Visual Servoing Platform
version 3.6.1 under development (2024-11-12)
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#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, 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=nullptr) |
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=nullptr) |
bool | computeDesiredFeatures (const vpHomogeneousMatrix &cMo, unsigned int width, unsigned int height, const vpMatrix &point_cloud, unsigned int stepX, unsigned int stepY, const vpImage< bool > *mask=nullptr) |
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 |
Definition at line 54 of file vpMbtFaceDepthDense.h.
Definition at line 57 of file vpMbtFaceDepthDense.h.
BEGIN_VISP_NAMESPACE vpMbtFaceDepthDense::vpMbtFaceDepthDense | ( | ) |
Definition at line 161 of file vpMbtFaceDepthDense.cpp.
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Definition at line 169 of file vpMbtFaceDepthDense.cpp.
References m_listOfFaceLines.
void vpMbtFaceDepthDense::addLine | ( | vpPoint & | P1, |
vpPoint & | P2, | ||
vpMbHiddenFaces< vpMbtPolygon > *const | faces, | ||
vpUniRand & | rand_gen, | ||
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 polygon'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. |
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 190 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 = nullptr |
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Definition at line 251 of file vpMbtFaceDepthDense.cpp.
References computeROI(), DEPTH_OCCUPANCY_RATIO_FILTERING, vpRect::getBottom(), vpPolygon::getBoundingBox(), vpRect::getHeight(), vpMbtPolygon::getIndex(), vpRect::getLeft(), vpMbHiddenFaces< PolygonType >::getMbScanLineRenderer(), vpRect::getRight(), vpRect::getTop(), vpRect::getWidth(), vpMeTracker::inRoiMask(), vpPolygon::isInside(), m_depthDenseFilteringMaxDist, m_depthDenseFilteringMethod, m_depthDenseFilteringMinDist, m_depthDenseFilteringOccupancyRatio, m_hiddenFace, m_pointCloudFace, m_polygon, m_useScanLine, MAX_DISTANCE_FILTERING, MIN_DISTANCE_FILTERING, vpRect::setBottom(), vpRect::setLeft(), vpRect::setRight(), and vpRect::setTop().
Referenced by vpMbDepthDenseTracker::segmentPointCloud().
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 = nullptr |
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Definition at line 342 of file vpMbtFaceDepthDense.cpp.
References computeROI(), DEPTH_OCCUPANCY_RATIO_FILTERING, vpRect::getBottom(), vpPolygon::getBoundingBox(), vpRect::getHeight(), vpMbtPolygon::getIndex(), vpRect::getLeft(), vpMbHiddenFaces< PolygonType >::getMbScanLineRenderer(), vpRect::getRight(), vpRect::getTop(), vpRect::getWidth(), vpMeTracker::inRoiMask(), vpPolygon::isInside(), m_depthDenseFilteringMaxDist, m_depthDenseFilteringMethod, m_depthDenseFilteringMinDist, m_depthDenseFilteringOccupancyRatio, m_hiddenFace, m_pointCloudFace, m_polygon, m_useScanLine, MAX_DISTANCE_FILTERING, MIN_DISTANCE_FILTERING, vpRect::setBottom(), vpRect::setLeft(), vpRect::setRight(), and vpRect::setTop().
bool vpMbtFaceDepthDense::computeDesiredFeatures | ( | const vpHomogeneousMatrix & | cMo, |
unsigned int | width, | ||
unsigned int | height, | ||
const vpMatrix & | point_cloud, | ||
unsigned int | stepX, | ||
unsigned int | stepY, | ||
const vpImage< bool > * | mask = nullptr |
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Definition at line 427 of file vpMbtFaceDepthDense.cpp.
References computeROI(), DEPTH_OCCUPANCY_RATIO_FILTERING, vpRect::getBottom(), vpPolygon::getBoundingBox(), vpRect::getHeight(), vpMbtPolygon::getIndex(), vpRect::getLeft(), vpMbHiddenFaces< PolygonType >::getMbScanLineRenderer(), vpRect::getRight(), vpRect::getTop(), vpRect::getWidth(), vpMeTracker::inRoiMask(), vpPolygon::isInside(), m_depthDenseFilteringMaxDist, m_depthDenseFilteringMethod, m_depthDenseFilteringMinDist, m_depthDenseFilteringOccupancyRatio, m_hiddenFace, m_pointCloudFace, m_polygon, m_useScanLine, MAX_DISTANCE_FILTERING, MIN_DISTANCE_FILTERING, vpRect::setBottom(), vpRect::setLeft(), vpRect::setRight(), and vpRect::setTop().
void vpMbtFaceDepthDense::computeInteractionMatrixAndResidu | ( | const vpHomogeneousMatrix & | cMo, |
vpMatrix & | L, | ||
vpColVector & | error | ||
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Definition at line 549 of file vpMbtFaceDepthDense.cpp.
References vpPlane::changeFrame(), vpCPUFeatures::checkNeon(), vpCPUFeatures::checkSSE2(), vpArray2D< Type >::data, vpPlane::getA(), vpPlane::getB(), vpPlane::getC(), vpPlane::getD(), getNbFeatures(), m_planeCamera, m_planeObject, m_pointCloudFace, vpColVector::resize(), and vpColVector::t().
Referenced by vpMbDepthDenseTracker::computeVVSInteractionMatrixAndResidu().
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Definition at line 782 of file vpMbtFaceDepthDense.cpp.
References vpCameraParameters::computeFov(), vpMbHiddenFaces< PolygonType >::computeScanLineQuery(), vpMeterPixelConversion::convertPoint(), vpPolygon3D::DOWN_CLIPPING, vpPolygon3D::FAR_CLIPPING, vpPoint::get_X(), vpPoint::get_Y(), vpPoint::get_Z(), vpPolygon3D::getPolygonClipped(), vpPolygon3D::getRoiClipped(), vpPolygon3D::LEFT_CLIPPING, m_cam, m_clippingFlag, m_hiddenFace, m_polygon, m_polygonLines, m_useScanLine, vpPolygon3D::NEAR_CLIPPING, vpForwardProjection::project(), vpPolygon3D::RIGHT_CLIPPING, vpPoint::set_X(), vpPoint::set_Y(), vpPoint::set_Z(), and vpPolygon3D::UP_CLIPPING.
Referenced by computeDesiredFeatures().
void vpMbtFaceDepthDense::computeVisibility | ( | ) |
Definition at line 512 of file vpMbtFaceDepthDense.cpp.
References vpMbtPolygon::isVisible(), m_isVisible, and m_polygon.
Referenced by vpMbDepthDenseTracker::computeVisibility().
void vpMbtFaceDepthDense::computeVisibilityDisplay | ( | ) |
Definition at line 514 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 , |
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bool | displayFullModel = false |
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Definition at line 892 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 , |
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bool | displayFullModel = false |
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Definition at line 906 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 , |
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unsigned int | thickness = 1 |
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Definition at line 920 of file vpMbtFaceDepthDense.cpp.
void vpMbtFaceDepthDense::displayFeature | ( | const vpImage< vpRGBa > & | I, |
const vpHomogeneousMatrix & | cMo, | ||
const vpCameraParameters & | cam, | ||
double | scale = 0.05 , |
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unsigned int | thickness = 1 |
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Definition at line 925 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 |
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Return a list of line parameters to display the primitive at a given pose and camera parameters.
<primitive id (here 0 for line)>
, <pt_start.i()>
, <pt_start.j()>
, <pt_end.i()>
, <pt_end.j()>
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 941 of file vpMbtFaceDepthDense.cpp.
References computeVisibilityDisplay(), vpMbtDistanceLine::getModelForDisplay(), vpMbtPolygon::isVisible(), m_isTrackedDepthDenseFace, m_listOfFaceLines, and m_polygon.
Referenced by display(), and vpMbDepthDenseTracker::getModelForDisplay().
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Definition at line 139 of file vpMbtFaceDepthDense.h.
Referenced by computeInteractionMatrixAndResidu(), and vpMbDepthDenseTracker::computeVVSInit().
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Definition at line 141 of file vpMbtFaceDepthDense.h.
Referenced by vpMbDepthDenseTracker::segmentPointCloud().
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Definition at line 143 of file vpMbtFaceDepthDense.h.
References vpMbtPolygon::isvisible.
Referenced by vpMbDepthDenseTracker::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 972 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 985 of file vpMbtFaceDepthDense.cpp.
References m_cam, and m_listOfFaceLines.
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Definition at line 149 of file vpMbtFaceDepthDense.h.
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Definition at line 151 of file vpMbtFaceDepthDense.h.
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Definition at line 153 of file vpMbtFaceDepthDense.h.
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Definition at line 155 of file vpMbtFaceDepthDense.h.
void vpMbtFaceDepthDense::setScanLineVisibilityTest | ( | bool | v | ) |
Definition at line 995 of file vpMbtFaceDepthDense.cpp.
References m_listOfFaceLines, and m_useScanLine.
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Definition at line 165 of file vpMbtFaceDepthDense.h.
Referenced by vpMbDepthDenseTracker::setUseDepthDenseTracking().
vpCameraParameters vpMbtFaceDepthDense::m_cam |
Camera intrinsic parameters.
Definition at line 70 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 72 of file vpMbtFaceDepthDense.h.
Referenced by vpMbDepthDenseTracker::addFace(), addLine(), and computeROI().
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Maximum distance threshold.
Definition at line 213 of file vpMbtFaceDepthDense.h.
Referenced by computeDesiredFeatures().
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Method to use to consider or not the face.
Definition at line 211 of file vpMbtFaceDepthDense.h.
Referenced by computeDesiredFeatures().
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Minimum distance threshold.
Definition at line 215 of file vpMbtFaceDepthDense.h.
Referenced by computeDesiredFeatures().
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Ratio between available depth points and theoretical number of points.
Definition at line 217 of file vpMbtFaceDepthDense.h.
Referenced by computeDesiredFeatures().
double vpMbtFaceDepthDense::m_distFarClip |
Distance for near clipping.
Definition at line 74 of file vpMbtFaceDepthDense.h.
Referenced by vpMbDepthDenseTracker::addFace(), and addLine().
double vpMbtFaceDepthDense::m_distNearClip |
Distance for near clipping.
Definition at line 76 of file vpMbtFaceDepthDense.h.
Referenced by vpMbDepthDenseTracker::addFace(), and addLine().
vpMbHiddenFaces<vpMbtPolygon>* vpMbtFaceDepthDense::m_hiddenFace |
Pointer to the list of faces.
Definition at line 78 of file vpMbtFaceDepthDense.h.
Referenced by vpMbDepthDenseTracker::addFace(), computeDesiredFeatures(), and computeROI().
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Flag to define if the face should be tracked or not.
Definition at line 219 of file vpMbtFaceDepthDense.h.
Referenced by getModelForDisplay().
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Visibility flag.
Definition at line 221 of file vpMbtFaceDepthDense.h.
Referenced by computeVisibility().
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Definition at line 222 of file vpMbtFaceDepthDense.h.
Referenced by addLine(), computeVisibilityDisplay(), getModelForDisplay(), setCameraParameters(), setScanLineVisibilityTest(), and ~vpMbtFaceDepthDense().
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Plane equation described in the camera frame and updated with the current pose
Definition at line 225 of file vpMbtFaceDepthDense.h.
Referenced by computeInteractionMatrixAndResidu().
vpPlane vpMbtFaceDepthDense::m_planeObject |
Plane equation described in the object frame.
Definition at line 80 of file vpMbtFaceDepthDense.h.
Referenced by vpMbDepthDenseTracker::addFace(), and computeInteractionMatrixAndResidu().
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List of depth points inside the face.
Definition at line 227 of file vpMbtFaceDepthDense.h.
Referenced by computeDesiredFeatures(), and computeInteractionMatrixAndResidu().
vpMbtPolygon* vpMbtFaceDepthDense::m_polygon |
Polygon defining the face.
Definition at line 82 of file vpMbtFaceDepthDense.h.
Referenced by vpMbDepthDenseTracker::addFace(), computeDesiredFeatures(), computeROI(), computeVisibility(), getModelForDisplay(), and vpMbDepthDenseTracker::setUseDepthDenseTracking().
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Polygon lines used for scan-line visibility.
Definition at line 229 of file vpMbtFaceDepthDense.h.
Referenced by addLine(), and computeROI().
bool vpMbtFaceDepthDense::m_useScanLine |
Scan line visibility.
Definition at line 84 of file vpMbtFaceDepthDense.h.
Referenced by vpMbDepthDenseTracker::addFace(), addLine(), computeDesiredFeatures(), computeROI(), and setScanLineVisibilityTest().