#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, int polygon=-1, std::string name="")

bool	computeDesiredFeatures (const vpHomogeneousMatrix &cMo, const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &point_cloud, const unsigned int stepX, const unsigned int stepY)

bool	computeDesiredFeatures (const vpHomogeneousMatrix &cMo, const unsigned int width, const unsigned int height, const std::vector< vpColVector > &point_cloud, const unsigned int stepX, const unsigned int stepY)

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, const unsigned int thickness=1, const bool displayFullModel=false)

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

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

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

unsigned int	getNbFeatures () const

bool	isVisible () const

void	setCameraParameters (const vpCameraParameters &camera)

void	setScanLineVisibilityTest (const bool v)

void	setDepthDenseFilteringMaxDistance (const double maxDistance)

void	setDepthDenseFilteringMethod (const int method)

void	setDepthDenseFilteringMinDistance (const double minDistance)

void	setDepthDenseFilteringOccupancyRatio (const double occupancyRatio)

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, const unsigned int width, const 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_isTracked

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 51 of file vpMbtFaceDepthDense.cpp.

◆ ~vpMbtFaceDepthDense()

vpMbtFaceDepthDense::~vpMbtFaceDepthDense ( )

virtual

Definition at line 60 of file vpMbtFaceDepthDense.cpp.

References m_listOfFaceLines.

Member Function Documentation

◆ addLine()

void vpMbtFaceDepthDense::addLine	(	vpPoint &	P1,
		vpPoint &	P2,
		vpMbHiddenFaces< vpMbtPolygon > *const	faces,
		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 ploygone'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.
polygon	: The index of the polygon to which the line belongs.
name	: the optional name of the line

Definition at line 80 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() [1/2]

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

◆ computeDesiredFeatures() [2/2]

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

◆ computeInteractionMatrixAndResidu()

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

Definition at line 424 of file vpMbtFaceDepthDense.cpp.

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

Referenced by vpMbDepthDenseTracker::computeVVSInteractionMatrixAndResidu().

◆ computeROI()

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

protected

◆ computeVisibility()

void vpMbtFaceDepthDense::computeVisibility ( )

Definition at line 389 of file vpMbtFaceDepthDense.cpp.

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

Referenced by vpMbDepthDenseTracker::computeVisibility().

◆ computeVisibilityDisplay()

void vpMbtFaceDepthDense::computeVisibilityDisplay ( )

Definition at line 391 of file vpMbtFaceDepthDense.cpp.

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

Referenced by display().

◆ display() [1/2]

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

Definition at line 683 of file vpMbtFaceDepthDense.cpp.

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

Referenced by vpMbDepthDenseTracker::display().

◆ display() [2/2]

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

Definition at line 698 of file vpMbtFaceDepthDense.cpp.

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

◆ displayFeature() [1/2]

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

Definition at line 713 of file vpMbtFaceDepthDense.cpp.

Referenced by vpMbDepthDenseTracker::display().

◆ displayFeature() [2/2]

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

Definition at line 719 of file vpMbtFaceDepthDense.cpp.

◆ getNbFeatures()

unsigned int vpMbtFaceDepthDense::getNbFeatures ( ) const

inline

Definition at line 124 of file vpMbtFaceDepthDense.h.

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

◆ isVisible()

bool vpMbtFaceDepthDense::isVisible ( ) const

inline

Definition at line 126 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 734 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 747 of file vpMbtFaceDepthDense.cpp.

References m_cam, and m_listOfFaceLines.

◆ setDepthDenseFilteringMaxDistance()

void vpMbtFaceDepthDense::setDepthDenseFilteringMaxDistance ( const double maxDistance )

inline

Definition at line 132 of file vpMbtFaceDepthDense.h.

◆ setDepthDenseFilteringMethod()

void vpMbtFaceDepthDense::setDepthDenseFilteringMethod ( const int method )

inline

Definition at line 137 of file vpMbtFaceDepthDense.h.

◆ setDepthDenseFilteringMinDistance()

void vpMbtFaceDepthDense::setDepthDenseFilteringMinDistance ( const double minDistance )

inline

Definition at line 139 of file vpMbtFaceDepthDense.h.

◆ setDepthDenseFilteringOccupancyRatio()

void vpMbtFaceDepthDense::setDepthDenseFilteringOccupancyRatio ( const double occupancyRatio )

inline

Definition at line 144 of file vpMbtFaceDepthDense.h.

References vpPolygon3D::p.

◆ setScanLineVisibilityTest()

void vpMbtFaceDepthDense::setScanLineVisibilityTest ( const bool v )

Definition at line 757 of file vpMbtFaceDepthDense.cpp.

References m_listOfFaceLines, and m_useScanLine.

Member Data Documentation

◆ m_cam

vpCameraParameters vpMbtFaceDepthDense::m_cam

Camera intrinsic parameters.

Definition at line 68 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 70 of file vpMbtFaceDepthDense.h.

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

◆ m_depthDenseFilteringMaxDist

double vpMbtFaceDepthDense::m_depthDenseFilteringMaxDist

protected

Maximum distance threshold.

Definition at line 199 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 197 of file vpMbtFaceDepthDense.h.

Referenced by computeDesiredFeatures().

◆ m_depthDenseFilteringMinDist

double vpMbtFaceDepthDense::m_depthDenseFilteringMinDist

protected

Minimum distance threshold.

Definition at line 201 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 203 of file vpMbtFaceDepthDense.h.

Referenced by computeDesiredFeatures().

◆ m_distFarClip

double vpMbtFaceDepthDense::m_distFarClip

Distance for near clipping.

Definition at line 72 of file vpMbtFaceDepthDense.h.

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

◆ m_distNearClip

double vpMbtFaceDepthDense::m_distNearClip

Distance for near clipping.

Definition at line 74 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 76 of file vpMbtFaceDepthDense.h.

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

◆ m_isTracked

bool vpMbtFaceDepthDense::m_isTracked

protected

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

Definition at line 205 of file vpMbtFaceDepthDense.h.

◆ m_isVisible

bool vpMbtFaceDepthDense::m_isVisible

protected

Visibility flag.

Definition at line 207 of file vpMbtFaceDepthDense.h.

Referenced by computeVisibility().

◆ m_listOfFaceLines

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

protected

Definition at line 208 of file vpMbtFaceDepthDense.h.

Referenced by addLine(), computeVisibilityDisplay(), display(), 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 211 of file vpMbtFaceDepthDense.h.

Referenced by computeInteractionMatrixAndResidu().

◆ m_planeObject

vpPlane vpMbtFaceDepthDense::m_planeObject

Plane equation described in the object frame.

Definition at line 78 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 213 of file vpMbtFaceDepthDense.h.

Referenced by computeDesiredFeatures(), and computeInteractionMatrixAndResidu().

◆ m_polygon

vpMbtPolygon* vpMbtFaceDepthDense::m_polygon

Polygon defining the face.

Definition at line 80 of file vpMbtFaceDepthDense.h.

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

◆ m_polygonLines

std::vector<PolygonLine> vpMbtFaceDepthDense::m_polygonLines

protected

Polygon lines used for scan-line visibility.

Definition at line 215 of file vpMbtFaceDepthDense.h.

Referenced by addLine(), and computeROI().

◆ m_useScanLine

bool vpMbtFaceDepthDense::m_useScanLine

Scan line visibility.

Definition at line 82 of file vpMbtFaceDepthDense.h.

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

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ vpDepthDenseFilteringType

Constructor & Destructor Documentation

◆ vpMbtFaceDepthDense()

◆ ~vpMbtFaceDepthDense()

Member Function Documentation

◆ addLine()

◆ computeDesiredFeatures() [1/2]

◆ computeDesiredFeatures() [2/2]

◆ computeInteractionMatrixAndResidu()

◆ computeROI()

◆ computeVisibility()

◆ computeVisibilityDisplay()

◆ display() [1/2]

◆ display() [2/2]

◆ displayFeature() [1/2]

◆ displayFeature() [2/2]

◆ getNbFeatures()

◆ isVisible()

◆ samePoint()

◆ setCameraParameters()

◆ setDepthDenseFilteringMaxDistance()

◆ setDepthDenseFilteringMethod()

◆ setDepthDenseFilteringMinDistance()

◆ setDepthDenseFilteringOccupancyRatio()

◆ setScanLineVisibilityTest()

Member Data Documentation

◆ m_cam

◆ m_clippingFlag

◆ m_depthDenseFilteringMaxDist

◆ m_depthDenseFilteringMethod

◆ m_depthDenseFilteringMinDist

◆ m_depthDenseFilteringOccupancyRatio

◆ m_distFarClip

◆ m_distNearClip

◆ m_hiddenFace

◆ m_isTracked

◆ m_isVisible

◆ m_listOfFaceLines

◆ m_planeCamera

◆ m_planeObject

◆ m_pointCloudFace

◆ m_polygon

◆ m_polygonLines

◆ m_useScanLine