Visual Servoing Platform  version 3.6.1 under development (2024-04-19)
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vpMbtFaceDepthNormal Class Reference

#include <visp3/mbt/vpMbtFaceDepthNormal.h>

Public Types

enum  vpFaceCentroidType { GEOMETRIC_CENTROID , MEAN_CENTROID }
 
enum  vpFeatureEstimationType { ROBUST_FEATURE_ESTIMATION = 0 , ROBUST_SVD_PLANE_ESTIMATION = 1 , PCL_PLANE_ESTIMATION = 2 }
 

Public Member Functions

 vpMbtFaceDepthNormal ()
 
virtual ~vpMbtFaceDepthNormal ()
 
void addLine (vpPoint &p1, vpPoint &p2, vpMbHiddenFaces< vpMbtPolygon > *const faces, vpUniRand &rand_gen, int polygon=-1, std::string name="")
 
bool computeDesiredFeatures (const vpHomogeneousMatrix &cMo, unsigned int width, unsigned int height, const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &point_cloud, vpColVector &desired_features, 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, vpColVector &desired_features, 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, vpColVector &desired_features, unsigned int stepX, unsigned int stepY, const vpImage< bool > *mask=nullptr)
 
void computeInteractionMatrix (const vpHomogeneousMatrix &cMo, vpMatrix &L, vpColVector &features)
 
void computeVisibility ()
 
void computeVisibilityDisplay ()
 
void computeNormalVisibility (double nx, double ny, double nz, const vpColVector &centroid_point, vpColVector &face_normal)
 
void computeNormalVisibility (float nx, float ny, float nz, const pcl::PointXYZ &centroid_point, pcl::PointXYZ &face_normal)
 
void computeNormalVisibility (double nx, double ny, double nz, const vpHomogeneousMatrix &cMo, const vpCameraParameters &camera, vpColVector &correct_normal, vpPoint &centroid)
 
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 > > getFeaturesForDisplay (const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, double scale=0.05)
 
std::vector< std::vector< double > > getModelForDisplay (unsigned int width, unsigned int height, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, bool displayFullModel=false)
 
bool isTracked () const
 
bool isVisible () const
 
void setCameraParameters (const vpCameraParameters &camera)
 
void setFaceCentroidMethod (const vpFaceCentroidType &method)
 
void setFeatureEstimationMethod (const vpFeatureEstimationType &method)
 
void setPclPlaneEstimationMethod (int method)
 
void setPclPlaneEstimationRansacMaxIter (int maxIter)
 
void setPclPlaneEstimationRansacThreshold (double threshold)
 
void setScanLineVisibilityTest (bool v)
 
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

bool computeDesiredFeaturesPCL (const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &point_cloud_face, vpColVector &desired_features, vpColVector &desired_normal, vpColVector &centroid_point)
 
void computeDesiredFeaturesRobustFeatures (const std::vector< double > &point_cloud_face_custom, const std::vector< double > &point_cloud_face, const vpHomogeneousMatrix &cMo, vpColVector &desired_features, vpColVector &desired_normal, vpColVector &centroid_point)
 
void computeDesiredFeaturesSVD (const std::vector< double > &point_cloud_face, const vpHomogeneousMatrix &cMo, vpColVector &desired_features, vpColVector &desired_normal, vpColVector &centroid_point)
 
void computeDesiredNormalAndCentroid (const vpHomogeneousMatrix &cMo, const vpColVector &desired_normal, const vpColVector &centroid_point)
 
bool computePolygonCentroid (const std::vector< vpPoint > &points, vpPoint &centroid)
 
void computeROI (const vpHomogeneousMatrix &cMo, unsigned int width, unsigned int height, std::vector< vpImagePoint > &roiPts)
 
void estimateFeatures (const std::vector< double > &point_cloud_face, const vpHomogeneousMatrix &cMo, vpColVector &x_estimated, std::vector< double > &weights)
 
void estimatePlaneEquationSVD (const std::vector< double > &point_cloud_face, const vpHomogeneousMatrix &cMo, vpColVector &plane_equation_estimated, vpColVector &centroid)
 
bool samePoint (const vpPoint &P1, const vpPoint &P2) const
 

Protected Attributes

bool m_faceActivated
 
vpFaceCentroidType m_faceCentroidMethod
 
vpPoint m_faceDesiredCentroid
 
vpPoint m_faceDesiredNormal
 
vpFeatureEstimationType m_featureEstimationMethod
 
bool m_isTrackedDepthNormalFace
 
bool m_isVisible
 
std::vector< vpMbtDistanceLine * > m_listOfFaceLines
 
vpPlane m_planeCamera
 
int m_pclPlaneEstimationMethod
 
int m_pclPlaneEstimationRansacMaxIter
 
double m_pclPlaneEstimationRansacThreshold
 
std::vector< PolygonLine > m_polygonLines
 

Detailed Description

Definition at line 53 of file vpMbtFaceDepthNormal.h.

Member Enumeration Documentation

◆ vpFaceCentroidType

enum vpMbtFaceDepthNormal::vpFaceCentroidType
Enumerator
GEOMETRIC_CENTROID 

Compute the geometric centroid.

MEAN_CENTROID 

Compute the mean centroid.

Definition at line 56 of file vpMbtFaceDepthNormal.h.

◆ vpFeatureEstimationType

enum vpMbtFaceDepthNormal::vpFeatureEstimationType
Enumerator
ROBUST_FEATURE_ESTIMATION 
ROBUST_SVD_PLANE_ESTIMATION 
PCL_PLANE_ESTIMATION 

Definition at line 62 of file vpMbtFaceDepthNormal.h.

Constructor & Destructor Documentation

◆ vpMbtFaceDepthNormal()

vpMbtFaceDepthNormal::vpMbtFaceDepthNormal ( )

Definition at line 58 of file vpMbtFaceDepthNormal.cpp.

◆ ~vpMbtFaceDepthNormal()

vpMbtFaceDepthNormal::~vpMbtFaceDepthNormal ( )
virtual

Definition at line 68 of file vpMbtFaceDepthNormal.cpp.

References m_listOfFaceLines.

Member Function Documentation

◆ addLine()

void vpMbtFaceDepthNormal::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 89 of file vpMbtFaceDepthNormal.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 vpMbDepthNormalTracker::addFace().

◆ computeDesiredFeatures() [1/3]

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

Definition at line 150 of file vpMbtFaceDepthNormal.cpp.

References vpException::badValue, vpCPUFeatures::checkSSE2(), computeDesiredFeaturesPCL(), computeDesiredFeaturesRobustFeatures(), computeDesiredFeaturesSVD(), computeDesiredNormalAndCentroid(), computeROI(), vpPixelMeterConversion::convertPoint(), vpRect::getBottom(), vpPolygon::getBoundingBox(), vpRect::getHeight(), vpMbtPolygon::getIndex(), vpRect::getLeft(), vpMbHiddenFaces< PolygonType >::getMbScanLineRenderer(), vpRect::getRight(), vpRect::getTop(), vpRect::getWidth(), vpMeTracker::inRoiMask(), vpPolygon::isInside(), m_cam, m_faceActivated, m_featureEstimationMethod, m_hiddenFace, m_polygon, m_useScanLine, PCL_PLANE_ESTIMATION, ROBUST_FEATURE_ESTIMATION, ROBUST_SVD_PLANE_ESTIMATION, vpRect::setBottom(), vpRect::setLeft(), vpRect::setRight(), and vpRect::setTop().

Referenced by vpMbDepthNormalTracker::segmentPointCloud().

◆ computeDesiredFeatures() [2/3]

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

Definition at line 317 of file vpMbtFaceDepthNormal.cpp.

References vpException::badValue, vpCPUFeatures::checkSSE2(), computeDesiredFeaturesPCL(), computeDesiredFeaturesRobustFeatures(), computeDesiredFeaturesSVD(), computeDesiredNormalAndCentroid(), computeROI(), vpPixelMeterConversion::convertPoint(), vpRect::getBottom(), vpPolygon::getBoundingBox(), vpRect::getHeight(), vpMbtPolygon::getIndex(), vpRect::getLeft(), vpMbHiddenFaces< PolygonType >::getMbScanLineRenderer(), vpRect::getRight(), vpRect::getTop(), vpRect::getWidth(), vpMeTracker::inRoiMask(), vpPolygon::isInside(), m_cam, m_faceActivated, m_featureEstimationMethod, m_hiddenFace, m_polygon, m_useScanLine, PCL_PLANE_ESTIMATION, ROBUST_FEATURE_ESTIMATION, ROBUST_SVD_PLANE_ESTIMATION, vpRect::setBottom(), vpRect::setLeft(), vpRect::setRight(), and vpRect::setTop().

◆ computeDesiredFeatures() [3/3]

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

Definition at line 478 of file vpMbtFaceDepthNormal.cpp.

References vpException::badValue, vpCPUFeatures::checkSSE2(), computeDesiredFeaturesPCL(), computeDesiredFeaturesRobustFeatures(), computeDesiredFeaturesSVD(), computeDesiredNormalAndCentroid(), computeROI(), vpPixelMeterConversion::convertPoint(), vpRect::getBottom(), vpPolygon::getBoundingBox(), vpRect::getHeight(), vpMbtPolygon::getIndex(), vpRect::getLeft(), vpMbHiddenFaces< PolygonType >::getMbScanLineRenderer(), vpRect::getRight(), vpRect::getTop(), vpRect::getWidth(), vpMeTracker::inRoiMask(), vpPolygon::isInside(), m_cam, m_faceActivated, m_featureEstimationMethod, m_hiddenFace, m_polygon, m_useScanLine, PCL_PLANE_ESTIMATION, ROBUST_FEATURE_ESTIMATION, ROBUST_SVD_PLANE_ESTIMATION, vpRect::setBottom(), vpRect::setLeft(), vpRect::setRight(), and vpRect::setTop().

◆ computeDesiredFeaturesPCL()

bool vpMbtFaceDepthNormal::computeDesiredFeaturesPCL ( const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &  point_cloud_face,
vpColVector &  desired_features,
vpColVector &  desired_normal,
vpColVector &  centroid_point 
)
protected

Definition at line 639 of file vpMbtFaceDepthNormal.cpp.

References computeNormalVisibility(), m_pclPlaneEstimationMethod, m_pclPlaneEstimationRansacMaxIter, m_pclPlaneEstimationRansacThreshold, and vpColVector::resize().

Referenced by computeDesiredFeatures().

◆ computeDesiredFeaturesRobustFeatures()

void vpMbtFaceDepthNormal::computeDesiredFeaturesRobustFeatures ( const std::vector< double > &  point_cloud_face_custom,
const std::vector< double > &  point_cloud_face,
const vpHomogeneousMatrix &  cMo,
vpColVector &  desired_features,
vpColVector &  desired_normal,
vpColVector &  centroid_point 
)
protected

Definition at line 708 of file vpMbtFaceDepthNormal.cpp.

References computeNormalVisibility(), and estimateFeatures().

Referenced by computeDesiredFeatures().

◆ computeDesiredFeaturesSVD()

void vpMbtFaceDepthNormal::computeDesiredFeaturesSVD ( const std::vector< double > &  point_cloud_face,
const vpHomogeneousMatrix &  cMo,
vpColVector &  desired_features,
vpColVector &  desired_normal,
vpColVector &  centroid_point 
)
protected

Definition at line 736 of file vpMbtFaceDepthNormal.cpp.

References computeNormalVisibility(), estimatePlaneEquationSVD(), and vpColVector::resize().

Referenced by computeDesiredFeatures().

◆ computeDesiredNormalAndCentroid()

void vpMbtFaceDepthNormal::computeDesiredNormalAndCentroid ( const vpHomogeneousMatrix &  cMo,
const vpColVector &  desired_normal,
const vpColVector &  centroid_point 
)
protected

Definition at line 752 of file vpMbtFaceDepthNormal.cpp.

References vpHomogeneousMatrix::inverse(), m_faceDesiredCentroid, m_faceDesiredNormal, and vpPoint::setWorldCoordinates().

Referenced by computeDesiredFeatures().

◆ computeInteractionMatrix()

void vpMbtFaceDepthNormal::computeInteractionMatrix ( const vpHomogeneousMatrix &  cMo,
vpMatrix &  L,
vpColVector &  features 
)

Definition at line 1040 of file vpMbtFaceDepthNormal.cpp.

References vpPlane::changeFrame(), vpPlane::getA(), vpPlane::getB(), vpPlane::getC(), vpPlane::getD(), m_planeCamera, m_planeObject, and vpColVector::resize().

◆ computeNormalVisibility() [1/3]

void vpMbtFaceDepthNormal::computeNormalVisibility ( double  nx,
double  ny,
double  nz,
const vpColVector &  centroid_point,
vpColVector &  face_normal 
)

Definition at line 1020 of file vpMbtFaceDepthNormal.cpp.

References vpColVector::dotProd(), vpColVector::normalize(), and vpColVector::resize().

Referenced by computeDesiredFeaturesPCL(), computeDesiredFeaturesRobustFeatures(), computeDesiredFeaturesSVD(), displayFeature(), and getFeaturesForDisplay().

◆ computeNormalVisibility() [2/3]

void vpMbtFaceDepthNormal::computeNormalVisibility ( double  nx,
double  ny,
double  nz,
const vpHomogeneousMatrix &  cMo,
const vpCameraParameters &  camera,
vpColVector &  correct_normal,
vpPoint &  centroid 
)

Definition at line 930 of file vpMbtFaceDepthNormal.cpp.

References computePolygonCentroid(), vpColVector::dotProd(), GEOMETRIC_CENTROID, vpPoint::get_X(), vpPoint::get_Y(), vpPoint::get_Z(), vpPolygon3D::getPolygonClipped(), vpPolygon3D::getRoiClipped(), m_faceCentroidMethod, m_polygon, vpColVector::normalize(), vpForwardProjection::project(), vpColVector::resize(), vpPoint::set_X(), vpPoint::set_Y(), vpPoint::set_Z(), and vpArray2D< Type >::size().

◆ computeNormalVisibility() [3/3]

void vpMbtFaceDepthNormal::computeNormalVisibility ( float  nx,
float  ny,
float  nz,
const pcl::PointXYZ &  centroid_point,
pcl::PointXYZ &  face_normal 
)

Definition at line 995 of file vpMbtFaceDepthNormal.cpp.

References vpColVector::dotProd(), and vpColVector::normalize().

◆ computePolygonCentroid()

bool vpMbtFaceDepthNormal::computePolygonCentroid ( const std::vector< vpPoint > &  points,
vpPoint &  centroid 
)
protected

Definition at line 777 of file vpMbtFaceDepthNormal.cpp.

References vpPoint::get_X(), vpPoint::set_X(), vpPoint::set_Y(), and vpPoint::set_Z().

Referenced by computeNormalVisibility().

◆ computeROI()

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

Definition at line 827 of file vpMbtFaceDepthNormal.cpp.

References vpCameraParameters::computeFov(), vpMbHiddenFaces< PolygonType >::computeScanLineQuery(), vpMeterPixelConversion::convertPoint(), vpPolygon3D::DOWN_CLIPPING, vpPolygon3D::FAR_CLIPPING, vpPolygon3D::getRoiClipped(), vpPolygon3D::LEFT_CLIPPING, m_cam, m_clippingFlag, m_hiddenFace, m_polygon, m_polygonLines, m_useScanLine, vpPolygon3D::NEAR_CLIPPING, vpPolygon3D::RIGHT_CLIPPING, and vpPolygon3D::UP_CLIPPING.

Referenced by computeDesiredFeatures().

◆ computeVisibility()

void vpMbtFaceDepthNormal::computeVisibility ( )

Definition at line 893 of file vpMbtFaceDepthNormal.cpp.

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

Referenced by vpMbDepthNormalTracker::computeVisibility().

◆ computeVisibilityDisplay()

void vpMbtFaceDepthNormal::computeVisibilityDisplay ( )

Definition at line 895 of file vpMbtFaceDepthNormal.cpp.

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

Referenced by getModelForDisplay().

◆ display() [1/2]

void vpMbtFaceDepthNormal::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 1085 of file vpMbtFaceDepthNormal.cpp.

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

◆ display() [2/2]

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

Definition at line 1099 of file vpMbtFaceDepthNormal.cpp.

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

◆ displayFeature() [1/2]

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

Definition at line 1113 of file vpMbtFaceDepthNormal.cpp.

References vpColor::blue, vpPlane::changeFrame(), vpPoint::changeFrame(), vpCameraParameters::computeFov(), computeNormalVisibility(), vpMeterPixelConversion::convertPoint(), vpDisplay::displayArrow(), vpPoint::get_X(), vpPoint::get_x(), vpPoint::get_Y(), vpPoint::get_y(), vpPoint::get_Z(), vpPlane::getA(), vpPlane::getB(), vpPlane::getC(), vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), m_faceActivated, m_faceDesiredCentroid, m_faceDesiredNormal, m_isTrackedDepthNormalFace, m_isVisible, m_planeCamera, m_planeObject, vpForwardProjection::project(), vpColor::red, vpPoint::set_X(), vpPoint::set_Y(), and vpPoint::set_Z().

◆ displayFeature() [2/2]

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

Definition at line 1168 of file vpMbtFaceDepthNormal.cpp.

References vpColor::blue, vpPlane::changeFrame(), vpPoint::changeFrame(), vpCameraParameters::computeFov(), computeNormalVisibility(), vpMeterPixelConversion::convertPoint(), vpDisplay::displayArrow(), vpPoint::get_X(), vpPoint::get_x(), vpPoint::get_Y(), vpPoint::get_y(), vpPoint::get_Z(), vpPlane::getA(), vpPlane::getB(), vpPlane::getC(), vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), m_faceActivated, m_faceDesiredCentroid, m_faceDesiredNormal, m_isTrackedDepthNormalFace, m_isVisible, m_planeCamera, m_planeObject, vpForwardProjection::project(), vpColor::red, vpPoint::set_X(), vpPoint::set_Y(), and vpPoint::set_Z().

◆ estimateFeatures()

void vpMbtFaceDepthNormal::estimateFeatures ( const std::vector< double > &  point_cloud_face,
const vpHomogeneousMatrix &  cMo,
vpColVector &  x_estimated,
std::vector< double > &  weights 
)
protected

Definition at line 1223 of file vpMbtFaceDepthNormal.cpp.

References vpPlane::changeFrame(), vpCPUFeatures::checkSSE2(), vpPlane::getA(), vpPlane::getB(), vpPlane::getC(), vpPlane::getD(), m_planeCamera, m_planeObject, vpColVector::resize(), and vpMath::sqr().

Referenced by computeDesiredFeaturesRobustFeatures().

◆ estimatePlaneEquationSVD()

void vpMbtFaceDepthNormal::estimatePlaneEquationSVD ( const std::vector< double > &  point_cloud_face,
const vpHomogeneousMatrix &  cMo,
vpColVector &  plane_equation_estimated,
vpColVector &  centroid 
)
protected

Definition at line 1540 of file vpMbtFaceDepthNormal.cpp.

References vpPlane::changeFrame(), vpPlane::getA(), vpPlane::getB(), vpPlane::getC(), vpMatrix::getCol(), vpPlane::getD(), m_planeCamera, m_planeObject, vpColVector::resize(), vpArray2D< Type >::size(), vpMatrix::svd(), and vpMatrix::t().

Referenced by computeDesiredFeaturesSVD().

◆ getFeaturesForDisplay()

std::vector< std::vector< double > > vpMbtFaceDepthNormal::getFeaturesForDisplay ( const vpHomogeneousMatrix &  cMo,
const vpCameraParameters &  cam,
double  scale = 0.05 
)

Return a list of features parameters for display.

  • Parameters are: <feature id (here 2 for depth normal)>, <centroid.i()>, <centroid.j()>, <extremity.i()>, extremity.j()

Definition at line 1675 of file vpMbtFaceDepthNormal.cpp.

References vpPlane::changeFrame(), vpPoint::changeFrame(), computeNormalVisibility(), vpMeterPixelConversion::convertPoint(), vpImagePoint::get_i(), vpImagePoint::get_j(), vpPoint::get_X(), vpPoint::get_x(), vpPoint::get_Y(), vpPoint::get_y(), vpPoint::get_Z(), vpPlane::getA(), vpPlane::getB(), vpPlane::getC(), m_faceActivated, m_faceDesiredCentroid, m_faceDesiredNormal, m_isTrackedDepthNormalFace, m_isVisible, m_planeCamera, m_planeObject, vpForwardProjection::project(), vpPoint::set_X(), vpPoint::set_Y(), and vpPoint::set_Z().

Referenced by vpMbDepthNormalTracker::getFeaturesForDisplayDepthNormal().

◆ getModelForDisplay()

std::vector< std::vector< double > > vpMbtFaceDepthNormal::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 1774 of file vpMbtFaceDepthNormal.cpp.

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

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

◆ isTracked()

bool vpMbtFaceDepthNormal::isTracked ( ) const
inline

Definition at line 155 of file vpMbtFaceDepthNormal.h.

Referenced by vpMbDepthNormalTracker::segmentPointCloud().

◆ isVisible()

bool vpMbtFaceDepthNormal::isVisible ( ) const
inline

Definition at line 157 of file vpMbtFaceDepthNormal.h.

References vpMbtPolygon::isvisible.

Referenced by vpMbDepthNormalTracker::segmentPointCloud().

◆ samePoint()

bool vpMbtFaceDepthNormal::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 1805 of file vpMbtFaceDepthNormal.cpp.

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

Referenced by addLine().

◆ setCameraParameters()

void vpMbtFaceDepthNormal::setCameraParameters ( const vpCameraParameters &  camera)

Definition at line 1818 of file vpMbtFaceDepthNormal.cpp.

References m_cam, and m_listOfFaceLines.

◆ setFaceCentroidMethod()

void vpMbtFaceDepthNormal::setFaceCentroidMethod ( const vpFaceCentroidType &  method)
inline

Definition at line 161 of file vpMbtFaceDepthNormal.h.

◆ setFeatureEstimationMethod()

void vpMbtFaceDepthNormal::setFeatureEstimationMethod ( const vpFeatureEstimationType &  method)
inline

Definition at line 163 of file vpMbtFaceDepthNormal.h.

Referenced by vpMbDepthNormalTracker::addFace().

◆ setPclPlaneEstimationMethod()

void vpMbtFaceDepthNormal::setPclPlaneEstimationMethod ( int  method)
inline

Definition at line 165 of file vpMbtFaceDepthNormal.h.

Referenced by vpMbDepthNormalTracker::addFace().

◆ setPclPlaneEstimationRansacMaxIter()

void vpMbtFaceDepthNormal::setPclPlaneEstimationRansacMaxIter ( int  maxIter)
inline

Definition at line 167 of file vpMbtFaceDepthNormal.h.

Referenced by vpMbDepthNormalTracker::addFace().

◆ setPclPlaneEstimationRansacThreshold()

void vpMbtFaceDepthNormal::setPclPlaneEstimationRansacThreshold ( double  threshold)
inline

Definition at line 169 of file vpMbtFaceDepthNormal.h.

Referenced by vpMbDepthNormalTracker::addFace().

◆ setScanLineVisibilityTest()

void vpMbtFaceDepthNormal::setScanLineVisibilityTest ( bool  v)

Definition at line 1828 of file vpMbtFaceDepthNormal.cpp.

References m_listOfFaceLines, and m_useScanLine.

◆ setTracked()

void vpMbtFaceDepthNormal::setTracked ( bool  tracked)
inline

Definition at line 176 of file vpMbtFaceDepthNormal.h.

Referenced by vpMbDepthNormalTracker::setUseDepthNormalTracking().

Member Data Documentation

◆ m_cam

vpCameraParameters vpMbtFaceDepthNormal::m_cam

Camera intrinsic parameters.

Definition at line 72 of file vpMbtFaceDepthNormal.h.

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

◆ m_clippingFlag

unsigned int vpMbtFaceDepthNormal::m_clippingFlag

Flags specifying which clipping to used.

Definition at line 74 of file vpMbtFaceDepthNormal.h.

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

◆ m_distFarClip

double vpMbtFaceDepthNormal::m_distFarClip

Distance for near clipping.

Definition at line 76 of file vpMbtFaceDepthNormal.h.

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

◆ m_distNearClip

double vpMbtFaceDepthNormal::m_distNearClip

Distance for near clipping.

Definition at line 78 of file vpMbtFaceDepthNormal.h.

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

◆ m_faceActivated

bool vpMbtFaceDepthNormal::m_faceActivated
protected

True if the face should be considered by the tracker.

Definition at line 255 of file vpMbtFaceDepthNormal.h.

Referenced by computeDesiredFeatures(), displayFeature(), and getFeaturesForDisplay().

◆ m_faceCentroidMethod

vpFaceCentroidType vpMbtFaceDepthNormal::m_faceCentroidMethod
protected

Method to compute the face centroid for the current features.

Definition at line 257 of file vpMbtFaceDepthNormal.h.

Referenced by computeNormalVisibility().

◆ m_faceDesiredCentroid

vpPoint vpMbtFaceDepthNormal::m_faceDesiredCentroid
protected

Desired centroid (computed from the sensor)

Definition at line 259 of file vpMbtFaceDepthNormal.h.

Referenced by computeDesiredNormalAndCentroid(), displayFeature(), and getFeaturesForDisplay().

◆ m_faceDesiredNormal

vpPoint vpMbtFaceDepthNormal::m_faceDesiredNormal
protected

Face (normalized) normal (computed from the sensor)

Definition at line 261 of file vpMbtFaceDepthNormal.h.

Referenced by computeDesiredNormalAndCentroid(), displayFeature(), and getFeaturesForDisplay().

◆ m_featureEstimationMethod

vpFeatureEstimationType vpMbtFaceDepthNormal::m_featureEstimationMethod
protected

Method to estimate the desired features.

Definition at line 263 of file vpMbtFaceDepthNormal.h.

Referenced by computeDesiredFeatures().

◆ m_hiddenFace

vpMbHiddenFaces<vpMbtPolygon>* vpMbtFaceDepthNormal::m_hiddenFace

Pointer to the list of faces.

Definition at line 80 of file vpMbtFaceDepthNormal.h.

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

◆ m_isTrackedDepthNormalFace

bool vpMbtFaceDepthNormal::m_isTrackedDepthNormalFace
protected

Definition at line 265 of file vpMbtFaceDepthNormal.h.

Referenced by displayFeature(), getFeaturesForDisplay(), and getModelForDisplay().

◆ m_isVisible

bool vpMbtFaceDepthNormal::m_isVisible
protected

Definition at line 267 of file vpMbtFaceDepthNormal.h.

Referenced by computeVisibility(), displayFeature(), and getFeaturesForDisplay().

◆ m_listOfFaceLines

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

Definition at line 269 of file vpMbtFaceDepthNormal.h.

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

◆ m_pclPlaneEstimationMethod

int vpMbtFaceDepthNormal::m_pclPlaneEstimationMethod
protected

PCL plane estimation method.

Definition at line 274 of file vpMbtFaceDepthNormal.h.

Referenced by computeDesiredFeaturesPCL().

◆ m_pclPlaneEstimationRansacMaxIter

int vpMbtFaceDepthNormal::m_pclPlaneEstimationRansacMaxIter
protected

PCL pane estimation max number of iterations.

Definition at line 276 of file vpMbtFaceDepthNormal.h.

Referenced by computeDesiredFeaturesPCL().

◆ m_pclPlaneEstimationRansacThreshold

double vpMbtFaceDepthNormal::m_pclPlaneEstimationRansacThreshold
protected

PCL plane estimation RANSAC threshold.

Definition at line 278 of file vpMbtFaceDepthNormal.h.

Referenced by computeDesiredFeaturesPCL().

◆ m_planeCamera

vpPlane vpMbtFaceDepthNormal::m_planeCamera
protected

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

Definition at line 272 of file vpMbtFaceDepthNormal.h.

Referenced by computeInteractionMatrix(), displayFeature(), estimateFeatures(), estimatePlaneEquationSVD(), and getFeaturesForDisplay().

◆ m_planeObject

vpPlane vpMbtFaceDepthNormal::m_planeObject

Plane equation described in the object frame.

Definition at line 82 of file vpMbtFaceDepthNormal.h.

Referenced by vpMbDepthNormalTracker::addFace(), computeInteractionMatrix(), displayFeature(), estimateFeatures(), estimatePlaneEquationSVD(), and getFeaturesForDisplay().

◆ m_polygon

vpMbtPolygon* vpMbtFaceDepthNormal::m_polygon

Polygon defining the face.

Definition at line 84 of file vpMbtFaceDepthNormal.h.

Referenced by vpMbDepthNormalTracker::addFace(), computeDesiredFeatures(), computeNormalVisibility(), computeROI(), computeVisibility(), getModelForDisplay(), and vpMbDepthNormalTracker::setUseDepthNormalTracking().

◆ m_polygonLines

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

Definition at line 280 of file vpMbtFaceDepthNormal.h.

Referenced by addLine(), and computeROI().

◆ m_useScanLine

bool vpMbtFaceDepthNormal::m_useScanLine

Scan line visibility.

Definition at line 86 of file vpMbtFaceDepthNormal.h.

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