Visual Servoing Platform version 3.5.0
vpMbtDistanceKltCylinder.h
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 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 http://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 * Klt cylinder, containing points of interest.
33 *
34 * Authors:
35 * Aurelien Yol
36 *
37 *****************************************************************************/
38
39#ifndef vpMbtDistanceKltCylinder_h
40#define vpMbtDistanceKltCylinder_h
41
42#include <visp3/core/vpConfig.h>
43
44#if defined(VISP_HAVE_MODULE_KLT) && (defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020100))
45
46#include <map>
47
48#include <visp3/core/vpCircle.h>
49#include <visp3/core/vpCylinder.h>
50#include <visp3/core/vpDisplay.h>
51#include <visp3/core/vpGEMM.h>
52#include <visp3/core/vpPlane.h>
53#include <visp3/core/vpPolygon3D.h>
54#include <visp3/klt/vpKltOpencv.h>
55#include <visp3/mbt/vpMbHiddenFaces.h>
56#include <visp3/vision/vpHomography.h>
57
68class VISP_EXPORT vpMbtDistanceKltCylinder
69{
70private:
74 vpPoint p1Ext;
76 vpPoint p2Ext;
78 vpCylinder cylinder;
80 vpCircle circle1;
82 vpCircle circle2;
84 std::map<int, vpImagePoint> initPoints;
86 std::map<int, vpPoint> initPoints3D;
88 std::map<int, vpImagePoint> curPoints;
90 std::map<int, int> curPointsInd;
92 unsigned int nbPointsCur;
94 unsigned int nbPointsInit;
96 unsigned int minNbPoint;
98 bool enoughPoints;
102 bool isTrackedKltCylinder;
103
104public:
106 std::vector<int> listIndicesCylinderBBox;
111
112private:
113 double computeZ(const double &x, const double &y);
114 bool isTrackedFeature(int id);
115
116 // private:
117 //#ifndef DOXYGEN_SHOULD_SKIP_THIS
118 // vpMbtDistanceKltCylinder(const vpMbtDistanceKltCylinder &)
119 // : c0Mo(), p1Ext(), p2Ext(), cylinder(), circle1(), circle2(),
120 // initPoints(), initPoints3D(), curPoints(), curPointsInd(),
121 // nbPointsCur(0), nbPointsInit(0), minNbPoint(4),
122 // enoughPoints(false), cam(), isTrackedKltCylinder(true),
123 // listIndicesCylinderBBox(), hiddenface(NULL), useScanLine(false)
124 // {
125 // throw vpException(vpException::functionNotImplementedError, "Not
126 // implemented!");
127 // }
128 // vpMbtDistanceKltCylinder &operator=(const vpMbtDistanceKltCylinder &){
129 // throw vpException(vpException::functionNotImplementedError, "Not
130 // implemented!"); return *this;
131 // }
132 //#endif
133
134public:
137
138 void buildFrom(const vpPoint &p1, const vpPoint &p2, const double &r);
139
140 unsigned int computeNbDetectedCurrent(const vpKltOpencv &_tracker);
141 void computeInteractionMatrixAndResidu(const vpHomogeneousMatrix &cMc0, vpColVector &_R, vpMatrix &_J);
142
143 void display(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
144 const vpColor &col, unsigned int thickness = 1, bool displayFullModel = false);
145 void display(const vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
146 const vpColor &col, unsigned int thickness = 1, bool displayFullModel = false);
147
148 void displayPrimitive(const vpImage<unsigned char> &_I);
149 void displayPrimitive(const vpImage<vpRGBa> &_I);
150
156 inline vpCameraParameters &getCameraParameters() { return cam; }
157
158 inline std::map<int, vpImagePoint> &getCurrentPoints() { return curPoints; }
159
160 inline std::map<int, int> &getCurrentPointsInd() { return curPointsInd; }
161
162 inline vpCylinder getCylinder() const { return cylinder; }
163
172 inline unsigned int getInitialNumberPoint() const { return nbPointsInit; }
183 inline unsigned int getCurrentNumberPoints() const { return nbPointsCur; }
184
185 std::vector<std::vector<double> > getFeaturesForDisplay();
186
187 std::vector<std::vector<double> > getModelForDisplay(const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam);
188
189 inline bool hasEnoughPoints() const { return enoughPoints; }
190
196 inline bool isTracked() const { return isTrackedKltCylinder; }
197
198 void init(const vpKltOpencv &_tracker, const vpHomogeneousMatrix &cMo);
199
200 void removeOutliers(const vpColVector &weight, const double &threshold_outlier);
201
207 virtual inline void setCameraParameters(const vpCameraParameters &_cam) { cam = _cam; }
208
214 inline void setTracked(const bool &track) { this->isTrackedKltCylinder = track; }
215
216#if (VISP_HAVE_OPENCV_VERSION >= 0x020408)
217 void updateMask(cv::Mat &mask, unsigned char _nb = 255, unsigned int _shiftBorder = 0);
218#else
219 void updateMask(IplImage *mask, unsigned char _nb = 255, unsigned int _shiftBorder = 0);
220#endif
221};
222
223#endif
224
225#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:92
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
Class to define RGB colors available for display functionnalities.
Definition: vpColor.h:158
Class that defines a 3D cylinder in the object frame and allows forward projection of a 3D cylinder i...
Definition: vpCylinder.h:103
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:79
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:154
Implementation of a polygon of the model containing points of interest. It is used by the model-based...
virtual void setCameraParameters(const vpCameraParameters &_cam)
vpCameraParameters & getCameraParameters()
std::map< int, int > & getCurrentPointsInd()
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.
vpMbHiddenFaces< vpMbtPolygon > * hiddenface
Pointer to the list of faces.
unsigned int getInitialNumberPoint() const
std::map< int, vpImagePoint > & getCurrentPoints()
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition: vpPoint.h:82