Visual Servoing Platform  version 3.4.1 under development (2021-04-17)
vpMbEdgeTracker.h
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30  *
31  * Description:
32  * Make the complete tracking of an object by using its CAD model
33  *
34  * Authors:
35  * Nicolas Melchior
36  * Romain Tallonneau
37  * Eric Marchand
38  *
39  *****************************************************************************/
40 
46 #ifndef vpMbEdgeTracker_HH
47 #define vpMbEdgeTracker_HH
48 
49 #include <visp3/core/vpPoint.h>
50 #include <visp3/mbt/vpMbTracker.h>
51 #include <visp3/mbt/vpMbtDistanceCircle.h>
52 #include <visp3/mbt/vpMbtDistanceCylinder.h>
53 #include <visp3/mbt/vpMbtDistanceLine.h>
54 #include <visp3/mbt/vpMbtMeLine.h>
55 #include <visp3/me/vpMe.h>
56 
57 #include <fstream>
58 #include <iostream>
59 #include <list>
60 #include <vector>
61 
62 #if defined(VISP_HAVE_COIN3D)
63 // Inventor includes
64 #include <Inventor/VRMLnodes/SoVRMLCoordinate.h>
65 #include <Inventor/VRMLnodes/SoVRMLGroup.h>
66 #include <Inventor/VRMLnodes/SoVRMLIndexedFaceSet.h>
67 #include <Inventor/VRMLnodes/SoVRMLIndexedLineSet.h>
68 #include <Inventor/VRMLnodes/SoVRMLShape.h>
69 #include <Inventor/actions/SoGetMatrixAction.h>
70 #include <Inventor/actions/SoGetPrimitiveCountAction.h>
71 #include <Inventor/actions/SoSearchAction.h>
72 #include <Inventor/actions/SoToVRML2Action.h>
73 #include <Inventor/actions/SoWriteAction.h>
74 #include <Inventor/misc/SoChildList.h>
75 #include <Inventor/nodes/SoSeparator.h>
76 #endif
77 
78 #ifdef VISP_HAVE_OPENCV
79 #if VISP_HAVE_OPENCV_VERSION >= 0x020101
80 #include <opencv2/core/core.hpp>
81 #include <opencv2/imgproc/imgproc.hpp>
82 #include <opencv2/imgproc/imgproc_c.h>
83 #else
84 #include <cv.h>
85 #endif
86 #endif
87 
252 class VISP_EXPORT vpMbEdgeTracker : public virtual vpMbTracker
253 {
254 protected:
260  std::vector<std::list<vpMbtDistanceLine *> > lines;
261 
263  std::vector<std::list<vpMbtDistanceCircle *> > circles;
264 
266  std::vector<std::list<vpMbtDistanceCylinder *> > cylinders;
267 
270  unsigned int nline;
271 
274  unsigned int ncircle;
275 
278  unsigned int ncylinder;
279 
281  unsigned int nbvisiblepolygone;
282 
286 
288  std::vector<bool> scales;
289 
292  std::vector<const vpImage<unsigned char> *> Ipyramid;
293 
297  unsigned int scaleLevel;
298 
301 
324  std::vector<std::vector<double> > m_featuresToBeDisplayedEdge;
325 
326 public:
327  vpMbEdgeTracker();
328  virtual ~vpMbEdgeTracker();
329 
332 
333  virtual void display(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
334  const vpColor &col, unsigned int thickness = 1, bool displayFullModel = false);
335  virtual void display(const vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
336  const vpColor &col, unsigned int thickness = 1, bool displayFullModel = false);
337 
338  void getLline(std::list<vpMbtDistanceLine *> &linesList, unsigned int level = 0) const;
339  void getLcircle(std::list<vpMbtDistanceCircle *> &circlesList, unsigned int level = 0) const;
340  void getLcylinder(std::list<vpMbtDistanceCylinder *> &cylindersList, unsigned int level = 0) const;
341 
342  virtual std::vector<std::vector<double> > getModelForDisplay(unsigned int width, unsigned int height,
343  const vpHomogeneousMatrix &cMo,
344  const vpCameraParameters &cam,
345  bool displayFullModel=false);
346 
353  virtual inline void getMovingEdge(vpMe &p_me) const { p_me = this->me; }
359  virtual inline vpMe getMovingEdge() const { return this->me; }
360 
361  virtual unsigned int getNbPoints(unsigned int level = 0) const;
362 
368  std::vector<bool> getScales() const { return scales; }
378  inline double getGoodMovingEdgesRatioThreshold() const { return percentageGdPt; }
379 
380  virtual inline vpColVector getError() const { return m_error_edge; }
381 
382  virtual inline vpColVector getRobustWeights() const { return m_w_edge; }
383 
384  virtual void loadConfigFile(const std::string &configFile, bool verbose=true);
385 
386  virtual void reInitModel(const vpImage<unsigned char> &I, const std::string &cad_name,
387  const vpHomogeneousMatrix &cMo, bool verbose = false,
389  void resetTracker();
390 
396  virtual void setCameraParameters(const vpCameraParameters &cam)
397  {
398  m_cam = cam;
399 
400  for (unsigned int i = 0; i < scales.size(); i += 1) {
401  if (scales[i]) {
402  for (std::list<vpMbtDistanceLine *>::const_iterator it = lines[i].begin(); it != lines[i].end(); ++it) {
403  (*it)->setCameraParameters(m_cam);
404  }
405 
406  for (std::list<vpMbtDistanceCylinder *>::const_iterator it = cylinders[i].begin(); it != cylinders[i].end();
407  ++it) {
408  (*it)->setCameraParameters(m_cam);
409  }
410 
411  for (std::list<vpMbtDistanceCircle *>::const_iterator it = circles[i].begin(); it != circles[i].end(); ++it) {
412  (*it)->setCameraParameters(m_cam);
413  }
414  }
415  }
416  }
417 
418  virtual void setClipping(const unsigned int &flags);
419 
420  virtual void setFarClippingDistance(const double &dist);
421 
422  virtual void setNearClippingDistance(const double &dist);
423 
432  virtual void setOgreVisibilityTest(const bool &v)
433  {
435 #ifdef VISP_HAVE_OGRE
436  faces.getOgreContext()->setWindowName("MBT Edge");
437 #endif
438  }
439 
445  virtual void setScanLineVisibilityTest(const bool &v)
446  {
448 
449  for (unsigned int i = 0; i < scales.size(); i += 1) {
450  if (scales[i]) {
451  for (std::list<vpMbtDistanceLine *>::const_iterator it = lines[i].begin(); it != lines[i].end(); ++it) {
452  (*it)->useScanLine = v;
453  }
454  }
455  }
456  }
457 
471  void setGoodMovingEdgesRatioThreshold(double threshold) { percentageGdPt = threshold; }
472 
473  void setMovingEdge(const vpMe &me);
474 
475  virtual void setPose(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cdMo);
476  virtual void setPose(const vpImage<vpRGBa> &I_color, const vpHomogeneousMatrix &cdMo);
477 
478  void setScales(const std::vector<bool> &_scales);
479 
480  void setUseEdgeTracking(const std::string &name, const bool &useEdgeTracking);
481 
482  virtual void track(const vpImage<unsigned char> &I);
483  virtual void track(const vpImage<vpRGBa> &I);
485 
486 protected:
489  void addCircle(const vpPoint &P1, const vpPoint &P2, const vpPoint &P3, double r, int idFace = -1,
490  const std::string &name = "");
491  void addCylinder(const vpPoint &P1, const vpPoint &P2, double r, int idFace = -1, const std::string &name = "");
492  void addLine(vpPoint &p1, vpPoint &p2, int polygon = -1, std::string name = "");
493  void addPolygon(vpMbtPolygon &p);
494 
495  void cleanPyramid(std::vector<const vpImage<unsigned char> *> &_pyramid);
496  void computeProjectionError(const vpImage<unsigned char> &_I);
497 
498  void computeVVS(const vpImage<unsigned char> &_I, unsigned int lvl);
499  void computeVVSFirstPhase(const vpImage<unsigned char> &I, unsigned int iter, double &count,
500  unsigned int lvl = 0);
501  void computeVVSFirstPhaseFactor(const vpImage<unsigned char> &I, unsigned int lvl = 0);
502  void computeVVSFirstPhasePoseEstimation(unsigned int iter, bool &isoJoIdentity_);
503  virtual void computeVVSInit();
506  virtual void computeVVSWeights();
508 
509  void displayFeaturesOnImage(const vpImage<unsigned char> &I);
510  void displayFeaturesOnImage(const vpImage<vpRGBa> &I);
511  void downScale(const unsigned int _scale);
512  virtual std::vector<std::vector<double> > getFeaturesForDisplayEdge();
513  virtual void init(const vpImage<unsigned char> &I);
514  virtual void initCircle(const vpPoint &p1, const vpPoint &p2, const vpPoint &p3, double radius,
515  int idFace = 0, const std::string &name = "");
516  virtual void initCylinder(const vpPoint &p1, const vpPoint &p2, double radius, int idFace = 0,
517  const std::string &name = "");
518  virtual void initFaceFromCorners(vpMbtPolygon &polygon);
519  virtual void initFaceFromLines(vpMbtPolygon &polygon);
520  unsigned int initMbtTracking(unsigned int &nberrors_lines, unsigned int &nberrors_cylinders,
521  unsigned int &nberrors_circles);
522  void initMovingEdge(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &_cMo);
523  void initPyramid(const vpImage<unsigned char> &_I, std::vector<const vpImage<unsigned char> *> &_pyramid);
524  void reInitLevel(const unsigned int _lvl);
525  void reinitMovingEdge(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &_cMo);
526  void removeCircle(const std::string &name);
527  void removeCylinder(const std::string &name);
528  void removeLine(const std::string &name);
529  void resetMovingEdge();
530  virtual void testTracking();
531  void trackMovingEdge(const vpImage<unsigned char> &I);
532  void updateMovingEdge(const vpImage<unsigned char> &I);
533  void updateMovingEdgeWeights();
534  void upScale(const unsigned int _scale);
535  void visibleFace(const vpImage<unsigned char> &_I, const vpHomogeneousMatrix &_cMo, bool &newvisibleline);
537 };
538 
539 #endif
unsigned int ncylinder
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:153
void setGoodMovingEdgesRatioThreshold(double threshold)
virtual void track(const vpImage< unsigned char > &I)=0
virtual void computeVVSInteractionMatrixAndResidu()=0
vpColVector m_error_edge
(s - s*)
virtual void computeVVSInit()=0
vpColVector m_weightedError_edge
Weighted error.
Implementation of an homogeneous matrix and operations on such kind of matrices.
std::vector< std::list< vpMbtDistanceCylinder * > > cylinders
Vector of the tracked cylinders.
unsigned int scaleLevel
Class to define RGB colors available for display functionnalities.
Definition: vpColor.h:157
vpColVector m_factor
Edge VVS variables.
unsigned int ncircle
virtual void initCircle(const vpPoint &p1, const vpPoint &p2, const vpPoint &p3, double radius, int idFace=0, const std::string &name="")=0
std::vector< const vpImage< unsigned char > * > Ipyramid
vpColVector m_w_edge
Robust weights.
vpColVector m_wCircles
Definition: vpMe.h:60
Make the complete tracking of an object by using its CAD model.
vpMe me
The moving edges parameters.
virtual void resetTracker()=0
virtual void display(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, unsigned int thickness=1, bool displayFullModel=false)=0
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition: vpPoint.h:81
virtual void init(const vpImage< unsigned char > &I)=0
virtual void setOgreVisibilityTest(const bool &v)
vpRobust m_robust_edge
Robust.
std::vector< bool > scales
Vector of scale level to use for the multi-scale tracking.
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 getMovingEdge(vpMe &p_me) const
unsigned int nbFeaturesForProjErrorComputation
Number of features used in the computation of the projection error.
virtual void initFaceFromCorners(vpMbtPolygon &polygon)=0
Generic class defining intrinsic camera parameters.
double getGoodMovingEdgesRatioThreshold() const
Main methods for a model-based tracker.
Definition: vpMbTracker.h:104
virtual void computeVVSWeights(vpRobust &robust, const vpColVector &error, vpColVector &w)
vpColVector m_errorCylinders
vpColVector m_errorCircles
vpColVector m_wCylinders
vpRobust m_robustLines
std::vector< std::list< vpMbtDistanceCircle * > > circles
Vector of the tracked circles.
virtual vpColVector getError() const
void addPolygon(const std::vector< vpPoint > &corners, int idFace=-1, const std::string &polygonName="", bool useLod=false, double minPolygonAreaThreshold=2500.0, double minLineLengthThreshold=50.0)
vpRobust m_robustCylinders
virtual std::vector< std::vector< double > > getModelForDisplay(unsigned int width, unsigned int height, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, bool displayFullModel=false)=0
vpRobust m_robustCircles
virtual void setOgreVisibilityTest(const bool &v)
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
virtual void initCylinder(const vpPoint &p1, const vpPoint &p2, double radius, int idFace=0, const std::string &name="")=0
virtual vpColVector getRobustWeights() const
virtual void initFaceFromLines(vpMbtPolygon &polygon)=0
virtual void testTracking()=0
Contains an M-estimator and various influence function.
Definition: vpRobust.h:88
unsigned int nbvisiblepolygone
Number of polygon (face) currently visible.
virtual vpMe getMovingEdge() const
virtual void setPose(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cdMo)=0
std::vector< std::list< vpMbtDistanceLine * > > lines
virtual void setScanLineVisibilityTest(const bool &v)
Definition: vpMbTracker.h:601
vpColVector m_wLines
virtual void setClipping(const unsigned int &flags)
virtual void setCameraParameters(const vpCameraParameters &cam)
virtual void loadConfigFile(const std::string &configFile, bool verbose=true)
vpMatrix m_L_edge
Interaction matrix.
unsigned int nline
virtual void setFarClippingDistance(const double &dist)
vpColVector m_errorLines
std::vector< bool > getScales() const
std::vector< std::vector< double > > m_featuresToBeDisplayedEdge
Display features.
virtual void setNearClippingDistance(const double &dist)