of the face.

Returns: cam : the camera parameters of the face.

Definition at line 156 of file vpMbtDistanceKltCylinder.h.

◆ getCurrentNumberPoints()

unsigned int vpMbtDistanceKltCylinder::getCurrentNumberPoints ( ) const

inline

Get the number of points detected in the last image.

Warning: To have the real number of points, the function computeNbDetectedCurrent() must be called first.

Returns: the number of points detected in the current image.

See also: getInitialNumberPoint()

Definition at line 183 of file vpMbtDistanceKltCylinder.h.

Referenced by vpMbEdgeKltTracker::computeVVS(), vpMbKltTracker::computeVVSInteractionMatrixAndResidu(), vpMbKltTracker::postTracking(), vpMbKltTracker::preTracking(), and vpMbKltTracker::testTracking().

◆ getCurrentPoints()

std::map<int, vpImagePoint>& vpMbtDistanceKltCylinder::getCurrentPoints ( )

inline

Definition at line 158 of file vpMbtDistanceKltCylinder.h.

◆ getCurrentPointsInd()

std::map<int, int>& vpMbtDistanceKltCylinder::getCurrentPointsInd ( )

inline

Definition at line 160 of file vpMbtDistanceKltCylinder.h.

◆ getCylinder()

vpCylinder vpMbtDistanceKltCylinder::getCylinder ( ) const

inline

Definition at line 162 of file vpMbtDistanceKltCylinder.h.

◆ getFeaturesForDisplay()

std::vector< std::vector< double > > vpMbtDistanceKltCylinder::getFeaturesForDisplay ( )

Return a list of features parameters for display.

Parameters are: <feature id (here 1 for KLT)>, <pt.i()>, <pt.j()>, <klt_id.i()>, <klt_id.j()>, <klt_id.id>

Definition at line 607 of file vpMbtDistanceKltCylinder.cpp.

References vpImagePoint::get_i(), vpImagePoint::get_j(), vpMath::round(), vpImagePoint::set_i(), and vpImagePoint::set_j().

Referenced by vpMbKltTracker::getFeaturesForDisplayKlt().

◆ getInitialNumberPoint()

unsigned int vpMbtDistanceKltCylinder::getInitialNumberPoint ( ) const

inline

Get the number of point that was belonging to the face at the initialisation

Returns: the number of initial point.

See also: getCurrentNumberPoints()

Definition at line 172 of file vpMbtDistanceKltCylinder.h.

Referenced by vpMbKltTracker::postTracking().

◆ getModelForDisplay()

std::vector< std::vector< double > > vpMbtDistanceKltCylinder::getModelForDisplay	(	const vpHomogeneousMatrix &	cMo,
		const vpCameraParameters &	camera
	)

Return a list of line parameters to display the primitive at a given pose and camera parameters. Parameters are: <primitive id (here 0 for line)>, <pt_start.i()>, <pt_start.j()> <pt_end.i()>, <pt_end.j()>

Parameters

cMo	: Pose used to project the 3D model into the image.
camera	: The camera parameters.

Definition at line 652 of file vpMbtDistanceKltCylinder.cpp.

References vpCircle::changeFrame(), vpCylinder::changeFrame(), vpCircle::computeIntersectionPoint(), vpCylinder::computeZ(), vpMeterPixelConversion::convertLine(), vpImagePoint::get_i(), vpImagePoint::get_j(), vpCylinder::getRho1(), vpCylinder::getRho2(), vpCylinder::getTheta1(), vpCylinder::getTheta2(), vpCircle::projection(), vpCylinder::projection(), and vpImagePoint::set_ij().

Referenced by display(), and vpMbKltTracker::getModelForDisplay().

◆ hasEnoughPoints()

bool vpMbtDistanceKltCylinder::hasEnoughPoints ( ) const

inline

Definition at line 189 of file vpMbtDistanceKltCylinder.h.

Referenced by vpMbEdgeKltTracker::computeVVS(), vpMbKltTracker::computeVVSInteractionMatrixAndResidu(), vpMbEdgeKltMultiTracker::display(), vpMbKltTracker::getFeaturesForDisplayKlt(), vpMbKltTracker::postTracking(), vpMbKltTracker::preTracking(), and vpMbKltTracker::testTracking().

◆ init()

void vpMbtDistanceKltCylinder::init	(	const vpKltOpencv &	_tracker,
		const vpHomogeneousMatrix &	cMo
	)

Initialise the cylinder to track. All the points in the map, representing all the map detected in the image, are parsed in order to extract the id of the points that are indeed in the face.

Parameters

_tracker	: ViSP OpenCV KLT Tracker.
cMo	: Pose of the object in the camera frame at initialization.

Definition at line 106 of file vpMbtDistanceKltCylinder.cpp.

References vpCylinder::changeFrame(), vpPixelMeterConversion::convertPoint(), vpKltOpencv::getFeature(), vpMbHiddenFaces< PolygonType >::getMbScanLineRenderer(), vpKltOpencv::getNbFeatures(), vpMbHiddenFaces< PolygonType >::getPolygon(), hiddenface, vpPolygon::isInside(), vpMath::isNaN(), listIndicesCylinderBBox, vpPoint::setWorldCoordinates(), and useScanLine.

Referenced by vpMbKltTracker::reinit().

◆ isTracked()

bool vpMbtDistanceKltCylinder::isTracked ( ) const

inline

Return if the klt cylinder is used for tracking.

Returns: True if it is used, False otherwise.

Definition at line 196 of file vpMbtDistanceKltCylinder.h.

Referenced by vpMbEdgeKltTracker::computeVVS(), vpMbKltTracker::computeVVSInteractionMatrixAndResidu(), vpMbEdgeKltMultiTracker::display(), vpMbKltTracker::getFeaturesForDisplayKlt(), vpMbKltTracker::postTracking(), vpMbKltTracker::preTracking(), vpMbKltTracker::reinit(), and vpMbKltTracker::testTracking().

◆ removeOutliers()

void vpMbtDistanceKltCylinder::removeOutliers	(	const vpColVector &	_w,
		const double &	threshold_outlier
	)

This method removes the outliers. A point is considered as outlier when its associated weight is below a given threshold (threshold_outlier).

Parameters

_w	: Vector containing the weight of all the tracked points.
threshold_outlier	: Threshold to specify wether or not a point has to be deleted.

Definition at line 234 of file vpMbtDistanceKltCylinder.cpp.

Referenced by vpMbKltTracker::postTracking().

◆ setCameraParameters()

virtual void vpMbtDistanceKltCylinder::setCameraParameters ( const vpCameraParameters & _cam )

inlinevirtual

Set the camera parameters

Parameters

_cam	: the new camera parameters

Definition at line 207 of file vpMbtDistanceKltCylinder.h.

Referenced by vpMbKltTracker::initCylinder(), and vpMbKltTracker::setCameraParameters().

◆ setTracked()

void vpMbtDistanceKltCylinder::setTracked ( const bool & track )

inline

Set if the klt cylinder has to be considered during tracking phase.

Parameters

track : True if is has to be tracked, False otherwise.

Definition at line 214 of file vpMbtDistanceKltCylinder.h.

◆ updateMask()

void vpMbtDistanceKltCylinder::updateMask	(	cv::Mat &	mask,
		unsigned char	nb = `255`,
		unsigned int	shiftBorder = `0`
	)

Modification of all the pixels that are in the roi to the value of _nb ( default is 255).

Parameters

mask	: the mask to update (0, not in the object, _nb otherwise).
nb	: Optionnal value to set to the pixels included in the face.
shiftBorder	: Optionnal shift for the border in pixel (sort of built-in erosion) to avoid to consider pixels near the limits of the face.

Definition at line 376 of file vpMbtDistanceKltCylinder.cpp.

References vpPolygon::buildFrom(), vpPolygon::getArea(), vpPolygon3D::getMinMaxRoi(), hiddenface, vpPolygon::isInside(), listIndicesCylinderBBox, and vpImagePoint::set_ij().

Referenced by vpMbKltTracker::reinit().