Visual Servoing Platform version 3.5.0
vpMbEdgeKltTracker.h
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2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
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10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
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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
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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 * 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
212class VISP_EXPORT vpMbEdgeKltTracker : public vpMbKltTracker, public vpMbEdgeTracker
213{
214protected:
220 unsigned int m_maxIterKlt;
229
230public:
232 virtual ~vpMbEdgeKltTracker();
233
234 virtual void display(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
235 const vpColor &col, unsigned int thickness = 1, bool displayFullModel = false);
236 virtual void display(const vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
237 const vpColor &col, unsigned int thickness = 1, bool displayFullModel = false);
238
239 virtual inline vpColVector getError() const { return m_error_hybrid; }
240
241 virtual std::vector<std::vector<double> > getModelForDisplay(unsigned int width, unsigned int height,
242 const vpHomogeneousMatrix &cMo,
243 const vpCameraParameters &cam,
244 bool displayFullModel=false);
245
246 virtual inline vpColVector getRobustWeights() const { return m_w_hybrid; }
247
253 virtual inline double getNearClippingDistance() const { return vpMbKltTracker::getNearClippingDistance(); }
254
255 virtual void loadConfigFile(const std::string &configFile, bool verbose=true);
256
257 void reInitModel(const vpImage<unsigned char> &I, const std::string &cad_name, const vpHomogeneousMatrix &cMo,
258 bool verbose = false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix());
259 void resetTracker();
260
261 virtual void setCameraParameters(const vpCameraParameters &cam);
262
270 virtual void setClipping(const unsigned int &flags) { vpMbEdgeTracker::setClipping(flags); }
271
277 virtual void setFarClippingDistance(const double &dist) { vpMbEdgeTracker::setFarClippingDistance(dist); }
278
284 virtual void setNearClippingDistance(const double &dist) { vpMbEdgeTracker::setNearClippingDistance(dist); }
285
294 virtual void setOgreVisibilityTest(const bool &v)
295 {
297#ifdef VISP_HAVE_OGRE
298 faces.getOgreContext()->setWindowName("MBT Hybrid");
299#endif
300 }
301
307 virtual void setScanLineVisibilityTest(const bool &v)
308 {
311 }
312
313 virtual void setPose(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cdMo);
314 virtual void setPose(const vpImage<vpRGBa> &I_color, const vpHomogeneousMatrix &cdMo);
322
323 virtual void testTracking() {}
324 virtual void track(const vpImage<unsigned char> &I);
325 virtual void track(const vpImage<vpRGBa> &I_color);
326
327protected:
328 virtual void computeVVS(const vpImage<unsigned char> &I, const unsigned int &nbInfos, unsigned int &nbrow,
329 unsigned int lvl = 0);
330 virtual void computeVVSInit();
334
335 virtual void init(const vpImage<unsigned char> &I);
336 virtual void initCircle(const vpPoint &, const vpPoint &, const vpPoint &, double r, int idFace = 0,
337 const std::string &name = "");
338 virtual void initCylinder(const vpPoint &, const vpPoint &, double r, int idFace,
339 const std::string &name = "");
340 virtual void initFaceFromCorners(vpMbtPolygon &polygon);
341 virtual void initFaceFromLines(vpMbtPolygon &polygon);
342 unsigned int initMbtTracking(unsigned int level = 0);
343
344 bool postTracking(const vpImage<unsigned char> &I, vpColVector &w_mbt, vpColVector &w_klt,
345 unsigned int lvl = 0);
346 bool postTracking(const vpImage<vpRGBa> &I_color, vpColVector &w_mbt, vpColVector &w_klt,
347 unsigned int lvl = 0);
348 void postTrackingMbt(vpColVector &w, unsigned int level = 0);
349
350 unsigned int trackFirstLoop(const vpImage<unsigned char> &I, vpColVector &factor, unsigned int lvl = 0);
351 void trackSecondLoop(const vpImage<unsigned char> &I, vpMatrix &L, vpColVector &_error, const vpHomogeneousMatrix &cMo,
352 unsigned int lvl = 0);
353};
354
355#endif
356
357#endif // VISP_HAVE_OPENCV
Generic class defining intrinsic camera parameters.
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
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:154
Hybrid tracker based on moving-edges and keypoints tracked using KLT tracker.
double m_thresholdKLT
The threshold used in the robust estimation of KLT.
virtual void testTracking()
virtual void setClipping(const unsigned int &flags)
virtual void setFarClippingDistance(const double &dist)
virtual double getNearClippingDistance() const
virtual void setScanLineVisibilityTest(const bool &v)
vpColVector m_w_mbt
Robust weights for Edge.
virtual void setProjectionErrorComputation(const bool &flag)
virtual vpColVector getRobustWeights() const
virtual vpColVector getError() const
vpColVector m_error_hybrid
(s - s*)
virtual void setNearClippingDistance(const double &dist)
virtual void setOgreVisibilityTest(const bool &v)
vpColVector m_w_klt
Robust weights for KLT.
double m_thresholdMBT
The threshold used in the robust estimation of MBT.
unsigned int m_maxIterKlt
The maximum iteration of the virtual visual servoing stage.
vpColVector m_w_hybrid
Robust weights.
Make the complete tracking of an object by using its CAD model.
virtual void setNearClippingDistance(const double &dist)
virtual void setScanLineVisibilityTest(const bool &v)
virtual void setFarClippingDistance(const double &dist)
virtual void setClipping(const unsigned int &flags)
unsigned int initMbtTracking(unsigned int &nberrors_lines, unsigned int &nberrors_cylinders, unsigned int &nberrors_circles)
Model based tracker using only KLT.
virtual void reInitModel(const vpImage< unsigned char > &I, const std::string &cad_name, const vpHomogeneousMatrix &cMo, bool verbose=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
virtual void setScanLineVisibilityTest(const bool &v)
virtual void track(const vpImage< unsigned char > &I)
virtual std::vector< std::vector< double > > getModelForDisplay(unsigned int width, unsigned int height, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, bool displayFullModel=false)
virtual void setPose(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cdMo)
virtual void initCylinder(const vpPoint &, const vpPoint &, double, int, const std::string &name="")
virtual void loadConfigFile(const std::string &configFile, bool verbose=true)
virtual void initCircle(const vpPoint &, const vpPoint &, const vpPoint &, double, int, const std::string &name="")
bool postTracking(const vpImage< unsigned char > &I, vpColVector &w)
virtual void computeVVSInteractionMatrixAndResidu()
virtual void display(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, unsigned int thickness=1, bool displayFullModel=false)
virtual void initFaceFromCorners(vpMbtPolygon &polygon)
void setCameraParameters(const vpCameraParameters &cam)
virtual void computeVVSInit()
virtual void initFaceFromLines(vpMbtPolygon &polygon)
virtual void init(const vpImage< unsigned char > &I)
virtual double getNearClippingDistance() const
Definition: vpMbTracker.h:375
virtual void computeCovarianceMatrixVVS(const bool isoJoIdentity_, const vpColVector &w_true, const vpHomogeneousMatrix &cMoPrev, const vpMatrix &L_true, const vpMatrix &LVJ_true, const vpColVector &error)
virtual void computeVVSPoseEstimation(const bool isoJoIdentity_, 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)
virtual void setOgreVisibilityTest(const bool &v)
virtual void setProjectionErrorComputation(const bool &flag)
Definition: vpMbTracker.h:584
Implementation of a polygon of the model used by the model-based tracker.
Definition: vpMbtPolygon.h:67
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition: vpPoint.h:82