Visual Servoing Platform  version 3.3.1 under development (2020-10-22)
vpMbKltTracker.h
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30  *
31  * Description:
32  * Model based tracker using only KLT
33  *
34  * Authors:
35  * Romain Tallonneau
36  * Aurelien Yol
37  *
38  *****************************************************************************/
44 #ifndef vpMbKltTracker_h
45 #define vpMbKltTracker_h
46 
47 #include <visp3/core/vpConfig.h>
48 
49 #if defined(VISP_HAVE_MODULE_KLT) && (defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020100))
50 
51 #include <visp3/core/vpExponentialMap.h>
52 #include <visp3/core/vpMeterPixelConversion.h>
53 #include <visp3/core/vpPixelMeterConversion.h>
54 #include <visp3/core/vpSubColVector.h>
55 #include <visp3/core/vpSubMatrix.h>
56 #include <visp3/klt/vpKltOpencv.h>
57 #include <visp3/mbt/vpMbTracker.h>
58 #include <visp3/mbt/vpMbtDistanceCircle.h>
59 #include <visp3/mbt/vpMbtDistanceKltCylinder.h>
60 #include <visp3/mbt/vpMbtDistanceKltPoints.h>
61 #include <visp3/vision/vpHomography.h>
62 
216 class VISP_EXPORT vpMbKltTracker : public virtual vpMbTracker
217 {
218 protected:
220 #if (VISP_HAVE_OPENCV_VERSION >= 0x020408)
221  cv::Mat cur;
222 #else
223  IplImage *cur;
224 #endif
225  vpHomogeneousMatrix c0Mo;
231  unsigned int maskBorder;
237  double percentGood;
244  std::list<vpMbtDistanceKltPoints *> kltPolygons;
246  std::list<vpMbtDistanceKltCylinder *> kltCylinders;
248  std::list<vpMbtDistanceCircle *> circles_disp;
250  unsigned int m_nbInfos;
252  unsigned int m_nbFaceUsed;
264  std::vector<std::vector<double> > m_featuresToBeDisplayedKlt;
265 
266 public:
267  vpMbKltTracker();
268  virtual ~vpMbKltTracker();
269 
272 
273  void addCircle(const vpPoint &P1, const vpPoint &P2, const vpPoint &P3, double r, const std::string &name = "");
274  virtual void display(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
275  const vpColor &col, unsigned int thickness = 1, bool displayFullModel = false);
276  virtual void display(const vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
277  const vpColor &col, unsigned int thickness = 1, bool displayFullModel = false);
278 
280  virtual std::list<vpMbtDistanceCircle *> &getFeaturesCircle() { return circles_disp; }
282  virtual std::list<vpMbtDistanceKltCylinder *> &getFeaturesKltCylinder() { return kltCylinders; }
284  virtual std::list<vpMbtDistanceKltPoints *> &getFeaturesKlt() { return kltPolygons; }
285 
291 #if (VISP_HAVE_OPENCV_VERSION >= 0x020408)
292  inline std::vector<cv::Point2f> getKltPoints() const { return tracker.getFeatures(); }
293 #else
294  inline CvPoint2D32f *getKltPoints() { return tracker.getFeatures(); }
295 #endif
296 
297  std::vector<vpImagePoint> getKltImagePoints() const;
298 
299  std::map<int, vpImagePoint> getKltImagePointsWithId() const;
300 
306  inline vpKltOpencv getKltOpencv() const { return tracker; }
307 
313  inline unsigned int getKltMaskBorder() const { return maskBorder; }
314 
320  inline int getKltNbPoints() const { return tracker.getNbFeatures(); }
321 
328  inline double getKltThresholdAcceptation() const { return threshold_outlier; }
329 
330  virtual inline vpColVector getError() const { return m_error_klt; }
331 
332  virtual inline vpColVector getRobustWeights() const { return m_w_klt; }
333 
334  virtual std::vector<std::vector<double> > getModelForDisplay(unsigned int width, unsigned int height,
335  const vpHomogeneousMatrix &cMo,
336  const vpCameraParameters &cam,
337  bool displayFullModel=false);
338 
339  virtual void loadConfigFile(const std::string &configFile);
340 
341  virtual void reInitModel(const vpImage<unsigned char> &I, const std::string &cad_name,
342  const vpHomogeneousMatrix &cMo, bool verbose = false,
344  void resetTracker();
345 
346  void setCameraParameters(const vpCameraParameters &cam);
347 
353  inline void setKltMaskBorder(const unsigned int &e)
354  {
355  maskBorder = e;
356  // if(useScanLine)
357  faces.getMbScanLineRenderer().setMaskBorder(maskBorder);
358  }
359 
360  virtual void setKltOpencv(const vpKltOpencv &t);
361 
367  inline void setKltThresholdAcceptation(double th) { threshold_outlier = th; }
368 
377  virtual void setOgreVisibilityTest(const bool &v)
378  {
380 #ifdef VISP_HAVE_OGRE
381  faces.getOgreContext()->setWindowName("MBT Klt");
382 #endif
383  }
384 
390  virtual void setScanLineVisibilityTest(const bool &v)
391  {
393 
394  for (std::list<vpMbtDistanceKltPoints *>::const_iterator it = kltPolygons.begin(); it != kltPolygons.end(); ++it)
395  (*it)->useScanLine = v;
396  }
397 
398  virtual void setPose(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cdMo);
399  virtual void setPose(const vpImage<vpRGBa> &I_color, const vpHomogeneousMatrix &cdMo);
400 
407  virtual void setProjectionErrorComputation(const bool &flag)
408  {
409  if (flag)
410  std::cerr << "This option is not yet implemented in vpMbKltTracker, "
411  "projection error computation set to false."
412  << std::endl;
413  }
414 
415  void setUseKltTracking(const std::string &name, const bool &useKltTracking);
416 
417  virtual void testTracking();
418  virtual void track(const vpImage<unsigned char> &I);
419  virtual void track(const vpImage<vpRGBa> &I_color);
420 
425 
432  /* vp_deprecated */ inline unsigned int getMaskBorder() const { return maskBorder; }
439  /* vp_deprecated */ inline int getNbKltPoints() const { return tracker.getNbFeatures(); }
440 
448  /* vp_deprecated */ inline double getThresholdAcceptation() const { return threshold_outlier; }
454  /* vp_deprecated */ inline void setMaskBorder(const unsigned int &e)
455  {
456  maskBorder = e;
457  // if(useScanLine)
458  faces.getMbScanLineRenderer().setMaskBorder(maskBorder);
459  }
460 
467  /* vp_deprecated */ inline void setThresholdAcceptation(double th) { threshold_outlier = th; }
468 
470 
471 protected:
474  void computeVVS();
475  virtual void computeVVSInit();
477 
478  virtual std::vector<std::vector<double> > getFeaturesForDisplayKlt();
479 
480  virtual void init(const vpImage<unsigned char> &I);
481  virtual void initFaceFromCorners(vpMbtPolygon &polygon);
482  virtual void initFaceFromLines(vpMbtPolygon &polygon);
483  virtual void initCircle(const vpPoint &, const vpPoint &, const vpPoint &, double, int,
484  const std::string &name = "");
485  virtual void initCylinder(const vpPoint &, const vpPoint &, double, int, const std::string &name = "");
486 
487  void preTracking(const vpImage<unsigned char> &I);
488  bool postTracking(const vpImage<unsigned char> &I, vpColVector &w);
489  virtual void reinit(const vpImage<unsigned char> &I);
490  virtual void setPose(const vpImage<unsigned char> * const I, const vpImage<vpRGBa> * const I_color,
491  const vpHomogeneousMatrix &cdMo);
493 };
494 
495 #endif
496 #endif // VISP_HAVE_OPENCV
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:156
virtual void setScanLineVisibilityTest(const bool &v)
virtual void track(const vpImage< unsigned char > &I)=0
virtual void computeVVSInteractionMatrixAndResidu()=0
virtual void computeVVSInit()=0
unsigned int getKltMaskBorder() const
void setKltThresholdAcceptation(double th)
Implementation of an homogeneous matrix and operations on such kind of matrices.
int getKltNbPoints() const
virtual std::list< vpMbtDistanceKltPoints * > & getFeaturesKlt()
virtual void setProjectionErrorComputation(const bool &flag)
virtual void loadConfigFile(const std::string &configFile)
std::vector< std::vector< double > > m_featuresToBeDisplayedKlt
Display features.
Class to define RGB colors available for display functionnalities.
Definition: vpColor.h:157
std::list< vpMbtDistanceKltCylinder * > kltCylinders
vpKltOpencv getKltOpencv() const
virtual void initCircle(const vpPoint &p1, const vpPoint &p2, const vpPoint &p3, double radius, int idFace=0, const std::string &name="")=0
std::vector< cv::Point2f > getFeatures() const
Get the list of current features.
Definition: vpKltOpencv.h:105
int getNbFeatures() const
Get the number of current features.
Definition: vpKltOpencv.h:120
vpColVector m_weightedError_klt
Weighted error.
virtual vpColVector getRobustWeights() const
void setThresholdAcceptation(double th)
std::vector< cv::Point2f > getKltPoints() const
void setKltMaskBorder(const unsigned int &e)
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
vpHomogeneousMatrix ctTc0
virtual void init(const vpImage< unsigned char > &I)=0
vpRobust m_robust_klt
Robust.
virtual void setCameraParameters(const vpCameraParameters &cam)
Definition: vpMbTracker.h:483
Implementation of a polygon of the model used by the model-based tracker.
Definition: vpMbtPolygon.h:66
virtual std::list< vpMbtDistanceCircle * > & getFeaturesCircle()
unsigned int maskBorder
Erosion of the mask.
virtual void initFaceFromCorners(vpMbtPolygon &polygon)=0
Generic class defining intrinsic camera parameters.
double getThresholdAcceptation() const
unsigned int m_nbFaceUsed
Main methods for a model-based tracker.
Definition: vpMbTracker.h:104
Model based tracker using only KLT.
vpKltOpencv tracker
Points tracker.
double getKltThresholdAcceptation() const
double threshold_outlier
cv::Mat cur
Temporary OpenCV image for fast conversion.
virtual std::vector< std::vector< double > > getModelForDisplay(unsigned int width, unsigned int height, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, bool displayFullModel=false)=0
vpColVector m_w_klt
Robust weights.
std::list< vpMbtDistanceCircle * > circles_disp
Vector of the circles used here only to display the full model.
virtual std::list< vpMbtDistanceKltCylinder * > & getFeaturesKltCylinder()
virtual void setOgreVisibilityTest(const bool &v)
void setMaskBorder(const unsigned int &e)
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 void initFaceFromLines(vpMbtPolygon &polygon)=0
virtual void setOgreVisibilityTest(const bool &v)
virtual void testTracking()=0
Wrapper for the KLT (Kanade-Lucas-Tomasi) feature tracker implemented in OpenCV. Thus to enable this ...
Definition: vpKltOpencv.h:78
unsigned int getMaskBorder() const
int getNbKltPoints() const
Contains an M-estimator and various influence function.
Definition: vpRobust.h:88
virtual void setPose(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cdMo)=0
virtual void setScanLineVisibilityTest(const bool &v)
Definition: vpMbTracker.h:597
unsigned int m_nbInfos
vpColVector m_error_klt
(s - s*)
std::list< vpMbtDistanceKltPoints * > kltPolygons
virtual vpColVector getError() const
vpMatrix m_L_klt
Interaction matrix.