Visual Servoing Platform version 3.6.0
Loading...
Searching...
No Matches
vpMegaPoseTracker.h
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#ifndef _vpMegaPoseTracker_h_
37#define _vpMegaPoseTracker_h_
38
39#include <visp3/core/vpConfig.h>
40#if defined(VISP_HAVE_NLOHMANN_JSON)
41
42#include <future>
43#include<memory>
44#include <visp3/dnn_tracker/vpMegaPose.h>
45
98class VISP_EXPORT vpMegaPoseTracker
99{
100public:
108 vpMegaPoseTracker(std::shared_ptr<vpMegaPose> megapose, const std::string &objectLabel, const int refinerIterations) :
109 m_megapose(megapose), m_objectLabel(objectLabel), m_refinerIterations(refinerIterations), m_initialized(false)
110 { }
122 std::future<vpMegaPoseEstimate> init(const vpImage<vpRGBa> &I, const vpRect & bb);
132 std::future<vpMegaPoseEstimate> init(const vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cTo);
133
134
141 std::future<vpMegaPoseEstimate> track(const vpImage<vpRGBa> &I);
142
149 void updatePose(const vpHomogeneousMatrix& cTo);
150
151private:
152 std::shared_ptr<vpMegaPose> m_megapose;
153 vpMegaPoseEstimate m_poseEstimate;
154 std::string m_objectLabel;
155 int m_refinerIterations;
156 bool m_initialized;
157};
158
159#endif // VISP_HAVE_NLOHMANN_JSON
160
161#endif
Implementation of an homogeneous matrix and operations on such kind of matrices.
Definition of the vpImage class member functions.
Definition vpImage.h:135
A simplified interface to track a single object with MegaPose. This tracker works asynchronously: A c...
vpMegaPoseTracker(std::shared_ptr< vpMegaPose > megapose, const std::string &objectLabel, const int refinerIterations)
Construct a new MegaPose tracker.
Defines a rectangle in the plane.
Definition vpRect.h:76