vpMbEdgeTracker.h

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2025 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Make the complete tracking of an object by using its CAD model
 */

 
#ifndef vpMbEdgeTracker_HH
#define vpMbEdgeTracker_HH
 
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpPoint.h>
#include <visp3/mbt/vpMbTracker.h>
#include <visp3/mbt/vpMbtDistanceCircle.h>
#include <visp3/mbt/vpMbtDistanceCylinder.h>
#include <visp3/mbt/vpMbtDistanceLine.h>
#include <visp3/mbt/vpMbtMeLine.h>
#include <visp3/me/vpMe.h>
 
#include <fstream>
#include <iostream>
#include <list>
#include <vector>
 
#if defined(VISP_HAVE_COIN3D)
// Inventor includes
#include <Inventor/VRMLnodes/SoVRMLCoordinate.h>
#include <Inventor/VRMLnodes/SoVRMLGroup.h>
#include <Inventor/VRMLnodes/SoVRMLIndexedFaceSet.h>
#include <Inventor/VRMLnodes/SoVRMLIndexedLineSet.h>
#include <Inventor/VRMLnodes/SoVRMLShape.h>
#include <Inventor/actions/SoGetMatrixAction.h>
#include <Inventor/actions/SoGetPrimitiveCountAction.h>
#include <Inventor/actions/SoSearchAction.h>
#include <Inventor/actions/SoToVRML2Action.h>
#include <Inventor/actions/SoWriteAction.h>
#include <Inventor/misc/SoChildList.h>
#include <Inventor/nodes/SoSeparator.h>
#endif
 
#if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_IMGPROC)
#include <opencv2/imgproc/imgproc.hpp>
#if (VISP_HAVE_OPENCV_VERSION < 0x050000)
#include <opencv2/imgproc/imgproc_c.h>
#endif
#endif
 
BEGIN_VISP_NAMESPACE

class VISP_EXPORT vpMbEdgeTracker : public virtual vpMbTracker
{
protected:
  vpMe me;
  std::vector<std::list<vpMbtDistanceLine *> > lines;

  std::vector<std::list<vpMbtDistanceCircle *> > circles;

  std::vector<std::list<vpMbtDistanceCylinder *> > cylinders;

  unsigned int nline;

  unsigned int ncircle;

  unsigned int ncylinder;

  unsigned int nbvisiblepolygone;

  double percentageGdPt;

  std::vector<bool> scales;

  std::vector<const vpImage<unsigned char> *> Ipyramid;

  unsigned int scaleLevel;

  unsigned int nbFeaturesForProjErrorComputation;

  vpColVector m_factor;
  vpRobust m_robustLines;
  vpRobust m_robustCylinders;
  vpRobust m_robustCircles;
  vpColVector m_wLines;
  vpColVector m_wCylinders;
  vpColVector m_wCircles;
  vpColVector m_errorLines;
  vpColVector m_errorCylinders;
  vpColVector m_errorCircles;
  vpMatrix m_L_edge;
  vpColVector m_error_edge;
  vpColVector m_w_edge;
  vpColVector m_weightedError_edge;
  vpRobust m_robust_edge;
  std::vector<std::vector<double> > m_featuresToBeDisplayedEdge;
public:
  vpMbEdgeTracker();
  virtual ~vpMbEdgeTracker() VP_OVERRIDE;

 
  virtual void display(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
                       const vpColor &col, unsigned int thickness = 1, bool displayFullModel = false) VP_OVERRIDE;
  virtual void display(const vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
                       const vpColor &col, unsigned int thickness = 1, bool displayFullModel = false) VP_OVERRIDE;
 
  void getLline(std::list<vpMbtDistanceLine *> &linesList, unsigned int level = 0) const;
  void getLcircle(std::list<vpMbtDistanceCircle *> &circlesList, unsigned int level = 0) const;
  void getLcylinder(std::list<vpMbtDistanceCylinder *> &cylindersList, unsigned int level = 0) const;
 
  virtual std::vector<std::vector<double> > getModelForDisplay(unsigned int width, unsigned int height,
                                                               const vpHomogeneousMatrix &cMo,
                                                               const vpCameraParameters &cam,
                                                               bool displayFullModel = false) VP_OVERRIDE;

  virtual inline void getMovingEdge(vpMe &p_me) const { p_me = this->me; }
  virtual inline vpMe getMovingEdge() const { return this->me; }
 
  virtual unsigned int getNbPoints(unsigned int level = 0) const;

  std::vector<bool> getScales() const { return scales; }
  inline double getGoodMovingEdgesRatioThreshold() const { return percentageGdPt; }
 
  virtual inline vpColVector getError() const VP_OVERRIDE { return m_error_edge; }
 
  virtual inline vpColVector getRobustWeights() const VP_OVERRIDE { return m_w_edge; }
 
  virtual void loadConfigFile(const std::string &configFile, bool verbose = true) VP_OVERRIDE;
 
  virtual void reInitModel(const vpImage<unsigned char> &I, const std::string &cad_name, const vpHomogeneousMatrix &cMo,
                           bool verbose = false, const vpHomogeneousMatrix &T = vpHomogeneousMatrix());
  void resetTracker() VP_OVERRIDE;

  virtual void setCameraParameters(const vpCameraParameters &cam) VP_OVERRIDE
  {
    m_cam = cam;
 
    for (unsigned int i = 0; i < scales.size(); i += 1) {
      if (scales[i]) {
        for (std::list<vpMbtDistanceLine *>::const_iterator it = lines[i].begin(); it != lines[i].end(); ++it) {
          (*it)->setCameraParameters(m_cam);
        }
 
        for (std::list<vpMbtDistanceCylinder *>::const_iterator it = cylinders[i].begin(); it != cylinders[i].end();
             ++it) {
          (*it)->setCameraParameters(m_cam);
        }
 
        for (std::list<vpMbtDistanceCircle *>::const_iterator it = circles[i].begin(); it != circles[i].end(); ++it) {
          (*it)->setCameraParameters(m_cam);
        }
      }
    }
  }
 
  virtual void setClipping(const unsigned int &flags) VP_OVERRIDE;
 
  virtual void setFarClippingDistance(const double &dist) VP_OVERRIDE;
 
  virtual void setNearClippingDistance(const double &dist) VP_OVERRIDE;

  virtual void setOgreVisibilityTest(const bool &v) VP_OVERRIDE
  {
    vpMbTracker::setOgreVisibilityTest(v);
#ifdef VISP_HAVE_OGRE
    faces.getOgreContext()->setWindowName("MBT Edge");
#endif
  }

  virtual void setScanLineVisibilityTest(const bool &v) VP_OVERRIDE
  {
    vpMbTracker::setScanLineVisibilityTest(v);
 
    for (unsigned int i = 0; i < scales.size(); i += 1) {
      if (scales[i]) {
        for (std::list<vpMbtDistanceLine *>::const_iterator it = lines[i].begin(); it != lines[i].end(); ++it) {
          (*it)->useScanLine = v;
        }
      }
    }
  }

  void setGoodMovingEdgesRatioThreshold(double threshold) { percentageGdPt = threshold; }
 
  void setMovingEdge(const vpMe &me);
 
  virtual void setPose(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cdMo) VP_OVERRIDE;
  virtual void setPose(const vpImage<vpRGBa> &I_color, const vpHomogeneousMatrix &cdMo) VP_OVERRIDE;
 
  void setScales(const std::vector<bool> &_scales);
 
  void setUseEdgeTracking(const std::string &name, const bool &useEdgeTracking);
 
  virtual void track(const vpImage<unsigned char> &I) VP_OVERRIDE;
  virtual void track(const vpImage<vpRGBa> &I) VP_OVERRIDE;
 
protected:
  void addCircle(const vpPoint &P1, const vpPoint &P2, const vpPoint &P3, double r, int idFace = -1,
                 const std::string &name = "");
  void addCylinder(const vpPoint &P1, const vpPoint &P2, double r, int idFace = -1, const std::string &name = "");
  void addLine(vpPoint &p1, vpPoint &p2, int polygon = -1, std::string name = "");
  void addPolygon(vpMbtPolygon &p);
 
  void cleanPyramid(std::vector<const vpImage<unsigned char> *> &_pyramid);
  void computeProjectionError(const vpImage<unsigned char> &_I);
 
  void computeVVS(const vpImage<unsigned char> &_I, unsigned int lvl);
  void computeVVSFirstPhase(const vpImage<unsigned char> &I, unsigned int iter, double &count, unsigned int lvl = 0);
  void computeVVSFirstPhaseFactor(const vpImage<unsigned char> &I, unsigned int lvl = 0);
  void computeVVSFirstPhasePoseEstimation(unsigned int iter, bool &isoJoIdentity);
  virtual void computeVVSInit() VP_OVERRIDE;
  virtual void computeVVSInteractionMatrixAndResidu() VP_OVERRIDE;
  virtual void computeVVSInteractionMatrixAndResidu(const vpImage<unsigned char> &I);
  virtual void computeVVSWeights();
  using vpMbTracker::computeVVSWeights;
 
  void displayFeaturesOnImage(const vpImage<unsigned char> &I);
  void displayFeaturesOnImage(const vpImage<vpRGBa> &I);
  void downScale(const unsigned int _scale);
  virtual std::vector<std::vector<double> > getFeaturesForDisplayEdge();
  virtual void init(const vpImage<unsigned char> &I) VP_OVERRIDE;
  virtual void initCircle(const vpPoint &p1, const vpPoint &p2, const vpPoint &p3, double radius, int idFace = 0,
                          const std::string &name = "") VP_OVERRIDE;
  virtual void initCylinder(const vpPoint &p1, const vpPoint &p2, double radius, int idFace = 0,
                            const std::string &name = "") VP_OVERRIDE;
  virtual void initFaceFromCorners(vpMbtPolygon &polygon) VP_OVERRIDE;
  virtual void initFaceFromLines(vpMbtPolygon &polygon) VP_OVERRIDE;
  unsigned int initMbtTracking(unsigned int &nberrors_lines, unsigned int &nberrors_cylinders,
                               unsigned int &nberrors_circles);
  void initMovingEdge(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &_cMo, const bool &useInitRange = true);
  void initPyramid(const vpImage<unsigned char> &_I, std::vector<const vpImage<unsigned char> *> &_pyramid);
  void reInitLevel(const unsigned int _lvl);
  void reinitMovingEdge(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &_cMo);
  void removeCircle(const std::string &name);
  void removeCylinder(const std::string &name);
  void removeLine(const std::string &name);
  void resetMovingEdge();
  virtual void testTracking() VP_OVERRIDE;
  void trackMovingEdge(const vpImage<unsigned char> &I);
  void updateMovingEdge(const vpImage<unsigned char> &I);
  void updateMovingEdgeWeights();
  void upScale(const unsigned int _scale);
  void visibleFace(const vpImage<unsigned char> &_I, const vpHomogeneousMatrix &_cMo, bool &newvisibleline);
};
END_VISP_NAMESPACE
#endif