39 #ifndef _vpMbKltTracker_h_
40 #define _vpMbKltTracker_h_
42 #include <visp3/core/vpConfig.h>
44 #if defined(VISP_HAVE_MODULE_KLT) && defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_VIDEO)
46 #include <visp3/core/vpExponentialMap.h>
47 #include <visp3/core/vpMeterPixelConversion.h>
48 #include <visp3/core/vpPixelMeterConversion.h>
49 #include <visp3/core/vpSubColVector.h>
50 #include <visp3/core/vpSubMatrix.h>
51 #include <visp3/klt/vpKltOpencv.h>
52 #include <visp3/mbt/vpMbTracker.h>
53 #include <visp3/mbt/vpMbtDistanceCircle.h>
54 #include <visp3/mbt/vpMbtDistanceKltCylinder.h>
55 #include <visp3/mbt/vpMbtDistanceKltPoints.h>
56 #include <visp3/vision/vpHomography.h>
271 void addCircle(
const vpPoint &P1,
const vpPoint &P2,
const vpPoint &P3,
double r,
const std::string &name =
"");
273 const vpColor &col,
unsigned int thickness = 1,
bool displayFullModel =
false) VP_OVERRIDE;
275 const
vpColor &col,
unsigned int thickness = 1,
bool displayFullModel = false) VP_OVERRIDE;
282 virtual std::list<vpMbtDistanceKltPoints *> &
getFeaturesKlt() {
return kltPolygons; }
291 std::vector<vpImagePoint> getKltImagePoints()
const;
293 std::map<int, vpImagePoint> getKltImagePointsWithId()
const;
328 virtual std::vector<std::vector<double> >
getModelForDisplay(
unsigned int width,
unsigned int height,
331 bool displayFullModel =
false) VP_OVERRIDE;
333 virtual
void loadConfigFile(const std::
string &configFile,
bool verbose = true) VP_OVERRIDE;
337 void resetTracker() VP_OVERRIDE;
346 inline
void setKltMaskBorder(const
unsigned int &e)
350 faces.getMbScanLineRenderer().setMaskBorder(maskBorder);
373 #ifdef VISP_HAVE_OGRE
374 faces.getOgreContext()->setWindowName(
"MBT Klt");
387 for (std::list<vpMbtDistanceKltPoints *>::const_iterator it = kltPolygons.begin(); it != kltPolygons.end(); ++it)
388 (*it)->useScanLine = v;
403 std::cerr <<
"This option is not yet implemented in vpMbKltTracker, "
404 "projection error computation set to false."
408 void setUseKltTracking(
const std::string &name,
const bool &useKltTracking);
411 virtual
void track(const
vpImage<
unsigned char> &I) VP_OVERRIDE;
412 virtual
void track(const
vpImage<
vpRGBa> &I_color) VP_OVERRIDE;
425 inline
unsigned int getMaskBorder()
const {
return maskBorder; }
453 faces.getMbScanLineRenderer().setMaskBorder(maskBorder);
471 virtual
void computeVVSInteractionMatrixAndResidu() VP_OVERRIDE;
473 virtual std::vector<std::vector<
double> > getFeaturesForDisplayKlt();
475 virtual
void init(const
vpImage<
unsigned char> &I) VP_OVERRIDE;
476 virtual
void initFaceFromCorners(
vpMbtPolygon &polygon) VP_OVERRIDE;
477 virtual
void initFaceFromLines(
vpMbtPolygon &polygon) VP_OVERRIDE;
478 virtual
void initCircle(const
vpPoint &, const
vpPoint &, const
vpPoint &,
double,
int, const std::
string &name = "") VP_OVERRIDE;
479 virtual
void initCylinder(const
vpPoint &, const
vpPoint &,
double,
int, const std::
string &name = "") VP_OVERRIDE;
481 void preTracking(const
vpImage<
unsigned char> &I);
483 virtual
void reinit(const
vpImage<
unsigned char> &I);
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
Class to define RGB colors available for display functionalities.
Implementation of an homogeneous matrix and operations on such kind of matrices.
Wrapper for the KLT (Kanade-Lucas-Tomasi) feature tracker implemented in OpenCV. Thus to enable this ...
int getNbFeatures() const
Get the number of current features.
std::vector< cv::Point2f > getFeatures() const
Get the list of current features.
Implementation of a matrix and operations on matrices.
Model based tracker using only KLT.
std::list< vpMbtDistanceKltCylinder * > kltCylinders
vpColVector m_error_klt
(s - s*)
vpHomogeneousMatrix c0Mo
Initial pose.
void setMaskBorder(const unsigned int &e)
vpHomogeneousMatrix ctTc0
virtual void setScanLineVisibilityTest(const bool &v) VP_OVERRIDE
std::list< vpMbtDistanceKltPoints * > kltPolygons
double getKltThresholdAcceptation() const
virtual void setOgreVisibilityTest(const bool &v) VP_OVERRIDE
virtual std::list< vpMbtDistanceKltPoints * > & getFeaturesKlt()
cv::Mat cur
Temporary OpenCV image for fast conversion.
unsigned int getKltMaskBorder() const
std::list< vpMbtDistanceCircle * > circles_disp
Vector of the circles used here only to display the full model.
vpColVector m_weightedError_klt
Weighted error.
vpKltOpencv tracker
Points tracker.
virtual std::list< vpMbtDistanceKltCylinder * > & getFeaturesKltCylinder()
virtual vpColVector getError() const VP_OVERRIDE
std::vector< cv::Point2f > getKltPoints() const
vpKltOpencv getKltOpencv() const
void setKltThresholdAcceptation(double th)
void setThresholdAcceptation(double th)
vpRobust m_robust_klt
Robust.
int getKltNbPoints() const
virtual vpColVector getRobustWeights() const VP_OVERRIDE
double getThresholdAcceptation() const
unsigned int maskBorder
Erosion of the mask.
unsigned int m_nbFaceUsed
vpColVector m_w_klt
Robust weights.
std::vector< std::vector< double > > m_featuresToBeDisplayedKlt
Display features.
vpMatrix m_L_klt
Interaction matrix.
virtual void setProjectionErrorComputation(const bool &flag) VP_OVERRIDE
int getNbKltPoints() const
Main methods for a model-based tracker.
virtual std::vector< std::vector< double > > getModelForDisplay(unsigned int width, unsigned int height, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, bool displayFullModel=false)=0
virtual void setScanLineVisibilityTest(const bool &v)
virtual void setOgreVisibilityTest(const bool &v)
virtual void setPose(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cdMo)=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
virtual void computeVVSInit()=0
virtual void testTracking()=0
Manage a circle used in the model-based tracker.
Implementation of a polygon of the model used by the model-based tracker.
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Contains an M-estimator and various influence function.