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vpMbtFaceDepthDense Class Reference

#include <visp3/mbt/vpMbtFaceDepthDense.h>

Public Types

enum  vpDepthDenseFilteringType { NO_FILTERING = 0 , DEPTH_OCCUPANCY_RATIO_FILTERING = 1 << 1 , MIN_DISTANCE_FILTERING = 1 << 2 , MAX_DISTANCE_FILTERING = 1 << 3 }
 

Public Member Functions

 vpMbtFaceDepthDense ()
 
virtual ~vpMbtFaceDepthDense ()
 
void addLine (vpPoint &p1, vpPoint &p2, vpMbHiddenFaces< vpMbtPolygon > *const faces, vpUniRand &rand_gen, int polygon=-1, std::string name="")
 
bool computeDesiredFeatures (const vpHomogeneousMatrix &cMo, const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &point_cloud, unsigned int stepX, unsigned int stepY, const vpImage< bool > *mask=nullptr)
 
bool computeDesiredFeatures (const vpHomogeneousMatrix &cMo, unsigned int width, unsigned int height, const std::vector< vpColVector > &point_cloud, unsigned int stepX, unsigned int stepY, const vpImage< bool > *mask=nullptr)
 
bool computeDesiredFeatures (const vpHomogeneousMatrix &cMo, unsigned int width, unsigned int height, const vpMatrix &point_cloud, unsigned int stepX, unsigned int stepY, const vpImage< bool > *mask=nullptr)
 
void computeInteractionMatrixAndResidu (const vpHomogeneousMatrix &cMo, vpMatrix &L, vpColVector &error)
 
void computeVisibility ()
 
void computeVisibilityDisplay ()
 
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 displayFeature (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, double scale=0.05, unsigned int thickness=1)
 
void displayFeature (const vpImage< vpRGBa > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, double scale=0.05, unsigned int thickness=1)
 
std::vector< std::vector< double > > getModelForDisplay (unsigned int width, unsigned int height, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, bool displayFullModel=false)
 
unsigned int getNbFeatures () const
 
bool isTracked () const
 
bool isVisible () const
 
void setCameraParameters (const vpCameraParameters &camera)
 
void setScanLineVisibilityTest (bool v)
 
void setDepthDenseFilteringMaxDistance (double maxDistance)
 
void setDepthDenseFilteringMethod (int method)
 
void setDepthDenseFilteringMinDistance (double minDistance)
 
void setDepthDenseFilteringOccupancyRatio (double occupancyRatio)
 
void setTracked (bool tracked)
 

Public Attributes

vpCameraParameters m_cam
 
unsigned int m_clippingFlag
 
double m_distFarClip
 
double m_distNearClip
 
vpMbHiddenFaces< vpMbtPolygon > * m_hiddenFace
 
vpPlane m_planeObject
 
vpMbtPolygon * m_polygon
 
bool m_useScanLine
 

Protected Member Functions

void computeROI (const vpHomogeneousMatrix &cMo, unsigned int width, unsigned int height, std::vector< vpImagePoint > &roiPts, double &distanceToFace)
 
bool samePoint (const vpPoint &P1, const vpPoint &P2) const
 

Protected Attributes

int m_depthDenseFilteringMethod
 
double m_depthDenseFilteringMaxDist
 
double m_depthDenseFilteringMinDist
 
double m_depthDenseFilteringOccupancyRatio
 
bool m_isTrackedDepthDenseFace
 
bool m_isVisible
 
std::vector< vpMbtDistanceLine * > m_listOfFaceLines
 
vpPlane m_planeCamera
 
std::vector< double > m_pointCloudFace
 
std::vector< PolygonLine > m_polygonLines
 

Detailed Description

Definition at line 53 of file vpMbtFaceDepthDense.h.

Member Enumeration Documentation

◆ vpDepthDenseFilteringType

enum vpMbtFaceDepthDense::vpDepthDenseFilteringType
Enumerator
NO_FILTERING 

Face is used if visible.

DEPTH_OCCUPANCY_RATIO_FILTERING 

Face is used if there is enough depth information in the face polygon

MIN_DISTANCE_FILTERING 

Face is used if the camera position is farther than the threshold

MAX_DISTANCE_FILTERING 

Face is used if the camera position is closer than the threshold

Definition at line 56 of file vpMbtFaceDepthDense.h.

Constructor & Destructor Documentation

◆ vpMbtFaceDepthDense()

vpMbtFaceDepthDense::vpMbtFaceDepthDense ( )

Definition at line 160 of file vpMbtFaceDepthDense.cpp.

◆ ~vpMbtFaceDepthDense()

vpMbtFaceDepthDense::~vpMbtFaceDepthDense ( )
virtual

Definition at line 168 of file vpMbtFaceDepthDense.cpp.

References m_listOfFaceLines.

Member Function Documentation

◆ addLine()

void vpMbtFaceDepthDense::addLine ( vpPoint &  P1,
vpPoint &  P2,
vpMbHiddenFaces< vpMbtPolygon > *const  faces,
vpUniRand &  rand_gen,
int  polygon = -1,
std::string  name = "" 
)

Add a line belonging to the $ index $ the polygon to the list of lines. It is defined by its two extremities.

If the line already exists, the polygon's index is added to the list of polygon to which it belongs.

Parameters
P1: The first extremity of the line.
P2: The second extremity of the line.
faces: Pointer to vpMbHiddenFaces.
rand_gen: Random number generator used in vpMbtDistanceLine::buildFrom().
polygon: The index of the polygon to which the line belongs.
name: the optional name of the line

Definition at line 189 of file vpMbtFaceDepthDense.cpp.

References vpMbtDistanceLine::addPolygon(), vpMbtDistanceLine::buildFrom(), vpPolygon3D::FAR_CLIPPING, vpMbtDistanceLine::getPolygon(), vpMbtDistanceLine::hiddenface, m_cam, m_clippingFlag, m_distFarClip, m_distNearClip, m_listOfFaceLines, m_polygonLines, m_useScanLine, vpPolygon3D::NEAR_CLIPPING, vpPolygon3D::NO_CLIPPING, vpMbtDistanceLine::p1, vpMbtDistanceLine::p2, samePoint(), vpMbtDistanceLine::setCameraParameters(), vpPolygon3D::setClipping(), vpPolygon3D::setFarClippingDistance(), vpMbtDistanceLine::setIndex(), vpMbtDistanceLine::setName(), vpPolygon3D::setNearClippingDistance(), and vpMbtDistanceLine::useScanLine.

Referenced by vpMbDepthDenseTracker::addFace().

◆ computeDesiredFeatures() [1/3]

bool vpMbtFaceDepthDense::computeDesiredFeatures ( const vpHomogeneousMatrix &  cMo,
const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &  point_cloud,
unsigned int  stepX,
unsigned int  stepY,
const vpImage< bool > *  mask = nullptr 
)

Definition at line 250 of file vpMbtFaceDepthDense.cpp.

References computeROI(), DEPTH_OCCUPANCY_RATIO_FILTERING, vpRect::getBottom(), vpPolygon::getBoundingBox(), vpRect::getHeight(), vpMbtPolygon::getIndex(), vpRect::getLeft(), vpMbHiddenFaces< PolygonType >::getMbScanLineRenderer(), vpRect::getRight(), vpRect::getTop(), vpRect::getWidth(), vpMeTracker::inRoiMask(), vpPolygon::isInside(), m_depthDenseFilteringMaxDist, m_depthDenseFilteringMethod, m_depthDenseFilteringMinDist, m_depthDenseFilteringOccupancyRatio, m_hiddenFace, m_pointCloudFace, m_polygon, m_useScanLine, MAX_DISTANCE_FILTERING, MIN_DISTANCE_FILTERING, vpRect::setBottom(), vpRect::setLeft(), vpRect::setRight(), and vpRect::setTop().

Referenced by vpMbDepthDenseTracker::segmentPointCloud().

◆ computeDesiredFeatures() [2/3]

bool vpMbtFaceDepthDense::computeDesiredFeatures ( const vpHomogeneousMatrix &  cMo,
unsigned int  width,
unsigned int  height,
const std::vector< vpColVector > &  point_cloud,
unsigned int  stepX,
unsigned int  stepY,
const vpImage< bool > *  mask = nullptr 
)

Definition at line 341 of file vpMbtFaceDepthDense.cpp.

References computeROI(), DEPTH_OCCUPANCY_RATIO_FILTERING, vpRect::getBottom(), vpPolygon::getBoundingBox(), vpRect::getHeight(), vpMbtPolygon::getIndex(), vpRect::getLeft(), vpMbHiddenFaces< PolygonType >::getMbScanLineRenderer(), vpRect::getRight(), vpRect::getTop(), vpRect::getWidth(), vpMeTracker::inRoiMask(), vpPolygon::isInside(), m_depthDenseFilteringMaxDist, m_depthDenseFilteringMethod, m_depthDenseFilteringMinDist, m_depthDenseFilteringOccupancyRatio, m_hiddenFace, m_pointCloudFace, m_polygon, m_useScanLine, MAX_DISTANCE_FILTERING, MIN_DISTANCE_FILTERING, vpRect::setBottom(), vpRect::setLeft(), vpRect::setRight(), and vpRect::setTop().

◆ computeDesiredFeatures() [3/3]

bool vpMbtFaceDepthDense::computeDesiredFeatures ( const vpHomogeneousMatrix &  cMo,
unsigned int  width,
unsigned int  height,
const vpMatrix &  point_cloud,
unsigned int  stepX,
unsigned int  stepY,
const vpImage< bool > *  mask = nullptr 
)

Definition at line 426 of file vpMbtFaceDepthDense.cpp.

References computeROI(), DEPTH_OCCUPANCY_RATIO_FILTERING, vpRect::getBottom(), vpPolygon::getBoundingBox(), vpRect::getHeight(), vpMbtPolygon::getIndex(), vpRect::getLeft(), vpMbHiddenFaces< PolygonType >::getMbScanLineRenderer(), vpRect::getRight(), vpRect::getTop(), vpRect::getWidth(), vpMeTracker::inRoiMask(), vpPolygon::isInside(), m_depthDenseFilteringMaxDist, m_depthDenseFilteringMethod, m_depthDenseFilteringMinDist, m_depthDenseFilteringOccupancyRatio, m_hiddenFace, m_pointCloudFace, m_polygon, m_useScanLine, MAX_DISTANCE_FILTERING, MIN_DISTANCE_FILTERING, vpRect::setBottom(), vpRect::setLeft(), vpRect::setRight(), and vpRect::setTop().

◆ computeInteractionMatrixAndResidu()

void vpMbtFaceDepthDense::computeInteractionMatrixAndResidu ( const vpHomogeneousMatrix &  cMo,
vpMatrix &  L,
vpColVector &  error 
)

Definition at line 548 of file vpMbtFaceDepthDense.cpp.

References vpPlane::changeFrame(), vpCPUFeatures::checkNeon(), vpCPUFeatures::checkSSE2(), vpArray2D< Type >::data, vpPlane::getA(), vpPlane::getB(), vpPlane::getC(), vpPlane::getD(), getNbFeatures(), m_planeCamera, m_planeObject, m_pointCloudFace, vpColVector::resize(), and vpColVector::t().

Referenced by vpMbDepthDenseTracker::computeVVSInteractionMatrixAndResidu().

◆ computeROI()

void vpMbtFaceDepthDense::computeROI ( const vpHomogeneousMatrix &  cMo,
unsigned int  width,
unsigned int  height,
std::vector< vpImagePoint > &  roiPts,
double &  distanceToFace 
)
protected

Definition at line 781 of file vpMbtFaceDepthDense.cpp.

References vpCameraParameters::computeFov(), vpMbHiddenFaces< PolygonType >::computeScanLineQuery(), vpMeterPixelConversion::convertPoint(), vpPolygon3D::DOWN_CLIPPING, vpPolygon3D::FAR_CLIPPING, vpPoint::get_X(), vpPoint::get_Y(), vpPoint::get_Z(), vpPolygon3D::getPolygonClipped(), vpPolygon3D::getRoiClipped(), vpPolygon3D::LEFT_CLIPPING, m_cam, m_clippingFlag, m_hiddenFace, m_polygon, m_polygonLines, m_useScanLine, vpPolygon3D::NEAR_CLIPPING, vpForwardProjection::project(), vpPolygon3D::RIGHT_CLIPPING, vpPoint::set_X(), vpPoint::set_Y(), vpPoint::set_Z(), and vpPolygon3D::UP_CLIPPING.

Referenced by computeDesiredFeatures().

◆ computeVisibility()

void vpMbtFaceDepthDense::computeVisibility ( )

Definition at line 511 of file vpMbtFaceDepthDense.cpp.

References vpMbtPolygon::isVisible(), m_isVisible, and m_polygon.

Referenced by vpMbDepthDenseTracker::computeVisibility().

◆ computeVisibilityDisplay()

void vpMbtFaceDepthDense::computeVisibilityDisplay ( )

Definition at line 513 of file vpMbtFaceDepthDense.cpp.

References vpMbtDistanceLine::hiddenface, vpMbHiddenFaces< PolygonType >::isVisible(), vpMbtDistanceLine::Lindex_polygon, m_listOfFaceLines, and vpMbtDistanceLine::setVisible().

Referenced by getModelForDisplay().

◆ display() [1/2]

void vpMbtFaceDepthDense::display ( const vpImage< unsigned char > &  I,
const vpHomogeneousMatrix &  cMo,
const vpCameraParameters &  cam,
const vpColor &  col,
unsigned int  thickness = 1,
bool  displayFullModel = false 
)

Definition at line 891 of file vpMbtFaceDepthDense.cpp.

References vpDisplay::displayLine(), vpImage< Type >::getHeight(), getModelForDisplay(), and vpImage< Type >::getWidth().

◆ display() [2/2]

void vpMbtFaceDepthDense::display ( const vpImage< vpRGBa > &  I,
const vpHomogeneousMatrix &  cMo,
const vpCameraParameters &  cam,
const vpColor &  col,
unsigned int  thickness = 1,
bool  displayFullModel = false 
)

Definition at line 905 of file vpMbtFaceDepthDense.cpp.

References vpDisplay::displayLine(), vpImage< Type >::getHeight(), getModelForDisplay(), and vpImage< Type >::getWidth().

◆ displayFeature() [1/2]

void vpMbtFaceDepthDense::displayFeature ( const vpImage< unsigned char > &  I,
const vpHomogeneousMatrix &  cMo,
const vpCameraParameters &  cam,
double  scale = 0.05,
unsigned int  thickness = 1 
)

Definition at line 919 of file vpMbtFaceDepthDense.cpp.

◆ displayFeature() [2/2]

void vpMbtFaceDepthDense::displayFeature ( const vpImage< vpRGBa > &  I,
const vpHomogeneousMatrix &  cMo,
const vpCameraParameters &  cam,
double  scale = 0.05,
unsigned int  thickness = 1 
)

Definition at line 924 of file vpMbtFaceDepthDense.cpp.

◆ getModelForDisplay()

std::vector< std::vector< double > > vpMbtFaceDepthDense::getModelForDisplay ( unsigned int  width,
unsigned int  height,
const vpHomogeneousMatrix &  cMo,
const vpCameraParameters &  cam,
bool  displayFullModel = false 
)

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()>
Parameters
width: Image width.
height: Image height.
cMo: Pose used to project the 3D model into the image.
cam: The camera parameters.
displayFullModel: If true, the line is displayed even if it is not

Definition at line 940 of file vpMbtFaceDepthDense.cpp.

References computeVisibilityDisplay(), vpMbtDistanceLine::getModelForDisplay(), vpMbtPolygon::isVisible(), m_isTrackedDepthDenseFace, m_listOfFaceLines, and m_polygon.

Referenced by display(), and vpMbDepthDenseTracker::getModelForDisplay().

◆ getNbFeatures()

unsigned int vpMbtFaceDepthDense::getNbFeatures ( ) const
inline

Definition at line 138 of file vpMbtFaceDepthDense.h.

Referenced by computeInteractionMatrixAndResidu(), and vpMbDepthDenseTracker::computeVVSInit().

◆ isTracked()

bool vpMbtFaceDepthDense::isTracked ( ) const
inline

Definition at line 140 of file vpMbtFaceDepthDense.h.

Referenced by vpMbDepthDenseTracker::segmentPointCloud().

◆ isVisible()

bool vpMbtFaceDepthDense::isVisible ( ) const
inline

Definition at line 142 of file vpMbtFaceDepthDense.h.

References vpMbtPolygon::isvisible.

Referenced by vpMbDepthDenseTracker::segmentPointCloud().

◆ samePoint()

bool vpMbtFaceDepthDense::samePoint ( const vpPoint &  P1,
const vpPoint &  P2 
) const
protected

Check if two vpPoints are similar.

To be similar : $ (X_1 - X_2)^2 + (Y_1 - Y_2)^2 + (Z_1 - Z_2)^2 < epsilon $.

Parameters
P1: The first point to compare
P2: The second point to compare

Definition at line 971 of file vpMbtFaceDepthDense.cpp.

References vpPoint::get_oX(), vpPoint::get_oY(), and vpPoint::get_oZ().

Referenced by addLine().

◆ setCameraParameters()

void vpMbtFaceDepthDense::setCameraParameters ( const vpCameraParameters &  camera)

Definition at line 984 of file vpMbtFaceDepthDense.cpp.

References m_cam, and m_listOfFaceLines.

◆ setDepthDenseFilteringMaxDistance()

void vpMbtFaceDepthDense::setDepthDenseFilteringMaxDistance ( double  maxDistance)
inline

Definition at line 148 of file vpMbtFaceDepthDense.h.

◆ setDepthDenseFilteringMethod()

void vpMbtFaceDepthDense::setDepthDenseFilteringMethod ( int  method)
inline

Definition at line 150 of file vpMbtFaceDepthDense.h.

◆ setDepthDenseFilteringMinDistance()

void vpMbtFaceDepthDense::setDepthDenseFilteringMinDistance ( double  minDistance)
inline

Definition at line 152 of file vpMbtFaceDepthDense.h.

◆ setDepthDenseFilteringOccupancyRatio()

void vpMbtFaceDepthDense::setDepthDenseFilteringOccupancyRatio ( double  occupancyRatio)
inline

Definition at line 154 of file vpMbtFaceDepthDense.h.

◆ setScanLineVisibilityTest()

void vpMbtFaceDepthDense::setScanLineVisibilityTest ( bool  v)

Definition at line 994 of file vpMbtFaceDepthDense.cpp.

References m_listOfFaceLines, and m_useScanLine.

◆ setTracked()

void vpMbtFaceDepthDense::setTracked ( bool  tracked)
inline

Definition at line 164 of file vpMbtFaceDepthDense.h.

Referenced by vpMbDepthDenseTracker::setUseDepthDenseTracking().

Member Data Documentation

◆ m_cam

vpCameraParameters vpMbtFaceDepthDense::m_cam

Camera intrinsic parameters.

Definition at line 69 of file vpMbtFaceDepthDense.h.

Referenced by vpMbDepthDenseTracker::addFace(), addLine(), computeROI(), and setCameraParameters().

◆ m_clippingFlag

unsigned int vpMbtFaceDepthDense::m_clippingFlag

Flags specifying which clipping to used.

Definition at line 71 of file vpMbtFaceDepthDense.h.

Referenced by vpMbDepthDenseTracker::addFace(), addLine(), and computeROI().

◆ m_depthDenseFilteringMaxDist

double vpMbtFaceDepthDense::m_depthDenseFilteringMaxDist
protected

Maximum distance threshold.

Definition at line 212 of file vpMbtFaceDepthDense.h.

Referenced by computeDesiredFeatures().

◆ m_depthDenseFilteringMethod

int vpMbtFaceDepthDense::m_depthDenseFilteringMethod
protected

Method to use to consider or not the face.

Definition at line 210 of file vpMbtFaceDepthDense.h.

Referenced by computeDesiredFeatures().

◆ m_depthDenseFilteringMinDist

double vpMbtFaceDepthDense::m_depthDenseFilteringMinDist
protected

Minimum distance threshold.

Definition at line 214 of file vpMbtFaceDepthDense.h.

Referenced by computeDesiredFeatures().

◆ m_depthDenseFilteringOccupancyRatio

double vpMbtFaceDepthDense::m_depthDenseFilteringOccupancyRatio
protected

Ratio between available depth points and theoretical number of points.

Definition at line 216 of file vpMbtFaceDepthDense.h.

Referenced by computeDesiredFeatures().

◆ m_distFarClip

double vpMbtFaceDepthDense::m_distFarClip

Distance for near clipping.

Definition at line 73 of file vpMbtFaceDepthDense.h.

Referenced by vpMbDepthDenseTracker::addFace(), and addLine().

◆ m_distNearClip

double vpMbtFaceDepthDense::m_distNearClip

Distance for near clipping.

Definition at line 75 of file vpMbtFaceDepthDense.h.

Referenced by vpMbDepthDenseTracker::addFace(), and addLine().

◆ m_hiddenFace

vpMbHiddenFaces<vpMbtPolygon>* vpMbtFaceDepthDense::m_hiddenFace

Pointer to the list of faces.

Definition at line 77 of file vpMbtFaceDepthDense.h.

Referenced by vpMbDepthDenseTracker::addFace(), computeDesiredFeatures(), and computeROI().

◆ m_isTrackedDepthDenseFace

bool vpMbtFaceDepthDense::m_isTrackedDepthDenseFace
protected

Flag to define if the face should be tracked or not.

Definition at line 218 of file vpMbtFaceDepthDense.h.

Referenced by getModelForDisplay().

◆ m_isVisible

bool vpMbtFaceDepthDense::m_isVisible
protected

Visibility flag.

Definition at line 220 of file vpMbtFaceDepthDense.h.

Referenced by computeVisibility().

◆ m_listOfFaceLines

std::vector<vpMbtDistanceLine *> vpMbtFaceDepthDense::m_listOfFaceLines
protected

Definition at line 221 of file vpMbtFaceDepthDense.h.

Referenced by addLine(), computeVisibilityDisplay(), getModelForDisplay(), setCameraParameters(), setScanLineVisibilityTest(), and ~vpMbtFaceDepthDense().

◆ m_planeCamera

vpPlane vpMbtFaceDepthDense::m_planeCamera
protected

Plane equation described in the camera frame and updated with the current pose

Definition at line 224 of file vpMbtFaceDepthDense.h.

Referenced by computeInteractionMatrixAndResidu().

◆ m_planeObject

vpPlane vpMbtFaceDepthDense::m_planeObject

Plane equation described in the object frame.

Definition at line 79 of file vpMbtFaceDepthDense.h.

Referenced by vpMbDepthDenseTracker::addFace(), and computeInteractionMatrixAndResidu().

◆ m_pointCloudFace

std::vector<double> vpMbtFaceDepthDense::m_pointCloudFace
protected

List of depth points inside the face.

Definition at line 226 of file vpMbtFaceDepthDense.h.

Referenced by computeDesiredFeatures(), and computeInteractionMatrixAndResidu().

◆ m_polygon

vpMbtPolygon* vpMbtFaceDepthDense::m_polygon

Polygon defining the face.

Definition at line 81 of file vpMbtFaceDepthDense.h.

Referenced by vpMbDepthDenseTracker::addFace(), computeDesiredFeatures(), computeROI(), computeVisibility(), getModelForDisplay(), and vpMbDepthDenseTracker::setUseDepthDenseTracking().

◆ m_polygonLines

std::vector<PolygonLine> vpMbtFaceDepthDense::m_polygonLines
protected

Polygon lines used for scan-line visibility.

Definition at line 228 of file vpMbtFaceDepthDense.h.

Referenced by addLine(), and computeROI().

◆ m_useScanLine

bool vpMbtFaceDepthDense::m_useScanLine

Scan line visibility.

Definition at line 83 of file vpMbtFaceDepthDense.h.

Referenced by vpMbDepthDenseTracker::addFace(), addLine(), computeDesiredFeatures(), computeROI(), and setScanLineVisibilityTest().