MbtDistanceKltPoints¶

class MbtDistanceKltPoints(self)¶

Bases: pybind11_object

Implementation of a polygon of the model containing points of interest. It is used by the model-based tracker KLT, and hybrid.

Warning

This class is only available if OpenCV is installed, and used.

Basic constructor.

Methods

`__init__`	Basic constructor.
`computeHomography`	Compute the homography using a displacement matrix.
`computeInteractionMatrixAndResidu`	Compute the interaction matrix and the residu vector for the face.
`display`	Overloaded function.
`displayPrimitive`	Overloaded function.
`getCameraParameters`	Get the camera parameters of the face.
`getCurrentNormal`
`getCurrentNumberPoints`	Get the number of points detected in the last image.
`getCurrentPoints`
`getCurrentPointsInd`
`getFeaturesForDisplay`	Return a list of features parameters for display.
`getInitialNumberPoint`	Get the number of point that was belonging to the face at the initialisation
`getModelForDisplay`	Return a list of line parameters to display the primitive at a given pose and camera parameters.
`hasEnoughPoints`
`isTracked`	Return if the klt points are used for tracking.
`removeOutliers`	This method removes the outliers.
`setCameraParameters`	Set the camera parameters
`setTracked`	Set if the klt points have to considered during tracking phase.
`updateMask`	Modification of all the pixels that are in the roi to the value of _nb ( default is 255).

Inherited Methods

Operators

`__doc__`
`__init__`	Basic constructor.
`__module__`

Attributes

`__annotations__`
`useScanLine`

__init__(self)¶: Basic constructor.

computeHomography(self, _cTc0: visp._visp.core.HomogeneousMatrix, cHc0: visp._visp.vision.Homography) → None¶

Compute the homography using a displacement matrix.

the homography is given by:

\({}^cH_{c_0} = {}^cR_{c_0} + \frac{{}^cT_{c_0} . {}^tN}{d_0}\)

Several internal variables are computed (dt, cRc0_0n).

Parameters:

_cTc0: visp._visp.core.HomogeneousMatrix¶: The displacement matrix of the camera between the initial position of the camera and the current camera position

computeInteractionMatrixAndResidu(self, _R: visp._visp.core.ColVector, _J: visp._visp.core.Matrix) → None¶

Compute the interaction matrix and the residu vector for the face. The method assumes that these two objects are properly sized in order to be able to improve the speed with the use of SubCoVector and subMatrix.

Warning

The function preCompute must be called before the this method.

Parameters:

_R: visp._visp.core.ColVector¶: the residu vector
_J: visp._visp.core.Matrix¶: the interaction matrix

display(*args, **kwargs)¶

Overloaded function.

display(self: visp._visp.mbt.MbtDistanceKltPoints, I: visp._visp.core.ImageGray, cMo: visp._visp.core.HomogeneousMatrix, cam: visp._visp.core.CameraParameters, col: visp._visp.core.Color, thickness: int = 1, displayFullModel: bool = false) -> None
display(self: visp._visp.mbt.MbtDistanceKltPoints, I: visp._visp.core.ImageRGBa, cMo: visp._visp.core.HomogeneousMatrix, cam: visp._visp.core.CameraParameters, col: visp._visp.core.Color, thickness: int = 1, displayFullModel: bool = false) -> None

displayPrimitive(*args, **kwargs)¶

Overloaded function.

displayPrimitive(self: visp._visp.mbt.MbtDistanceKltPoints, _I: visp._visp.core.ImageGray) -> None

Display the primitives tracked for the face.

Parameters:

_I: The image where to display.

displayPrimitive(self: visp._visp.mbt.MbtDistanceKltPoints, _I: visp._visp.core.ImageRGBa) -> None

Display the primitives tracked for the face.

Parameters:

_I: The image where to display.

getCameraParameters(self) → visp._visp.core.CameraParameters¶

Get the camera parameters of the face.

Returns:: cam : the camera parameters of the face.

getCurrentNormal(self) → visp._visp.core.ColVector¶

getCurrentNumberPoints(self) → int¶

Get the number of points detected in the last image.

Note

See getInitialNumberPoint()

Returns:: the number of points detected in the current image.

getCurrentPoints(self) → dict[int, visp._visp.core.ImagePoint]¶

getCurrentPointsInd(self) → dict[int, int]¶

getFeaturesForDisplay(self) → list[list[float]]¶

Return a list of features parameters for display.

Parameters are: <feature id (here 1 for KLT)> , <pt.i()> , <pt.j()> , <klt_id.i()> , <klt_id.j()> , <klt_id.id>

getInitialNumberPoint(self) → int¶

Get the number of point that was belonging to the face at the initialisation

Note

See getCurrentNumberPoints()

Returns:: the number of initial point.

getModelForDisplay(self, cam: visp._visp.core.CameraParameters, displayFullModel: bool = false) → list[list[float]]¶

Return a list of line parameters to display the primitive at a given pose and camera parameters. Parameters are: <primitive id (here 0 for line)>, <pt_start.i()>, <pt_start.j()> <pt_end.i()>, <pt_end.j()>

Parameters:

displayFullModel: bool = false¶: If true, the line is displayed even if it is not

hasEnoughPoints(self) → bool¶

isTracked(self) → bool¶

Return if the klt points are used for tracking.

Returns:: True if it is used, False otherwise.

removeOutliers(self, weight: visp._visp.core.ColVector, threshold_outlier: float) → None¶

This method removes the outliers. A point is considered as outlier when its associated weight is below a given threshold (threshold_outlier).

Parameters:

threshold_outlier: float¶: Threshold to specify wether or not a point has to be deleted.

setCameraParameters(self, _cam: visp._visp.core.CameraParameters) → None¶

Set the camera parameters

Parameters:

_cam: visp._visp.core.CameraParameters¶: the new camera parameters

setTracked(self, track: bool) → None¶

Set if the klt points have to considered during tracking phase.

Parameters:

track: bool¶: True if they have to be tracked, False otherwise.

updateMask(self: visp._visp.mbt.MbtDistanceKltPoints, mask: cv::Mat, _nb: int, _shiftBorder: int = 0) → None¶

Modification of all the pixels that are in the roi to the value of _nb ( default is 255).

Parameters:

mask: the mask to update (0, not in the object, _nb otherwise).