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Visual Servoing Platform
version 3.3.0
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#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 |
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 67 of file vpMbtDistanceKltCylinder.h.
vpMbtDistanceKltCylinder::vpMbtDistanceKltCylinder | ( | ) |
Basic constructor.
Definition at line 56 of file vpMbtDistanceKltCylinder.cpp.
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virtual |
Basic destructor.
Definition at line 67 of file vpMbtDistanceKltCylinder.cpp.
void vpMbtDistanceKltCylinder::buildFrom | ( | const vpPoint & | p1, |
const vpPoint & | p2, | ||
const double & | r | ||
) |
Definition at line 69 of file vpMbtDistanceKltCylinder.cpp.
References vpPoint::get_oX(), vpPoint::get_oY(), vpPoint::get_oZ(), vpCircle::setWorldCoordinates(), and vpCylinder::setWorldCoordinates().
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.
_cMc0 | : camera displacement since initialisation |
_R | : the residu vector |
_J | : the interaction matrix |
Definition at line 280 of file vpMbtDistanceKltCylinder.cpp.
Referenced by vpMbKltTracker::computeVVSInteractionMatrixAndResidu().
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
_tracker | : the KLT tracker |
Definition at line 195 of file vpMbtDistanceKltCylinder.cpp.
void vpMbtDistanceKltCylinder::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 574 of file vpMbtDistanceKltCylinder.cpp.
References vpDisplay::displayLine(), and getModelForDisplay().
void vpMbtDistanceKltCylinder::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 587 of file vpMbtDistanceKltCylinder.cpp.
References vpDisplay::displayLine(), and getModelForDisplay().
void vpMbtDistanceKltCylinder::displayPrimitive | ( | const vpImage< unsigned char > & | _I | ) |
Display the primitives tracked for the cylinder.
_I | : The image where to display. |
Definition at line 531 of file vpMbtDistanceKltCylinder.cpp.
Display the primitives tracked for the cylinder.
_I | : The image where to display. |
Definition at line 555 of file vpMbtDistanceKltCylinder.cpp.
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Get the camera parameters of the face.
Definition at line 155 of file vpMbtDistanceKltCylinder.h.
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Get the number of points detected in the last image.
Definition at line 182 of file vpMbtDistanceKltCylinder.h.
Referenced by vpMbKltTracker::computeVVSInteractionMatrixAndResidu().
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Definition at line 157 of file vpMbtDistanceKltCylinder.h.
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Definition at line 159 of file vpMbtDistanceKltCylinder.h.
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Definition at line 161 of file vpMbtDistanceKltCylinder.h.
std::vector< std::vector< double > > vpMbtDistanceKltCylinder::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 606 of file vpMbtDistanceKltCylinder.cpp.
Referenced by vpMbKltTracker::getFeaturesForDisplayKlt().
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Get the number of point that was belonging to the face at the initialisation
Definition at line 171 of file vpMbtDistanceKltCylinder.h.
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()>
cMo | : Pose used to project the 3D model into the image. |
camera | : The camera parameters. |
Definition at line 651 of file vpMbtDistanceKltCylinder.cpp.
Referenced by display().
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inline |
Definition at line 188 of file vpMbtDistanceKltCylinder.h.
Referenced by vpMbKltTracker::computeVVSInteractionMatrixAndResidu(), and vpMbKltTracker::getFeaturesForDisplayKlt().
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.
_tracker | : ViSP OpenCV KLT Tracker. |
cMo | : Pose of the object in the camera frame at initialization. |
Definition at line 105 of file vpMbtDistanceKltCylinder.cpp.
Referenced by vpMbKltTracker::reinit().
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Return if the klt cylinder is used for tracking.
Definition at line 195 of file vpMbtDistanceKltCylinder.h.
Referenced by vpMbKltTracker::computeVVSInteractionMatrixAndResidu(), vpMbKltTracker::getFeaturesForDisplayKlt(), and vpMbKltTracker::reinit().
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).
_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 233 of file vpMbtDistanceKltCylinder.cpp.
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Set the camera parameters
_cam | : the new camera parameters |
Definition at line 206 of file vpMbtDistanceKltCylinder.h.
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Set if the klt cylinder has to be considered during tracking phase.
track | : True if is has to be tracked, False otherwise. |
Definition at line 213 of file vpMbtDistanceKltCylinder.h.
void vpMbtDistanceKltCylinder::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 375 of file vpMbtDistanceKltCylinder.cpp.
Referenced by vpMbKltTracker::reinit().
vpMbHiddenFaces<vpMbtPolygon>* vpMbtDistanceKltCylinder::hiddenface |
Pointer to the list of faces.
Definition at line 107 of file vpMbtDistanceKltCylinder.h.
std::vector<int> vpMbtDistanceKltCylinder::listIndicesCylinderBBox |
Pointer to the polygon that define a face.
Definition at line 105 of file vpMbtDistanceKltCylinder.h.
Referenced by vpMbKltTracker::reinit().
bool vpMbtDistanceKltCylinder::useScanLine |
Use scanline rendering.
Definition at line 109 of file vpMbtDistanceKltCylinder.h.