Visual Servoing Platform  version 3.2.0
vpMbKltTracker.h
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30  *
31  * Description:
32  * Model based tracker using only KLT
33  *
34  * Authors:
35  * Romain Tallonneau
36  * Aurelien Yol
37  *
38  *****************************************************************************/
44 #ifndef vpMbKltTracker_h
45 #define vpMbKltTracker_h
46 
47 #include <visp3/core/vpConfig.h>
48 
49 #if defined(VISP_HAVE_MODULE_KLT) && (defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020100))
50 
51 #include <visp3/core/vpExponentialMap.h>
52 #include <visp3/core/vpMeterPixelConversion.h>
53 #include <visp3/core/vpPixelMeterConversion.h>
54 #include <visp3/core/vpSubColVector.h>
55 #include <visp3/core/vpSubMatrix.h>
56 #include <visp3/klt/vpKltOpencv.h>
57 #include <visp3/mbt/vpMbTracker.h>
58 #include <visp3/mbt/vpMbtDistanceCircle.h>
59 #include <visp3/mbt/vpMbtDistanceKltCylinder.h>
60 #include <visp3/mbt/vpMbtDistanceKltPoints.h>
61 #include <visp3/mbt/vpMbtKltXmlParser.h>
62 #include <visp3/vision/vpHomography.h>
63 
232 class VISP_EXPORT vpMbKltTracker : public virtual vpMbTracker
233 {
234  friend class vpMbKltMultiTracker;
235  friend class vpMbEdgeKltMultiTracker;
236 
237 protected:
239 #if (VISP_HAVE_OPENCV_VERSION >= 0x020408)
240  cv::Mat cur;
241 #else
242  IplImage *cur;
243 #endif
248  bool firstInitialisation;
250  unsigned int maskBorder;
253  double threshold_outlier;
256  double percentGood;
263  std::list<vpMbtDistanceKltPoints *> kltPolygons;
265  std::list<vpMbtDistanceKltCylinder *> kltCylinders;
267  std::list<vpMbtDistanceCircle *> circles_disp;
269  unsigned int m_nbInfos;
271  unsigned int m_nbFaceUsed;
282 
283 public:
284  vpMbKltTracker();
285  virtual ~vpMbKltTracker();
286 
289 
290  void addCircle(const vpPoint &P1, const vpPoint &P2, const vpPoint &P3, const double r, const std::string &name = "");
291  virtual void display(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
292  const vpColor &col, const unsigned int thickness = 1, const bool displayFullModel = false);
293  virtual void display(const vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
294  const vpColor &col, const unsigned int thickness = 1, const bool displayFullModel = false);
295 
297  virtual std::list<vpMbtDistanceCircle *> &getFeaturesCircle() { return circles_disp; }
299  virtual std::list<vpMbtDistanceKltCylinder *> &getFeaturesKltCylinder() { return kltCylinders; }
301  virtual std::list<vpMbtDistanceKltPoints *> &getFeaturesKlt() { return kltPolygons; }
302 
308 #if (VISP_HAVE_OPENCV_VERSION >= 0x020408)
309  inline std::vector<cv::Point2f> getKltPoints() const { return tracker.getFeatures(); }
310 #else
311  inline CvPoint2D32f *getKltPoints() { return tracker.getFeatures(); }
312 #endif
313 
314  std::vector<vpImagePoint> getKltImagePoints() const;
315 
316  std::map<int, vpImagePoint> getKltImagePointsWithId() const;
317 
323  inline vpKltOpencv getKltOpencv() const { return tracker; }
324 
330  inline unsigned int getKltMaskBorder() const { return maskBorder; }
331 
337  inline int getKltNbPoints() const { return tracker.getNbFeatures(); }
338 
345  inline double getKltThresholdAcceptation() const { return threshold_outlier; }
346 
347  virtual inline vpColVector getError() const { return m_error_klt; }
348 
349  virtual inline vpColVector getRobustWeights() const { return m_w_klt; }
350 
351  virtual void loadConfigFile(const std::string &configFile);
352 
353  virtual void reInitModel(const vpImage<unsigned char> &I, const std::string &cad_name,
354  const vpHomogeneousMatrix &cMo_, const bool verbose = false,
356  void resetTracker();
357 
359 
365  inline void setKltMaskBorder(const unsigned int &e)
366  {
367  maskBorder = e;
368  // if(useScanLine)
369  faces.getMbScanLineRenderer().setMaskBorder(maskBorder);
370  }
371 
372  virtual void setKltOpencv(const vpKltOpencv &t);
373 
379  inline void setKltThresholdAcceptation(const double th) { threshold_outlier = th; }
380 
389  virtual void setOgreVisibilityTest(const bool &v)
390  {
392 #ifdef VISP_HAVE_OGRE
393  faces.getOgreContext()->setWindowName("MBT Klt");
394 #endif
395  }
396 
402  virtual void setScanLineVisibilityTest(const bool &v)
403  {
405 
406  for (std::list<vpMbtDistanceKltPoints *>::const_iterator it = kltPolygons.begin(); it != kltPolygons.end(); ++it)
407  (*it)->useScanLine = v;
408  }
409 
410  virtual void setPose(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cdMo);
411 
418  virtual void setProjectionErrorComputation(const bool &flag)
419  {
420  if (flag)
421  std::cerr << "This option is not yet implemented in vpMbKltTracker, "
422  "projection error computation set to false."
423  << std::endl;
424  }
425 
426  void setUseKltTracking(const std::string &name, const bool &useKltTracking);
427 
428  virtual void testTracking();
429  virtual void track(const vpImage<unsigned char> &I);
430 
435 
442  /* vp_deprecated */ inline unsigned int getMaskBorder() const { return maskBorder; }
449  /* vp_deprecated */ inline int getNbKltPoints() const { return tracker.getNbFeatures(); }
450 
458  /* vp_deprecated */ inline double getThresholdAcceptation() const { return threshold_outlier; }
464  /* vp_deprecated */ inline void setMaskBorder(const unsigned int &e)
465  {
466  maskBorder = e;
467  // if(useScanLine)
468  faces.getMbScanLineRenderer().setMaskBorder(maskBorder);
469  }
470 
477  /* vp_deprecated */ inline void setThresholdAcceptation(const double th) { threshold_outlier = th; }
478 
480 
481 protected:
484  void computeVVS();
485  virtual void computeVVSInit();
487 
488  virtual void init(const vpImage<unsigned char> &I);
489  virtual void initFaceFromCorners(vpMbtPolygon &polygon);
490  virtual void initFaceFromLines(vpMbtPolygon &polygon);
491  virtual void initCircle(const vpPoint &, const vpPoint &, const vpPoint &, const double, const int,
492  const std::string &name = "");
493  virtual void initCylinder(const vpPoint &, const vpPoint &, const double, const int, const std::string &name = "");
494 
495  void preTracking(const vpImage<unsigned char> &I);
497  virtual void reinit(const vpImage<unsigned char> &I);
499 };
500 
501 #endif
502 #endif // VISP_HAVE_OPENCV
vpMbKltMultiTracker::getNbKltPoints
virtual std::map< std::string, int > getNbKltPoints() const
Definition: vpMbKltMultiTracker.cpp:2815
vpMbTracker::loadConfigFile
virtual void loadConfigFile(const std::string &configFile)
Definition: vpMbTracker.cpp:3406
vpMbTracker::initCylinder
virtual void initCylinder(const vpPoint &p1, const vpPoint &p2, const double radius, const int idFace=0, const std::string &name="")=0
vpMbKltTracker::getMaskBorder
unsigned int getMaskBorder() const
Definition: vpMbKltTracker.h:441
vpMbTracker::setProjectionErrorComputation
virtual void setProjectionErrorComputation(const bool &flag)
Definition: vpMbTracker.h:569
vpMbTracker::getError
virtual vpColVector getError() const =0
vpMbTracker::initCircle
virtual void initCircle(const vpPoint &p1, const vpPoint &p2, const vpPoint &p3, const double radius, const int idFace=0, const std::string &name="")=0
vpMbKltTracker::m_w_klt
vpColVector m_w_klt
Robust weights.
Definition: vpMbKltTracker.h:276
vpMbKltMultiTracker::getKltOpencv
virtual std::map< std::string, vpKltOpencv > getKltOpencv() const
Definition: vpMbKltMultiTracker.cpp:787
vpMbKltTracker::m_error_klt
vpColVector m_error_klt
(s - s*)
Definition: vpMbKltTracker.h:274
vpKltOpencv::getNbFeatures
int getNbFeatures() const
Get the number of current features.
Definition: vpKltOpencv.h:119
vpMbTracker::computeVVSInteractionMatrixAndResidu
virtual void computeVVSInteractionMatrixAndResidu()=0
vpMbKltTracker::getThresholdAcceptation
double getThresholdAcceptation() const
Definition: vpMbKltTracker.h:457
vpMbEdgeKltMultiTracker
Hybrid stereo (or more) tracker based on moving-edges and keypoints tracked using KLT tracker.
Definition: vpMbEdgeKltMultiTracker.h:76
vpMbTracker::cMo
vpHomogeneousMatrix cMo
The current pose.
Definition: vpMbTracker.h:118
vpMbTracker::computeVVSInit
virtual void computeVVSInit()=0
vpCameraParameters
Generic class defining intrinsic camera parameters.
Definition: vpCameraParameters.h:232
vpMbKltTracker
Model based tracker using only KLT.
Definition: vpMbKltTracker.h:231
vpKltOpencv::getFeatures
std::vector< cv::Point2f > getFeatures() const
Get the list of current features.
Definition: vpKltOpencv.h:104
vpMbKltTracker::m_L_klt
vpMatrix m_L_klt
Interaction matrix.
Definition: vpMbKltTracker.h:272
vpMbKltTracker::m_nbFaceUsed
unsigned int m_nbFaceUsed
Definition: vpMbKltTracker.h:270
vpMbTracker::track
virtual void track(const vpImage< unsigned char > &I)=0
vpMbKltMultiTracker::computeVVS
virtual void computeVVS()
Definition: vpMbKltMultiTracker.cpp:157
vpMbKltTracker::vpMbKltTracker
vpMbKltTracker()
Definition: vpMbKltTracker.cpp:50
vpRobust
Contains an M-Estimator and various influence function.
Definition: vpRobust.h:57
vpMbTracker::faces
vpMbHiddenFaces< vpMbtPolygon > faces
Set of faces describing the object.
Definition: vpMbTracker.h:148
vpMbTracker::display
virtual 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)=0
vpMbKltTracker::tracker
vpKltOpencv tracker
Points tracker.
Definition: vpMbKltTracker.h:260
vpMbKltMultiTracker::setKltOpencv
virtual void setKltOpencv(const vpKltOpencv &t)
Definition: vpMbKltMultiTracker.cpp:2262
vpMbKltMultiTracker::getKltNbPoints
virtual std::map< std::string, int > getKltNbPoints() const
Definition: vpMbKltMultiTracker.cpp:835
vpMbHiddenFaces::getMbScanLineRenderer
vpMbScanLine & getMbScanLineRenderer()
Definition: vpMbHiddenFaces.h:113
vpMbKltTracker::percentGood
double percentGood
Definition: vpMbKltTracker.h:255
vpMbTracker::init
virtual void init(const vpImage< unsigned char > &I)=0
vpMbKltMultiTracker::setUseKltTracking
virtual void setUseKltTracking(const std::string &name, const bool &useKltTracking)
Definition: vpMbKltMultiTracker.cpp:2722
vpMbTracker::cam
vpCameraParameters cam
The camera parameters.
Definition: vpMbTracker.h:116
vpMbEdgeKltMultiTracker::reinit
virtual void reinit()
Definition: vpMbEdgeKltMultiTracker.cpp:1431
vpMbEdgeKltMultiTracker::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: vpMbEdgeKltMultiTracker.cpp:1449
vpColVector
Implementation of column vector and the associated operations.
Definition: vpColVector.h:71
vpAROgre::setWindowName
void setWindowName(const Ogre::String &n)
Definition: vpAROgre.h:268
vpMbKltMultiTracker::addCircle
virtual void addCircle(const vpPoint &P1, const vpPoint &P2, const vpPoint &P3, const double r, const std::string &name="")
Definition: vpMbKltMultiTracker.cpp:148
vpMbTracker::resetTracker
virtual void resetTracker()=0
vpKltOpencv
Wrapper for the KLT (Kanade-Lucas-Tomasi) feature tracker implemented in OpenCV. Thus to enable this ...
Definition: vpKltOpencv.h:77
vpMatrix
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:103
vpMbEdgeKltMultiTracker::postTracking
virtual void postTracking(std::map< std::string, const vpImage< unsigned char > * > &mapOfImages, const unsigned int lvl)
Definition: vpMbEdgeKltMultiTracker.cpp:1373
vpMbKltTracker::firstInitialisation
bool firstInitialisation
Definition: vpMbKltTracker.h:247
vpMbtPolygon
Implementation of a polygon of the model used by the model-based tracker.
Definition: vpMbtPolygon.h:65
vpMbKltMultiTracker
Model based stereo (or more) tracker using only KLT.
Definition: vpMbKltMultiTracker.h:74
vpMbKltMultiTracker::getKltImagePoints
virtual std::map< std::string, std::vector< vpImagePoint > > getKltImagePoints() const
Definition: vpMbKltMultiTracker.cpp:749
vpMbKltTracker::m_weightedError_klt
vpColVector m_weightedError_klt
Weighted error.
Definition: vpMbKltTracker.h:278
vpMbKltTracker::maskBorder
unsigned int maskBorder
Erosion of the mask.
Definition: vpMbKltTracker.h:249
vpMbKltTracker::ctTc0
vpHomogeneousMatrix ctTc0
Definition: vpMbKltTracker.h:258
vpMbKltTracker::getKltMaskBorder
unsigned int getKltMaskBorder() const
Definition: vpMbKltTracker.h:329
vpMbKltMultiTracker::setMaskBorder
virtual void setMaskBorder(const unsigned int &e)
Definition: vpMbKltMultiTracker.cpp:2823
vpMbTracker::initFaceFromCorners
virtual void initFaceFromCorners(vpMbtPolygon &polygon)=0
vpMbTracker::setCameraParameters
virtual void setCameraParameters(const vpCameraParameters &camera)
Definition: vpMbTracker.h:472
vpMbKltTracker::kltCylinders
std::list< vpMbtDistanceKltCylinder * > kltCylinders
Definition: vpMbKltTracker.h:264
vpMbKltMultiTracker::getKltImagePointsWithId
virtual std::map< std::string, std::map< int, vpImagePoint > > getKltImagePointsWithId() const
Definition: vpMbKltMultiTracker.cpp:770
vpMbKltTracker::threshold_outlier
double threshold_outlier
Definition: vpMbKltTracker.h:252
vpMbKltTracker::getKltThresholdAcceptation
double getKltThresholdAcceptation() const
Definition: vpMbKltTracker.h:344
vpMbKltTracker::circles_disp
std::list< vpMbtDistanceCircle * > circles_disp
Vector of the circles used here only to display the full model.
Definition: vpMbKltTracker.h:266
vpMbKltTracker::~vpMbKltTracker
virtual ~vpMbKltTracker()
Definition: vpMbKltTracker.cpp:86
vpMbKltMultiTracker::getKltPoints
virtual std::map< std::string, std::vector< cv::Point2f > > getKltPoints() const
Definition: vpMbKltMultiTracker.cpp:805
vpMbTracker::setOgreVisibilityTest
virtual void setOgreVisibilityTest(const bool &v)
Definition: vpMbTracker.cpp:2313
vpMbTracker::setPose
virtual void setPose(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cdMo)=0
vpMbKltTracker::m_robust_klt
vpRobust m_robust_klt
Robust.
Definition: vpMbKltTracker.h:280
vpMbKltTracker::c0Mo
vpHomogeneousMatrix c0Mo
Initial pose.
Definition: vpMbKltTracker.h:244
vpMbTracker::initFaceFromLines
virtual void initFaceFromLines(vpMbtPolygon &polygon)=0
vpMbTracker::testTracking
virtual void testTracking()=0
vpMbEdgeKltMultiTracker::setThresholdAcceptation
virtual void setThresholdAcceptation(const double th)
Definition: vpMbEdgeKltMultiTracker.cpp:2070
vpMbHiddenFaces::getOgreContext
vpAROgre * getOgreContext()
Definition: vpMbHiddenFaces.h:154
vpMbTracker::getRobustWeights
virtual vpColVector getRobustWeights() const =0
vpMbKltTracker::kltPolygons
std::list< vpMbtDistanceKltPoints * > kltPolygons
Definition: vpMbKltTracker.h:262
vpMbKltMultiTracker::setKltMaskBorder
virtual void setKltMaskBorder(const unsigned int &e)
Definition: vpMbKltMultiTracker.cpp:2335
vpImage< unsigned char >
vpMbKltMultiTracker::preTracking
virtual void preTracking(std::map< std::string, const vpImage< unsigned char > * > &mapOfImages)
Definition: vpMbKltMultiTracker.cpp:1707
vpMbTracker
Main methods for a model-based tracker.
Definition: vpMbTracker.h:109
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
vpMbKltMultiTracker::getFeaturesKlt
virtual std::list< vpMbtDistanceKltPoints * > & getFeaturesKlt()
Definition: vpMbKltMultiTracker.cpp:671
vpMbKltTracker::m_nbInfos
unsigned int m_nbInfos
Definition: vpMbKltTracker.h:268
vpMbTracker::setScanLineVisibilityTest
virtual void setScanLineVisibilityTest(const bool &v)
Definition: vpMbTracker.h:586
vpMbKltMultiTracker::getFeaturesCircle
virtual std::list< vpMbtDistanceCircle * > & getFeaturesCircle()
Definition: vpMbKltMultiTracker.cpp:633
vpMbKltMultiTracker::setKltThresholdAcceptation
virtual void setKltThresholdAcceptation(const double th)
Definition: vpMbKltMultiTracker.cpp:2705
vpMbKltTracker::cur
cv::Mat cur
Temporary OpenCV image for fast conversion.
Definition: vpMbKltTracker.h:239
vpMbKltMultiTracker::getFeaturesKltCylinder
virtual std::list< vpMbtDistanceKltCylinder * > & getFeaturesKltCylinder()
Definition: vpMbKltMultiTracker.cpp:709