vpMbtFaceDepthNormal.h

/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Manage depth normal features for a particular face.
 *
*****************************************************************************/
 
#ifndef _vpMbtFaceDepthNormal_h_
#define _vpMbtFaceDepthNormal_h_
 
#include <iostream>
 
#include <visp3/core/vpConfig.h>
#if defined(VISP_HAVE_PCL) && defined(VISP_HAVE_PCL_COMMON) && defined(VISP_HAVE_PCL_SEGMENTATION) && defined(VISP_HAVE_PCL_FILTERS)
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#endif
 
#include <visp3/core/vpPlane.h>
#include <visp3/mbt/vpMbTracker.h>
#include <visp3/mbt/vpMbtDistanceLine.h>
 
#define DEBUG_DISPLAY_DEPTH_NORMAL 0
 
BEGIN_VISP_NAMESPACE
class VISP_EXPORT vpMbtFaceDepthNormal
{
public:
  enum vpFaceCentroidType
  {
    GEOMETRIC_CENTROID, 
    MEAN_CENTROID       
  };
 
  enum vpFeatureEstimationType
  {
    ROBUST_FEATURE_ESTIMATION = 0, 
    ROBUST_SVD_PLANE_ESTIMATION = 1, 
#if defined(VISP_HAVE_PCL) && defined(VISP_HAVE_PCL_COMMON) && defined(VISP_HAVE_PCL_SEGMENTATION) && defined(VISP_HAVE_PCL_FILTERS)
    PCL_PLANE_ESTIMATION = 2 
#endif
  };
 
  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;
 
  vpMbtFaceDepthNormal();
  virtual ~vpMbtFaceDepthNormal();
 
  void addLine(vpPoint &p1, vpPoint &p2, vpMbHiddenFaces<vpMbtPolygon> *const faces, vpUniRand &rand_gen,
               int polygon = -1, std::string name = "");
 
#if defined(VISP_HAVE_PCL) && defined(VISP_HAVE_PCL_COMMON) && defined(VISP_HAVE_PCL_SEGMENTATION) && defined(VISP_HAVE_PCL_FILTERS)
  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
#if DEBUG_DISPLAY_DEPTH_NORMAL
                              ,
                              vpImage<unsigned char> &debugImage, std::vector<std::vector<vpImagePoint> > &roiPts_vec
#endif
                              ,
                              const vpImage<bool> *mask = nullptr);
#endif
  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
#if DEBUG_DISPLAY_DEPTH_NORMAL
                              ,
                              vpImage<unsigned char> &debugImage, std::vector<std::vector<vpImagePoint> > &roiPts_vec
#endif
                              ,
                              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
#if DEBUG_DISPLAY_DEPTH_NORMAL
                              ,
                              vpImage<unsigned char> &debugImage, std::vector<std::vector<vpImagePoint> > &roiPts_vec
#endif
                              ,
                              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);
#if defined(VISP_HAVE_PCL) && defined(VISP_HAVE_PCL_COMMON) && defined(VISP_HAVE_PCL_SEGMENTATION) && defined(VISP_HAVE_PCL_FILTERS)
  void computeNormalVisibility(float nx, float ny, float nz, const pcl::PointXYZ &centroid_point,
                               pcl::PointXYZ &face_normal);
#endif
  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);
 
  inline bool isTracked() const { return m_isTrackedDepthNormalFace; }
 
  inline bool isVisible() const { return m_polygon->isvisible; }
 
  void setCameraParameters(const vpCameraParameters &camera);
 
  inline void setFaceCentroidMethod(const vpFaceCentroidType &method) { m_faceCentroidMethod = method; }
 
  inline void setFeatureEstimationMethod(const vpFeatureEstimationType &method) { m_featureEstimationMethod = method; }
 
  inline void setPclPlaneEstimationMethod(int method) { m_pclPlaneEstimationMethod = method; }
 
  inline void setPclPlaneEstimationRansacMaxIter(int maxIter) { m_pclPlaneEstimationRansacMaxIter = maxIter; }
 
  inline void setPclPlaneEstimationRansacThreshold(double threshold)
  {
    m_pclPlaneEstimationRansacThreshold = threshold;
  }
 
  void setScanLineVisibilityTest(bool v);
 
  inline void setTracked(bool tracked) { m_isTrackedDepthNormalFace = tracked; }
 
private:
  class PolygonLine
  {
  public:
    vpPoint *m_p1;
    vpPoint *m_p2;
    vpMbtPolygon m_poly;
    vpImagePoint m_imPt1;
    vpImagePoint m_imPt2;
 
    PolygonLine() : m_p1(nullptr), m_p2(nullptr), m_poly(), m_imPt1(), m_imPt2() { }
 
    PolygonLine(const PolygonLine &polyLine)
      : m_p1(nullptr), m_p2(nullptr), m_poly(polyLine.m_poly), m_imPt1(polyLine.m_imPt1), m_imPt2(polyLine.m_imPt2)
    {
      m_p1 = &m_poly.p[0];
      m_p2 = &m_poly.p[1];
    }
 
    PolygonLine &operator=(PolygonLine other)
    {
      swap(*this, other);
 
      return *this;
    }
 
    void swap(PolygonLine &first, PolygonLine &second)
    {
      using std::swap;
      swap(first.m_p1, second.m_p1);
      swap(first.m_p2, second.m_p2);
      swap(first.m_poly, second.m_poly);
      swap(first.m_imPt1, second.m_imPt1);
      swap(first.m_imPt2, second.m_imPt2);
    }
  };
 
  template <class T> class Mat33
  {
  public:
    std::vector<T> data;
 
    Mat33() : data(9) { }
 
    inline T operator[](const size_t i) const { return data[i]; }
 
    inline T &operator[](const size_t i) { return data[i]; }
 
    Mat33 inverse() const
    {
      // determinant
      T det = data[0] * (data[4] * data[8] - data[7] * data[5]) - data[1] * (data[3] * data[8] - data[5] * data[6]) +
        data[2] * (data[3] * data[7] - data[4] * data[6]);
      T invdet = 1 / det;
 
      Mat33<T> minv;
      minv[0] = (data[4] * data[8] - data[7] * data[5]) * invdet;
      minv[1] = (data[2] * data[7] - data[1] * data[8]) * invdet;
      minv[2] = (data[1] * data[5] - data[2] * data[4]) * invdet;
      minv[3] = (data[5] * data[6] - data[3] * data[8]) * invdet;
      minv[4] = (data[0] * data[8] - data[2] * data[6]) * invdet;
      minv[5] = (data[3] * data[2] - data[0] * data[5]) * invdet;
      minv[6] = (data[3] * data[7] - data[6] * data[4]) * invdet;
      minv[7] = (data[6] * data[1] - data[0] * data[7]) * invdet;
      minv[8] = (data[0] * data[4] - data[3] * data[1]) * invdet;
 
      return minv;
    }
  };
 
protected:
  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;
 
#if defined(VISP_HAVE_PCL) && defined(VISP_HAVE_PCL_COMMON) && defined(VISP_HAVE_PCL_SEGMENTATION) && defined(VISP_HAVE_PCL_FILTERS)
  bool computeDesiredFeaturesPCL(const pcl::PointCloud<pcl::PointXYZ>::ConstPtr &point_cloud_face,
                                 vpColVector &desired_features, vpColVector &desired_normal,
                                 vpColVector &centroid_point);
#endif
  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
#if DEBUG_DISPLAY_DEPTH_NORMAL
                  ,
                  std::vector<std::vector<vpImagePoint> > &roiPts_vec
#endif
  );
 
  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;
};
END_VISP_NAMESPACE
 
#ifdef VISP_HAVE_NLOHMANN_JSON
#include VISP_NLOHMANN_JSON(json.hpp)
#if defined(VISP_HAVE_PCL) && defined(VISP_HAVE_PCL_COMMON) && defined(VISP_HAVE_PCL_SEGMENTATION) && defined(VISP_HAVE_PCL_FILTERS)
NLOHMANN_JSON_SERIALIZE_ENUM(VISP_NAMESPACE_ADDRESSING vpMbtFaceDepthNormal::vpFeatureEstimationType, {
    {VISP_NAMESPACE_ADDRESSING vpMbtFaceDepthNormal::ROBUST_FEATURE_ESTIMATION, "robust"},
    {VISP_NAMESPACE_ADDRESSING vpMbtFaceDepthNormal::ROBUST_SVD_PLANE_ESTIMATION, "robustSVD"},
    {VISP_NAMESPACE_ADDRESSING vpMbtFaceDepthNormal::PCL_PLANE_ESTIMATION, "pcl"}
});
#else
NLOHMANN_JSON_SERIALIZE_ENUM(VISP_NAMESPACE_ADDRESSING vpMbtFaceDepthNormal::vpFeatureEstimationType, {
    {VISP_NAMESPACE_ADDRESSING vpMbtFaceDepthNormal::ROBUST_FEATURE_ESTIMATION, "robust"},
    {VISP_NAMESPACE_ADDRESSING vpMbtFaceDepthNormal::ROBUST_SVD_PLANE_ESTIMATION, "robustSVD"}
});
#endif
#endif
 
#endif