vpMbtFaceDepthDense.cpp

/****************************************************************************
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2017 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 http://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>

#if defined __SSE2__ || defined _M_X64 || (defined _M_IX86_FP && _M_IX86_FP >= 2)
#include <emmintrin.h>
#define VISP_HAVE_SSE2 1
#endif

#define USE_SSE_CODE 1
#if VISP_HAVE_SSE2 && USE_SSE_CODE
#define USE_SSE 1
#else
#define USE_SSE 0
#endif

vpMbtFaceDepthDense::vpMbtFaceDepthDense()
  : m_cam(), m_clippingFlag(vpPolygon3D::NO_CLIPPING), m_distFarClip(100), m_distNearClip(0.001), m_hiddenFace(NULL),
    m_planeObject(), m_polygon(NULL), m_useScanLine(false),
    m_depthDenseFilteringMethod(DEPTH_OCCUPANCY_RATIO_FILTERING), m_depthDenseFilteringMaxDist(3.0),
    m_depthDenseFilteringMinDist(0.8), m_depthDenseFilteringOccupancyRatio(0.3), m_isTracked(false), 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, 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);
    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,
                                                 const unsigned int stepX, const unsigned int stepY
#if DEBUG_DISPLAY_DEPTH_DENSE
                                                 ,
                                                 vpImage<unsigned char> &debugImage,
                                                 std::vector<std::vector<vpImagePoint> > &roiPts_vec
#endif
)
{
  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(0.0, bb.getTop());
  unsigned int bottom = (unsigned int)std::min((double)height, std::max(0.0, bb.getBottom()));
  unsigned int left = (unsigned int)std::max(0.0, bb.getLeft());
  unsigned int right = (unsigned int)std::min((double)width, std::max(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()));

  bool checkSSE2 = vpCPUFeatures::checkSSE2();
#if !USE_SSE
  checkSSE2 = false;
#else
  bool push = false;
  double prev_x = 0.0, prev_y = 0.0, prev_z = 0.0;
#endif

  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 (pcl::isFinite((*point_cloud)(j, i)) && (*point_cloud)(j, i).z > 0) {
          totalPoints++;

          if (checkSSE2) {
#if USE_SSE
            if (!push) {
              push = true;
              prev_x = (*point_cloud)(j, i).x;
              prev_y = (*point_cloud)(j, i).y;
              prev_z = (*point_cloud)(j, i).z;
            } else {
              push = false;
              m_pointCloudFace.push_back(prev_x);
              m_pointCloudFace.push_back((*point_cloud)(j, i).x);

              m_pointCloudFace.push_back(prev_y);
              m_pointCloudFace.push_back((*point_cloud)(j, i).y);

              m_pointCloudFace.push_back(prev_z);
              m_pointCloudFace.push_back((*point_cloud)(j, i).z);
            }
#endif
          } else {
            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 USE_SSE
  if (checkSSE2 && push) {
    m_pointCloudFace.push_back(prev_x);
    m_pointCloudFace.push_back(prev_y);
    m_pointCloudFace.push_back(prev_z);
  }
#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, const unsigned int width,
                                                 const unsigned int height, const std::vector<vpColVector> &point_cloud,
                                                 const unsigned int stepX, const unsigned int stepY
#if DEBUG_DISPLAY_DEPTH_DENSE
                                                 ,
                                                 vpImage<unsigned char> &debugImage,
                                                 std::vector<std::vector<vpImagePoint> > &roiPts_vec
#endif
)
{
  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(0.0, bb.getTop());
  unsigned int bottom = (unsigned int)std::min((double)height, std::max(0.0, bb.getBottom()));
  unsigned int left = (unsigned int)std::max(0.0, bb.getLeft());
  unsigned int right = (unsigned int)std::min((double)width, std::max(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()));

  bool checkSSE2 = vpCPUFeatures::checkSSE2();
#if !USE_SSE
  checkSSE2 = false;
#else
  bool push = false;
  double prev_x = 0.0, prev_y = 0.0, prev_z = 0.0;
#endif

  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 (point_cloud[i * width + j][2] > 0) {
          totalPoints++;

          if (checkSSE2) {
#if USE_SSE
            if (!push) {
              push = true;
              prev_x = point_cloud[i * width + j][0];
              prev_y = point_cloud[i * width + j][1];
              prev_z = point_cloud[i * width + j][2];
            } else {
              push = false;
              m_pointCloudFace.push_back(prev_x);
              m_pointCloudFace.push_back(point_cloud[i * width + j][0]);

              m_pointCloudFace.push_back(prev_y);
              m_pointCloudFace.push_back(point_cloud[i * width + j][1]);

              m_pointCloudFace.push_back(prev_z);
              m_pointCloudFace.push_back(point_cloud[i * width + j][2]);
            }
#endif
          } else {
            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 USE_SSE
  if (checkSSE2 && push) {
    m_pointCloudFace.push_back(prev_x);
    m_pointCloudFace.push_back(prev_y);
    m_pointCloudFace.push_back(prev_z);
  }
#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();

  bool checkSSE2 = vpCPUFeatures::checkSSE2();
#if !USE_SSE
  checkSSE2 = false;
#endif

  if (checkSSE2) {
#if USE_SSE
    size_t cpt = 0;
    if (getNbFeatures() >= 2) {
      double *ptr_point_cloud = &m_pointCloudFace[0];
      double *ptr_L = L.data;
      double *ptr_error = error.data;

      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);

      double tmp_a1[2], tmp_a2[2], tmp_a3[2];

      for (; cpt <= m_pointCloudFace.size() - 6; cpt += 6, ptr_point_cloud += 6) {
        const __m128d vx = _mm_loadu_pd(ptr_point_cloud);
        const __m128d vy = _mm_loadu_pd(ptr_point_cloud + 2);
        const __m128d vz = _mm_loadu_pd(ptr_point_cloud + 4);

        const __m128d va1 = _mm_sub_pd(_mm_mul_pd(vnz, vy), _mm_mul_pd(vny, vz));
        const __m128d va2 = _mm_sub_pd(_mm_mul_pd(vnx, vz), _mm_mul_pd(vnz, vx));
        const __m128d va3 = _mm_sub_pd(_mm_mul_pd(vny, vx), _mm_mul_pd(vnx, vy));

        _mm_storeu_pd(tmp_a1, va1);
        _mm_storeu_pd(tmp_a2, va2);
        _mm_storeu_pd(tmp_a3, va3);

        *ptr_L = nx;
        ptr_L++;
        *ptr_L = ny;
        ptr_L++;
        *ptr_L = nz;
        ptr_L++;
        *ptr_L = tmp_a1[0];
        ptr_L++;
        *ptr_L = tmp_a2[0];
        ptr_L++;
        *ptr_L = tmp_a3[0];
        ptr_L++;

        *ptr_L = nx;
        ptr_L++;
        *ptr_L = ny;
        ptr_L++;
        *ptr_L = nz;
        ptr_L++;
        *ptr_L = tmp_a1[1];
        ptr_L++;
        *ptr_L = tmp_a2[1];
        ptr_L++;
        *ptr_L = tmp_a3[1];
        ptr_L++;

        const __m128d verror =
            _mm_add_pd(_mm_add_pd(vd, _mm_mul_pd(vnx, vx)), _mm_add_pd(_mm_mul_pd(vny, vy), _mm_mul_pd(vnz, vz)));
        _mm_storeu_pd(ptr_error, verror);
        ptr_error += 2;
      }
    }

    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, const unsigned int width,
                                     const 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, const unsigned int thickness,
                                  const bool displayFullModel)
{
  if (m_polygon->isVisible() || displayFullModel) {
    computeVisibilityDisplay();

    for (std::vector<vpMbtDistanceLine *>::const_iterator it = m_listOfFaceLines.begin(); it != m_listOfFaceLines.end();
         ++it) {
      vpMbtDistanceLine *line = *it;
      line->display(I, cMo, cam, col, thickness, displayFullModel);
    }
  }
}

void vpMbtFaceDepthDense::display(const vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cMo,
                                  const vpCameraParameters &cam, const vpColor &col, const unsigned int thickness,
                                  const bool displayFullModel)
{
  if (m_polygon->isVisible() || displayFullModel) {
    computeVisibilityDisplay();

    for (std::vector<vpMbtDistanceLine *>::const_iterator it = m_listOfFaceLines.begin(); it != m_listOfFaceLines.end();
         ++it) {
      vpMbtDistanceLine *line = *it;
      line->display(I, cMo, cam, col, thickness, displayFullModel);
    }
  }
}

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*/)
{
}

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(const bool v)
{
  m_useScanLine = v;

  for (std::vector<vpMbtDistanceLine *>::const_iterator it = m_listOfFaceLines.begin(); it != m_listOfFaceLines.end();
       ++it) {
    (*it)->useScanLine = v;
  }
}