MbtFaceDepthNormal¶

class MbtFaceDepthNormal(self)¶

Bases: pybind11_object

Methods

__init__
computeInteractionMatrix
computeNormalVisibility	Overloaded function.
computeVisibility
computeVisibilityDisplay
display	Overloaded function.
displayFeature	Overloaded function.
getFeaturesForDisplay	Return a list of features parameters for display.
getModelForDisplay	Return a list of line parameters to display the primitive at a given pose and camera parameters.
isTracked
isVisible
planeIsInvalid	Returns true when the plane is nearly parallalel to the optical axis and close to the optical center.
setCameraParameters
setFaceCentroidMethod
setFeatureEstimationMethod
setPclPlaneEstimationMethod
setPclPlaneEstimationRansacMaxIter
setPclPlaneEstimationRansacThreshold
setScanLineVisibilityTest
setTracked

Inherited Methods

Operators

__doc__
__init__
__module__

Attributes

GEOMETRIC_CENTROID
MEAN_CENTROID
PCL_PLANE_ESTIMATION
ROBUST_FEATURE_ESTIMATION
ROBUST_SVD_PLANE_ESTIMATION
__annotations__
cam
clippingFlag
distFarClip
distNearClip
planeObject
useScanLine

class FaceCentroidType(self, value: int)¶

Bases: pybind11_object

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

Values:

• 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.

__and__(self, other: object) → object¶

__eq__(self, other: object) → bool¶

__ge__(self, other: object) → bool¶

__getstate__(self) → int¶

__gt__(self, other: object) → bool¶

__hash__(self) → int¶

__index__(self) → int¶

__init__(self, value: int)¶

__int__(self) → int¶

__invert__(self) → object¶

__le__(self, other: object) → bool¶

__lt__(self, other: object) → bool¶

__ne__(self, other: object) → bool¶

__or__(self, other: object) → object¶

__rand__(self, other: object) → object¶

__ror__(self, other: object) → object¶

__rxor__(self, other: object) → object¶

__setstate__(self, state: int) → None¶

__xor__(self, other: object) → object¶

property name : str¶

class FeatureEstimationType(self, value: int)¶

Bases: pybind11_object

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

Values:

• 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.

__and__(self, other: object) → object¶

__eq__(self, other: object) → bool¶

__ge__(self, other: object) → bool¶

__getstate__(self) → int¶

__gt__(self, other: object) → bool¶

__hash__(self) → int¶

__index__(self) → int¶

__init__(self, value: int)¶

__int__(self) → int¶

__invert__(self) → object¶

__le__(self, other: object) → bool¶

__lt__(self, other: object) → bool¶

__ne__(self, other: object) → bool¶

__or__(self, other: object) → object¶

__rand__(self, other: object) → object¶

__ror__(self, other: object) → object¶

__rxor__(self, other: object) → object¶

__setstate__(self, state: int) → None¶

__xor__(self, other: object) → object¶

property name : str¶

__init__(self)¶

computeInteractionMatrix(self, cMo: visp._visp.core.HomogeneousMatrix, L: visp._visp.core.Matrix, features: visp._visp.core.ColVector) → None¶

computeNormalVisibility(*args, **kwargs)¶

Overloaded function.

1. computeNormalVisibility(self: visp._visp.mbt.MbtFaceDepthNormal, nx: float, ny: float, nz: float, centroid_point: visp._visp.core.ColVector, face_normal: visp._visp.core.ColVector) -> None

2. computeNormalVisibility(self: visp._visp.mbt.MbtFaceDepthNormal, nx: float, ny: float, nz: float, centroid_point: pcl::PointXYZ, face_normal: pcl::PointXYZ) -> None

3. computeNormalVisibility(self: visp._visp.mbt.MbtFaceDepthNormal, nx: float, ny: float, nz: float, cMo: visp._visp.core.HomogeneousMatrix, camera: visp._visp.core.CameraParameters, correct_normal: visp._visp.core.ColVector, centroid: visp._visp.core.Point) -> None

computeVisibility(self) → None¶

computeVisibilityDisplay(self) → None¶

display(*args, **kwargs)¶

Overloaded function.

1. display(self: visp._visp.mbt.MbtFaceDepthNormal, I: visp._visp.core.ImageGray, cMo: visp._visp.core.HomogeneousMatrix, cam: visp._visp.core.CameraParameters, col: visp._visp.core.Color, thickness: int = 1, displayFullModel: bool = false) -> None

2. display(self: visp._visp.mbt.MbtFaceDepthNormal, I: visp._visp.core.ImageRGBa, cMo: visp._visp.core.HomogeneousMatrix, cam: visp._visp.core.CameraParameters, col: visp._visp.core.Color, thickness: int = 1, displayFullModel: bool = false) -> None

displayFeature(*args, **kwargs)¶

Overloaded function.

1. displayFeature(self: visp._visp.mbt.MbtFaceDepthNormal, I: visp._visp.core.ImageGray, cMo: visp._visp.core.HomogeneousMatrix, cam: visp._visp.core.CameraParameters, scale: float = 0.05, thickness: int = 1) -> None

2. displayFeature(self: visp._visp.mbt.MbtFaceDepthNormal, I: visp._visp.core.ImageRGBa, cMo: visp._visp.core.HomogeneousMatrix, cam: visp._visp.core.CameraParameters, scale: float = 0.05, thickness: int = 1) -> None

getFeaturesForDisplay(self, cMo: visp._visp.core.HomogeneousMatrix, cam: visp._visp.core.CameraParameters, scale: float = 0.05) → list[list[float]]¶

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()

getModelForDisplay(self, width: int, height: int, cMo: visp._visp.core.HomogeneousMatrix, cam: visp._visp.core.CameraParameters, displayFullModel: bool = false) → list[list[float]]¶

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: int¶

Image width.

height: int¶

Image height.

cMo: visp._visp.core.HomogeneousMatrix¶

Pose used to project the 3D model into the image.

cam: visp._visp.core.CameraParameters¶

The camera parameters.

displayFullModel: bool = false¶

If true, the line is displayed even if it is not

isTracked(self) → bool¶

isVisible(self) → bool¶

planeIsInvalid(self, cMo: visp._visp.core.HomogeneousMatrix, maxAngle: float) → bool¶

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.

setCameraParameters(self, camera: visp._visp.core.CameraParameters) → None¶

setFaceCentroidMethod(self, method: visp._visp.mbt.MbtFaceDepthNormal.FaceCentroidType) → None¶

setFeatureEstimationMethod(self, method: visp._visp.mbt.MbtFaceDepthNormal.FeatureEstimationType) → None¶

setPclPlaneEstimationMethod(self, method: int) → None¶

setPclPlaneEstimationRansacMaxIter(self, maxIter: int) → None¶

setPclPlaneEstimationRansacThreshold(self, threshold: float) → None¶

setScanLineVisibilityTest(self, v: bool) → None¶

setTracked(self, tracked: bool) → None¶