Visual Servoing Platform
version 3.2.0 under development (2019-01-22)
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#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, int polygon=-1, std::string name="") |
bool | computeDesiredFeatures (const vpHomogeneousMatrix &cMo, const unsigned int width, const unsigned int height, const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &point_cloud, vpColVector &desired_features, const unsigned int stepX, const unsigned int stepY, const vpImage< bool > *mask=NULL) |
bool | computeDesiredFeatures (const vpHomogeneousMatrix &cMo, const unsigned int width, const unsigned int height, const std::vector< vpColVector > &point_cloud, vpColVector &desired_features, const unsigned int stepX, const unsigned int stepY, const vpImage< bool > *mask=NULL) |
void | computeInteractionMatrix (const vpHomogeneousMatrix &cMo, vpMatrix &L, vpColVector &features) |
void | computeVisibility () |
void | computeVisibilityDisplay () |
void | computeNormalVisibility (const double nx, const double ny, const double nz, const vpColVector ¢roid_point, vpColVector &face_normal) |
void | computeNormalVisibility (const float nx, const float ny, const float nz, const pcl::PointXYZ ¢roid_point, pcl::PointXYZ &face_normal) |
void | computeNormalVisibility (const double nx, const double ny, const double nz, const vpHomogeneousMatrix &cMo, const vpCameraParameters &camera, vpColVector &correct_normal, vpPoint ¢roid) |
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) |
bool | isTracked () const |
bool | isVisible () const |
void | setCameraParameters (const vpCameraParameters &camera) |
void | setFaceCentroidMethod (const vpFaceCentroidType &method) |
void | setFeatureEstimationMethod (const vpFeatureEstimationType &method) |
void | setPclPlaneEstimationMethod (const int method) |
void | setPclPlaneEstimationRansacMaxIter (const int maxIter) |
void | setPclPlaneEstimationRansacThreshold (const double threshold) |
void | setScanLineVisibilityTest (const bool v) |
void | setTracked (const 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 ¢roid_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 ¢roid_point) |
void | computeDesiredFeaturesSVD (const std::vector< double > &point_cloud_face, const vpHomogeneousMatrix &cMo, vpColVector &desired_features, vpColVector &desired_normal, vpColVector ¢roid_point) |
void | computeDesiredNormalAndCentroid (const vpHomogeneousMatrix &cMo, const vpColVector &desired_normal, const vpColVector ¢roid_point) |
bool | computePolygonCentroid (const std::vector< vpPoint > &points, vpPoint ¢roid) |
void | computeROI (const vpHomogeneousMatrix &cMo, const unsigned int width, const 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 ¢roid) |
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 |
Definition at line 53 of file vpMbtFaceDepthNormal.h.
Enumerator | |
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GEOMETRIC_CENTROID |
Compute the geometric centroid. |
MEAN_CENTROID |
Compute the mean centroid. |
Definition at line 56 of file vpMbtFaceDepthNormal.h.
Enumerator | |
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ROBUST_FEATURE_ESTIMATION | |
ROBUST_SVD_PLANE_ESTIMATION | |
PCL_PLANE_ESTIMATION |
Definition at line 61 of file vpMbtFaceDepthNormal.h.
vpMbtFaceDepthNormal::vpMbtFaceDepthNormal | ( | ) |
Definition at line 58 of file vpMbtFaceDepthNormal.cpp.
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Definition at line 69 of file vpMbtFaceDepthNormal.cpp.
References m_listOfFaceLines.
void vpMbtFaceDepthNormal::addLine | ( | vpPoint & | P1, |
vpPoint & | P2, | ||
vpMbHiddenFaces< vpMbtPolygon > *const | faces, | ||
int | polygon = -1 , |
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std::string | name = "" |
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Add a line belonging to the 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.
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 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().
bool vpMbtFaceDepthNormal::computeDesiredFeatures | ( | const vpHomogeneousMatrix & | cMo, |
const unsigned int | width, | ||
const unsigned int | height, | ||
const pcl::PointCloud< pcl::PointXYZ >::ConstPtr & | point_cloud, | ||
vpColVector & | desired_features, | ||
const unsigned int | stepX, | ||
const unsigned int | stepY, | ||
const vpImage< bool > * | mask = NULL |
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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::inMask(), 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().
bool vpMbtFaceDepthNormal::computeDesiredFeatures | ( | const vpHomogeneousMatrix & | cMo, |
const unsigned int | width, | ||
const unsigned int | height, | ||
const std::vector< vpColVector > & | point_cloud, | ||
vpColVector & | desired_features, | ||
const unsigned int | stepX, | ||
const unsigned int | stepY, | ||
const vpImage< bool > * | mask = NULL |
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Definition at line 310 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::inMask(), 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().
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Definition at line 469 of file vpMbtFaceDepthNormal.cpp.
References computeNormalVisibility(), m_pclPlaneEstimationMethod, m_pclPlaneEstimationRansacMaxIter, m_pclPlaneEstimationRansacThreshold, and vpColVector::resize().
Referenced by computeDesiredFeatures().
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Definition at line 531 of file vpMbtFaceDepthNormal.cpp.
References computeNormalVisibility(), and estimateFeatures().
Referenced by computeDesiredFeatures().
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Definition at line 559 of file vpMbtFaceDepthNormal.cpp.
References computeNormalVisibility(), estimatePlaneEquationSVD(), and vpColVector::resize().
Referenced by computeDesiredFeatures().
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Definition at line 575 of file vpMbtFaceDepthNormal.cpp.
References vpHomogeneousMatrix::inverse(), m_faceDesiredCentroid, m_faceDesiredNormal, and vpPoint::setWorldCoordinates().
Referenced by computeDesiredFeatures().
void vpMbtFaceDepthNormal::computeInteractionMatrix | ( | const vpHomogeneousMatrix & | cMo, |
vpMatrix & | L, | ||
vpColVector & | features | ||
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Definition at line 856 of file vpMbtFaceDepthNormal.cpp.
References vpPlane::changeFrame(), vpPlane::getA(), vpPlane::getB(), vpPlane::getC(), vpPlane::getD(), m_planeCamera, m_planeObject, vpArray2D< Type >::resize(), and vpColVector::resize().
void vpMbtFaceDepthNormal::computeNormalVisibility | ( | const double | nx, |
const double | ny, | ||
const double | nz, | ||
const vpColVector & | centroid_point, | ||
vpColVector & | face_normal | ||
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Definition at line 836 of file vpMbtFaceDepthNormal.cpp.
References vpColVector::dotProd(), vpColVector::normalize(), and vpColVector::resize().
Referenced by computeDesiredFeaturesPCL(), computeDesiredFeaturesRobustFeatures(), computeDesiredFeaturesSVD(), and displayFeature().
void vpMbtFaceDepthNormal::computeNormalVisibility | ( | const float | nx, |
const float | ny, | ||
const float | nz, | ||
const pcl::PointXYZ & | centroid_point, | ||
pcl::PointXYZ & | face_normal | ||
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Definition at line 812 of file vpMbtFaceDepthNormal.cpp.
References vpColVector::dotProd(), and vpColVector::normalize().
void vpMbtFaceDepthNormal::computeNormalVisibility | ( | const double | nx, |
const double | ny, | ||
const double | nz, | ||
const vpHomogeneousMatrix & | cMo, | ||
const vpCameraParameters & | camera, | ||
vpColVector & | correct_normal, | ||
vpPoint & | centroid | ||
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Definition at line 749 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().
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Definition at line 600 of file vpMbtFaceDepthNormal.cpp.
References vpPoint::get_X(), vpPoint::set_X(), vpPoint::set_Y(), and vpPoint::set_Z().
Referenced by computeNormalVisibility().
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Definition at line 649 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().
void vpMbtFaceDepthNormal::computeVisibility | ( | ) |
Definition at line 714 of file vpMbtFaceDepthNormal.cpp.
References vpMbtPolygon::isVisible(), m_isVisible, and m_polygon.
Referenced by vpMbDepthNormalTracker::computeVisibility().
void vpMbtFaceDepthNormal::computeVisibilityDisplay | ( | ) |
Definition at line 716 of file vpMbtFaceDepthNormal.cpp.
References vpMbtDistanceLine::hiddenface, vpMbHiddenFaces< PolygonType >::isVisible(), vpMbtDistanceLine::Lindex_polygon, m_listOfFaceLines, and vpMbtDistanceLine::setVisible().
Referenced by display().
void vpMbtFaceDepthNormal::display | ( | const vpImage< unsigned char > & | I, |
const vpHomogeneousMatrix & | cMo, | ||
const vpCameraParameters & | cam, | ||
const vpColor & | col, | ||
const unsigned int | thickness = 1 , |
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const bool | displayFullModel = false |
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Definition at line 901 of file vpMbtFaceDepthNormal.cpp.
References computeVisibilityDisplay(), vpMbtDistanceLine::display(), vpMbtPolygon::isVisible(), m_isTrackedDepthNormalFace, m_listOfFaceLines, and m_polygon.
Referenced by vpMbDepthNormalTracker::display().
void vpMbtFaceDepthNormal::display | ( | const vpImage< vpRGBa > & | I, |
const vpHomogeneousMatrix & | cMo, | ||
const vpCameraParameters & | cam, | ||
const vpColor & | col, | ||
const unsigned int | thickness = 1 , |
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const bool | displayFullModel = false |
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Definition at line 916 of file vpMbtFaceDepthNormal.cpp.
References computeVisibilityDisplay(), vpMbtDistanceLine::display(), vpMbtPolygon::isVisible(), m_isTrackedDepthNormalFace, m_listOfFaceLines, and m_polygon.
void vpMbtFaceDepthNormal::displayFeature | ( | const vpImage< unsigned char > & | I, |
const vpHomogeneousMatrix & | cMo, | ||
const vpCameraParameters & | cam, | ||
const double | scale = 0.05 , |
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const unsigned int | thickness = 1 |
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Definition at line 931 of file vpMbtFaceDepthNormal.cpp.
References vpColor::blue, vpPoint::changeFrame(), vpPlane::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().
Referenced by vpMbDepthNormalTracker::display().
void vpMbtFaceDepthNormal::displayFeature | ( | const vpImage< vpRGBa > & | I, |
const vpHomogeneousMatrix & | cMo, | ||
const vpCameraParameters & | cam, | ||
const double | scale = 0.05 , |
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const unsigned int | thickness = 1 |
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Definition at line 987 of file vpMbtFaceDepthNormal.cpp.
References vpColor::blue, vpPoint::changeFrame(), vpPlane::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().
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Definition at line 1043 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().
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Definition at line 1359 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().
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Definition at line 137 of file vpMbtFaceDepthNormal.h.
Referenced by vpMbDepthNormalTracker::segmentPointCloud().
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Definition at line 139 of file vpMbtFaceDepthNormal.h.
References vpMbtPolygon::isvisible.
Referenced by vpMbDepthNormalTracker::segmentPointCloud().
Check if two vpPoints are similar.
To be similar : .
P1 | : The first point to compare |
P2 | : The second point to compare |
Definition at line 1496 of file vpMbtFaceDepthNormal.cpp.
References vpPoint::get_oX(), vpPoint::get_oY(), and vpPoint::get_oZ().
Referenced by addLine().
void vpMbtFaceDepthNormal::setCameraParameters | ( | const vpCameraParameters & | camera | ) |
Definition at line 1509 of file vpMbtFaceDepthNormal.cpp.
References m_cam, and m_listOfFaceLines.
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Definition at line 143 of file vpMbtFaceDepthNormal.h.
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Definition at line 145 of file vpMbtFaceDepthNormal.h.
Referenced by vpMbDepthNormalTracker::addFace().
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Definition at line 147 of file vpMbtFaceDepthNormal.h.
Referenced by vpMbDepthNormalTracker::addFace().
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Definition at line 149 of file vpMbtFaceDepthNormal.h.
Referenced by vpMbDepthNormalTracker::addFace().
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Definition at line 151 of file vpMbtFaceDepthNormal.h.
Referenced by vpMbDepthNormalTracker::addFace().
void vpMbtFaceDepthNormal::setScanLineVisibilityTest | ( | const bool | v | ) |
Definition at line 1519 of file vpMbtFaceDepthNormal.cpp.
References m_listOfFaceLines, and m_useScanLine.
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Definition at line 158 of file vpMbtFaceDepthNormal.h.
References vpPolygon3D::p.
Referenced by vpMbDepthNormalTracker::setUseDepthNormalTracking().
vpCameraParameters vpMbtFaceDepthNormal::m_cam |
Camera intrinsic parameters.
Definition at line 70 of file vpMbtFaceDepthNormal.h.
Referenced by vpMbDepthNormalTracker::addFace(), addLine(), computeDesiredFeatures(), computeROI(), and setCameraParameters().
unsigned int vpMbtFaceDepthNormal::m_clippingFlag |
Flags specifying which clipping to used.
Definition at line 72 of file vpMbtFaceDepthNormal.h.
Referenced by vpMbDepthNormalTracker::addFace(), addLine(), and computeROI().
double vpMbtFaceDepthNormal::m_distFarClip |
Distance for near clipping.
Definition at line 74 of file vpMbtFaceDepthNormal.h.
Referenced by vpMbDepthNormalTracker::addFace(), and addLine().
double vpMbtFaceDepthNormal::m_distNearClip |
Distance for near clipping.
Definition at line 76 of file vpMbtFaceDepthNormal.h.
Referenced by vpMbDepthNormalTracker::addFace(), and addLine().
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True if the face should be considered by the tracker.
Definition at line 237 of file vpMbtFaceDepthNormal.h.
Referenced by computeDesiredFeatures(), and displayFeature().
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Method to compute the face centroid for the current features.
Definition at line 239 of file vpMbtFaceDepthNormal.h.
Referenced by computeNormalVisibility().
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Desired centroid (computed from the sensor)
Definition at line 241 of file vpMbtFaceDepthNormal.h.
Referenced by computeDesiredNormalAndCentroid(), and displayFeature().
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Face (normalized) normal (computed from the sensor)
Definition at line 243 of file vpMbtFaceDepthNormal.h.
Referenced by computeDesiredNormalAndCentroid(), and displayFeature().
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Method to estimate the desired features.
Definition at line 245 of file vpMbtFaceDepthNormal.h.
Referenced by computeDesiredFeatures().
vpMbHiddenFaces<vpMbtPolygon>* vpMbtFaceDepthNormal::m_hiddenFace |
Pointer to the list of faces.
Definition at line 78 of file vpMbtFaceDepthNormal.h.
Referenced by vpMbDepthNormalTracker::addFace(), computeDesiredFeatures(), and computeROI().
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Definition at line 247 of file vpMbtFaceDepthNormal.h.
Referenced by display(), and displayFeature().
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Definition at line 249 of file vpMbtFaceDepthNormal.h.
Referenced by computeVisibility(), and displayFeature().
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Definition at line 251 of file vpMbtFaceDepthNormal.h.
Referenced by addLine(), computeVisibilityDisplay(), display(), setCameraParameters(), setScanLineVisibilityTest(), and ~vpMbtFaceDepthNormal().
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PCL plane estimation method.
Definition at line 256 of file vpMbtFaceDepthNormal.h.
Referenced by computeDesiredFeaturesPCL().
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PCL pane estimation max number of iterations.
Definition at line 258 of file vpMbtFaceDepthNormal.h.
Referenced by computeDesiredFeaturesPCL().
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PCL plane estimation RANSAC threshold.
Definition at line 260 of file vpMbtFaceDepthNormal.h.
Referenced by computeDesiredFeaturesPCL().
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Plane equation described in the camera frame and updated with the current pose
Definition at line 254 of file vpMbtFaceDepthNormal.h.
Referenced by computeInteractionMatrix(), displayFeature(), estimateFeatures(), and estimatePlaneEquationSVD().
vpPlane vpMbtFaceDepthNormal::m_planeObject |
Plane equation described in the object frame.
Definition at line 80 of file vpMbtFaceDepthNormal.h.
Referenced by vpMbDepthNormalTracker::addFace(), computeInteractionMatrix(), displayFeature(), estimateFeatures(), and estimatePlaneEquationSVD().
vpMbtPolygon* vpMbtFaceDepthNormal::m_polygon |
Polygon defining the face.
Definition at line 82 of file vpMbtFaceDepthNormal.h.
Referenced by vpMbDepthNormalTracker::addFace(), computeDesiredFeatures(), computeNormalVisibility(), computeROI(), computeVisibility(), display(), and vpMbDepthNormalTracker::setUseDepthNormalTracking().
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Definition at line 262 of file vpMbtFaceDepthNormal.h.
Referenced by addLine(), and computeROI().
bool vpMbtFaceDepthNormal::m_useScanLine |
Scan line visibility.
Definition at line 84 of file vpMbtFaceDepthNormal.h.
Referenced by vpMbDepthNormalTracker::addFace(), addLine(), computeDesiredFeatures(), computeROI(), and setScanLineVisibilityTest().