Visual Servoing Platform  version 3.2.1 under development (2019-10-18) under development (2019-10-18)
vpMbtFaceDepthDense.h
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30  *
31  * Description:
32  * Manage depth dense features for a particular face.
33  *
34  *****************************************************************************/
35 
36 #ifndef _vpMbtFaceDepthDense_h_
37 #define _vpMbtFaceDepthDense_h_
38 
39 #include <iostream>
40 
41 #include <visp3/core/vpConfig.h>
42 #ifdef VISP_HAVE_PCL
43 #include <pcl/point_cloud.h>
44 #include <pcl/point_types.h>
45 #endif
46 
47 #include <visp3/core/vpPlane.h>
48 #include <visp3/mbt/vpMbTracker.h>
49 #include <visp3/mbt/vpMbtDistanceLine.h>
50 
51 #define DEBUG_DISPLAY_DEPTH_DENSE 0
52 
53 class VISP_EXPORT vpMbtFaceDepthDense
54 {
55 public:
57  NO_FILTERING = 0,
58  DEPTH_OCCUPANCY_RATIO_FILTERING = 1 << 1,
59  MIN_DISTANCE_FILTERING = 1 << 2,
62  MAX_DISTANCE_FILTERING = 1 << 3
64  };
66 
70  unsigned int m_clippingFlag;
72  double m_distFarClip;
83 
85  virtual ~vpMbtFaceDepthDense();
86 
87  void addLine(vpPoint &p1, vpPoint &p2, vpMbHiddenFaces<vpMbtPolygon> *const faces, int polygon = -1,
88  std::string name = "");
89 
90 #ifdef VISP_HAVE_PCL
91  bool computeDesiredFeatures(const vpHomogeneousMatrix &cMo,
92  const pcl::PointCloud<pcl::PointXYZ>::ConstPtr &point_cloud, const unsigned int stepX,
93  const unsigned int stepY
94 #if DEBUG_DISPLAY_DEPTH_DENSE
95  ,
96  vpImage<unsigned char> &debugImage, std::vector<std::vector<vpImagePoint> > &roiPts_vec
97 #endif
98  , const vpImage<bool> *mask = NULL
99  );
100 #endif
101  bool computeDesiredFeatures(const vpHomogeneousMatrix &cMo, const unsigned int width, const unsigned int height,
102  const std::vector<vpColVector> &point_cloud, const unsigned int stepX,
103  const unsigned int stepY
104 #if DEBUG_DISPLAY_DEPTH_DENSE
105  ,
106  vpImage<unsigned char> &debugImage, std::vector<std::vector<vpImagePoint> > &roiPts_vec
107 #endif
108  , const vpImage<bool> *mask = NULL
109  );
110 
111  void computeInteractionMatrixAndResidu(const vpHomogeneousMatrix &cMo, vpMatrix &L, vpColVector &error);
112 
113  void computeVisibility();
114  void computeVisibilityDisplay();
115 
116  void display(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
117  const vpColor &col, const unsigned int thickness = 1, const bool displayFullModel = false);
118  void display(const vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
119  const vpColor &col, const unsigned int thickness = 1, const bool displayFullModel = false);
120 
121  void displayFeature(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
122  const double scale = 0.05, const unsigned int thickness = 1);
123  void displayFeature(const vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
124  const double scale = 0.05, const unsigned int thickness = 1);
125 
126  std::vector<std::vector<double> > getModelForDisplay(unsigned int width, unsigned int height,
127  const vpHomogeneousMatrix &cMo,
128  const vpCameraParameters &cam,
129  const bool displayFullModel = false);
130 
131  inline unsigned int getNbFeatures() const { return (unsigned int)(m_pointCloudFace.size() / 3); }
132 
133  inline bool isTracked() const { return m_isTrackedDepthDenseFace; }
134 
135  inline bool isVisible() const { return m_polygon->isvisible; }
136 
137  void setCameraParameters(const vpCameraParameters &camera);
138 
139  void setScanLineVisibilityTest(const bool v);
140 
141  inline void setDepthDenseFilteringMaxDistance(const double maxDistance)
142  {
143  m_depthDenseFilteringMaxDist = maxDistance;
144  }
145 
146  inline void setDepthDenseFilteringMethod(const int method) { m_depthDenseFilteringMethod = method; }
147 
148  inline void setDepthDenseFilteringMinDistance(const double minDistance)
149  {
150  m_depthDenseFilteringMinDist = minDistance;
151  }
152 
153  inline void setDepthDenseFilteringOccupancyRatio(const double occupancyRatio)
154  {
155  if (occupancyRatio < 0.0 || occupancyRatio > 1.0) {
156  std::cerr << "occupancyRatio < 0.0 || occupancyRatio > 1.0" << std::endl;
157  } else {
158  m_depthDenseFilteringOccupancyRatio = occupancyRatio;
159  }
160  }
161 
162  inline void setTracked(const bool tracked) { m_isTrackedDepthDenseFace = tracked; }
163 
164 private:
165  class PolygonLine
166  {
167  public:
169  vpPoint *m_p1;
171  vpPoint *m_p2;
173  vpMbtPolygon m_poly;
175  vpImagePoint m_imPt1;
177  vpImagePoint m_imPt2;
178 
179  PolygonLine() : m_p1(NULL), m_p2(NULL), m_poly(), m_imPt1(), m_imPt2() {}
180 
181  PolygonLine(const PolygonLine &polyLine)
182  : m_p1(NULL), m_p2(NULL), m_poly(polyLine.m_poly), m_imPt1(polyLine.m_imPt1), m_imPt2(polyLine.m_imPt2)
183  {
184  m_p1 = &m_poly.p[0];
185  m_p2 = &m_poly.p[1];
186  }
187 
188  PolygonLine &operator=(PolygonLine other)
189  {
190  swap(*this, other);
191 
192  return *this;
193  }
194 
195  void swap(PolygonLine &first, PolygonLine &second)
196  {
197  using std::swap;
198  swap(first.m_p1, second.m_p1);
199  swap(first.m_p2, second.m_p2);
200  swap(first.m_poly, second.m_poly);
201  swap(first.m_imPt1, second.m_imPt1);
202  swap(first.m_imPt2, second.m_imPt2);
203  }
204  };
205 
206 protected:
219  std::vector<vpMbtDistanceLine *> m_listOfFaceLines;
224  std::vector<double> m_pointCloudFace;
226  std::vector<PolygonLine> m_polygonLines;
227 
228 protected:
229  void computeROI(const vpHomogeneousMatrix &cMo, const unsigned int width, const unsigned int height,
230  std::vector<vpImagePoint> &roiPts
231 #if DEBUG_DISPLAY_DEPTH_DENSE
232  ,
233  std::vector<std::vector<vpImagePoint> > &roiPts_vec
234 #endif
235  ,
236  double &distanceToFace);
237 
238  bool samePoint(const vpPoint &P1, const vpPoint &P2) const;
239 };
240 #endif
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:164
double m_distNearClip
Distance for near clipping.
void setTracked(const bool tracked)
std::vector< double > m_pointCloudFace
List of depth points inside the face.
vpCameraParameters m_cam
Camera intrinsic parameters.
Implementation of an homogeneous matrix and operations on such kind of matrices.
int m_depthDenseFilteringMethod
Method to use to consider or not the face.
Class to define colors available for display functionnalities.
Definition: vpColor.h:120
bool m_useScanLine
Scan line visibility.
void setDepthDenseFilteringMinDistance(const double minDistance)
vpPoint * p
corners in the object frame
Definition: vpPolygon3D.h:81
double m_depthDenseFilteringMinDist
Minimum distance threshold.
void setDepthDenseFilteringMaxDistance(const double maxDistance)
bool m_isTrackedDepthDenseFace
Flag to define if the face should be tracked or not.
Class that defines what is a point.
Definition: vpPoint.h:58
bool m_isVisible
Visibility flag.
vpMbtPolygon * m_polygon
Polygon defining the face.
vpPlane m_planeObject
Plane equation described in the object frame.
Implementation of a polygon of the model used by the model-based tracker.
Definition: vpMbtPolygon.h:66
unsigned int m_clippingFlag
Flags specifying which clipping to used.
void setDepthDenseFilteringOccupancyRatio(const double occupancyRatio)
double m_distFarClip
Distance for near clipping.
Generic class defining intrinsic camera parameters.
void setDepthDenseFilteringMethod(const int method)
double m_depthDenseFilteringOccupancyRatio
Ratio between available depth points and theoretical number of points.
std::vector< vpMbtDistanceLine * > m_listOfFaceLines
unsigned int getNbFeatures() const
double m_depthDenseFilteringMaxDist
Maximum distance threshold.
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
std::vector< PolygonLine > m_polygonLines
Polygon lines used for scan-line visibility.
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:88
This class defines the container for a plane geometrical structure.
Definition: vpPlane.h:58
vpMbHiddenFaces< vpMbtPolygon > * m_hiddenFace
Pointer to the list of faces.
bool isvisible
flag to specify whether the face is visible or not
Definition: vpMbtPolygon.h:73