#include <vpMbtDistanceKltCylinder.h>

Public Member Functions
	vpMbtDistanceKltCylinder ()
virtual	~vpMbtDistanceKltCylinder ()
void	buildFrom (const vpPoint &p1, const vpPoint &p2, const double &r)
unsigned int	computeNbDetectedCurrent (const vpKltOpencv &_tracker)
void	computeInteractionMatrixAndResidu (const vpHomogeneousMatrix &cMc0, vpColVector &_R, vpMatrix &_J)
void	display (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, unsigned int thickness=1, bool displayFullModel=false)
void	display (const vpImage< vpRGBa > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, unsigned int thickness=1, bool displayFullModel=false)
void	displayPrimitive (const vpImage< unsigned char > &_I)
void	displayPrimitive (const vpImage< vpRGBa > &_I)
vpCameraParameters &	getCameraParameters ()
std::map< int, vpImagePoint > &	getCurrentPoints ()
std::map< int, int > &	getCurrentPointsInd ()
vpCylinder	getCylinder () const
unsigned int	getInitialNumberPoint () const
unsigned int	getCurrentNumberPoints () const
std::vector< std::vector< double > >	getFeaturesForDisplay ()
std::vector< std::vector< double > >	getModelForDisplay (const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam)
bool	hasEnoughPoints () const
bool	isTracked () const
void	init (const vpKltOpencv &_tracker, const vpHomogeneousMatrix &cMo)
void	removeOutliers (const vpColVector &weight, const double &threshold_outlier)
virtual void	setCameraParameters (const vpCameraParameters &_cam)
void	setTracked (const bool &track)
void	updateMask (cv::Mat &mask, unsigned char _nb=255, unsigned int _shiftBorder=0)

Public Attributes
std::vector< int >	listIndicesCylinderBBox
vpMbHiddenFaces< vpMbtPolygon > *	hiddenface
bool	useScanLine

Detailed Description

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.

Tutorials & Examples

Tutorials
If you are interested in using a MBT tracker in your applications, you may have a look at:

Definition at line 76 of file vpMbtDistanceKltCylinder.h.

Constructor & Destructor Documentation

◆ vpMbtDistanceKltCylinder()

BEGIN_VISP_NAMESPACE vpMbtDistanceKltCylinder::vpMbtDistanceKltCylinder ( )

Basic constructor.

Definition at line 53 of file vpMbtDistanceKltCylinder.cpp.

References hiddenface, listIndicesCylinderBBox, and useScanLine.

◆ ~vpMbtDistanceKltCylinder()

vpMbtDistanceKltCylinder::~vpMbtDistanceKltCylinder ( )

virtual

Basic destructor.

Definition at line 63 of file vpMbtDistanceKltCylinder.cpp.

Member Function Documentation

◆ buildFrom()

void vpMbtDistanceKltCylinder::buildFrom	(	const vpPoint &	p1,
		const vpPoint &	p2,
		const double &	r )

Definition at line 65 of file vpMbtDistanceKltCylinder.cpp.

References vpPoint::get_oX(), vpPoint::get_oY(), and vpPoint::get_oZ().

Referenced by vpMbKltTracker::initCylinder().

◆ computeInteractionMatrixAndResidu()

void vpMbtDistanceKltCylinder::computeInteractionMatrixAndResidu	(	const vpHomogeneousMatrix &	_cMc0,
		vpColVector &	_R,
		vpMatrix &	_J )

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

_cMc0	: camera displacement since initialisation
_R	: the residu vector
_J	: the interaction matrix

Definition at line 278 of file vpMbtDistanceKltCylinder.cpp.

References vpPoint::changeFrame(), vpPixelMeterConversion::convertPoint(), vpPoint::get_x(), vpPoint::get_y(), vpMath::isNaN(), and vpForwardProjection::project().

Referenced by vpMbEdgeKltTracker::computeVVS(), and vpMbKltTracker::computeVVSInteractionMatrixAndResidu().

◆ computeNbDetectedCurrent()

unsigned int vpMbtDistanceKltCylinder::computeNbDetectedCurrent ( const vpKltOpencv & _tracker )

compute the number of point in this instanciation of the tracker that corresponds to the points of the cylinder

Parameters

_tracker : the KLT tracker

Returns: the number of points that are tracked in this face and in this instanciation of the tracker

Definition at line 192 of file vpMbtDistanceKltCylinder.cpp.

References vpKltOpencv::getFeature(), and vpKltOpencv::getNbFeatures().

Referenced by vpMbKltTracker::preTracking().

◆ display() [1/2]

void vpMbtDistanceKltCylinder::display	(	const vpImage< unsigned char > &	I,
		const vpHomogeneousMatrix &	cMo,
		const vpCameraParameters &	cam,
		const vpColor &	col,
		unsigned int	thickness = 1,
		bool	displayFullModel = false )

Definition at line 538 of file vpMbtDistanceKltCylinder.cpp.

References vpDisplay::displayLine(), and getModelForDisplay().

◆ display() [2/2]

void vpMbtDistanceKltCylinder::display	(	const vpImage< vpRGBa > &	I,
		const vpHomogeneousMatrix &	cMo,
		const vpCameraParameters &	cam,
		const vpColor &	col,
		unsigned int	thickness = 1,
		bool	displayFullModel = false )

Definition at line 551 of file vpMbtDistanceKltCylinder.cpp.

References vpDisplay::displayLine(), and getModelForDisplay().

◆ displayPrimitive() [1/2]

void vpMbtDistanceKltCylinder::displayPrimitive ( const vpImage< unsigned char > & I_ )

Display the primitives tracked for the cylinder.

Parameters

I_	: The image where to display.

Definition at line 495 of file vpMbtDistanceKltCylinder.cpp.

References vpDisplay::displayCross(), vpDisplay::displayText(), vpImagePoint::get_i(), vpImagePoint::get_j(), vpColor::red, vpMath::round(), vpImagePoint::set_i(), and vpImagePoint::set_j().

◆ displayPrimitive() [2/2]

void vpMbtDistanceKltCylinder::displayPrimitive ( const vpImage< vpRGBa > & I_ )

Display the primitives tracked for the cylinder.

Parameters

I_	: The image where to display.

Definition at line 519 of file vpMbtDistanceKltCylinder.cpp.

References vpDisplay::displayCross(), vpDisplay::displayText(), vpImagePoint::get_i(), vpImagePoint::get_j(), vpColor::red, vpMath::round(), vpImagePoint::set_i(), and vpImagePoint::set_j().

◆ getCameraParameters()

vpCameraParameters & vpMbtDistanceKltCylinder::getCameraParameters ( )

inline

Get the camera parameters of the face.

Returns: cam : the camera parameters of the face.

Definition at line 169 of file vpMbtDistanceKltCylinder.h.

◆ getCurrentNumberPoints()

unsigned int vpMbtDistanceKltCylinder::getCurrentNumberPoints ( ) const

inline

Get the number of points detected in the last image.

Warning: To have the real number of points, the function computeNbDetectedCurrent() must be called first.

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

See also: getInitialNumberPoint()

Definition at line 196 of file vpMbtDistanceKltCylinder.h.

Referenced by vpMbEdgeKltTracker::computeVVS(), vpMbKltTracker::computeVVSInteractionMatrixAndResidu(), vpMbKltTracker::postTracking(), vpMbKltTracker::preTracking(), and vpMbKltTracker::testTracking().

◆ getCurrentPoints()

std::map< int, vpImagePoint > & vpMbtDistanceKltCylinder::getCurrentPoints ( )

inline

Definition at line 171 of file vpMbtDistanceKltCylinder.h.

◆ getCurrentPointsInd()

std::map< int, int > & vpMbtDistanceKltCylinder::getCurrentPointsInd ( )

inline

Definition at line 173 of file vpMbtDistanceKltCylinder.h.

◆ getCylinder()

vpCylinder vpMbtDistanceKltCylinder::getCylinder ( ) const

inline

Definition at line 175 of file vpMbtDistanceKltCylinder.h.

◆ getFeaturesForDisplay()

std::vector< std::vector< double > > vpMbtDistanceKltCylinder::getFeaturesForDisplay ( )

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>

Definition at line 570 of file vpMbtDistanceKltCylinder.cpp.

References vpImagePoint::get_i(), vpImagePoint::get_j(), vpMath::round(), vpImagePoint::set_i(), and vpImagePoint::set_j().

Referenced by vpMbKltTracker::getFeaturesForDisplayKlt().

◆ getInitialNumberPoint()

unsigned int vpMbtDistanceKltCylinder::getInitialNumberPoint ( ) const

inline

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

Returns: the number of initial point.

See also: getCurrentNumberPoints()

Definition at line 185 of file vpMbtDistanceKltCylinder.h.

Referenced by vpMbKltTracker::postTracking().

◆ getModelForDisplay()

std::vector< std::vector< double > > vpMbtDistanceKltCylinder::getModelForDisplay	(	const vpHomogeneousMatrix &	cMo,
		const vpCameraParameters &	camera )

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

cMo	: Pose used to project the 3D model into the image.
camera	: The camera parameters.

Definition at line 602 of file vpMbtDistanceKltCylinder.cpp.

References vpCircle::computeIntersectionPoint(), vpMeterPixelConversion::convertLine(), vpImagePoint::get_i(), vpImagePoint::get_j(), and vpImagePoint::set_ij().

Referenced by display(), display(), and vpMbKltTracker::getModelForDisplay().

◆ hasEnoughPoints()

bool vpMbtDistanceKltCylinder::hasEnoughPoints ( ) const

inline

Definition at line 202 of file vpMbtDistanceKltCylinder.h.

Referenced by vpMbEdgeKltTracker::computeVVS(), vpMbKltTracker::computeVVSInteractionMatrixAndResidu(), vpMbKltTracker::getFeaturesForDisplayKlt(), vpMbKltTracker::postTracking(), vpMbKltTracker::preTracking(), and vpMbKltTracker::testTracking().

◆ init()

void vpMbtDistanceKltCylinder::init	(	const vpKltOpencv &	_tracker,
		const vpHomogeneousMatrix &	cMo )

Initialise the cylinder to track. All the points in the map, representing all the map detected in the image, are parsed in order to extract the id of the points that are indeed in the face.

Parameters

_tracker	: ViSP OpenCV KLT Tracker.
cMo	: Pose of the object in the camera frame at initialization.

Definition at line 101 of file vpMbtDistanceKltCylinder.cpp.

References vpPixelMeterConversion::convertPoint(), vpKltOpencv::getFeature(), vpKltOpencv::getNbFeatures(), hiddenface, vpPolygon::isInside(), vpMath::isNaN(), listIndicesCylinderBBox, and useScanLine.

Referenced by vpMbKltTracker::reinit().

◆ isTracked()

bool vpMbtDistanceKltCylinder::isTracked ( ) const

inline

Return if the klt cylinder is used for tracking.

Returns: True if it is used, False otherwise.

Definition at line 209 of file vpMbtDistanceKltCylinder.h.

Referenced by vpMbEdgeKltTracker::computeVVS(), vpMbKltTracker::computeVVSInteractionMatrixAndResidu(), vpMbKltTracker::getFeaturesForDisplayKlt(), vpMbKltTracker::postTracking(), vpMbKltTracker::preTracking(), vpMbKltTracker::reinit(), and vpMbKltTracker::testTracking().

◆ removeOutliers()

void vpMbtDistanceKltCylinder::removeOutliers	(	const vpColVector &	_w,
		const double &	threshold_outlier )

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

Parameters

_w	: Vector containing the weight of all the tracked points.
threshold_outlier	: Threshold to specify wether or not a point has to be deleted.

Definition at line 230 of file vpMbtDistanceKltCylinder.cpp.

Referenced by vpMbKltTracker::postTracking().

◆ setCameraParameters()

virtual void vpMbtDistanceKltCylinder::setCameraParameters ( const vpCameraParameters & _cam )

inlinevirtual

Set the camera parameters

Parameters

_cam	: the new camera parameters

Definition at line 220 of file vpMbtDistanceKltCylinder.h.

Referenced by vpMbKltTracker::initCylinder(), and vpMbKltTracker::setCameraParameters().

◆ setTracked()

void vpMbtDistanceKltCylinder::setTracked ( const bool & track )

inline

Set if the klt cylinder has to be considered during tracking phase.

Parameters

track : True if is has to be tracked, False otherwise.

Definition at line 227 of file vpMbtDistanceKltCylinder.h.

◆ updateMask()

void vpMbtDistanceKltCylinder::updateMask	(	cv::Mat &	mask,
		unsigned char	nb = 255,
		unsigned int	shiftBorder = 0 )

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).
nb	: Optional value to set to the pixels included in the face.
shiftBorder	: Optional shift for the border in pixel (sort of built-in erosion) to avoid to consider pixels near the limits of the face.

Definition at line 374 of file vpMbtDistanceKltCylinder.cpp.

References vpPolygon::buildFrom(), vpPolygon::getArea(), vpPolygon3D::getMinMaxRoi(), hiddenface, vpPolygon::isInside(), listIndicesCylinderBBox, and vpImagePoint::set_ij().

Referenced by vpMbKltTracker::reinit().