Visual Servoing Platform  version 3.6.1 under development (2024-02-13)
vpMegaPoseTracker.h
1 /****************************************************************************
2  *
3  * ViSP, open source Visual Servoing Platform software.
4  * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
5  *
6  * This software is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2 of the License, or
9  * (at your option) any later version.
10  * See the file LICENSE.txt at the root directory of this source
11  * distribution for additional information about the GNU GPL.
12  *
13  * For using ViSP with software that can not be combined with the GNU
14  * GPL, please contact Inria about acquiring a ViSP Professional
15  * Edition License.
16  *
17  * See https://visp.inria.fr for more information.
18  *
19  * This software was developed at:
20  * Inria Rennes - Bretagne Atlantique
21  * Campus Universitaire de Beaulieu
22  * 35042 Rennes Cedex
23  * France
24  *
25  * If you have questions regarding the use of this file, please contact
26  * Inria at visp@inria.fr
27  *
28  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Tracker based on MegaPose.
33  *
34 *****************************************************************************/
35 
36 #ifndef _vpMegaPoseTracker_h_
37 #define _vpMegaPoseTracker_h_
38 
39 #include <visp3/core/vpConfig.h>
40 #if defined(VISP_HAVE_NLOHMANN_JSON) && defined(VISP_HAVE_THREADS)
41 
42 #include <future>
43 #include <memory>
44 #include <visp3/dnn_tracker/vpMegaPose.h>
45 
98 class VISP_EXPORT vpMegaPoseTracker
99 {
100 public:
108  vpMegaPoseTracker(std::shared_ptr<vpMegaPose> megapose, const std::string &objectLabel, const int refinerIterations) :
109  m_megapose(megapose), m_objectLabel(objectLabel), m_refinerIterations(refinerIterations), m_initialized(false)
110  { }
122  std::future<vpMegaPoseEstimate> init(const vpImage<vpRGBa> &I, const vpRect & bb);
132  std::future<vpMegaPoseEstimate> init(const vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cTo);
133 
134 
141  std::future<vpMegaPoseEstimate> track(const vpImage<vpRGBa> &I);
142 
149  void updatePose(const vpHomogeneousMatrix& cTo);
150 
151 private:
152  std::shared_ptr<vpMegaPose> m_megapose;
153  vpMegaPoseEstimate m_poseEstimate;
154  std::string m_objectLabel;
155  int m_refinerIterations;
156  bool m_initialized;
157 };
158 
159 #endif // VISP_HAVE_NLOHMANN_JSON
160 
161 #endif
Implementation of an homogeneous matrix and operations on such kind of matrices.
A simplified interface to track a single object with MegaPose. This tracker works asynchronously: A c...
vpMegaPoseTracker(std::shared_ptr< vpMegaPose > megapose, const std::string &objectLabel, const int refinerIterations)
Construct a new MegaPose tracker.
Defines a rectangle in the plane.
Definition: vpRect.h:76