Visual Servoing Platform  version 3.6.1 under development (2024-07-23)
vpMbtDistanceKltCylinder.h
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31  * Description:
32  * Klt cylinder, containing points of interest.
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35 
36 #ifndef vpMbtDistanceKltCylinder_h
37 #define vpMbtDistanceKltCylinder_h
38 
39 #include <visp3/core/vpConfig.h>
40 
41 #if defined(VISP_HAVE_MODULE_KLT) && defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_VIDEO)
42 
43 #include <map>
44 
45 #include <visp3/core/vpCircle.h>
46 #include <visp3/core/vpCylinder.h>
47 #include <visp3/core/vpDisplay.h>
48 #include <visp3/core/vpGEMM.h>
49 #include <visp3/core/vpPlane.h>
50 #include <visp3/core/vpPolygon3D.h>
51 #include <visp3/klt/vpKltOpencv.h>
52 #include <visp3/mbt/vpMbHiddenFaces.h>
53 #include <visp3/vision/vpHomography.h>
54 
66 class VISP_EXPORT vpMbtDistanceKltCylinder
67 {
68 private:
72  vpPoint p1Ext;
74  vpPoint p2Ext;
76  vpCylinder cylinder;
78  vpCircle circle1;
80  vpCircle circle2;
82  std::map<int, vpImagePoint> initPoints;
84  std::map<int, vpPoint> initPoints3D;
86  std::map<int, vpImagePoint> curPoints;
88  std::map<int, int> curPointsInd;
90  unsigned int nbPointsCur;
92  unsigned int nbPointsInit;
94  unsigned int minNbPoint;
96  bool enoughPoints;
100  bool isTrackedKltCylinder;
101 
102 public:
104  std::vector<int> listIndicesCylinderBBox;
109 
110 private:
111  double computeZ(const double &x, const double &y);
112  bool isTrackedFeature(int id);
113 
114  // private:
115  //#ifndef DOXYGEN_SHOULD_SKIP_THIS
116  // vpMbtDistanceKltCylinder(const vpMbtDistanceKltCylinder &)
117  // : c0Mo(), p1Ext(), p2Ext(), cylinder(), circle1(), circle2(),
118  // initPoints(), initPoints3D(), curPoints(), curPointsInd(),
119  // nbPointsCur(0), nbPointsInit(0), minNbPoint(4),
120  // enoughPoints(false), cam(), isTrackedKltCylinder(true),
121  // listIndicesCylinderBBox(), hiddenface(nullptr), useScanLine(false)
122  // {
123  // throw vpException(vpException::functionNotImplementedError, "Not
124  // implemented!");
125  // }
126  // vpMbtDistanceKltCylinder &operator=(const vpMbtDistanceKltCylinder &){
127  // throw vpException(vpException::functionNotImplementedError, "Not
128  // implemented!"); return *this;
129  // }
130  //#endif
131 
132 public:
134  virtual ~vpMbtDistanceKltCylinder();
135 
136  void buildFrom(const vpPoint &p1, const vpPoint &p2, const double &r);
137 
138  unsigned int computeNbDetectedCurrent(const vpKltOpencv &_tracker);
139  void computeInteractionMatrixAndResidu(const vpHomogeneousMatrix &cMc0, vpColVector &_R, vpMatrix &_J);
140 
141  void display(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
142  const vpColor &col, unsigned int thickness = 1, bool displayFullModel = false);
143  void display(const vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
144  const vpColor &col, unsigned int thickness = 1, bool displayFullModel = false);
145 
146  void displayPrimitive(const vpImage<unsigned char> &_I);
147  void displayPrimitive(const vpImage<vpRGBa> &_I);
148 
154  inline vpCameraParameters &getCameraParameters() { return cam; }
155 
156  inline std::map<int, vpImagePoint> &getCurrentPoints() { return curPoints; }
157 
158  inline std::map<int, int> &getCurrentPointsInd() { return curPointsInd; }
159 
160  inline vpCylinder getCylinder() const { return cylinder; }
161 
170  inline unsigned int getInitialNumberPoint() const { return nbPointsInit; }
181  inline unsigned int getCurrentNumberPoints() const { return nbPointsCur; }
182 
183  std::vector<std::vector<double> > getFeaturesForDisplay();
184 
185  std::vector<std::vector<double> > getModelForDisplay(const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam);
186 
187  inline bool hasEnoughPoints() const { return enoughPoints; }
188 
194  inline bool isTracked() const { return isTrackedKltCylinder; }
195 
196  void init(const vpKltOpencv &_tracker, const vpHomogeneousMatrix &cMo);
197 
198  void removeOutliers(const vpColVector &weight, const double &threshold_outlier);
199 
205  virtual inline void setCameraParameters(const vpCameraParameters &_cam) { cam = _cam; }
206 
212  inline void setTracked(const bool &track) { this->isTrackedKltCylinder = track; }
213 
214  void updateMask(cv::Mat &mask, unsigned char _nb = 255, unsigned int _shiftBorder = 0);
215 };
216 END_VISP_NAMESPACE
217 #endif
218 
219 #endif // VISP_HAVE_OPENCV
Generic class defining intrinsic camera parameters.
Class that defines a 3D circle in the object frame and allows forward projection of a 3D circle in th...
Definition: vpCircle.h:87
Implementation of column vector and the associated operations.
Definition: vpColVector.h:191
Class to define RGB colors available for display functionalities.
Definition: vpColor.h:157
Class that defines a 3D cylinder in the object frame and allows forward projection of a 3D cylinder i...
Definition: vpCylinder.h:101
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 ...
Definition: vpKltOpencv.h:74
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:169
Implementation of a polygon of the model containing points of interest. It is used by the model-based...
virtual void setCameraParameters(const vpCameraParameters &_cam)
std::map< int, vpImagePoint > & getCurrentPoints()
bool useScanLine
Use scanline rendering.
void setTracked(const bool &track)
unsigned int getCurrentNumberPoints() const
std::vector< int > listIndicesCylinderBBox
Pointer to the polygon that define a face.
vpCameraParameters & getCameraParameters()
vpMbHiddenFaces< vpMbtPolygon > * hiddenface
Pointer to the list of faces.
std::map< int, int > & getCurrentPointsInd()
unsigned int getInitialNumberPoint() const
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition: vpPoint.h:79