Visual Servoing Platform  version 3.6.1 under development (2024-11-21)
Classes | Public Types | Public Member Functions | Public Attributes | Protected Member Functions | Protected Attributes | List of all members
vpMbtFaceDepthNormal Class Reference

#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, vpUniRand &rand_gen, int polygon=-1, std::string name="")
 
bool computeDesiredFeatures (const vpHomogeneousMatrix &cMo, unsigned int width, unsigned int height, const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &point_cloud, vpColVector &desired_features, 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, vpColVector &desired_features, 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, vpColVector &desired_features, unsigned int stepX, unsigned int stepY, const vpImage< bool > *mask=nullptr)
 
void computeInteractionMatrix (const vpHomogeneousMatrix &cMo, vpMatrix &L, vpColVector &features)
 
void computeVisibility ()
 
void computeVisibilityDisplay ()
 
bool planeIsInvalid (const vpHomogeneousMatrix &cMo, double maxAngle)
 
void computeNormalVisibility (double nx, double ny, double nz, const vpColVector &centroid_point, vpColVector &face_normal)
 
void computeNormalVisibility (float nx, float ny, float nz, const pcl::PointXYZ &centroid_point, pcl::PointXYZ &face_normal)
 
void computeNormalVisibility (double nx, double ny, double nz, const vpHomogeneousMatrix &cMo, const vpCameraParameters &camera, vpColVector &correct_normal, vpPoint &centroid)
 
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 > > getFeaturesForDisplay (const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, double scale=0.05)
 
std::vector< std::vector< double > > getModelForDisplay (unsigned int width, unsigned int height, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, bool displayFullModel=false)
 
bool isTracked () const
 
bool isVisible () const
 
void setCameraParameters (const vpCameraParameters &camera)
 
void setFaceCentroidMethod (const vpFaceCentroidType &method)
 
void setFeatureEstimationMethod (const vpFeatureEstimationType &method)
 
void setPclPlaneEstimationMethod (int method)
 
void setPclPlaneEstimationRansacMaxIter (int maxIter)
 
void setPclPlaneEstimationRansacThreshold (double threshold)
 
void setScanLineVisibilityTest (bool v)
 
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

bool computeDesiredFeaturesPCL (const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &point_cloud_face, vpColVector &desired_features, vpColVector &desired_normal, vpColVector &centroid_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 &centroid_point)
 
void computeDesiredFeaturesSVD (const std::vector< double > &point_cloud_face, const vpHomogeneousMatrix &cMo, vpColVector &desired_features, vpColVector &desired_normal, vpColVector &centroid_point)
 
void computeDesiredNormalAndCentroid (const vpHomogeneousMatrix &cMo, const vpColVector &desired_normal, const vpColVector &centroid_point)
 
bool computePolygonCentroid (const std::vector< vpPoint > &points, vpPoint &centroid)
 
void computeROI (const vpHomogeneousMatrix &cMo, unsigned int width, 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 &centroid)
 
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
 

Detailed Description

Definition at line 54 of file vpMbtFaceDepthNormal.h.

Member Enumeration Documentation

◆ vpFaceCentroidType

enum vpMbtFaceDepthNormal::vpFaceCentroidType

How to compute the centroid of a face using depth feature.

Enumerator
GEOMETRIC_CENTROID 

Compute the geometric centroid.

MEAN_CENTROID 

Compute the mean centroid.

Definition at line 60 of file vpMbtFaceDepthNormal.h.

◆ vpFeatureEstimationType

enum vpMbtFaceDepthNormal::vpFeatureEstimationType

How to estimate the normal of a face using depth feature.

Enumerator
ROBUST_FEATURE_ESTIMATION 

Robust scheme to estimate the normal of the plane.

ROBUST_SVD_PLANE_ESTIMATION 

Use SVD and robust scheme to estimate the normal of the plane.

PCL_PLANE_ESTIMATION 

Use PCL to estimate the normal of the plane.

Definition at line 69 of file vpMbtFaceDepthNormal.h.

Constructor & Destructor Documentation

◆ vpMbtFaceDepthNormal()

BEGIN_VISP_NAMESPACE vpMbtFaceDepthNormal::vpMbtFaceDepthNormal ( )

Definition at line 59 of file vpMbtFaceDepthNormal.cpp.

◆ ~vpMbtFaceDepthNormal()

vpMbtFaceDepthNormal::~vpMbtFaceDepthNormal ( )
virtual

Definition at line 69 of file vpMbtFaceDepthNormal.cpp.

References m_listOfFaceLines.

Member Function Documentation

◆ addLine()

void vpMbtFaceDepthNormal::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 polygon'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 90 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().

◆ computeDesiredFeatures() [1/3]

bool vpMbtFaceDepthNormal::computeDesiredFeatures ( const vpHomogeneousMatrix &  cMo,
unsigned int  width,
unsigned int  height,
const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &  point_cloud,
vpColVector &  desired_features,
unsigned int  stepX,
unsigned int  stepY,
const vpImage< bool > *  mask = nullptr 
)

Definition at line 151 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::inRoiMask(), 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().

◆ computeDesiredFeatures() [2/3]

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

Definition at line 318 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::inRoiMask(), 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().

◆ computeDesiredFeatures() [3/3]

bool vpMbtFaceDepthNormal::computeDesiredFeatures ( const vpHomogeneousMatrix &  cMo,
unsigned int  width,
unsigned int  height,
const vpMatrix &  point_cloud,
vpColVector &  desired_features,
unsigned int  stepX,
unsigned int  stepY,
const vpImage< bool > *  mask = nullptr 
)

Definition at line 479 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::inRoiMask(), 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().

◆ computeDesiredFeaturesPCL()

bool vpMbtFaceDepthNormal::computeDesiredFeaturesPCL ( const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &  point_cloud_face,
vpColVector &  desired_features,
vpColVector &  desired_normal,
vpColVector &  centroid_point 
)
protected

Definition at line 640 of file vpMbtFaceDepthNormal.cpp.

References computeNormalVisibility(), m_pclPlaneEstimationMethod, m_pclPlaneEstimationRansacMaxIter, m_pclPlaneEstimationRansacThreshold, and vpColVector::resize().

Referenced by computeDesiredFeatures().

◆ computeDesiredFeaturesRobustFeatures()

void vpMbtFaceDepthNormal::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 &  centroid_point 
)
protected

Definition at line 709 of file vpMbtFaceDepthNormal.cpp.

References computeNormalVisibility(), and estimateFeatures().

Referenced by computeDesiredFeatures().

◆ computeDesiredFeaturesSVD()

void vpMbtFaceDepthNormal::computeDesiredFeaturesSVD ( const std::vector< double > &  point_cloud_face,
const vpHomogeneousMatrix &  cMo,
vpColVector &  desired_features,
vpColVector &  desired_normal,
vpColVector &  centroid_point 
)
protected

Definition at line 737 of file vpMbtFaceDepthNormal.cpp.

References computeNormalVisibility(), estimatePlaneEquationSVD(), and vpColVector::resize().

Referenced by computeDesiredFeatures().

◆ computeDesiredNormalAndCentroid()

void vpMbtFaceDepthNormal::computeDesiredNormalAndCentroid ( const vpHomogeneousMatrix &  cMo,
const vpColVector &  desired_normal,
const vpColVector &  centroid_point 
)
protected

Definition at line 753 of file vpMbtFaceDepthNormal.cpp.

References vpHomogeneousMatrix::inverse(), m_faceDesiredCentroid, m_faceDesiredNormal, and vpPoint::setWorldCoordinates().

Referenced by computeDesiredFeatures().

◆ computeInteractionMatrix()

void vpMbtFaceDepthNormal::computeInteractionMatrix ( const vpHomogeneousMatrix &  cMo,
vpMatrix &  L,
vpColVector &  features 
)

Definition at line 1067 of file vpMbtFaceDepthNormal.cpp.

References vpPlane::changeFrame(), vpPlane::getA(), vpPlane::getB(), vpPlane::getC(), vpPlane::getD(), m_planeCamera, m_planeObject, and vpColVector::resize().

◆ computeNormalVisibility() [1/3]

void vpMbtFaceDepthNormal::computeNormalVisibility ( double  nx,
double  ny,
double  nz,
const vpColVector &  centroid_point,
vpColVector &  face_normal 
)

Definition at line 1021 of file vpMbtFaceDepthNormal.cpp.

References vpColVector::dotProd(), vpColVector::normalize(), and vpColVector::resize().

Referenced by computeDesiredFeaturesPCL(), computeDesiredFeaturesRobustFeatures(), computeDesiredFeaturesSVD(), displayFeature(), and getFeaturesForDisplay().

◆ computeNormalVisibility() [2/3]

void vpMbtFaceDepthNormal::computeNormalVisibility ( double  nx,
double  ny,
double  nz,
const vpHomogeneousMatrix &  cMo,
const vpCameraParameters &  camera,
vpColVector &  correct_normal,
vpPoint &  centroid 
)

Definition at line 931 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().

◆ computeNormalVisibility() [3/3]

void vpMbtFaceDepthNormal::computeNormalVisibility ( float  nx,
float  ny,
float  nz,
const pcl::PointXYZ &  centroid_point,
pcl::PointXYZ &  face_normal 
)

Definition at line 996 of file vpMbtFaceDepthNormal.cpp.

References vpColVector::dotProd(), and vpColVector::normalize().

◆ computePolygonCentroid()

bool vpMbtFaceDepthNormal::computePolygonCentroid ( const std::vector< vpPoint > &  points,
vpPoint &  centroid 
)
protected

Definition at line 778 of file vpMbtFaceDepthNormal.cpp.

References vpPoint::get_X(), vpPoint::set_X(), vpPoint::set_Y(), and vpPoint::set_Z().

Referenced by computeNormalVisibility(), and planeIsInvalid().

◆ computeROI()

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

Definition at line 828 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().

◆ computeVisibility()

void vpMbtFaceDepthNormal::computeVisibility ( )

Definition at line 894 of file vpMbtFaceDepthNormal.cpp.

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

Referenced by vpMbDepthNormalTracker::computeVisibility().

◆ computeVisibilityDisplay()

void vpMbtFaceDepthNormal::computeVisibilityDisplay ( )

Definition at line 896 of file vpMbtFaceDepthNormal.cpp.

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

Referenced by getModelForDisplay().

◆ display() [1/2]

void vpMbtFaceDepthNormal::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 1112 of file vpMbtFaceDepthNormal.cpp.

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

◆ display() [2/2]

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

Definition at line 1126 of file vpMbtFaceDepthNormal.cpp.

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

◆ displayFeature() [1/2]

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

Definition at line 1140 of file vpMbtFaceDepthNormal.cpp.

References vpColor::blue, vpPlane::changeFrame(), vpPoint::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().

◆ displayFeature() [2/2]

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

Definition at line 1195 of file vpMbtFaceDepthNormal.cpp.

References vpColor::blue, vpPlane::changeFrame(), vpPoint::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().

◆ estimateFeatures()

void vpMbtFaceDepthNormal::estimateFeatures ( const std::vector< double > &  point_cloud_face,
const vpHomogeneousMatrix &  cMo,
vpColVector &  x_estimated,
std::vector< double > &  weights 
)
protected

Definition at line 1250 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().

◆ estimatePlaneEquationSVD()

void vpMbtFaceDepthNormal::estimatePlaneEquationSVD ( const std::vector< double > &  point_cloud_face,
const vpHomogeneousMatrix &  cMo,
vpColVector &  plane_equation_estimated,
vpColVector &  centroid 
)
protected

Definition at line 1567 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().

◆ getFeaturesForDisplay()

std::vector< std::vector< double > > vpMbtFaceDepthNormal::getFeaturesForDisplay ( const vpHomogeneousMatrix &  cMo,
const vpCameraParameters &  cam,
double  scale = 0.05 
)

Return a list of features parameters for display.

  • Parameters are: <feature id (here 2 for depth normal)>, <centroid.i()>, <centroid.j()>, <extremity.i()>, extremity.j()

Definition at line 1702 of file vpMbtFaceDepthNormal.cpp.

References vpPlane::changeFrame(), vpPoint::changeFrame(), computeNormalVisibility(), vpMeterPixelConversion::convertPoint(), vpImagePoint::get_i(), vpImagePoint::get_j(), vpPoint::get_X(), vpPoint::get_x(), vpPoint::get_Y(), vpPoint::get_y(), vpPoint::get_Z(), vpPlane::getA(), vpPlane::getB(), vpPlane::getC(), m_faceActivated, m_faceDesiredCentroid, m_faceDesiredNormal, m_isTrackedDepthNormalFace, m_isVisible, m_planeCamera, m_planeObject, vpForwardProjection::project(), vpPoint::set_X(), vpPoint::set_Y(), and vpPoint::set_Z().

Referenced by vpMbDepthNormalTracker::getFeaturesForDisplayDepthNormal().

◆ getModelForDisplay()

std::vector< std::vector< double > > vpMbtFaceDepthNormal::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 1801 of file vpMbtFaceDepthNormal.cpp.

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

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

◆ isTracked()

bool vpMbtFaceDepthNormal::isTracked ( ) const
inline

Definition at line 164 of file vpMbtFaceDepthNormal.h.

Referenced by vpMbDepthNormalTracker::segmentPointCloud().

◆ isVisible()

bool vpMbtFaceDepthNormal::isVisible ( ) const
inline

Definition at line 166 of file vpMbtFaceDepthNormal.h.

References vpMbtPolygon::isvisible.

Referenced by vpMbDepthNormalTracker::segmentPointCloud().

◆ planeIsInvalid()

bool vpMbtFaceDepthNormal::planeIsInvalid ( const vpHomogeneousMatrix &  cMo,
double  maxAngle 
)

Returns true when the plane is nearly parallalel to the optical axis and close to the optical center. In this case, the interaction matrix related to this face may "explode" leading to a tracking failure.

Definition at line 1045 of file vpMbtFaceDepthNormal.cpp.

References vpPlane::changeFrame(), vpPoint::changeFrame(), computePolygonCentroid(), vpColVector::frobeniusNorm(), vpPoint::get_X(), vpPoint::get_Y(), vpPoint::get_Z(), vpPlane::getD(), vpPolygon3D::getPolygonClipped(), vpHomogeneousMatrix::getTranslationVector(), m_planeCamera, m_planeObject, m_polygon, and vpForwardProjection::project().

◆ samePoint()

bool vpMbtFaceDepthNormal::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 1832 of file vpMbtFaceDepthNormal.cpp.

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

Referenced by addLine().

◆ setCameraParameters()

void vpMbtFaceDepthNormal::setCameraParameters ( const vpCameraParameters &  camera)

Definition at line 1845 of file vpMbtFaceDepthNormal.cpp.

References m_cam, and m_listOfFaceLines.

◆ setFaceCentroidMethod()

void vpMbtFaceDepthNormal::setFaceCentroidMethod ( const vpFaceCentroidType &  method)
inline

Definition at line 170 of file vpMbtFaceDepthNormal.h.

◆ setFeatureEstimationMethod()

void vpMbtFaceDepthNormal::setFeatureEstimationMethod ( const vpFeatureEstimationType &  method)
inline

Definition at line 172 of file vpMbtFaceDepthNormal.h.

Referenced by vpMbDepthNormalTracker::addFace().

◆ setPclPlaneEstimationMethod()

void vpMbtFaceDepthNormal::setPclPlaneEstimationMethod ( int  method)
inline

Definition at line 174 of file vpMbtFaceDepthNormal.h.

Referenced by vpMbDepthNormalTracker::addFace().

◆ setPclPlaneEstimationRansacMaxIter()

void vpMbtFaceDepthNormal::setPclPlaneEstimationRansacMaxIter ( int  maxIter)
inline

Definition at line 176 of file vpMbtFaceDepthNormal.h.

Referenced by vpMbDepthNormalTracker::addFace().

◆ setPclPlaneEstimationRansacThreshold()

void vpMbtFaceDepthNormal::setPclPlaneEstimationRansacThreshold ( double  threshold)
inline

Definition at line 178 of file vpMbtFaceDepthNormal.h.

Referenced by vpMbDepthNormalTracker::addFace().

◆ setScanLineVisibilityTest()

void vpMbtFaceDepthNormal::setScanLineVisibilityTest ( bool  v)

Definition at line 1855 of file vpMbtFaceDepthNormal.cpp.

References m_listOfFaceLines, and m_useScanLine.

◆ setTracked()

void vpMbtFaceDepthNormal::setTracked ( bool  tracked)
inline

Definition at line 185 of file vpMbtFaceDepthNormal.h.

Referenced by vpMbDepthNormalTracker::setUseDepthNormalTracking().

Member Data Documentation

◆ m_cam

vpCameraParameters vpMbtFaceDepthNormal::m_cam

Camera intrinsic parameters.

Definition at line 79 of file vpMbtFaceDepthNormal.h.

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

◆ m_clippingFlag

unsigned int vpMbtFaceDepthNormal::m_clippingFlag

Flags specifying which clipping to used.

Definition at line 81 of file vpMbtFaceDepthNormal.h.

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

◆ m_distFarClip

double vpMbtFaceDepthNormal::m_distFarClip

Distance for near clipping.

Definition at line 83 of file vpMbtFaceDepthNormal.h.

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

◆ m_distNearClip

double vpMbtFaceDepthNormal::m_distNearClip

Distance for near clipping.

Definition at line 85 of file vpMbtFaceDepthNormal.h.

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

◆ m_faceActivated

bool vpMbtFaceDepthNormal::m_faceActivated
protected

True if the face should be considered by the tracker.

Definition at line 264 of file vpMbtFaceDepthNormal.h.

Referenced by computeDesiredFeatures(), displayFeature(), and getFeaturesForDisplay().

◆ m_faceCentroidMethod

vpFaceCentroidType vpMbtFaceDepthNormal::m_faceCentroidMethod
protected

Method to compute the face centroid for the current features.

Definition at line 266 of file vpMbtFaceDepthNormal.h.

Referenced by computeNormalVisibility().

◆ m_faceDesiredCentroid

vpPoint vpMbtFaceDepthNormal::m_faceDesiredCentroid
protected

Desired centroid (computed from the sensor)

Definition at line 268 of file vpMbtFaceDepthNormal.h.

Referenced by computeDesiredNormalAndCentroid(), displayFeature(), and getFeaturesForDisplay().

◆ m_faceDesiredNormal

vpPoint vpMbtFaceDepthNormal::m_faceDesiredNormal
protected

Face (normalized) normal (computed from the sensor)

Definition at line 270 of file vpMbtFaceDepthNormal.h.

Referenced by computeDesiredNormalAndCentroid(), displayFeature(), and getFeaturesForDisplay().

◆ m_featureEstimationMethod

vpFeatureEstimationType vpMbtFaceDepthNormal::m_featureEstimationMethod
protected

Method to estimate the desired features.

Definition at line 272 of file vpMbtFaceDepthNormal.h.

Referenced by computeDesiredFeatures().

◆ m_hiddenFace

vpMbHiddenFaces<vpMbtPolygon>* vpMbtFaceDepthNormal::m_hiddenFace

Pointer to the list of faces.

Definition at line 87 of file vpMbtFaceDepthNormal.h.

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

◆ m_isTrackedDepthNormalFace

bool vpMbtFaceDepthNormal::m_isTrackedDepthNormalFace
protected

Definition at line 274 of file vpMbtFaceDepthNormal.h.

Referenced by displayFeature(), getFeaturesForDisplay(), and getModelForDisplay().

◆ m_isVisible

bool vpMbtFaceDepthNormal::m_isVisible
protected

Definition at line 276 of file vpMbtFaceDepthNormal.h.

Referenced by computeVisibility(), displayFeature(), and getFeaturesForDisplay().

◆ m_listOfFaceLines

std::vector<vpMbtDistanceLine *> vpMbtFaceDepthNormal::m_listOfFaceLines
protected

Definition at line 278 of file vpMbtFaceDepthNormal.h.

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

◆ m_pclPlaneEstimationMethod

int vpMbtFaceDepthNormal::m_pclPlaneEstimationMethod
protected

PCL plane estimation method.

Definition at line 283 of file vpMbtFaceDepthNormal.h.

Referenced by computeDesiredFeaturesPCL().

◆ m_pclPlaneEstimationRansacMaxIter

int vpMbtFaceDepthNormal::m_pclPlaneEstimationRansacMaxIter
protected

PCL pane estimation max number of iterations.

Definition at line 285 of file vpMbtFaceDepthNormal.h.

Referenced by computeDesiredFeaturesPCL().

◆ m_pclPlaneEstimationRansacThreshold

double vpMbtFaceDepthNormal::m_pclPlaneEstimationRansacThreshold
protected

PCL plane estimation RANSAC threshold.

Definition at line 287 of file vpMbtFaceDepthNormal.h.

Referenced by computeDesiredFeaturesPCL().

◆ m_planeCamera

vpPlane vpMbtFaceDepthNormal::m_planeCamera
protected

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

Definition at line 281 of file vpMbtFaceDepthNormal.h.

Referenced by computeInteractionMatrix(), displayFeature(), estimateFeatures(), estimatePlaneEquationSVD(), getFeaturesForDisplay(), and planeIsInvalid().

◆ m_planeObject

vpPlane vpMbtFaceDepthNormal::m_planeObject

Plane equation described in the object frame.

Definition at line 89 of file vpMbtFaceDepthNormal.h.

Referenced by vpMbDepthNormalTracker::addFace(), computeInteractionMatrix(), displayFeature(), estimateFeatures(), estimatePlaneEquationSVD(), getFeaturesForDisplay(), and planeIsInvalid().

◆ m_polygon

vpMbtPolygon* vpMbtFaceDepthNormal::m_polygon

Polygon defining the face.

Definition at line 91 of file vpMbtFaceDepthNormal.h.

Referenced by vpMbDepthNormalTracker::addFace(), computeDesiredFeatures(), computeNormalVisibility(), computeROI(), computeVisibility(), getModelForDisplay(), planeIsInvalid(), and vpMbDepthNormalTracker::setUseDepthNormalTracking().

◆ m_polygonLines

std::vector<PolygonLine> vpMbtFaceDepthNormal::m_polygonLines
protected

Definition at line 289 of file vpMbtFaceDepthNormal.h.

Referenced by addLine(), and computeROI().

◆ m_useScanLine

bool vpMbtFaceDepthNormal::m_useScanLine

Scan line visibility.

Definition at line 93 of file vpMbtFaceDepthNormal.h.

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