vpMbtDistanceKltPoints.h

/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2019 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 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 polygon, containing points of interest.
 *
 * Authors:
 * Romain Tallonneau
 * Aurelien Yol
 *
 *****************************************************************************/

#ifndef vpMbtDistanceKltPoints_h
#define vpMbtDistanceKltPoints_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/vpDisplay.h>
#include <visp3/core/vpGEMM.h>
#include <visp3/core/vpPlane.h>
#include <visp3/core/vpPolygon3D.h>
#include <visp3/klt/vpKltOpencv.h>
#include <visp3/mbt/vpMbHiddenFaces.h>
#include <visp3/vision/vpHomography.h>

class VISP_EXPORT vpMbtDistanceKltPoints
{
private:
  vpMatrix H;
  vpColVector N;
  vpColVector N_cur;
  double invd0;
  vpColVector cRc0_0n;
  std::map<int, vpImagePoint> initPoints;
  std::map<int, vpImagePoint> curPoints;
  std::map<int, int> curPointsInd;
  unsigned int nbPointsCur;
  unsigned int nbPointsInit;
  unsigned int minNbPoint;
  bool enoughPoints;
  double dt;
  double d0;
  vpCameraParameters cam;
  bool isTrackedKltPoints;

public:
  vpMbtPolygon *polygon;
  vpMbHiddenFaces<vpMbtPolygon> *hiddenface;
  bool useScanLine;

private:
  double compute_1_over_Z(double x, double y);
  void computeP_mu_t(double x_in, double y_in, double &x_out, double &y_out, const vpMatrix &cHc0);
  bool isTrackedFeature(int id);

  // private:
  //#ifndef DOXYGEN_SHOULD_SKIP_THIS
  //    vpMbtDistanceKltPoints(const vpMbtDistanceKltPoints &)
  //      : H(), N(), N_cur(), invd0(1.), cRc0_0n(), initPoints(),
  //      curPoints(), curPointsInd(),
  //        nbPointsCur(0), nbPointsInit(0), minNbPoint(4),
  //        enoughPoints(false), dt(1.), d0(1.), cam(),
  //        isTrackedKltPoints(true), polygon(NULL), hiddenface(NULL),
  //        useScanLine(false)
  //    {
  //      throw vpException(vpException::functionNotImplementedError, "Not
  //      implemented!");
  //    }
  //    vpMbtDistanceKltPoints &operator=(const vpMbtDistanceKltPoints &){
  //      throw vpException(vpException::functionNotImplementedError, "Not
  //      implemented!"); return *this;
  //    }
  //#endif

public:
  vpMbtDistanceKltPoints();
  virtual ~vpMbtDistanceKltPoints();

  unsigned int computeNbDetectedCurrent(const vpKltOpencv &_tracker, const vpImage<bool> *mask = NULL);
  void computeHomography(const vpHomogeneousMatrix &_cTc0, vpHomography &cHc0);
  void computeInteractionMatrixAndResidu(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);

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

  std::vector<std::vector<double> > getModelForDisplay(const vpCameraParameters &cam,
                                                       bool displayFullModel = false);

  inline vpCameraParameters &getCameraParameters() { return cam; }

  inline vpColVector getCurrentNormal() const { return N_cur; }

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

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

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

  inline bool hasEnoughPoints() const { return enoughPoints; }

  void init(const vpKltOpencv &_tracker, const vpImage<bool> *mask = NULL);

  inline bool isTracked() const { return isTrackedKltPoints; }

  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->isTrackedKltPoints = 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