vpMbEdgeKltTracker.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:
 * Hybrid tracker based on edges (vpMbt) and points of interests (KLT)
 *
 * Authors:
 * Romain Tallonneau
 * Aurelien Yol
 *
 *****************************************************************************/

#ifndef vpMbEdgeKltTracker_HH
#define vpMbEdgeKltTracker_HH

#include <visp3/core/vpConfig.h>

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

#include <visp3/core/vpExponentialMap.h>
#include <visp3/core/vpPoseVector.h>
#include <visp3/core/vpSubColVector.h>
#include <visp3/core/vpSubMatrix.h>
#include <visp3/klt/vpKltOpencv.h>
#include <visp3/mbt/vpMbEdgeTracker.h>
#include <visp3/mbt/vpMbKltTracker.h>
#include <visp3/mbt/vpMbTracker.h>

class VISP_EXPORT vpMbEdgeKltTracker : public vpMbKltTracker, public vpMbEdgeTracker
{
protected:
  double m_thresholdKLT;
  double m_thresholdMBT;
  unsigned int m_maxIterKlt;
  vpColVector m_w_mbt;
  vpColVector m_w_klt;
  vpColVector m_error_hybrid;
  vpColVector m_w_hybrid;

public:
  vpMbEdgeKltTracker();
  virtual ~vpMbEdgeKltTracker();

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

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

  virtual std::vector<std::vector<double> > getModelForDisplay(unsigned int width, unsigned int height,
                                                               const vpHomogeneousMatrix &cMo,
                                                               const vpCameraParameters &cam,
                                                               bool displayFullModel=false);

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

  virtual inline double getNearClippingDistance() const { return vpMbKltTracker::getNearClippingDistance(); }

  virtual void loadConfigFile(const std::string &configFile, bool verbose=true);

  void reInitModel(const vpImage<unsigned char> &I, const std::string &cad_name, const vpHomogeneousMatrix &cMo,
                   bool verbose = false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix());
  void resetTracker();

  virtual void setCameraParameters(const vpCameraParameters &cam);

  virtual void setClipping(const unsigned int &flags) { vpMbEdgeTracker::setClipping(flags); }

  virtual void setFarClippingDistance(const double &dist) { vpMbEdgeTracker::setFarClippingDistance(dist); }

  virtual void setNearClippingDistance(const double &dist) { vpMbEdgeTracker::setNearClippingDistance(dist); }

  virtual void setOgreVisibilityTest(const bool &v)
  {
    vpMbTracker::setOgreVisibilityTest(v);
#ifdef VISP_HAVE_OGRE
    faces.getOgreContext()->setWindowName("MBT Hybrid");
#endif
  }

  virtual void setScanLineVisibilityTest(const bool &v)
  {
    vpMbEdgeTracker::setScanLineVisibilityTest(v);
    vpMbKltTracker::setScanLineVisibilityTest(v);
  }

  virtual void setPose(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cdMo);
  virtual void setPose(const vpImage<vpRGBa> &I_color, const vpHomogeneousMatrix &cdMo);
  virtual void setProjectionErrorComputation(const bool &flag) { vpMbEdgeTracker::setProjectionErrorComputation(flag); }

  virtual void testTracking() {}
  virtual void track(const vpImage<unsigned char> &I);
  virtual void track(const vpImage<vpRGBa> &I_color);

protected:
  virtual void computeVVS(const vpImage<unsigned char> &I, const unsigned int &nbInfos, unsigned int &nbrow,
                          unsigned int lvl = 0);
  virtual void computeVVSInit();
  virtual void computeVVSInteractionMatrixAndResidu();
  using vpMbTracker::computeCovarianceMatrixVVS;
  using vpMbTracker::computeVVSPoseEstimation;

  virtual void init(const vpImage<unsigned char> &I);
  virtual void initCircle(const vpPoint &, const vpPoint &, const vpPoint &, double r, int idFace = 0,
                          const std::string &name = "");
  virtual void initCylinder(const vpPoint &, const vpPoint &, double r, int idFace,
                            const std::string &name = "");
  virtual void initFaceFromCorners(vpMbtPolygon &polygon);
  virtual void initFaceFromLines(vpMbtPolygon &polygon);
  unsigned int initMbtTracking(unsigned int level = 0);

  bool postTracking(const vpImage<unsigned char> &I, vpColVector &w_mbt, vpColVector &w_klt,
                    unsigned int lvl = 0);
  bool postTracking(const vpImage<vpRGBa> &I_color, vpColVector &w_mbt, vpColVector &w_klt,
                    unsigned int lvl = 0);
  void postTrackingMbt(vpColVector &w, unsigned int level = 0);

  unsigned int trackFirstLoop(const vpImage<unsigned char> &I, vpColVector &factor, unsigned int lvl = 0);
  void trackSecondLoop(const vpImage<unsigned char> &I, vpMatrix &L, vpColVector &_error, const vpHomogeneousMatrix &cMo,
                       unsigned int lvl = 0);
};

#endif

#endif // VISP_HAVE_OPENCV