vpMbtFaceDepthDense.cpp

/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2023 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:
 * Manage depth dense features for a particular face.
 *
*****************************************************************************/
 
#include <visp3/core/vpCPUFeatures.h>
#include <visp3/mbt/vpMbtFaceDepthDense.h>
 
#ifdef VISP_HAVE_PCL
#include <pcl/common/point_tests.h>
#endif
 
#if defined __SSE2__ || defined _M_X64 || (defined _M_IX86_FP && _M_IX86_FP >= 2)
#include <emmintrin.h>
#define VISP_HAVE_SSE2 1
#endif
 
// https://stackoverflow.com/a/40765925
#if !defined(__FMA__) && defined(__AVX2__)
#define __FMA__ 1
#endif
 
#if defined _WIN32 && defined(_M_ARM64)
#define _ARM64_DISTINCT_NEON_TYPES
#include <Intrin.h>
#include <arm_neon.h>
#define VISP_HAVE_NEON 1
#elif (defined(__ARM_NEON__) || defined (__ARM_NEON)) && defined(__aarch64__)
#include <arm_neon.h>
#define VISP_HAVE_NEON 1
#endif
 
#define USE_SIMD_CODE 1
 
#if VISP_HAVE_SSE2 && USE_SIMD_CODE
#define USE_SSE 1
#else
#define USE_SSE 0
#endif
 
#if VISP_HAVE_NEON && USE_SIMD_CODE
#define USE_NEON 1
#else
#define USE_NEON 0
#endif
 
#if (VISP_HAVE_OPENCV_VERSION >= 0x040101 || (VISP_HAVE_OPENCV_VERSION < 0x040000 && VISP_HAVE_OPENCV_VERSION >= 0x030407)) && USE_SIMD_CODE
#define USE_OPENCV_HAL 1
#include <opencv2/core/simd_intrinsics.hpp>
#include <opencv2/core/hal/intrin.hpp>
#endif
 
#if !USE_OPENCV_HAL && (USE_SSE || USE_NEON)
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
#include <cstdint>
#endif
 
namespace
{
#if USE_SSE
inline void v_load_deinterleave(const uint64_t *ptr, __m128i &a, __m128i &b, __m128i &c)
{
  __m128i t0 = _mm_loadu_si128((const __m128i *)ptr);       // a0, b0
  __m128i t1 = _mm_loadu_si128((const __m128i *)(ptr + 2)); // c0, a1
  __m128i t2 = _mm_loadu_si128((const __m128i *)(ptr + 4)); // b1, c1
 
  t1 = _mm_shuffle_epi32(t1, 0x4e); // a1, c0
 
  a = _mm_unpacklo_epi64(t0, t1);
  b = _mm_unpacklo_epi64(_mm_unpackhi_epi64(t0, t0), t2);
  c = _mm_unpackhi_epi64(t1, t2);
}
 
inline void v_load_deinterleave(const double *ptr, __m128d &a0, __m128d &b0, __m128d &c0)
{
  __m128i a1, b1, c1;
  v_load_deinterleave((const uint64_t *)ptr, a1, b1, c1);
  a0 = _mm_castsi128_pd(a1);
  b0 = _mm_castsi128_pd(b1);
  c0 = _mm_castsi128_pd(c1);
}
 
inline __m128d v_combine_low(const __m128d &a, const __m128d &b)
{
  __m128i a1 = _mm_castpd_si128(a), b1 = _mm_castpd_si128(b);
  return _mm_castsi128_pd(_mm_unpacklo_epi64(a1, b1));
}
 
inline __m128d v_combine_high(const __m128d &a, const __m128d &b)
{
  __m128i a1 = _mm_castpd_si128(a), b1 = _mm_castpd_si128(b);
  return _mm_castsi128_pd(_mm_unpackhi_epi64(a1, b1));
}
 
inline __m128d v_fma(const __m128d &a, const __m128d &b, const __m128d &c)
{
#if __FMA__
  return _mm_fmadd_pd(a, b, c);
#else
  return _mm_add_pd(_mm_mul_pd(a, b), c);
#endif
}
#else
inline void v_load_deinterleave(const double *ptr, float64x2_t &a0, float64x2_t &b0, float64x2_t &c0)
{
  float64x2x3_t v = vld3q_f64(ptr);
  a0 = v.val[0];
  b0 = v.val[1];
  c0 = v.val[2];
}
 
inline float64x2_t v_combine_low(const float64x2_t &a, const float64x2_t &b)
{
  return vcombine_f64(vget_low_f64(a), vget_low_f64(b));
}
 
inline float64x2_t v_combine_high(const float64x2_t &a, const float64x2_t &b)
{
  return vcombine_f64(vget_high_f64(a), vget_high_f64(b));
}
 
inline float64x2_t v_fma(const float64x2_t &a, const float64x2_t &b, const float64x2_t &c)
{
  return vfmaq_f64(c, a, b);
}
#endif
}
#endif // !USE_OPENCV_HAL && (USE_SSE || USE_NEON)
 
vpMbtFaceDepthDense::vpMbtFaceDepthDense()
  : m_cam(), m_clippingFlag(vpPolygon3D::NO_CLIPPING), m_distFarClip(100), m_distNearClip(0.001), m_hiddenFace(nullptr),
  m_planeObject(), m_polygon(nullptr), m_useScanLine(false),
  m_depthDenseFilteringMethod(DEPTH_OCCUPANCY_RATIO_FILTERING), m_depthDenseFilteringMaxDist(3.0),
  m_depthDenseFilteringMinDist(0.8), m_depthDenseFilteringOccupancyRatio(0.3), m_isTrackedDepthDenseFace(true),
  m_isVisible(false), m_listOfFaceLines(), m_planeCamera(), m_pointCloudFace(), m_polygonLines()
{ }
 
vpMbtFaceDepthDense::~vpMbtFaceDepthDense()
{
  for (size_t i = 0; i < m_listOfFaceLines.size(); i++) {
    delete m_listOfFaceLines[i];
  }
}
 
void vpMbtFaceDepthDense::addLine(vpPoint &P1, vpPoint &P2, vpMbHiddenFaces<vpMbtPolygon> *const faces,
                                  vpUniRand &rand_gen, int polygon, std::string name)
{
  // Build a PolygonLine to be able to easily display the lines model
  PolygonLine polygon_line;
 
  // Add polygon
  polygon_line.m_poly.setNbPoint(2);
  polygon_line.m_poly.addPoint(0, P1);
  polygon_line.m_poly.addPoint(1, P2);
 
  polygon_line.m_poly.setClipping(m_clippingFlag);
  polygon_line.m_poly.setNearClippingDistance(m_distNearClip);
  polygon_line.m_poly.setFarClippingDistance(m_distFarClip);
 
  polygon_line.m_p1 = &polygon_line.m_poly.p[0];
  polygon_line.m_p2 = &polygon_line.m_poly.p[1];
 
  m_polygonLines.push_back(polygon_line);
 
  // suppress line already in the model
  bool already_here = false;
  vpMbtDistanceLine *l;
 
  for (std::vector<vpMbtDistanceLine *>::const_iterator it = m_listOfFaceLines.begin(); it != m_listOfFaceLines.end();
       ++it) {
    l = *it;
    if ((samePoint(*(l->p1), P1) && samePoint(*(l->p2), P2)) || (samePoint(*(l->p1), P2) && samePoint(*(l->p2), P1))) {
      already_here = true;
      l->addPolygon(polygon);
      l->hiddenface = faces;
      l->useScanLine = m_useScanLine;
    }
  }
 
  if (!already_here) {
    l = new vpMbtDistanceLine;
 
    l->setCameraParameters(m_cam);
    l->buildFrom(P1, P2, rand_gen);
    l->addPolygon(polygon);
    l->hiddenface = faces;
    l->useScanLine = m_useScanLine;
 
    l->setIndex((unsigned int)m_listOfFaceLines.size());
    l->setName(name);
 
    if (m_clippingFlag != vpPolygon3D::NO_CLIPPING)
      l->getPolygon().setClipping(m_clippingFlag);
 
    if ((m_clippingFlag & vpPolygon3D::NEAR_CLIPPING) == vpPolygon3D::NEAR_CLIPPING)
      l->getPolygon().setNearClippingDistance(m_distNearClip);
 
    if ((m_clippingFlag & vpPolygon3D::FAR_CLIPPING) == vpPolygon3D::FAR_CLIPPING)
      l->getPolygon().setFarClippingDistance(m_distFarClip);
 
    m_listOfFaceLines.push_back(l);
  }
}
 
#ifdef VISP_HAVE_PCL
bool vpMbtFaceDepthDense::computeDesiredFeatures(const vpHomogeneousMatrix &cMo,
                                                 const pcl::PointCloud<pcl::PointXYZ>::ConstPtr &point_cloud,
                                                 unsigned int stepX, unsigned int stepY
#if DEBUG_DISPLAY_DEPTH_DENSE
                                                 ,
                                                 vpImage<unsigned char> &debugImage,
                                                 std::vector<std::vector<vpImagePoint> > &roiPts_vec
#endif
                                                 ,
                                                 const vpImage<bool> *mask)
{
  unsigned int width = point_cloud->width, height = point_cloud->height;
  m_pointCloudFace.clear();
 
  if (point_cloud->width == 0 || point_cloud->height == 0)
    return false;
 
  std::vector<vpImagePoint> roiPts;
  double distanceToFace;
  computeROI(cMo, width, height, roiPts
#if DEBUG_DISPLAY_DEPTH_DENSE
             ,
             roiPts_vec
#endif
             ,
             distanceToFace);
 
  if (roiPts.size() <= 2) {
#ifndef NDEBUG
    std::cerr << "Error: roiPts.size() <= 2 in computeDesiredFeatures" << std::endl;
#endif
    return false;
  }
 
  if (((m_depthDenseFilteringMethod & MAX_DISTANCE_FILTERING) && distanceToFace > m_depthDenseFilteringMaxDist) ||
      ((m_depthDenseFilteringMethod & MIN_DISTANCE_FILTERING) && distanceToFace < m_depthDenseFilteringMinDist)) {
    return false;
  }
 
  vpPolygon polygon_2d(roiPts);
  vpRect bb = polygon_2d.getBoundingBox();
 
  unsigned int top = (unsigned int)std::max<double>(0.0, bb.getTop());
  unsigned int bottom = (unsigned int)std::min<double>((double)height, std::max<double>(0.0, bb.getBottom()));
  unsigned int left = (unsigned int)std::max<double>(0.0, bb.getLeft());
  unsigned int right = (unsigned int)std::min<double>((double)width, std::max<double>(0.0, bb.getRight()));
 
  bb.setTop(top);
  bb.setBottom(bottom);
  bb.setLeft(left);
  bb.setRight(right);
 
  if (bb.getHeight() < 0 || bb.getWidth() < 0) {
    return false;
  }
 
  m_pointCloudFace.reserve((size_t)(bb.getWidth() * bb.getHeight()));
 
  int totalTheoreticalPoints = 0, totalPoints = 0;
  for (unsigned int i = top; i < bottom; i += stepY) {
    for (unsigned int j = left; j < right; j += stepX) {
      if ((m_useScanLine ? (i < m_hiddenFace->getMbScanLineRenderer().getPrimitiveIDs().getHeight() &&
                            j < m_hiddenFace->getMbScanLineRenderer().getPrimitiveIDs().getWidth() &&
                            m_hiddenFace->getMbScanLineRenderer().getPrimitiveIDs()[i][j] == m_polygon->getIndex())
           : polygon_2d.isInside(vpImagePoint(i, j)))) {
        totalTheoreticalPoints++;
 
        if (vpMeTracker::inRoiMask(mask, i, j) && pcl::isFinite((*point_cloud)(j, i)) && (*point_cloud)(j, i).z > 0) {
          totalPoints++;
 
          m_pointCloudFace.push_back((*point_cloud)(j, i).x);
          m_pointCloudFace.push_back((*point_cloud)(j, i).y);
          m_pointCloudFace.push_back((*point_cloud)(j, i).z);
 
#if DEBUG_DISPLAY_DEPTH_DENSE
          debugImage[i][j] = 255;
#endif
        }
      }
    }
  }
 
  if (totalPoints == 0 || ((m_depthDenseFilteringMethod & DEPTH_OCCUPANCY_RATIO_FILTERING) &&
                           totalPoints / (double)totalTheoreticalPoints < m_depthDenseFilteringOccupancyRatio)) {
    return false;
  }
 
  return true;
}
#endif
 
bool vpMbtFaceDepthDense::computeDesiredFeatures(const vpHomogeneousMatrix &cMo, unsigned int width,
                                                 unsigned int height, const std::vector<vpColVector> &point_cloud,
                                                 unsigned int stepX, unsigned int stepY
#if DEBUG_DISPLAY_DEPTH_DENSE
                                                 ,
                                                 vpImage<unsigned char> &debugImage,
                                                 std::vector<std::vector<vpImagePoint> > &roiPts_vec
#endif
                                                 ,
                                                 const vpImage<bool> *mask)
{
  m_pointCloudFace.clear();
 
  if (width == 0 || height == 0)
    return 0;
 
  std::vector<vpImagePoint> roiPts;
  double distanceToFace;
  computeROI(cMo, width, height, roiPts
#if DEBUG_DISPLAY_DEPTH_DENSE
             ,
             roiPts_vec
#endif
             ,
             distanceToFace);
 
  if (roiPts.size() <= 2) {
#ifndef NDEBUG
    std::cerr << "Error: roiPts.size() <= 2 in computeDesiredFeatures" << std::endl;
#endif
    return false;
  }
 
  if (((m_depthDenseFilteringMethod & MAX_DISTANCE_FILTERING) && distanceToFace > m_depthDenseFilteringMaxDist) ||
      ((m_depthDenseFilteringMethod & MIN_DISTANCE_FILTERING) && distanceToFace < m_depthDenseFilteringMinDist)) {
    return false;
  }
 
  vpPolygon polygon_2d(roiPts);
  vpRect bb = polygon_2d.getBoundingBox();
 
  unsigned int top = (unsigned int)std::max<double>(0.0, bb.getTop());
  unsigned int bottom = (unsigned int)std::min<double>((double)height, std::max<double>(0.0, bb.getBottom()));
  unsigned int left = (unsigned int)std::max<double>(0.0, bb.getLeft());
  unsigned int right = (unsigned int)std::min<double>((double)width, std::max<double>(0.0, bb.getRight()));
 
  bb.setTop(top);
  bb.setBottom(bottom);
  bb.setLeft(left);
  bb.setRight(right);
 
  m_pointCloudFace.reserve((size_t)(bb.getWidth() * bb.getHeight()));
 
  int totalTheoreticalPoints = 0, totalPoints = 0;
  for (unsigned int i = top; i < bottom; i += stepY) {
    for (unsigned int j = left; j < right; j += stepX) {
      if ((m_useScanLine ? (i < m_hiddenFace->getMbScanLineRenderer().getPrimitiveIDs().getHeight() &&
                            j < m_hiddenFace->getMbScanLineRenderer().getPrimitiveIDs().getWidth() &&
                            m_hiddenFace->getMbScanLineRenderer().getPrimitiveIDs()[i][j] == m_polygon->getIndex())
           : polygon_2d.isInside(vpImagePoint(i, j)))) {
        totalTheoreticalPoints++;
 
        if (vpMeTracker::inRoiMask(mask, i, j) && point_cloud[i * width + j][2] > 0) {
          totalPoints++;
 
          m_pointCloudFace.push_back(point_cloud[i * width + j][0]);
          m_pointCloudFace.push_back(point_cloud[i * width + j][1]);
          m_pointCloudFace.push_back(point_cloud[i * width + j][2]);
 
#if DEBUG_DISPLAY_DEPTH_DENSE
          debugImage[i][j] = 255;
#endif
        }
      }
    }
  }
 
  if (totalPoints == 0 || ((m_depthDenseFilteringMethod & DEPTH_OCCUPANCY_RATIO_FILTERING) &&
                           totalPoints / (double)totalTheoreticalPoints < m_depthDenseFilteringOccupancyRatio)) {
    return false;
  }
 
  return true;
}
 
bool vpMbtFaceDepthDense::computeDesiredFeatures(const vpHomogeneousMatrix &cMo, unsigned int width,
                                                 unsigned int height, const vpMatrix &point_cloud,
                                                 unsigned int stepX, unsigned int stepY
#if DEBUG_DISPLAY_DEPTH_DENSE
                                                 ,
                                                 vpImage<unsigned char> &debugImage,
                                                 std::vector<std::vector<vpImagePoint> > &roiPts_vec
#endif
                                                 ,
                                                 const vpImage<bool> *mask)
{
  m_pointCloudFace.clear();
 
  if (width == 0 || height == 0)
    return 0;
 
  std::vector<vpImagePoint> roiPts;
  double distanceToFace;
  computeROI(cMo, width, height, roiPts
#if DEBUG_DISPLAY_DEPTH_DENSE
             ,
             roiPts_vec
#endif
             ,
             distanceToFace);
 
  if (roiPts.size() <= 2) {
#ifndef NDEBUG
    std::cerr << "Error: roiPts.size() <= 2 in computeDesiredFeatures" << std::endl;
#endif
    return false;
  }
 
  if (((m_depthDenseFilteringMethod & MAX_DISTANCE_FILTERING) && distanceToFace > m_depthDenseFilteringMaxDist) ||
      ((m_depthDenseFilteringMethod & MIN_DISTANCE_FILTERING) && distanceToFace < m_depthDenseFilteringMinDist)) {
    return false;
  }
 
  vpPolygon polygon_2d(roiPts);
  vpRect bb = polygon_2d.getBoundingBox();
 
  unsigned int top = (unsigned int)std::max<double>(0.0, bb.getTop());
  unsigned int bottom = (unsigned int)std::min<double>((double)height, std::max<double>(0.0, bb.getBottom()));
  unsigned int left = (unsigned int)std::max<double>(0.0, bb.getLeft());
  unsigned int right = (unsigned int)std::min<double>((double)width, std::max<double>(0.0, bb.getRight()));
 
  bb.setTop(top);
  bb.setBottom(bottom);
  bb.setLeft(left);
  bb.setRight(right);
 
  m_pointCloudFace.reserve((size_t)(bb.getWidth() * bb.getHeight()));
 
  int totalTheoreticalPoints = 0, totalPoints = 0;
  for (unsigned int i = top; i < bottom; i += stepY) {
    for (unsigned int j = left; j < right; j += stepX) {
      if ((m_useScanLine ? (i < m_hiddenFace->getMbScanLineRenderer().getPrimitiveIDs().getHeight() &&
                            j < m_hiddenFace->getMbScanLineRenderer().getPrimitiveIDs().getWidth() &&
                            m_hiddenFace->getMbScanLineRenderer().getPrimitiveIDs()[i][j] == m_polygon->getIndex())
           : polygon_2d.isInside(vpImagePoint(i, j)))) {
        totalTheoreticalPoints++;
 
        if (vpMeTracker::inRoiMask(mask, i, j) && point_cloud[i * width + j][2] > 0) {
          totalPoints++;
 
          m_pointCloudFace.push_back(point_cloud[i * width + j][0]);
          m_pointCloudFace.push_back(point_cloud[i * width + j][1]);
          m_pointCloudFace.push_back(point_cloud[i * width + j][2]);
 
#if DEBUG_DISPLAY_DEPTH_DENSE
          debugImage[i][j] = 255;
#endif
        }
      }
    }
  }
 
  if (totalPoints == 0 || ((m_depthDenseFilteringMethod & DEPTH_OCCUPANCY_RATIO_FILTERING) &&
                           totalPoints / (double)totalTheoreticalPoints < m_depthDenseFilteringOccupancyRatio)) {
    return false;
  }
 
  return true;
}
 
void vpMbtFaceDepthDense::computeVisibility() { m_isVisible = m_polygon->isVisible(); }
 
void vpMbtFaceDepthDense::computeVisibilityDisplay()
{
  // Compute lines visibility, only for display
  vpMbtDistanceLine *line;
  for (std::vector<vpMbtDistanceLine *>::const_iterator it = m_listOfFaceLines.begin(); it != m_listOfFaceLines.end();
       ++it) {
    line = *it;
    bool isvisible = false;
 
    for (std::list<int>::const_iterator itindex = line->Lindex_polygon.begin(); itindex != line->Lindex_polygon.end();
         ++itindex) {
      int index = *itindex;
      if (index == -1) {
        isvisible = true;
      }
      else {
        if (line->hiddenface->isVisible((unsigned int)index)) {
          isvisible = true;
        }
      }
    }
 
    // Si la ligne n'appartient a aucune face elle est tout le temps visible
    if (line->Lindex_polygon.empty())
      isvisible = true; // Not sure that this can occur
 
    if (isvisible) {
      line->setVisible(true);
    }
    else {
      line->setVisible(false);
    }
  }
}
 
void vpMbtFaceDepthDense::computeInteractionMatrixAndResidu(const vpHomogeneousMatrix &cMo, vpMatrix &L,
                                                            vpColVector &error)
{
  if (m_pointCloudFace.empty()) {
    L.resize(0, 0);
    error.resize(0);
    return;
  }
 
  L.resize(getNbFeatures(), 6, false, false);
  error.resize(getNbFeatures(), false);
 
  // Transform the plane equation for the current pose
  m_planeCamera = m_planeObject;
  m_planeCamera.changeFrame(cMo);
 
  double nx = m_planeCamera.getA();
  double ny = m_planeCamera.getB();
  double nz = m_planeCamera.getC();
  double D = m_planeCamera.getD();
 
#if defined(VISP_HAVE_SIMDLIB)
  bool useSIMD = vpCPUFeatures::checkSSE2() || vpCPUFeatures::checkNeon();
#else
  bool useSIMD = vpCPUFeatures::checkSSE2();
#endif
#if USE_OPENCV_HAL
  useSIMD = true;
#endif
#if !USE_SSE && !USE_NEON && !USE_OPENCV_HAL
  useSIMD = false;
#endif
 
  if (useSIMD) {
#if USE_SSE || USE_NEON || USE_OPENCV_HAL
    size_t cpt = 0;
    if (getNbFeatures() >= 2) {
      double *ptr_point_cloud = &m_pointCloudFace[0];
      double *ptr_L = L.data;
      double *ptr_error = error.data;
 
#if USE_OPENCV_HAL
      const cv::v_float64x2 vnx = cv::v_setall_f64(nx);
      const cv::v_float64x2 vny = cv::v_setall_f64(ny);
      const cv::v_float64x2 vnz = cv::v_setall_f64(nz);
      const cv::v_float64x2 vd = cv::v_setall_f64(D);
#elif USE_SSE
      const __m128d vnx = _mm_set1_pd(nx);
      const __m128d vny = _mm_set1_pd(ny);
      const __m128d vnz = _mm_set1_pd(nz);
      const __m128d vd = _mm_set1_pd(D);
#else
      const float64x2_t vnx = vdupq_n_f64(nx);
      const float64x2_t vny = vdupq_n_f64(ny);
      const float64x2_t vnz = vdupq_n_f64(nz);
      const float64x2_t vd = vdupq_n_f64(D);
#endif
 
      for (; cpt <= m_pointCloudFace.size() - 6; cpt += 6, ptr_point_cloud += 6) {
#if USE_OPENCV_HAL
        cv::v_float64x2 vx, vy, vz;
        cv::v_load_deinterleave(ptr_point_cloud, vx, vy, vz);
 
#if (VISP_HAVE_OPENCV_VERSION >= 0x040900)
        cv::v_float64x2 va1 = cv::v_sub(cv::v_mul(vnz, vy), cv::v_mul(vny, vz)); // vnz*vy - vny*vz
        cv::v_float64x2 va2 = cv::v_sub(cv::v_mul(vnx, vz), cv::v_mul(vnz, vx)); // vnx*vz - vnz*vx
        cv::v_float64x2 va3 = cv::v_sub(cv::v_mul(vny, vx), cv::v_mul(vnx, vy)); // vny*vx - vnx*vy
#else
        cv::v_float64x2 va1 = vnz*vy - vny*vz;
        cv::v_float64x2 va2 = vnx*vz - vnz*vx;
        cv::v_float64x2 va3 = vny*vx - vnx*vy;
#endif
 
        cv::v_float64x2 vnxy = cv::v_combine_low(vnx, vny);
        cv::v_store(ptr_L, vnxy);
        ptr_L += 2;
        vnxy = cv::v_combine_low(vnz, va1);
        cv::v_store(ptr_L, vnxy);
        ptr_L += 2;
        vnxy = cv::v_combine_low(va2, va3);
        cv::v_store(ptr_L, vnxy);
        ptr_L += 2;
 
        vnxy = cv::v_combine_high(vnx, vny);
        cv::v_store(ptr_L, vnxy);
        ptr_L += 2;
        vnxy = cv::v_combine_high(vnz, va1);
        cv::v_store(ptr_L, vnxy);
        ptr_L += 2;
        vnxy = cv::v_combine_high(va2, va3);
        cv::v_store(ptr_L, vnxy);
        ptr_L += 2;
 
#if (VISP_HAVE_OPENCV_VERSION >= 0x040900)
        cv::v_float64x2 verr = cv::v_add(vd, cv::v_muladd(vnx, vx, cv::v_muladd(vny, vy, cv::v_mul(vnz, vz))));
#else
        cv::v_float64x2 verr = vd + cv::v_muladd(vnx, vx, cv::v_muladd(vny, vy, vnz*vz));
#endif
 
        cv::v_store(ptr_error, verr);
        ptr_error += 2;
#elif USE_SSE
        __m128d vx, vy, vz;
        v_load_deinterleave(ptr_point_cloud, vx, vy, vz);
 
        __m128d va1 = _mm_sub_pd(_mm_mul_pd(vnz, vy), _mm_mul_pd(vny, vz));
        __m128d va2 = _mm_sub_pd(_mm_mul_pd(vnx, vz), _mm_mul_pd(vnz, vx));
        __m128d va3 = _mm_sub_pd(_mm_mul_pd(vny, vx), _mm_mul_pd(vnx, vy));
 
        __m128d vnxy = v_combine_low(vnx, vny);
        _mm_storeu_pd(ptr_L, vnxy);
        ptr_L += 2;
        vnxy = v_combine_low(vnz, va1);
        _mm_storeu_pd(ptr_L, vnxy);
        ptr_L += 2;
        vnxy = v_combine_low(va2, va3);
        _mm_storeu_pd(ptr_L, vnxy);
        ptr_L += 2;
 
        vnxy = v_combine_high(vnx, vny);
        _mm_storeu_pd(ptr_L, vnxy);
        ptr_L += 2;
        vnxy = v_combine_high(vnz, va1);
        _mm_storeu_pd(ptr_L, vnxy);
        ptr_L += 2;
        vnxy = v_combine_high(va2, va3);
        _mm_storeu_pd(ptr_L, vnxy);
        ptr_L += 2;
 
        const __m128d verror = _mm_add_pd(vd, v_fma(vnx, vx, v_fma(vny, vy, _mm_mul_pd(vnz, vz))));
        _mm_storeu_pd(ptr_error, verror);
        ptr_error += 2;
#else
        float64x2_t vx, vy, vz;
        v_load_deinterleave(ptr_point_cloud, vx, vy, vz);
 
        float64x2_t va1 = vsubq_f64(vmulq_f64(vnz, vy), vmulq_f64(vny, vz));
        float64x2_t va2 = vsubq_f64(vmulq_f64(vnx, vz), vmulq_f64(vnz, vx));
        float64x2_t va3 = vsubq_f64(vmulq_f64(vny, vx), vmulq_f64(vnx, vy));
 
        float64x2_t vnxy = v_combine_low(vnx, vny);
        vst1q_f64(ptr_L, vnxy);
        ptr_L += 2;
        vnxy = v_combine_low(vnz, va1);
        vst1q_f64(ptr_L, vnxy);
        ptr_L += 2;
        vnxy = v_combine_low(va2, va3);
        vst1q_f64(ptr_L, vnxy);
        ptr_L += 2;
 
        vnxy = v_combine_high(vnx, vny);
        vst1q_f64(ptr_L, vnxy);
        ptr_L += 2;
        vnxy = v_combine_high(vnz, va1);
        vst1q_f64(ptr_L, vnxy);
        ptr_L += 2;
        vnxy = v_combine_high(va2, va3);
        vst1q_f64(ptr_L, vnxy);
        ptr_L += 2;
 
        const float64x2_t verror = vaddq_f64(vd, v_fma(vnx, vx, v_fma(vny, vy, vmulq_f64(vnz, vz))));
        vst1q_f64(ptr_error, verror);
        ptr_error += 2;
#endif
      }
    }
 
    for (; cpt < m_pointCloudFace.size(); cpt += 3) {
      double x = m_pointCloudFace[cpt];
      double y = m_pointCloudFace[cpt + 1];
      double z = m_pointCloudFace[cpt + 2];
 
      double _a1 = (nz * y) - (ny * z);
      double _a2 = (nx * z) - (nz * x);
      double _a3 = (ny * x) - (nx * y);
 
      // L
      L[(unsigned int)(cpt / 3)][0] = nx;
      L[(unsigned int)(cpt / 3)][1] = ny;
      L[(unsigned int)(cpt / 3)][2] = nz;
      L[(unsigned int)(cpt / 3)][3] = _a1;
      L[(unsigned int)(cpt / 3)][4] = _a2;
      L[(unsigned int)(cpt / 3)][5] = _a3;
 
      vpColVector normal(3);
      normal[0] = nx;
      normal[1] = ny;
      normal[2] = nz;
 
      vpColVector pt(3);
      pt[0] = x;
      pt[1] = y;
      pt[2] = z;
 
      // Error
      error[(unsigned int)(cpt / 3)] = D + (normal.t() * pt);
    }
#endif
  }
  else {
    vpColVector normal(3);
    normal[0] = nx;
    normal[1] = ny;
    normal[2] = nz;
    vpColVector pt(3);
 
    unsigned int idx = 0;
    for (size_t i = 0; i < m_pointCloudFace.size(); i += 3, idx++) {
      double x = m_pointCloudFace[i];
      double y = m_pointCloudFace[i + 1];
      double z = m_pointCloudFace[i + 2];
 
      double _a1 = (nz * y) - (ny * z);
      double _a2 = (nx * z) - (nz * x);
      double _a3 = (ny * x) - (nx * y);
 
      // L
      L[idx][0] = nx;
      L[idx][1] = ny;
      L[idx][2] = nz;
      L[idx][3] = _a1;
      L[idx][4] = _a2;
      L[idx][5] = _a3;
 
      pt[0] = x;
      pt[1] = y;
      pt[2] = z;
      // Error
      error[idx] = D + (normal.t() * pt);
    }
  }
}
 
void vpMbtFaceDepthDense::computeROI(const vpHomogeneousMatrix &cMo, unsigned int width, unsigned int height,
                                     std::vector<vpImagePoint> &roiPts
#if DEBUG_DISPLAY_DEPTH_DENSE
                                     ,
                                     std::vector<std::vector<vpImagePoint> > &roiPts_vec
#endif
                                     ,
                                     double &distanceToFace)
{
  if (m_useScanLine || m_clippingFlag > 2)
    m_cam.computeFov(width, height);
 
  if (m_useScanLine) {
    for (std::vector<PolygonLine>::iterator it = m_polygonLines.begin(); it != m_polygonLines.end(); ++it) {
      it->m_p1->changeFrame(cMo);
      it->m_p2->changeFrame(cMo);
 
      vpImagePoint ip1, ip2;
 
      it->m_poly.changeFrame(cMo);
      it->m_poly.computePolygonClipped(m_cam);
 
      if (it->m_poly.polyClipped.size() == 2 &&
          ((it->m_poly.polyClipped[1].second & it->m_poly.polyClipped[0].second & vpPolygon3D::NEAR_CLIPPING) == 0) &&
          ((it->m_poly.polyClipped[1].second & it->m_poly.polyClipped[0].second & vpPolygon3D::FAR_CLIPPING) == 0) &&
          ((it->m_poly.polyClipped[1].second & it->m_poly.polyClipped[0].second & vpPolygon3D::DOWN_CLIPPING) == 0) &&
          ((it->m_poly.polyClipped[1].second & it->m_poly.polyClipped[0].second & vpPolygon3D::UP_CLIPPING) == 0) &&
          ((it->m_poly.polyClipped[1].second & it->m_poly.polyClipped[0].second & vpPolygon3D::LEFT_CLIPPING) == 0) &&
          ((it->m_poly.polyClipped[1].second & it->m_poly.polyClipped[0].second & vpPolygon3D::RIGHT_CLIPPING) == 0)) {
 
        std::vector<std::pair<vpPoint, vpPoint> > linesLst;
        m_hiddenFace->computeScanLineQuery(it->m_poly.polyClipped[0].first, it->m_poly.polyClipped[1].first, linesLst,
                                           true);
 
        vpPoint faceCentroid;
 
        for (unsigned int i = 0; i < linesLst.size(); i++) {
          linesLst[i].first.project();
          linesLst[i].second.project();
 
          vpMeterPixelConversion::convertPoint(m_cam, linesLst[i].first.get_x(), linesLst[i].first.get_y(), ip1);
          vpMeterPixelConversion::convertPoint(m_cam, linesLst[i].second.get_x(), linesLst[i].second.get_y(), ip2);
 
          it->m_imPt1 = ip1;
          it->m_imPt2 = ip2;
 
          roiPts.push_back(ip1);
          roiPts.push_back(ip2);
 
          faceCentroid.set_X(faceCentroid.get_X() + linesLst[i].first.get_X() + linesLst[i].second.get_X());
          faceCentroid.set_Y(faceCentroid.get_Y() + linesLst[i].first.get_Y() + linesLst[i].second.get_Y());
          faceCentroid.set_Z(faceCentroid.get_Z() + linesLst[i].first.get_Z() + linesLst[i].second.get_Z());
 
#if DEBUG_DISPLAY_DEPTH_DENSE
          std::vector<vpImagePoint> roiPts_;
          roiPts_.push_back(ip1);
          roiPts_.push_back(ip2);
          roiPts_vec.push_back(roiPts_);
#endif
        }
 
        if (linesLst.empty()) {
          distanceToFace = std::numeric_limits<double>::max();
        }
        else {
          faceCentroid.set_X(faceCentroid.get_X() / (2 * linesLst.size()));
          faceCentroid.set_Y(faceCentroid.get_Y() / (2 * linesLst.size()));
          faceCentroid.set_Z(faceCentroid.get_Z() / (2 * linesLst.size()));
 
          distanceToFace =
            sqrt(faceCentroid.get_X() * faceCentroid.get_X() + faceCentroid.get_Y() * faceCentroid.get_Y() +
                 faceCentroid.get_Z() * faceCentroid.get_Z());
        }
      }
    }
  }
  else {
 // Get polygon clipped
    m_polygon->getRoiClipped(m_cam, roiPts, cMo);
 
    // Get 3D polygon clipped
    std::vector<vpPoint> polygonsClipped;
    m_polygon->getPolygonClipped(polygonsClipped);
 
    if (polygonsClipped.empty()) {
      distanceToFace = std::numeric_limits<double>::max();
    }
    else {
      vpPoint faceCentroid;
 
      for (size_t i = 0; i < polygonsClipped.size(); i++) {
        faceCentroid.set_X(faceCentroid.get_X() + polygonsClipped[i].get_X());
        faceCentroid.set_Y(faceCentroid.get_Y() + polygonsClipped[i].get_Y());
        faceCentroid.set_Z(faceCentroid.get_Z() + polygonsClipped[i].get_Z());
      }
 
      faceCentroid.set_X(faceCentroid.get_X() / polygonsClipped.size());
      faceCentroid.set_Y(faceCentroid.get_Y() / polygonsClipped.size());
      faceCentroid.set_Z(faceCentroid.get_Z() / polygonsClipped.size());
 
      distanceToFace = sqrt(faceCentroid.get_X() * faceCentroid.get_X() + faceCentroid.get_Y() * faceCentroid.get_Y() +
                            faceCentroid.get_Z() * faceCentroid.get_Z());
    }
 
#if DEBUG_DISPLAY_DEPTH_DENSE
    roiPts_vec.push_back(roiPts);
#endif
  }
}
 
void vpMbtFaceDepthDense::display(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo,
                                  const vpCameraParameters &cam, const vpColor &col, unsigned int thickness,
                                  bool displayFullModel)
{
  std::vector<std::vector<double> > models =
    getModelForDisplay(I.getWidth(), I.getHeight(), cMo, cam, displayFullModel);
 
  for (size_t i = 0; i < models.size(); i++) {
    vpImagePoint ip1(models[i][1], models[i][2]);
    vpImagePoint ip2(models[i][3], models[i][4]);
    vpDisplay::displayLine(I, ip1, ip2, col, thickness);
  }
}
 
void vpMbtFaceDepthDense::display(const vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cMo,
                                  const vpCameraParameters &cam, const vpColor &col, unsigned int thickness,
                                  bool displayFullModel)
{
  std::vector<std::vector<double> > models =
    getModelForDisplay(I.getWidth(), I.getHeight(), cMo, cam, displayFullModel);
 
  for (size_t i = 0; i < models.size(); i++) {
    vpImagePoint ip1(models[i][1], models[i][2]);
    vpImagePoint ip2(models[i][3], models[i][4]);
    vpDisplay::displayLine(I, ip1, ip2, col, thickness);
  }
}
 
void vpMbtFaceDepthDense::displayFeature(const vpImage<unsigned char> & /*I*/, const vpHomogeneousMatrix & /*cMo*/,
                                         const vpCameraParameters & /*cam*/, const double /*scale*/,
                                         const unsigned int /*thickness*/)
{ }
 
void vpMbtFaceDepthDense::displayFeature(const vpImage<vpRGBa> & /*I*/, const vpHomogeneousMatrix & /*cMo*/,
                                         const vpCameraParameters & /*cam*/, const double /*scale*/,
                                         const unsigned int /*thickness*/)
{ }
 
std::vector<std::vector<double> > vpMbtFaceDepthDense::getModelForDisplay(unsigned int width, unsigned int height,
                                                                          const vpHomogeneousMatrix &cMo,
                                                                          const vpCameraParameters &cam,
                                                                          bool displayFullModel)
{
  std::vector<std::vector<double> > models;
 
  if ((m_polygon->isVisible() && m_isTrackedDepthDenseFace) || displayFullModel) {
    computeVisibilityDisplay();
 
    for (std::vector<vpMbtDistanceLine *>::const_iterator it = m_listOfFaceLines.begin(); it != m_listOfFaceLines.end();
         ++it) {
      vpMbtDistanceLine *line = *it;
      std::vector<std::vector<double> > lineModels =
        line->getModelForDisplay(width, height, cMo, cam, displayFullModel);
      models.insert(models.end(), lineModels.begin(), lineModels.end());
    }
  }
 
  return models;
}
 
bool vpMbtFaceDepthDense::samePoint(const vpPoint &P1, const vpPoint &P2) const
{
  double dx = fabs(P1.get_oX() - P2.get_oX());
  double dy = fabs(P1.get_oY() - P2.get_oY());
  double dz = fabs(P1.get_oZ() - P2.get_oZ());
 
  if (dx <= std::numeric_limits<double>::epsilon() && dy <= std::numeric_limits<double>::epsilon() &&
      dz <= std::numeric_limits<double>::epsilon())
    return true;
  else
    return false;
}
 
void vpMbtFaceDepthDense::setCameraParameters(const vpCameraParameters &camera)
{
  m_cam = camera;
 
  for (std::vector<vpMbtDistanceLine *>::const_iterator it = m_listOfFaceLines.begin(); it != m_listOfFaceLines.end();
       ++it) {
    (*it)->setCameraParameters(camera);
  }
}
 
void vpMbtFaceDepthDense::setScanLineVisibilityTest(bool v)
{
  m_useScanLine = v;
 
  for (std::vector<vpMbtDistanceLine *>::const_iterator it = m_listOfFaceLines.begin(); it != m_listOfFaceLines.end();
       ++it) {
    (*it)->useScanLine = v;
  }
}