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Visual Servoing Platform
version 3.3.0
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40 #ifndef vpMbtDistanceKltPoints_h
41 #define vpMbtDistanceKltPoints_h
43 #include <visp3/core/vpConfig.h>
45 #if defined(VISP_HAVE_MODULE_KLT) && (defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020100))
49 #include <visp3/core/vpDisplay.h>
50 #include <visp3/core/vpGEMM.h>
51 #include <visp3/core/vpPlane.h>
52 #include <visp3/core/vpPolygon3D.h>
53 #include <visp3/klt/vpKltOpencv.h>
54 #include <visp3/mbt/vpMbHiddenFaces.h>
55 #include <visp3/vision/vpHomography.h>
82 std::map<int, vpImagePoint> initPoints;
84 std::map<int, vpImagePoint> curPoints;
86 std::map<int, int> curPointsInd;
88 unsigned int nbPointsCur;
90 unsigned int nbPointsInit;
92 unsigned int minNbPoint;
102 bool isTrackedKltPoints;
113 double compute_1_over_Z(
double x,
double y);
114 void computeP_mu_t(
double x_in,
double y_in,
double &x_out,
double &y_out,
const vpMatrix &cHc0);
115 bool isTrackedFeature(
int id);
145 const vpColor &col,
unsigned int thickness = 1,
bool displayFullModel =
false);
147 const vpColor &col,
unsigned int thickness = 1,
bool displayFullModel =
false);
152 std::vector<std::vector<double> > getFeaturesForDisplay();
155 bool displayFullModel =
false);
200 inline bool isTracked()
const {
return isTrackedKltPoints; }
202 void removeOutliers(
const vpColVector &weight,
const double &threshold_outlier);
216 inline void setTracked(
const bool &track) { this->isTrackedKltPoints = track; }
218 #if (VISP_HAVE_OPENCV_VERSION >= 0x020408)
219 void updateMask(cv::Mat &mask,
unsigned char _nb = 255,
unsigned int _shiftBorder = 0);
221 void updateMask(IplImage *mask,
unsigned char _nb = 255,
unsigned int _shiftBorder = 0);
227 #endif // VISP_HAVE_OPENCV
virtual void setCameraParameters(const vpCameraParameters &_cam)
bool hasEnoughPoints() const
vpCameraParameters & getCameraParameters()
void setTracked(const bool &track)
Implementation of a polygon of the model containing points of interest. It is used by the model-based...
Generic class defining intrinsic camera parameters.
vpColVector getCurrentNormal() const
vpMbHiddenFaces< vpMbtPolygon > * hiddenface
Pointer to the list of faces.
Implementation of column vector and the associated operations.
Wrapper for the KLT (Kanade-Lucas-Tomasi) feature tracker implemented in OpenCV. Thus to enable this ...
Implementation of a matrix and operations on matrices.
Implementation of a polygon of the model used by the model-based tracker.
std::map< int, int > & getCurrentPointsInd()
unsigned int getCurrentNumberPoints() const
vpMbtPolygon * polygon
Pointer to the polygon that define a face.
unsigned int getInitialNumberPoint() const
std::map< int, vpImagePoint > & getCurrentPoints()
Implementation of an homography and operations on homographies.
Class to define colors available for display functionnalities.
bool useScanLine
Use scanline rendering.
Implementation of an homogeneous matrix and operations on such kind of matrices.