Visual Servoing Platform  version 3.2.0
vpMbEdgeKltTracker.h
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30  *
31  * Description:
32  * Hybrid tracker based on edges (vpMbt) and points of interests (KLT)
33  *
34  * Authors:
35  * Romain Tallonneau
36  * Aurelien Yol
37  *
38  *****************************************************************************/
39 
45 #ifndef vpMbEdgeKltTracker_HH
46 #define vpMbEdgeKltTracker_HH
47 
48 #include <visp3/core/vpConfig.h>
49 
50 #if defined(VISP_HAVE_MODULE_KLT) && (defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020100))
51 
52 #include <visp3/core/vpExponentialMap.h>
53 #include <visp3/core/vpPoseVector.h>
54 #include <visp3/core/vpSubColVector.h>
55 #include <visp3/core/vpSubMatrix.h>
56 #include <visp3/klt/vpKltOpencv.h>
57 #include <visp3/mbt/vpMbEdgeTracker.h>
58 #include <visp3/mbt/vpMbKltTracker.h>
59 #include <visp3/mbt/vpMbTracker.h>
60 #include <visp3/mbt/vpMbtEdgeKltXmlParser.h>
61 
234 class VISP_EXPORT vpMbEdgeKltTracker : public vpMbKltTracker, public vpMbEdgeTracker
235 {
236 protected:
238  double thresholdKLT;
240  double thresholdMBT;
242  unsigned int m_maxIterKlt;
244  vpColVector w_mbt;
246  vpColVector w_klt;
248  vpColVector m_error_hybrid;
250  vpColVector m_w_hybrid;
251 
252 public:
254  virtual ~vpMbEdgeKltTracker();
255 
256  virtual void display(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
257  const vpColor &col, const unsigned int thickness = 1, const bool displayFullModel = false);
258  virtual void display(const vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
259  const vpColor &col, const unsigned int thickness = 1, const bool displayFullModel = false);
260 
261  virtual inline vpColVector getError() const { return m_error_hybrid; }
262 
263  virtual inline vpColVector getRobustWeights() const { return m_w_hybrid; }
264 
270  virtual inline double getNearClippingDistance() const { return vpMbKltTracker::getNearClippingDistance(); }
271 
272  virtual void loadConfigFile(const std::string &configFile);
273 
274  void reInitModel(const vpImage<unsigned char> &I, const std::string &cad_name, const vpHomogeneousMatrix &cMo_,
275  const bool verbose = false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix());
276  void resetTracker();
277 
278  virtual void setCameraParameters(const vpCameraParameters &cam);
279 
287  virtual void setClipping(const unsigned int &flags) { vpMbEdgeTracker::setClipping(flags); }
288 
294  virtual void setFarClippingDistance(const double &dist) { vpMbEdgeTracker::setFarClippingDistance(dist); }
295 
301  virtual void setNearClippingDistance(const double &dist) { vpMbEdgeTracker::setNearClippingDistance(dist); }
302 
311  virtual void setOgreVisibilityTest(const bool &v)
312  {
314 #ifdef VISP_HAVE_OGRE
315  faces.getOgreContext()->setWindowName("MBT Hybrid");
316 #endif
317  }
318 
324  virtual void setScanLineVisibilityTest(const bool &v)
325  {
328  }
329 
330  virtual void setPose(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cdMo);
337  virtual void setProjectionErrorComputation(const bool &flag) { vpMbEdgeTracker::setProjectionErrorComputation(flag); }
338 
339  virtual void testTracking() {}
340  virtual void track(const vpImage<unsigned char> &I);
341 
342 protected:
343  virtual void computeVVS(const vpImage<unsigned char> &I, const unsigned int &nbInfos, unsigned int &nbrow,
344  const unsigned int lvl = 0);
345  virtual void computeVVSInit();
349 
350  virtual void init(const vpImage<unsigned char> &I);
351  virtual void initCircle(const vpPoint &, const vpPoint &, const vpPoint &, const double r, const int idFace = 0,
352  const std::string &name = "");
353  virtual void initCylinder(const vpPoint &, const vpPoint &, const double r, const int idFace,
354  const std::string &name = "");
355  virtual void initFaceFromCorners(vpMbtPolygon &polygon);
356  virtual void initFaceFromLines(vpMbtPolygon &polygon);
357  unsigned int initMbtTracking(const unsigned int level = 0);
358 
359  bool postTracking(const vpImage<unsigned char> &I, vpColVector &w_mbt, vpColVector &w_klt,
360  const unsigned int lvl = 0);
361  void postTrackingMbt(vpColVector &w, const unsigned int level = 0);
362 
363  unsigned int trackFirstLoop(const vpImage<unsigned char> &I, vpColVector &factor, const unsigned int lvl = 0);
364  void trackSecondLoop(const vpImage<unsigned char> &I, vpMatrix &L, vpColVector &_error, vpHomogeneousMatrix &cMo,
365  const unsigned int lvl = 0);
366 };
367 
368 #endif
369 
370 #endif // VISP_HAVE_OPENCV
vpMbEdgeTracker::setClipping
virtual void setClipping(const unsigned int &flags)
Definition: vpMbEdgeTracker.cpp:2554
vpMbEdgeTracker::initCircle
virtual void initCircle(const vpPoint &p1, const vpPoint &p2, const vpPoint &p3, const double radius, const int idFace=0, const std::string &name="")
Definition: vpMbEdgeTracker.cpp:2210
vpMbEdgeTracker::setCameraParameters
virtual void setCameraParameters(const vpCameraParameters &camera)
Definition: vpMbEdgeTracker.h:410
vpMbTracker::setProjectionErrorComputation
virtual void setProjectionErrorComputation(const bool &flag)
Definition: vpMbTracker.h:569
vpMbEdgeTracker::init
void init(const vpImage< unsigned char > &I)
Definition: vpMbEdgeTracker.cpp:1132
vpMbEdgeTracker::track
void track(const vpImage< unsigned char > &I)
Definition: vpMbEdgeTracker.cpp:1031
vpMbEdgeTracker
Make the complete tracking of an object by using its CAD model.
Definition: vpMbEdgeTracker.h:270
vpCameraParameters
Generic class defining intrinsic camera parameters.
Definition: vpCameraParameters.h:232
vpMbKltTracker
Model based tracker using only KLT.
Definition: vpMbKltTracker.h:231
vpMbEdgeTracker::getError
virtual vpColVector getError() const
Definition: vpMbEdgeTracker.h:394
vpMbEdgeTracker::loadConfigFile
void loadConfigFile(const std::string &configFile)
Definition: vpMbEdgeTracker.cpp:1209
vpMbEdgeTracker::setNearClippingDistance
virtual void setNearClippingDistance(const double &dist)
Definition: vpMbEdgeTracker.cpp:2522
vpMbEdgeTracker::setOgreVisibilityTest
virtual void setOgreVisibilityTest(const bool &v)
Definition: vpMbEdgeTracker.h:446
vpMbEdgeTracker::initMbtTracking
unsigned int initMbtTracking(unsigned int &nberrors_lines, unsigned int &nberrors_cylinders, unsigned int &nberrors_circles)
Definition: vpMbEdgeTracker.cpp:2154
vpMbEdgeTracker::reInitModel
virtual void reInitModel(const vpImage< unsigned char > &I, const std::string &cad_name, const vpHomogeneousMatrix &cMo_, const bool verbose=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
Definition: vpMbEdgeTracker.cpp:2310
vpColVector
Implementation of column vector and the associated operations.
Definition: vpColVector.h:71
vpMbEdgeTracker::initCylinder
virtual void initCylinder(const vpPoint &p1, const vpPoint &p2, const double radius, const int idFace=0, const std::string &name="")
Definition: vpMbEdgeTracker.cpp:2226
vpMbEdgeTracker::computeVVS
void computeVVS(const vpImage< unsigned char > &_I, const unsigned int lvl)
Definition: vpMbEdgeTracker.cpp:169
vpMbEdgeTracker::setFarClippingDistance
virtual void setFarClippingDistance(const double &dist)
Definition: vpMbEdgeTracker.cpp:2492
vpMatrix
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:103
vpMbtPolygon
Implementation of a polygon of the model used by the model-based tracker.
Definition: vpMbtPolygon.h:65
vpMbEdgeTracker::resetTracker
void resetTracker()
Definition: vpMbEdgeTracker.cpp:2237
vpMbKltTracker::postTracking
bool postTracking(const vpImage< unsigned char > &I, vpColVector &w)
Definition: vpMbKltTracker.cpp:673
vpMbEdgeKltTracker
Hybrid tracker based on moving-edges and keypoints tracked using KLT tracker.
Definition: vpMbEdgeKltTracker.h:233
vpMbEdgeTracker::initFaceFromCorners
virtual void initFaceFromCorners(vpMbtPolygon &polygon)
Definition: vpMbEdgeTracker.cpp:2121
vpMbEdgeTracker::initFaceFromLines
virtual void initFaceFromLines(vpMbtPolygon &polygon)
Definition: vpMbEdgeTracker.cpp:2145
vpMbEdgeTracker::getRobustWeights
virtual vpColVector getRobustWeights() const
Definition: vpMbEdgeTracker.h:396
vpMbEdgeTracker::computeVVSInit
virtual void computeVVSInit()
Definition: vpMbEdgeTracker.cpp:727
vpMbTracker::computeVVSPoseEstimation
virtual void computeVVSPoseEstimation(const bool isoJoIdentity_, const unsigned int iter, vpMatrix &L, vpMatrix &LTL, vpColVector &R, const vpColVector &error, vpColVector &error_prev, vpColVector &LTR, double &mu, vpColVector &v, const vpColVector *const w=NULL, vpColVector *const m_w_prev=NULL)
Definition: vpMbTracker.cpp:2546
vpMbEdgeTracker::setScanLineVisibilityTest
virtual void setScanLineVisibilityTest(const bool &v)
Definition: vpMbEdgeTracker.h:459
vpMbTracker::setOgreVisibilityTest
virtual void setOgreVisibilityTest(const bool &v)
Definition: vpMbTracker.cpp:2313
vpMbEdgeTracker::testTracking
void testTracking()
Definition: vpMbEdgeTracker.cpp:944
vpMbTracker::getNearClippingDistance
virtual double getNearClippingDistance() const
Definition: vpMbTracker.h:374
vpMbTracker::computeCovarianceMatrixVVS
virtual void computeCovarianceMatrixVVS(const bool isoJoIdentity_, const vpColVector &w_true, const vpHomogeneousMatrix &cMoPrev, const vpMatrix &L_true, const vpMatrix &LVJ_true, const vpColVector &error)
Definition: vpMbTracker.cpp:2444
vpImage< unsigned char >
vpPoint
Class that defines what is a point.
Definition: vpPoint.h:57
vpColor
Class to define colors available for display functionnalities.
Definition: vpColor.h:119
vpHomogeneousMatrix
Implementation of an homogeneous matrix and operations on such kind of matrices.
Definition: vpHomogeneousMatrix.h:91
vpMbEdgeTracker::display
void display(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, const unsigned int thickness=1, const bool displayFullModel=false)
Definition: vpMbEdgeTracker.cpp:1276
vpMbEdgeTracker::computeVVSInteractionMatrixAndResidu
virtual void computeVVSInteractionMatrixAndResidu()
Definition: vpMbEdgeTracker.cpp:770
vpMbKltTracker::setScanLineVisibilityTest
virtual void setScanLineVisibilityTest(const bool &v)
Definition: vpMbKltTracker.h:401
vpMbEdgeTracker::setPose
virtual void setPose(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cdMo)
Definition: vpMbEdgeTracker.cpp:1189