Visual Servoing Platform  version 3.6.1 under development (2024-04-18)
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 
65 class VISP_EXPORT vpMbtDistanceKltCylinder
66 {
67 private:
71  vpPoint p1Ext;
73  vpPoint p2Ext;
75  vpCylinder cylinder;
77  vpCircle circle1;
79  vpCircle circle2;
81  std::map<int, vpImagePoint> initPoints;
83  std::map<int, vpPoint> initPoints3D;
85  std::map<int, vpImagePoint> curPoints;
87  std::map<int, int> curPointsInd;
89  unsigned int nbPointsCur;
91  unsigned int nbPointsInit;
93  unsigned int minNbPoint;
95  bool enoughPoints;
99  bool isTrackedKltCylinder;
100 
101 public:
103  std::vector<int> listIndicesCylinderBBox;
108 
109 private:
110  double computeZ(const double &x, const double &y);
111  bool isTrackedFeature(int id);
112 
113  // private:
114  //#ifndef DOXYGEN_SHOULD_SKIP_THIS
115  // vpMbtDistanceKltCylinder(const vpMbtDistanceKltCylinder &)
116  // : c0Mo(), p1Ext(), p2Ext(), cylinder(), circle1(), circle2(),
117  // initPoints(), initPoints3D(), curPoints(), curPointsInd(),
118  // nbPointsCur(0), nbPointsInit(0), minNbPoint(4),
119  // enoughPoints(false), cam(), isTrackedKltCylinder(true),
120  // listIndicesCylinderBBox(), hiddenface(nullptr), useScanLine(false)
121  // {
122  // throw vpException(vpException::functionNotImplementedError, "Not
123  // implemented!");
124  // }
125  // vpMbtDistanceKltCylinder &operator=(const vpMbtDistanceKltCylinder &){
126  // throw vpException(vpException::functionNotImplementedError, "Not
127  // implemented!"); return *this;
128  // }
129  //#endif
130 
131 public:
133  virtual ~vpMbtDistanceKltCylinder();
134 
135  void buildFrom(const vpPoint &p1, const vpPoint &p2, const double &r);
136 
137  unsigned int computeNbDetectedCurrent(const vpKltOpencv &_tracker);
138  void computeInteractionMatrixAndResidu(const vpHomogeneousMatrix &cMc0, vpColVector &_R, vpMatrix &_J);
139 
140  void display(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
141  const vpColor &col, unsigned int thickness = 1, bool displayFullModel = false);
142  void display(const vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
143  const vpColor &col, unsigned int thickness = 1, bool displayFullModel = false);
144 
145  void displayPrimitive(const vpImage<unsigned char> &_I);
146  void displayPrimitive(const vpImage<vpRGBa> &_I);
147 
153  inline vpCameraParameters &getCameraParameters() { return cam; }
154 
155  inline std::map<int, vpImagePoint> &getCurrentPoints() { return curPoints; }
156 
157  inline std::map<int, int> &getCurrentPointsInd() { return curPointsInd; }
158 
159  inline vpCylinder getCylinder() const { return cylinder; }
160 
169  inline unsigned int getInitialNumberPoint() const { return nbPointsInit; }
180  inline unsigned int getCurrentNumberPoints() const { return nbPointsCur; }
181 
182  std::vector<std::vector<double> > getFeaturesForDisplay();
183 
184  std::vector<std::vector<double> > getModelForDisplay(const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam);
185 
186  inline bool hasEnoughPoints() const { return enoughPoints; }
187 
193  inline bool isTracked() const { return isTrackedKltCylinder; }
194 
195  void init(const vpKltOpencv &_tracker, const vpHomogeneousMatrix &cMo);
196 
197  void removeOutliers(const vpColVector &weight, const double &threshold_outlier);
198 
204  virtual inline void setCameraParameters(const vpCameraParameters &_cam) { cam = _cam; }
205 
211  inline void setTracked(const bool &track) { this->isTrackedKltCylinder = track; }
212 
213  void updateMask(cv::Mat &mask, unsigned char _nb = 255, unsigned int _shiftBorder = 0);
214 };
215 
216 #endif
217 
218 #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:86
Implementation of column vector and the associated operations.
Definition: vpColVector.h:163
Class to define RGB colors available for display functionalities.
Definition: vpColor.h:152
Class that defines a 3D cylinder in the object frame and allows forward projection of a 3D cylinder i...
Definition: vpCylinder.h:99
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:73
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:146
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:77