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Visual Servoing Platform
version 3.3.0
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#include <vpMbtDistanceKltPoints.h>
Public Member Functions | |
vpMbtDistanceKltPoints () | |
virtual | ~vpMbtDistanceKltPoints () |
unsigned int | computeNbDetectedCurrent (const vpKltOpencv &_tracker, const vpImage< bool > *mask=NULL) |
void | computeHomography (const vpHomogeneousMatrix &_cTc0, vpHomography &cHc0) |
void | computeInteractionMatrixAndResidu (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) |
std::vector< std::vector< double > > | getFeaturesForDisplay () |
std::vector< std::vector< double > > | getModelForDisplay (const vpCameraParameters &cam, bool displayFullModel=false) |
vpCameraParameters & | getCameraParameters () |
vpColVector | getCurrentNormal () const |
std::map< int, vpImagePoint > & | getCurrentPoints () |
std::map< int, int > & | getCurrentPointsInd () |
unsigned int | getInitialNumberPoint () const |
unsigned int | getCurrentNumberPoints () const |
bool | hasEnoughPoints () const |
void | init (const vpKltOpencv &_tracker, const vpImage< bool > *mask=NULL) |
bool | isTracked () const |
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 | |
vpMbtPolygon * | polygon |
vpMbHiddenFaces< vpMbtPolygon > * | hiddenface |
bool | useScanLine |
Implementation of a polygon of the model containing points of interest. It is used by the model-based tracker KLT, and hybrid.
Definition at line 66 of file vpMbtDistanceKltPoints.h.
vpMbtDistanceKltPoints::vpMbtDistanceKltPoints | ( | ) |
Basic constructor.
Definition at line 57 of file vpMbtDistanceKltPoints.cpp.
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virtual |
Basic destructor.
Definition at line 69 of file vpMbtDistanceKltPoints.cpp.
void vpMbtDistanceKltPoints::computeHomography | ( | const vpHomogeneousMatrix & | _cTc0, |
vpHomography & | _cHc0 | ||
) |
Compute the homography using a displacement matrix.
the homography is given by:
Several internal variables are computed (dt, cRc0_0n).
_cTc0 | : The displacement matrix of the camera between the initial position of the camera and the current camera position |
_cHc0 | : The homography of the plane. |
Definition at line 282 of file vpMbtDistanceKltPoints.cpp.
Referenced by vpMbKltTracker::computeVVSInteractionMatrixAndResidu().
void vpMbtDistanceKltPoints::computeInteractionMatrixAndResidu | ( | 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.
_R | : the residu vector |
_J | : the interaction matrix |
Definition at line 193 of file vpMbtDistanceKltPoints.cpp.
Referenced by vpMbKltTracker::computeVVSInteractionMatrixAndResidu().
unsigned int vpMbtDistanceKltPoints::computeNbDetectedCurrent | ( | const vpKltOpencv & | _tracker, |
const vpImage< bool > * | mask = NULL |
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compute the number of point in this instanciation of the tracker that corresponds to the points of the face
_tracker | : the KLT tracker |
mask | Mask image or NULL if not wanted. Mask values that are set to true are considered in the tracking. To disable a pixel, set false. |
Definition at line 152 of file vpMbtDistanceKltPoints.cpp.
void vpMbtDistanceKltPoints::display | ( | const vpImage< unsigned char > & | I, |
const vpHomogeneousMatrix & | cMo, | ||
const vpCameraParameters & | cam, | ||
const vpColor & | col, | ||
unsigned int | thickness = 1 , |
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bool | displayFullModel = false |
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Definition at line 587 of file vpMbtDistanceKltPoints.cpp.
References vpDisplay::displayLine(), and getModelForDisplay().
void vpMbtDistanceKltPoints::display | ( | const vpImage< vpRGBa > & | I, |
const vpHomogeneousMatrix & | cMo, | ||
const vpCameraParameters & | cam, | ||
const vpColor & | col, | ||
unsigned int | thickness = 1 , |
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bool | displayFullModel = false |
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) |
Definition at line 601 of file vpMbtDistanceKltPoints.cpp.
References vpDisplay::displayLine(), and getModelForDisplay().
void vpMbtDistanceKltPoints::displayPrimitive | ( | const vpImage< unsigned char > & | _I | ) |
Display the primitives tracked for the face.
_I | : The image where to display. |
Definition at line 544 of file vpMbtDistanceKltPoints.cpp.
Display the primitives tracked for the face.
_I | : The image where to display. |
Definition at line 568 of file vpMbtDistanceKltPoints.cpp.
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inline |
Get the camera parameters of the face.
Definition at line 161 of file vpMbtDistanceKltPoints.h.
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inline |
Definition at line 163 of file vpMbtDistanceKltPoints.h.
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inline |
Get the number of points detected in the last image.
Definition at line 188 of file vpMbtDistanceKltPoints.h.
Referenced by vpMbKltTracker::computeVVSInteractionMatrixAndResidu(), and vpMbKltTracker::setPose().
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inline |
Definition at line 165 of file vpMbtDistanceKltPoints.h.
Referenced by vpMbKltTracker::setPose().
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inline |
Definition at line 167 of file vpMbtDistanceKltPoints.h.
Referenced by vpMbKltTracker::setPose().
std::vector< std::vector< double > > vpMbtDistanceKltPoints::getFeaturesForDisplay | ( | ) |
Return a list of features parameters for display.
<feature id (here 1 for KLT)>
, <pt.i()>
, <pt.j()>
, <klt_id.i()>
, <klt_id.j()>
, <klt_id.id>
Definition at line 620 of file vpMbtDistanceKltPoints.cpp.
Referenced by vpMbKltTracker::getFeaturesForDisplayKlt().
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inline |
Get the number of point that was belonging to the face at the initialisation
Definition at line 177 of file vpMbtDistanceKltPoints.h.
std::vector< std::vector< double > > vpMbtDistanceKltPoints::getModelForDisplay | ( | const vpCameraParameters & | camera, |
bool | displayFullModel = false |
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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()>
camera | : The camera parameters. |
displayFullModel | : If true, the line is displayed even if it is not |
Definition at line 665 of file vpMbtDistanceKltPoints.cpp.
Referenced by display().
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inline |
Definition at line 190 of file vpMbtDistanceKltPoints.h.
Referenced by vpMbKltTracker::computeVVSInteractionMatrixAndResidu(), and vpMbKltTracker::getFeaturesForDisplayKlt().
void vpMbtDistanceKltPoints::init | ( | const vpKltOpencv & | _tracker, |
const vpImage< bool > * | mask = NULL |
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) |
Initialise the face 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.
_tracker | : ViSP OpenCV KLT Tracker. |
mask | Mask image or NULL if not wanted. Mask values that are set to true are considered in the tracking. To disable a pixel, set false. |
Definition at line 79 of file vpMbtDistanceKltPoints.cpp.
Referenced by vpMbKltTracker::reinit(), and vpMbKltTracker::setPose().
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inline |
Return if the klt points are used for tracking.
Definition at line 199 of file vpMbtDistanceKltPoints.h.
Referenced by vpMbKltTracker::computeVVSInteractionMatrixAndResidu(), vpMbKltTracker::getFeaturesForDisplayKlt(), and vpMbKltTracker::reinit().
void vpMbtDistanceKltPoints::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).
_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 506 of file vpMbtDistanceKltPoints.cpp.
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inlinevirtual |
Set the camera parameters
_cam | : the new camera parameters |
Definition at line 208 of file vpMbtDistanceKltPoints.h.
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inline |
Set if the klt points have to considered during tracking phase.
track | : True if they have to be tracked, False otherwise. |
Definition at line 215 of file vpMbtDistanceKltPoints.h.
void vpMbtDistanceKltPoints::updateMask | ( | cv::Mat & | mask, |
unsigned char | nb = 255 , |
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unsigned int | shiftBorder = 0 |
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Modification of all the pixels that are in the roi to the value of _nb ( default is 255).
mask | : the mask to update (0, not in the object, _nb otherwise). |
nb | : Optionnal value to set to the pixels included in the face. |
shiftBorder | : Optionnal 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 353 of file vpMbtDistanceKltPoints.cpp.
Referenced by vpMbKltTracker::reinit().
vpMbHiddenFaces<vpMbtPolygon>* vpMbtDistanceKltPoints::hiddenface |
Pointer to the list of faces.
Definition at line 107 of file vpMbtDistanceKltPoints.h.
vpMbtPolygon* vpMbtDistanceKltPoints::polygon |
Pointer to the polygon that define a face.
Definition at line 105 of file vpMbtDistanceKltPoints.h.
Referenced by vpMbKltTracker::computeVVSInteractionMatrixAndResidu(), vpMbKltTracker::getFeaturesForDisplayKlt(), vpMbKltTracker::reinit(), and vpMbKltTracker::setPose().
bool vpMbtDistanceKltPoints::useScanLine |
Use scanline rendering.
Definition at line 109 of file vpMbtDistanceKltPoints.h.