Visual Servoing Platform version 3.6.0
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vpMegaPoseTracker.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See https://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Tracker based on MegaPose.
33 *
34*****************************************************************************/
35
36#include <visp3/dnn_tracker/vpMegaPoseTracker.h>
37#include <future>
38
39std::future<vpMegaPoseEstimate> vpMegaPoseTracker::init(const vpImage<vpRGBa> &I, const vpRect &bb)
40{
41 return std::async(std::launch::async, [&I, &bb, this]() -> vpMegaPoseEstimate {
42 std::vector<vpRect> bbs = {bb};
43 m_poseEstimate = m_megapose->estimatePoses(I, {m_objectLabel}, nullptr, 0.0, &bbs, nullptr)[0];
44 m_initialized = true;
45 return m_poseEstimate;
46 });
47}
48std::future<vpMegaPoseEstimate> vpMegaPoseTracker::init(const vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cTo)
49{
50 return std::async(std::launch::async, [&I, &cTo, this]() -> vpMegaPoseEstimate {
51 std::vector<vpHomogeneousMatrix> poses = { cTo };
52 m_poseEstimate = m_megapose->estimatePoses(I, { m_objectLabel }, nullptr, 0.0, nullptr, &poses)[0];
53 m_initialized = true;
54 return m_poseEstimate;
55 });
56}
57
58std::future<vpMegaPoseEstimate> vpMegaPoseTracker::track(const vpImage<vpRGBa> &I)
59{
60 if (!m_initialized) {
61 throw vpException(vpException::notInitialized, "MegaPose tracker was not initialized. Call init before calling track.");
62 }
63 return std::async(std::launch::async, [&I, this]() -> vpMegaPoseEstimate {
64 std::vector<vpHomogeneousMatrix> poses = {m_poseEstimate.cTo};
65 m_poseEstimate = m_megapose->estimatePoses(I, {m_objectLabel}, nullptr, 0.0, nullptr, &poses, m_refinerIterations)[0];
66 return m_poseEstimate;
67 });
68}
69
71{
72 m_poseEstimate.cTo = cTo;
73}
74
error that can be emitted by ViSP classes.
Definition vpException.h:59
@ notInitialized
Used to indicate that a parameter is not initialized.
Definition vpException.h:86
Implementation of an homogeneous matrix and operations on such kind of matrices.
Definition of the vpImage class member functions.
Definition vpImage.h:135
vpHomogeneousMatrix cTo
Definition vpMegaPose.h:69
std::future< vpMegaPoseEstimate > track(const vpImage< vpRGBa > &I)
Track the object in the image. Requires the tracker to be initialized by calling init.
std::future< vpMegaPoseEstimate > init(const vpImage< vpRGBa > &I, const vpRect &bb)
Initialize tracking. Performs a full object pose estimation with megapose.
void updatePose(const vpHomogeneousMatrix &cTo)
Update the current pose estimate with a new one, provided by an external source. No operation (such a...
Defines a rectangle in the plane.
Definition vpRect.h:76