#include <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, vpUniRand &rand_gen, int polygon=-1, std::string name="")

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

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

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

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

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

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

std::vector< std::vector< double > >	getModelForDisplay (unsigned int width, unsigned int height, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, bool displayFullModel=false)

unsigned int	getNbFeatures () const

bool	isTracked () const

bool	isVisible () const

void	setCameraParameters (const vpCameraParameters &camera)

void	setScanLineVisibilityTest (bool v)

void	setDepthDenseFilteringMaxDistance (double maxDistance)

void	setDepthDenseFilteringMethod (int method)

void	setDepthDenseFilteringMinDistance (double minDistance)

void	setDepthDenseFilteringOccupancyRatio (double occupancyRatio)

void	setTracked (bool tracked)

Public Attributes
vpCameraParameters	m_cam

unsigned int	m_clippingFlag

double	m_distFarClip

double	m_distNearClip

vpMbHiddenFaces< vpMbtPolygon > *	m_hiddenFace

vpPlane	m_planeObject

vpMbtPolygon *	m_polygon

bool	m_useScanLine

Protected Member Functions
void	computeROI (const vpHomogeneousMatrix &cMo, unsigned int width, 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_isTrackedDepthDenseFace

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

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 ( )

Definition at line 55 of file vpMbtFaceDepthDense.cpp.

vpMbtFaceDepthDense::~vpMbtFaceDepthDense ( )

virtual

Definition at line 64 of file vpMbtFaceDepthDense.cpp.

References m_listOfFaceLines.

Member Function Documentation

void vpMbtFaceDepthDense::addLine	(	vpPoint &	P1,
		vpPoint &	P2,
		vpMbHiddenFaces< vpMbtPolygon > *const	faces,
		vpUniRand &	rand_gen,
		int	polygon = `-1`,
		std::string	name = `""`
	)

Add a line belonging to the $ index $ the polygon to the list of lines. It is defined by its two extremities.

If the line already exists, the 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.
rand_gen	: Random number generator used in vpMbtDistanceLine::buildFrom().
polygon	: The index of the polygon to which the line belongs.
name	: the optional name of the line

Definition at line 85 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().

bool vpMbtFaceDepthDense::computeDesiredFeatures	(	const vpHomogeneousMatrix &	cMo,
		const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &	point_cloud,
		unsigned int	stepX,
		unsigned int	stepY,
		const vpImage< bool > *	mask = `NULL`
	)

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

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

Definition at line 431 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().

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

protected

void vpMbtFaceDepthDense::computeVisibility ( )

Definition at line 396 of file vpMbtFaceDepthDense.cpp.

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

Referenced by vpMbDepthDenseTracker::computeVisibility().

void vpMbtFaceDepthDense::computeVisibilityDisplay ( )

Definition at line 398 of file vpMbtFaceDepthDense.cpp.

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

Referenced by getModelForDisplay().

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

Definition at line 690 of file vpMbtFaceDepthDense.cpp.

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

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

Definition at line 703 of file vpMbtFaceDepthDense.cpp.

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

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

Definition at line 716 of file vpMbtFaceDepthDense.cpp.

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

Definition at line 722 of file vpMbtFaceDepthDense.cpp.

std::vector< std::vector< double > > vpMbtFaceDepthDense::getModelForDisplay	(	unsigned int	width,
		unsigned int	height,
		const vpHomogeneousMatrix &	cMo,
		const vpCameraParameters &	cam,
		bool	displayFullModel = `false`
	)

Return a list of line parameters to display the primitive at a given pose and camera parameters.

Parameters are: <primitive id (here 0 for line)>, <pt_start.i()>, <pt_start.j()>, <pt_end.i()>, <pt_end.j()>

Parameters

width	: Image width.
height	: Image height.
cMo	: Pose used to project the 3D model into the image.
cam	: The camera parameters.
displayFullModel	: If true, the line is displayed even if it is not

Definition at line 739 of file vpMbtFaceDepthDense.cpp.

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

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

unsigned int vpMbtFaceDepthDense::getNbFeatures ( ) const

inline

Definition at line 131 of file vpMbtFaceDepthDense.h.

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

bool vpMbtFaceDepthDense::isTracked ( ) const

inline

Definition at line 133 of file vpMbtFaceDepthDense.h.

Referenced by vpMbDepthDenseTracker::segmentPointCloud().

bool vpMbtFaceDepthDense::isVisible ( ) const

inline

Definition at line 135 of file vpMbtFaceDepthDense.h.

References vpMbtPolygon::isvisible.

Referenced by vpMbDepthDenseTracker::segmentPointCloud().

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 769 of file vpMbtFaceDepthDense.cpp.

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

Referenced by addLine().

void vpMbtFaceDepthDense::setCameraParameters ( const vpCameraParameters & camera )

Definition at line 782 of file vpMbtFaceDepthDense.cpp.

References m_cam, and m_listOfFaceLines.

void vpMbtFaceDepthDense::setDepthDenseFilteringMaxDistance ( double maxDistance )

inline

Definition at line 141 of file vpMbtFaceDepthDense.h.

void vpMbtFaceDepthDense::setDepthDenseFilteringMethod ( int method )

inline

Definition at line 146 of file vpMbtFaceDepthDense.h.

void vpMbtFaceDepthDense::setDepthDenseFilteringMinDistance ( double minDistance )

inline

Definition at line 148 of file vpMbtFaceDepthDense.h.

void vpMbtFaceDepthDense::setDepthDenseFilteringOccupancyRatio ( double occupancyRatio )

inline

Definition at line 153 of file vpMbtFaceDepthDense.h.

void vpMbtFaceDepthDense::setScanLineVisibilityTest ( bool v )

Definition at line 792 of file vpMbtFaceDepthDense.cpp.

References m_listOfFaceLines, and m_useScanLine.

void vpMbtFaceDepthDense::setTracked ( bool tracked )

inline

Definition at line 162 of file vpMbtFaceDepthDense.h.

References vpPolygon3D::p.

Referenced by vpMbDepthDenseTracker::setUseDepthDenseTracking().

Member Data Documentation

vpCameraParameters vpMbtFaceDepthDense::m_cam

Camera intrinsic parameters.

Definition at line 68 of file vpMbtFaceDepthDense.h.

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

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().

double vpMbtFaceDepthDense::m_depthDenseFilteringMaxDist

protected

Maximum distance threshold.

Definition at line 210 of file vpMbtFaceDepthDense.h.

Referenced by computeDesiredFeatures().

int vpMbtFaceDepthDense::m_depthDenseFilteringMethod

protected

Method to use to consider or not the face.

Definition at line 208 of file vpMbtFaceDepthDense.h.

Referenced by computeDesiredFeatures().

double vpMbtFaceDepthDense::m_depthDenseFilteringMinDist

protected

Minimum distance threshold.

Definition at line 212 of file vpMbtFaceDepthDense.h.

Referenced by computeDesiredFeatures().

double vpMbtFaceDepthDense::m_depthDenseFilteringOccupancyRatio

protected

Ratio between available depth points and theoretical number of points.

Definition at line 214 of file vpMbtFaceDepthDense.h.

Referenced by computeDesiredFeatures().

double vpMbtFaceDepthDense::m_distFarClip

Distance for near clipping.

Definition at line 72 of file vpMbtFaceDepthDense.h.

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

double vpMbtFaceDepthDense::m_distNearClip

Distance for near clipping.

Definition at line 74 of file vpMbtFaceDepthDense.h.

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

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().

bool vpMbtFaceDepthDense::m_isTrackedDepthDenseFace

protected

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

Definition at line 216 of file vpMbtFaceDepthDense.h.

Referenced by getModelForDisplay().

bool vpMbtFaceDepthDense::m_isVisible

protected

Visibility flag.

Definition at line 218 of file vpMbtFaceDepthDense.h.

Referenced by computeVisibility().

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

protected

Definition at line 219 of file vpMbtFaceDepthDense.h.

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

vpPlane vpMbtFaceDepthDense::m_planeCamera

protected

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

Definition at line 222 of file vpMbtFaceDepthDense.h.

Referenced by computeInteractionMatrixAndResidu().

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().

std::vector<double> vpMbtFaceDepthDense::m_pointCloudFace

protected

List of depth points inside the face.

Definition at line 224 of file vpMbtFaceDepthDense.h.

Referenced by computeDesiredFeatures(), and computeInteractionMatrixAndResidu().

vpMbtPolygon* vpMbtFaceDepthDense::m_polygon

Polygon defining the face.

Definition at line 80 of file vpMbtFaceDepthDense.h.

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

std::vector<PolygonLine> vpMbtFaceDepthDense::m_polygonLines

protected

Polygon lines used for scan-line visibility.

Definition at line 226 of file vpMbtFaceDepthDense.h.

Referenced by addLine(), and computeROI().

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

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation