Visual Servoing Platform  version 3.6.1 under development (2024-05-28)
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 #if defined(VISP_HAVE_PCL) && defined(VISP_HAVE_PCL_COMMON)
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  {
58  NO_FILTERING = 0,
59  DEPTH_OCCUPANCY_RATIO_FILTERING = 1 << 1,
62  MIN_DISTANCE_FILTERING = 1 << 2,
64  MAX_DISTANCE_FILTERING = 1 << 3
66  };
67 
71  unsigned int m_clippingFlag;
73  double m_distFarClip;
84 
86  virtual ~vpMbtFaceDepthDense();
87 
88  void addLine(vpPoint &p1, vpPoint &p2, vpMbHiddenFaces<vpMbtPolygon> *const faces, vpUniRand &rand_gen,
89  int polygon = -1, std::string name = "");
90 
91 #if defined(VISP_HAVE_PCL) && defined(VISP_HAVE_PCL_COMMON)
92  bool computeDesiredFeatures(const vpHomogeneousMatrix &cMo,
93  const pcl::PointCloud<pcl::PointXYZ>::ConstPtr &point_cloud, unsigned int stepX,
94  unsigned int stepY
95 #if DEBUG_DISPLAY_DEPTH_DENSE
96  ,
97  vpImage<unsigned char> &debugImage, std::vector<std::vector<vpImagePoint> > &roiPts_vec
98 #endif
99  ,
100  const vpImage<bool> *mask = nullptr);
101 #endif
102  bool computeDesiredFeatures(const vpHomogeneousMatrix &cMo, unsigned int width, unsigned int height,
103  const std::vector<vpColVector> &point_cloud, unsigned int stepX, 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  ,
109  const vpImage<bool> *mask = nullptr);
110  bool computeDesiredFeatures(const vpHomogeneousMatrix &cMo, unsigned int width, unsigned int height,
111  const vpMatrix &point_cloud, unsigned int stepX, unsigned int stepY
112 #if DEBUG_DISPLAY_DEPTH_DENSE
113  ,
114  vpImage<unsigned char> &debugImage, std::vector<std::vector<vpImagePoint> > &roiPts_vec
115 #endif
116  ,
117  const vpImage<bool> *mask = nullptr);
118 
119  void computeInteractionMatrixAndResidu(const vpHomogeneousMatrix &cMo, vpMatrix &L, vpColVector &error);
120 
121  void computeVisibility();
122  void computeVisibilityDisplay();
123 
124  void display(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
125  const vpColor &col, unsigned int thickness = 1, bool displayFullModel = false);
126  void display(const vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
127  const vpColor &col, unsigned int thickness = 1, bool displayFullModel = false);
128 
129  void displayFeature(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
130  double scale = 0.05, unsigned int thickness = 1);
131  void displayFeature(const vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
132  double scale = 0.05, unsigned int thickness = 1);
133 
134  std::vector<std::vector<double> > getModelForDisplay(unsigned int width, unsigned int height,
135  const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
136  bool displayFullModel = false);
137 
138  inline unsigned int getNbFeatures() const { return (unsigned int)(m_pointCloudFace.size() / 3); }
139 
140  inline bool isTracked() const { return m_isTrackedDepthDenseFace; }
141 
142  inline bool isVisible() const { return m_polygon->isvisible; }
143 
144  void setCameraParameters(const vpCameraParameters &camera);
145 
146  void setScanLineVisibilityTest(bool v);
147 
148  inline void setDepthDenseFilteringMaxDistance(double maxDistance) { m_depthDenseFilteringMaxDist = maxDistance; }
149 
150  inline void setDepthDenseFilteringMethod(int method) { m_depthDenseFilteringMethod = method; }
151 
152  inline void setDepthDenseFilteringMinDistance(double minDistance) { m_depthDenseFilteringMinDist = minDistance; }
153 
154  inline void setDepthDenseFilteringOccupancyRatio(double occupancyRatio)
155  {
156  if (occupancyRatio < 0.0 || occupancyRatio > 1.0) {
157  std::cerr << "occupancyRatio < 0.0 || occupancyRatio > 1.0" << std::endl;
158  }
159  else {
160  m_depthDenseFilteringOccupancyRatio = occupancyRatio;
161  }
162  }
163 
164  inline void setTracked(bool tracked) { m_isTrackedDepthDenseFace = tracked; }
165 
166 private:
167  class PolygonLine
168  {
169  public:
171  vpPoint *m_p1;
173  vpPoint *m_p2;
175  vpMbtPolygon m_poly;
177  vpImagePoint m_imPt1;
179  vpImagePoint m_imPt2;
180 
181  PolygonLine() : m_p1(nullptr), m_p2(nullptr), m_poly(), m_imPt1(), m_imPt2() { }
182 
183  PolygonLine(const PolygonLine &polyLine)
184  : m_p1(nullptr), m_p2(nullptr), m_poly(polyLine.m_poly), m_imPt1(polyLine.m_imPt1), m_imPt2(polyLine.m_imPt2)
185  {
186  m_p1 = &m_poly.p[0];
187  m_p2 = &m_poly.p[1];
188  }
189 
190  PolygonLine &operator=(PolygonLine other)
191  {
192  swap(*this, other);
193 
194  return *this;
195  }
196 
197  void swap(PolygonLine &first, PolygonLine &second)
198  {
199  using std::swap;
200  swap(first.m_p1, second.m_p1);
201  swap(first.m_p2, second.m_p2);
202  swap(first.m_poly, second.m_poly);
203  swap(first.m_imPt1, second.m_imPt1);
204  swap(first.m_imPt2, second.m_imPt2);
205  }
206  };
207 
208 protected:
221  std::vector<vpMbtDistanceLine *> m_listOfFaceLines;
226  std::vector<double> m_pointCloudFace;
228  std::vector<PolygonLine> m_polygonLines;
229 
230 protected:
231  void computeROI(const vpHomogeneousMatrix &cMo, unsigned int width, unsigned int height,
232  std::vector<vpImagePoint> &roiPts
233 #if DEBUG_DISPLAY_DEPTH_DENSE
234  ,
235  std::vector<std::vector<vpImagePoint> > &roiPts_vec
236 #endif
237  ,
238  double &distanceToFace);
239 
240  bool samePoint(const vpPoint &P1, const vpPoint &P2) const;
241 };
242 #endif
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
Definition: vpColVector.h:163
Class to define RGB colors available for display functionalities.
Definition: vpColor.h:152
Implementation of an homogeneous matrix and operations on such kind of matrices.
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:82
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:146
double m_depthDenseFilteringMinDist
Minimum distance threshold.
vpMbHiddenFaces< vpMbtPolygon > * m_hiddenFace
Pointer to the list of faces.
bool m_isVisible
Visibility flag.
double m_distFarClip
Distance for near clipping.
std::vector< double > m_pointCloudFace
List of depth points inside the face.
vpPlane m_planeObject
Plane equation described in the object frame.
void setDepthDenseFilteringMethod(int method)
unsigned int getNbFeatures() const
void setTracked(bool tracked)
void setDepthDenseFilteringMinDistance(double minDistance)
vpMbtPolygon * m_polygon
Polygon defining the face.
bool m_useScanLine
Scan line visibility.
bool m_isTrackedDepthDenseFace
Flag to define if the face should be tracked or not.
double m_depthDenseFilteringMaxDist
Maximum distance threshold.
void setDepthDenseFilteringMaxDistance(double maxDistance)
std::vector< PolygonLine > m_polygonLines
Polygon lines used for scan-line visibility.
int m_depthDenseFilteringMethod
Method to use to consider or not the face.
unsigned int m_clippingFlag
Flags specifying which clipping to used.
std::vector< vpMbtDistanceLine * > m_listOfFaceLines
void setDepthDenseFilteringOccupancyRatio(double occupancyRatio)
vpCameraParameters m_cam
Camera intrinsic parameters.
double m_depthDenseFilteringOccupancyRatio
Ratio between available depth points and theoretical number of points.
double m_distNearClip
Distance for near clipping.
Implementation of a polygon of the model used by the model-based tracker.
Definition: vpMbtPolygon.h:58
bool isvisible
flag to specify whether the face is visible or not
Definition: vpMbtPolygon.h:64
This class defines the container for a plane geometrical structure.
Definition: vpPlane.h:54
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition: vpPoint.h:77
vpPoint * p
corners in the object frame
Definition: vpPolygon3D.h:76
Class for generating random numbers with uniform probability density.
Definition: vpUniRand.h:123