Visual Servoing Platform  version 3.2.1 under development (2019-05-26)
vpMbtDistanceKltCylinder.h
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30  *
31  * Description:
32  * Klt cylinder, containing points of interest.
33  *
34  * Authors:
35  * Aurelien Yol
36  *
37  *****************************************************************************/
38 
39 #ifndef vpMbtDistanceKltCylinder_h
40 #define vpMbtDistanceKltCylinder_h
41 
42 #include <visp3/core/vpConfig.h>
43 
44 #if defined(VISP_HAVE_MODULE_KLT) && (defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020100))
45 
46 #include <map>
47 
48 #include <visp3/core/vpCircle.h>
49 #include <visp3/core/vpCylinder.h>
50 #include <visp3/core/vpDisplay.h>
51 #include <visp3/core/vpGEMM.h>
52 #include <visp3/core/vpPlane.h>
53 #include <visp3/core/vpPolygon3D.h>
54 #include <visp3/klt/vpKltOpencv.h>
55 #include <visp3/mbt/vpMbHiddenFaces.h>
56 #include <visp3/vision/vpHomography.h>
57 
68 class VISP_EXPORT vpMbtDistanceKltCylinder
69 {
70 private:
74  vpPoint p1Ext;
76  vpPoint p2Ext;
78  vpCylinder cylinder;
80  vpCircle circle1;
82  vpCircle circle2;
84  std::map<int, vpImagePoint> initPoints;
86  std::map<int, vpPoint> initPoints3D;
88  std::map<int, vpImagePoint> curPoints;
90  std::map<int, int> curPointsInd;
92  unsigned int nbPointsCur;
94  unsigned int nbPointsInit;
96  unsigned int minNbPoint;
98  bool enoughPoints;
100  vpCameraParameters cam;
102  bool isTrackedKltCylinder;
103 
104 public:
106  std::vector<int> listIndicesCylinderBBox;
111 
112 private:
113  double computeZ(const double &x, const double &y);
114  bool isTrackedFeature(const int id);
115 
116  // private:
117  //#ifndef DOXYGEN_SHOULD_SKIP_THIS
118  // vpMbtDistanceKltCylinder(const vpMbtDistanceKltCylinder &)
119  // : c0Mo(), p1Ext(), p2Ext(), cylinder(), circle1(), circle2(),
120  // initPoints(), initPoints3D(), curPoints(), curPointsInd(),
121  // nbPointsCur(0), nbPointsInit(0), minNbPoint(4),
122  // enoughPoints(false), cam(), isTrackedKltCylinder(true),
123  // listIndicesCylinderBBox(), hiddenface(NULL), useScanLine(false)
124  // {
125  // throw vpException(vpException::functionNotImplementedError, "Not
126  // implemented!");
127  // }
128  // vpMbtDistanceKltCylinder &operator=(const vpMbtDistanceKltCylinder &){
129  // throw vpException(vpException::functionNotImplementedError, "Not
130  // implemented!"); return *this;
131  // }
132  //#endif
133 
134 public:
136  virtual ~vpMbtDistanceKltCylinder();
137 
138  void buildFrom(const vpPoint &p1, const vpPoint &p2, const double &r);
139 
140  unsigned int computeNbDetectedCurrent(const vpKltOpencv &_tracker);
141  void computeInteractionMatrixAndResidu(const vpHomogeneousMatrix &cMc0, vpColVector &_R, vpMatrix &_J);
142 
143  void display(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
144  const vpColor &col, const unsigned int thickness = 1, const bool displayFullModel = false);
145  void display(const vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
146  const vpColor &col, const unsigned int thickness = 1, const bool displayFullModel = false);
147 
148  void displayPrimitive(const vpImage<unsigned char> &_I);
149  void displayPrimitive(const vpImage<vpRGBa> &_I);
150 
156  inline vpCameraParameters &getCameraParameters() { return cam; }
157 
158  inline std::map<int, vpImagePoint> &getCurrentPoints() { return curPoints; }
159 
160  inline std::map<int, int> &getCurrentPointsInd() { return curPointsInd; }
161 
162  inline vpCylinder getCylinder() const { return cylinder; }
163 
172  inline unsigned int getInitialNumberPoint() const { return nbPointsInit; }
183  inline unsigned int getCurrentNumberPoints() const { return nbPointsCur; }
184 
185  std::vector<std::vector<double> > getFeaturesForDisplay();
186 
187  std::vector<std::vector<double> > getModelForDisplay(const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam);
188 
189  inline bool hasEnoughPoints() const { return enoughPoints; }
190 
196  inline bool isTracked() const { return isTrackedKltCylinder; }
197 
198  void init(const vpKltOpencv &_tracker, const vpHomogeneousMatrix &cMo);
199 
200  void removeOutliers(const vpColVector &weight, const double &threshold_outlier);
201 
207  virtual inline void setCameraParameters(const vpCameraParameters &_cam) { cam = _cam; }
208 
214  inline void setTracked(const bool &track) { this->isTrackedKltCylinder = track; }
215 
216 #if (VISP_HAVE_OPENCV_VERSION >= 0x020408)
217  void updateMask(cv::Mat &mask, unsigned char _nb = 255, unsigned int _shiftBorder = 0);
218 #else
219  void updateMask(IplImage *mask, unsigned char _nb = 255, unsigned int _shiftBorder = 0);
220 #endif
221 };
222 
223 #endif
224 
225 #endif // VISP_HAVE_OPENCV
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:164
void setTracked(const bool &track)
Implementation of an homogeneous matrix and operations on such kind of matrices.
std::vector< int > listIndicesCylinderBBox
Pointer to the polygon that define a face.
std::map< int, int > & getCurrentPointsInd()
Class to define colors available for display functionnalities.
Definition: vpColor.h:120
Class that defines what is a point.
Definition: vpPoint.h:58
unsigned int getInitialNumberPoint() const
virtual void setCameraParameters(const vpCameraParameters &_cam)
Generic class defining intrinsic camera parameters.
Implementation of a polygon of the model containing points of interest. It is used by the model-based...
bool useScanLine
Use scanline rendering.
vpMbHiddenFaces< vpMbtPolygon > * hiddenface
Pointer to the list of faces.
std::map< int, vpImagePoint > & getCurrentPoints()
Class that defines what is a cylinder.
Definition: vpCylinder.h:96
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
vpCameraParameters & getCameraParameters()
Wrapper for the KLT (Kanade-Lucas-Tomasi) feature tracker implemented in OpenCV. Thus to enable this ...
Definition: vpKltOpencv.h:78
unsigned int getCurrentNumberPoints() const
Class that defines what is a circle.
Definition: vpCircle.h:58