Visual Servoing Platform
version 3.6.1 under development (2024-10-10)
|
#include <visp3/klt/vpKltOpencv.h>
Public Member Functions | |
vpKltOpencv () | |
vpKltOpencv (const vpKltOpencv ©) | |
virtual | ~vpKltOpencv () |
void | addFeature (const float &x, const float &y) |
void | addFeature (const long &id, const float &x, const float &y) |
void | addFeature (const cv::Point2f &f) |
void | display (const vpImage< unsigned char > &I, const vpColor &color=vpColor::red, unsigned int thickness=1) const |
int | getBlockSize () const |
void | getFeature (const int &index, long &id, float &x, float &y) const |
std::vector< cv::Point2f > | getFeatures () const |
std::vector< long > | getFeaturesId () const |
double | getHarrisFreeParameter () const |
int | getMaxFeatures () const |
double | getMinDistance () const |
int | getNbFeatures () const |
int | getNbPrevFeatures () const |
std::vector< cv::Point2f > | getPrevFeatures () const |
int | getPyramidLevels () const |
double | getQuality () const |
int | getWindowSize () const |
void | initTracking (const cv::Mat &I, const cv::Mat &mask=cv::Mat()) |
void | initTracking (const cv::Mat &I, const std::vector< cv::Point2f > &pts) |
void | initTracking (const cv::Mat &I, const std::vector< cv::Point2f > &pts, const std::vector< long > &ids) |
vpKltOpencv & | operator= (const vpKltOpencv ©) |
void | track (const cv::Mat &I) |
void | setBlockSize (int blockSize) |
void | setHarrisFreeParameter (double harris_k) |
void | setInitialGuess (const std::vector< cv::Point2f > &guess_pts) |
void | setInitialGuess (const std::vector< cv::Point2f > &init_pts, const std::vector< cv::Point2f > &guess_pts, const std::vector< long > &fid) |
void | setMaxFeatures (int maxCount) |
void | setMinDistance (double minDistance) |
void | setMinEigThreshold (double minEigThreshold) |
void | setPyramidLevels (int pyrMaxLevel) |
void | setQuality (double qualityLevel) |
void | setTrackerId (int tid) |
void | setUseHarris (int useHarrisDetector) |
void | setWindowSize (int winSize) |
void | suppressFeature (const int &index) |
Static Public Member Functions | |
static void | display (const vpImage< unsigned char > &I, const std::vector< cv::Point2f > &features, const vpColor &color=vpColor::green, unsigned int thickness=1) |
static void | display (const vpImage< vpRGBa > &I, const std::vector< cv::Point2f > &features, const vpColor &color=vpColor::green, unsigned int thickness=1) |
static void | display (const vpImage< unsigned char > &I, const std::vector< cv::Point2f > &features, const std::vector< long > &featuresid, const vpColor &color=vpColor::green, unsigned int thickness=1) |
static void | display (const vpImage< vpRGBa > &I, const std::vector< cv::Point2f > &features, const std::vector< long > &featuresid, const vpColor &color=vpColor::green, unsigned int thickness=1) |
Protected Attributes | |
cv::Mat | m_gray |
cv::Mat | m_prevGray |
std::vector< cv::Point2f > | m_points [2] |
std::vector< long > | m_points_id |
int | m_maxCount |
cv::TermCriteria | m_termcrit |
int | m_winSize |
double | m_qualityLevel |
double | m_minDistance |
double | m_minEigThreshold |
double | m_harris_k |
int | m_blockSize |
int | m_useHarrisDetector |
int | m_pyrMaxLevel |
long | m_next_points_id |
bool | m_initial_guess |
Wrapper for the KLT (Kanade-Lucas-Tomasi) feature tracker implemented in OpenCV. Thus to enable this class OpenCV should be installed. Installation instructions are provided here https://visp.inria.fr/3rd_opencv.
The following example available in tutorial-klt-tracker.cpp shows how to use the main functions of the class.
A line by line explanation is provided in Tutorial: Keypoint tracking.
Definition at line 73 of file vpKltOpencv.h.
BEGIN_VISP_NAMESPACE vpKltOpencv::vpKltOpencv | ( | ) |
vpKltOpencv::vpKltOpencv | ( | const vpKltOpencv & | copy | ) |
Copy constructor.
Definition at line 61 of file vpKltOpencv.cpp.
|
virtual |
Destructor.
Definition at line 92 of file vpKltOpencv.cpp.
void vpKltOpencv::addFeature | ( | const cv::Point2f & | f | ) |
Add a keypoint at the end of the feature list. The id of the feature is set to ensure that it is unique.
f | : Coordinates of the feature in the image. |
Definition at line 310 of file vpKltOpencv.cpp.
References m_next_points_id, m_points, and m_points_id.
void vpKltOpencv::addFeature | ( | const float & | x, |
const float & | y | ||
) |
Add a keypoint at the end of the feature list. The id of the feature is set to ensure that it is unique.
x,y | : Coordinates of the feature in the image. |
Definition at line 294 of file vpKltOpencv.cpp.
References m_next_points_id, m_points, and m_points_id.
void vpKltOpencv::addFeature | ( | const long & | id, |
const float & | x, | ||
const float & | y | ||
) |
Add a keypoint at the end of the feature list.
id | : Feature id. Should be unique |
x,y | : Coordinates of the feature in the image. |
Definition at line 301 of file vpKltOpencv.cpp.
References m_next_points_id, m_points, and m_points_id.
|
static |
Display features list with ids.
I | : The image used as background. |
features | : Vector of features. |
featuresid | : Vector of ids corresponding to the features. |
color | : Color used to display the points. |
thickness | : Thickness of the points |
Definition at line 196 of file vpKltOpencv.cpp.
References vpDisplay::displayCross(), vpDisplay::displayText(), vpMath::round(), vpImagePoint::set_u(), and vpImagePoint::set_v().
|
static |
Display features list.
I | : The image used as background. |
features | : Vector of features. |
color | : Color used to display the points. |
thickness | : Thickness of the points. |
Definition at line 174 of file vpKltOpencv.cpp.
References vpDisplay::displayCross(), vpMath::round(), vpImagePoint::set_u(), and vpImagePoint::set_v().
void vpKltOpencv::display | ( | const vpImage< unsigned char > & | I, |
const vpColor & | color = vpColor::red , |
||
unsigned int | thickness = 1 |
||
) | const |
Display features position and id.
I | : Image used as background. Display should be initialized on it. |
color | : Color used to display the features. |
thickness | : Thickness of the drawings. |
Definition at line 169 of file vpKltOpencv.cpp.
References m_points, and m_points_id.
|
static |
Display features list with ids.
I | : The image used as background. |
features | : Vector of features. |
featuresid | : Vector of ids corresponding to the features. |
color | : Color used to display the points. |
thickness | : Thickness of the points |
Definition at line 212 of file vpKltOpencv.cpp.
References vpDisplay::displayCross(), vpDisplay::displayText(), vpMath::round(), vpImagePoint::set_u(), and vpImagePoint::set_v().
|
static |
Display features list.
I | : The image used as background. |
features | : Vector of features. |
color | : Color used to display the points. |
thickness | : Thickness of the points. |
Definition at line 185 of file vpKltOpencv.cpp.
References vpDisplay::displayCross(), vpMath::round(), vpImagePoint::set_u(), and vpImagePoint::set_v().
|
inline |
Get the size of the averaging block used to track the features.
Definition at line 169 of file vpKltOpencv.h.
void vpKltOpencv::getFeature | ( | const int & | index, |
long & | id, | ||
float & | x, | ||
float & | y | ||
) | const |
Get the 'index'th feature image coordinates. Beware that getFeature(i,...) may not represent the same feature before and after a tracking iteration (if a feature is lost, features are shifted in the array).
index | : Index of feature. |
id | : id of the feature. |
x | : x coordinate. |
y | : y coordinate. |
Definition at line 158 of file vpKltOpencv.cpp.
References vpException::badValue, m_points, and m_points_id.
|
inline |
Get the list of current features.
Definition at line 183 of file vpKltOpencv.h.
|
inline |
Get the unique id of each feature.
Definition at line 186 of file vpKltOpencv.h.
|
inline |
Get the free parameter of the Harris detector.
Definition at line 189 of file vpKltOpencv.h.
|
inline |
Get the list of lost feature.
Get the maximum number of features to track in the image.
Definition at line 193 of file vpKltOpencv.h.
|
inline |
Get the minimal Euclidean distance between detected corners during initialization.
Definition at line 196 of file vpKltOpencv.h.
|
inline |
Get the number of current features.
Definition at line 198 of file vpKltOpencv.h.
|
inline |
Get the number of previous features.
Definition at line 200 of file vpKltOpencv.h.
|
inline |
Get the list of previous features.
Definition at line 203 of file vpKltOpencv.h.
|
inline |
Get the list of features id.
Get the maximal pyramid level.
Definition at line 208 of file vpKltOpencv.h.
|
inline |
Get the parameter characterizing the minimal accepted quality of image corners.
Definition at line 211 of file vpKltOpencv.h.
|
inline |
Get the window size used to refine the corner locations.
Definition at line 213 of file vpKltOpencv.h.
void vpKltOpencv::initTracking | ( | const cv::Mat & | I, |
const cv::Mat & | mask = cv::Mat() |
||
) |
Initialise the tracking by extracting KLT keypoints on the provided image.
I | : Grey level image used as input. This image should have only 1 channel. |
mask | : Image mask used to restrict the keypoint detection area. If mask is nullptr, all the image will be considered. |
vpTrackingException::initializationError | : If the image I is not initialized, or if the image or the mask have bad coding format. |
Definition at line 94 of file vpKltOpencv.cpp.
References m_blockSize, m_gray, m_harris_k, m_maxCount, m_minDistance, m_next_points_id, m_points, m_points_id, m_qualityLevel, m_termcrit, and m_winSize.
void vpKltOpencv::initTracking | ( | const cv::Mat & | I, |
const std::vector< cv::Point2f > & | pts | ||
) |
Set the points that will be used as initialization during the next call to track().
I | : Input image. |
pts | : Vector of points that should be tracked. |
Definition at line 257 of file vpKltOpencv.cpp.
References m_gray, m_initial_guess, m_next_points_id, m_points, and m_points_id.
void vpKltOpencv::initTracking | ( | const cv::Mat & | I, |
const std::vector< cv::Point2f > & | pts, | ||
const std::vector< long > & | ids | ||
) |
Set the points that will be used as initialization during the next call to track().
I | : Input image. |
pts | : Vector of points that should be tracked. |
ids | : Corresponding point ids. |
Definition at line 270 of file vpKltOpencv.cpp.
References m_gray, m_initial_guess, m_next_points_id, m_points, and m_points_id.
vpKltOpencv & vpKltOpencv::operator= | ( | const vpKltOpencv & | copy | ) |
Copy operator.
Definition at line 69 of file vpKltOpencv.cpp.
References m_blockSize, m_gray, m_harris_k, m_initial_guess, m_maxCount, m_minDistance, m_minEigThreshold, m_next_points_id, m_points, m_points_id, m_prevGray, m_pyrMaxLevel, m_qualityLevel, m_termcrit, m_useHarrisDetector, and m_winSize.
|
inline |
Set the size of the averaging block used to track the features.
blockSize | : Size of an average block for computing a derivative covariation matrix over each pixel neighborhood. Default value is set to 3. |
Definition at line 267 of file vpKltOpencv.h.
|
inline |
Set the free parameter of the Harris detector.
harris_k | : Free parameter of the Harris detector. Default value is set to 0.04. |
Definition at line 275 of file vpKltOpencv.h.
void vpKltOpencv::setInitialGuess | ( | const std::vector< cv::Point2f > & | guess_pts | ) |
Set the points that will be used as initial guess during the next call to track(). A typical usage of this function is to predict the position of the features before the next call to track().
guess_pts | : Vector of points that should be tracked. The size of this vector should be the same as the one returned by getFeatures(). If this is not the case, an exception is returned. Note also that the id of the points is not modified. |
Definition at line 228 of file vpKltOpencv.cpp.
References vpException::badValue, m_initial_guess, and m_points.
void vpKltOpencv::setInitialGuess | ( | const std::vector< cv::Point2f > & | init_pts, |
const std::vector< cv::Point2f > & | guess_pts, | ||
const std::vector< long > & | fid | ||
) |
Set the points that will be used as initial guess during the next call to track(). A typical usage of this function is to predict the position of the features before the next call to track().
init_pts | : Initial points (could be obtained from getPrevFeatures() or getFeatures()). |
guess_pts | : Prediction of the new position of the initial points. The size of this vector must be the same as the size of the vector of initial points. |
fid | : Identifiers of the initial points. |
Definition at line 241 of file vpKltOpencv.cpp.
References vpException::badValue, m_initial_guess, m_points, and m_points_id.
|
inline |
Set the maximum number of features to track in the image.
maxCount | : Maximum number of features to detect and track. Default value is set to 500. |
Definition at line 315 of file vpKltOpencv.h.
|
inline |
Set the minimal Euclidean distance between detected corners during initialization.
minDistance | : Minimal possible Euclidean distance between the detected corners. Default value is set to 15. |
Definition at line 324 of file vpKltOpencv.h.
|
inline |
Set the minimal eigen value threshold used to reject a point during the tracking.
minEigThreshold | : Minimal eigen value threshold. Default value is set to 1e-4. |
Definition at line 333 of file vpKltOpencv.h.
|
inline |
Set the maximal pyramid level. If the level is zero, then no pyramid is computed for the optical flow.
pyrMaxLevel | : 0-based maximal pyramid level number; if set to 0, pyramids are not used (single level), if set to 1, two levels are used, and so on. Default value is set to 3. |
Definition at line 343 of file vpKltOpencv.h.
|
inline |
Set the parameter characterizing the minimal accepted quality of image corners.
qualityLevel | : Quality level parameter. Default value is set to 0.01. The parameter value is multiplied by the best corner quality measure, which is the minimal eigenvalue or the Harris function response. The corners with the quality measure less than the product are rejected. For example, if the best corner has the quality measure = 1500, and the qualityLevel=0.01, then all the corners with the quality measure less than 15 are rejected. |
Definition at line 356 of file vpKltOpencv.h.
|
inline |
Does nothing. Just here for compat with previous releases that use OpenCV C api to do the tracking.
Definition at line 360 of file vpKltOpencv.h.
|
inline |
Set the parameter indicating whether to use a Harris detector or the minimal eigenvalue of gradient matrices for corner detection.
useHarrisDetector | : If 1 (default value), use the Harris detector. If 0 use the eigenvalue. |
Definition at line 368 of file vpKltOpencv.h.
|
inline |
Set the window size used to refine the corner locations.
winSize | : Half of the side length of the search window. Default value is set to 10. For example, if winSize=5 , then a 5*2+1 5*2+1 = 11 11 search window is used. |
Definition at line 377 of file vpKltOpencv.h.
void vpKltOpencv::suppressFeature | ( | const int & | index | ) |
Remove the feature with the given index as parameter.
index | : Index of the feature to remove. |
Definition at line 316 of file vpKltOpencv.cpp.
References vpException::badValue, m_points, and m_points_id.
void vpKltOpencv::track | ( | const cv::Mat & | I | ) |
Track KLT keypoints using the iterative Lucas-Kanade method with pyramids.
I | : Input image. |
Definition at line 118 of file vpKltOpencv.cpp.
References vpTrackingException::fatalError, m_gray, m_initial_guess, m_minEigThreshold, m_points, m_points_id, m_prevGray, m_pyrMaxLevel, m_termcrit, and m_winSize.
|
protected |
Block size.
Definition at line 398 of file vpKltOpencv.h.
Referenced by initTracking(), and operator=().
|
protected |
Gray image.
Definition at line 387 of file vpKltOpencv.h.
Referenced by initTracking(), operator=(), and track().
|
protected |
Harris parameter.
Definition at line 397 of file vpKltOpencv.h.
Referenced by initTracking(), and operator=().
|
protected |
true when initial guess is provided
Definition at line 402 of file vpKltOpencv.h.
Referenced by initTracking(), operator=(), setInitialGuess(), and track().
|
protected |
Max number of keypoints.
Definition at line 391 of file vpKltOpencv.h.
Referenced by initTracking(), and operator=().
|
protected |
Mins distance between keypoints.
Definition at line 395 of file vpKltOpencv.h.
Referenced by initTracking(), and operator=().
|
protected |
Min eigen threshold.
Definition at line 396 of file vpKltOpencv.h.
Referenced by operator=(), and track().
|
protected |
Id for the newt keypoint.
Definition at line 401 of file vpKltOpencv.h.
Referenced by addFeature(), initTracking(), and operator=().
|
protected |
Previous [0] and current [1] keypoint location.
Definition at line 389 of file vpKltOpencv.h.
Referenced by addFeature(), display(), getFeature(), initTracking(), operator=(), setInitialGuess(), suppressFeature(), and track().
|
protected |
Keypoint id.
Definition at line 390 of file vpKltOpencv.h.
Referenced by addFeature(), display(), getFeature(), initTracking(), operator=(), setInitialGuess(), suppressFeature(), and track().
|
protected |
Previous gray image.
Definition at line 388 of file vpKltOpencv.h.
Referenced by operator=(), and track().
|
protected |
Pyramid max level.
Definition at line 400 of file vpKltOpencv.h.
Referenced by operator=(), and track().
|
protected |
Quality level.
Definition at line 394 of file vpKltOpencv.h.
Referenced by initTracking(), and operator=().
|
protected |
Term criteria.
Definition at line 392 of file vpKltOpencv.h.
Referenced by initTracking(), operator=(), track(), and vpKltOpencv().
|
protected |
true to use Harris detector
Definition at line 399 of file vpKltOpencv.h.
Referenced by operator=().
|
protected |
Window criteria.
Definition at line 393 of file vpKltOpencv.h.
Referenced by initTracking(), operator=(), and track().