Visual Servoing Platform version 3.6.0
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vpMbtFaceDepthDense Class Reference

#include <vpMbtFaceDepthDense.h>

Public Types

enum  vpDepthDenseFilteringType { NO_FILTERING = 0 , DEPTH_OCCUPANCY_RATIO_FILTERING = 1 << 1 , MIN_DISTANCE_FILTERING = 1 << 2 , MAX_DISTANCE_FILTERING = 1 << 3 }

Public Member Functions

 vpMbtFaceDepthDense ()
virtual ~vpMbtFaceDepthDense ()
void addLine (vpPoint &p1, vpPoint &p2, vpMbHiddenFaces< vpMbtPolygon > *const faces, vpUniRand &rand_gen, int polygon=-1, std::string name="")
bool computeDesiredFeatures (const vpHomogeneousMatrix &cMo, const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &point_cloud, unsigned int stepX, unsigned int stepY, const vpImage< bool > *mask=NULL)
bool computeDesiredFeatures (const vpHomogeneousMatrix &cMo, unsigned int width, unsigned int height, const std::vector< vpColVector > &point_cloud, unsigned int stepX, unsigned int stepY, const vpImage< bool > *mask=NULL)
void computeInteractionMatrixAndResidu (const vpHomogeneousMatrix &cMo, vpMatrix &L, vpColVector &error)
void computeVisibility ()
void computeVisibilityDisplay ()
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 > > getModelForDisplay (unsigned int width, unsigned int height, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, bool displayFullModel=false)
unsigned int getNbFeatures () const
bool isTracked () const
bool isVisible () const
void setCameraParameters (const vpCameraParameters &camera)
void setScanLineVisibilityTest (bool v)
void setDepthDenseFilteringMaxDistance (double maxDistance)
void setDepthDenseFilteringMethod (int method)
void setDepthDenseFilteringMinDistance (double minDistance)
void setDepthDenseFilteringOccupancyRatio (double occupancyRatio)
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

void computeROI (const vpHomogeneousMatrix &cMo, unsigned int width, unsigned int height, std::vector< vpImagePoint > &roiPts, double &distanceToFace)
bool samePoint (const vpPoint &P1, const vpPoint &P2) const

Protected Attributes

int m_depthDenseFilteringMethod
double m_depthDenseFilteringMaxDist
double m_depthDenseFilteringMinDist
double m_depthDenseFilteringOccupancyRatio
bool m_isTrackedDepthDenseFace
bool m_isVisible
std::vector< vpMbtDistanceLine * > m_listOfFaceLines
vpPlane m_planeCamera
std::vector< double > m_pointCloudFace
std::vector< PolygonLine > m_polygonLines

Detailed Description

Definition at line 53 of file vpMbtFaceDepthDense.h.

Member Enumeration Documentation

◆ vpDepthDenseFilteringType

enum vpMbtFaceDepthDense::vpDepthDenseFilteringType
Enumerator
NO_FILTERING 

Face is used if visible.

DEPTH_OCCUPANCY_RATIO_FILTERING 

Face is used if there is enough depth information in the face polygon

MIN_DISTANCE_FILTERING 

Face is used if the camera position is farther than the threshold

MAX_DISTANCE_FILTERING 

Face is used if the camera position is closer than the threshold

Definition at line 56 of file vpMbtFaceDepthDense.h.

Constructor & Destructor Documentation

◆ vpMbtFaceDepthDense()

vpMbtFaceDepthDense::vpMbtFaceDepthDense ( )

Definition at line 170 of file vpMbtFaceDepthDense.cpp.

References DEPTH_OCCUPANCY_RATIO_FILTERING, m_cam, m_clippingFlag, m_depthDenseFilteringMaxDist, m_depthDenseFilteringMethod, m_depthDenseFilteringMinDist, m_depthDenseFilteringOccupancyRatio, m_distFarClip, m_distNearClip, m_hiddenFace, m_isTrackedDepthDenseFace, m_isVisible, m_listOfFaceLines, m_planeCamera, m_planeObject, m_pointCloudFace, m_polygon, m_polygonLines, and m_useScanLine.

◆ ~vpMbtFaceDepthDense()

vpMbtFaceDepthDense::~vpMbtFaceDepthDense ( )
virtual

Definition at line 179 of file vpMbtFaceDepthDense.cpp.

References m_listOfFaceLines.

Member Function Documentation

◆ addLine()

void vpMbtFaceDepthDense::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 ploygone'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 200 of file vpMbtFaceDepthDense.cpp.

References vpPolygon3D::addPoint(), 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, vpPolygon3D::p, vpMbtDistanceLine::p1, vpMbtDistanceLine::p2, samePoint(), vpMbtDistanceLine::setCameraParameters(), vpPolygon3D::setClipping(), vpPolygon3D::setFarClippingDistance(), vpMbtDistanceLine::setIndex(), vpMbtDistanceLine::setName(), vpPolygon3D::setNbPoint(), vpPolygon3D::setNearClippingDistance(), and vpMbtDistanceLine::useScanLine.

Referenced by vpMbDepthDenseTracker::addFace().

◆ computeDesiredFeatures() [1/2]

bool vpMbtFaceDepthDense::computeDesiredFeatures ( const vpHomogeneousMatrix & cMo,
const pcl::PointCloud< pcl::PointXYZ >::ConstPtr & point_cloud,
unsigned int stepX,
unsigned int stepY,
const vpImage< bool > * mask = NULL )

Definition at line 261 of file vpMbtFaceDepthDense.cpp.

References computeROI(), DEPTH_OCCUPANCY_RATIO_FILTERING, vpRect::getBottom(), vpPolygon::getBoundingBox(), vpRect::getHeight(), vpRect::getLeft(), vpRect::getRight(), vpRect::getTop(), vpRect::getWidth(), vpMeTracker::inMask(), vpPolygon::isInside(), m_depthDenseFilteringMaxDist, m_depthDenseFilteringMethod, m_depthDenseFilteringMinDist, m_depthDenseFilteringOccupancyRatio, m_hiddenFace, m_pointCloudFace, m_polygon, m_useScanLine, MAX_DISTANCE_FILTERING, MIN_DISTANCE_FILTERING, vpRect::setBottom(), vpRect::setLeft(), vpRect::setRight(), and vpRect::setTop().

Referenced by vpMbDepthDenseTracker::segmentPointCloud(), and vpMbDepthDenseTracker::segmentPointCloud().

◆ computeDesiredFeatures() [2/2]

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

Definition at line 352 of file vpMbtFaceDepthDense.cpp.

References computeROI(), DEPTH_OCCUPANCY_RATIO_FILTERING, vpRect::getBottom(), vpPolygon::getBoundingBox(), vpRect::getHeight(), vpRect::getLeft(), vpRect::getRight(), vpRect::getTop(), vpRect::getWidth(), vpMeTracker::inMask(), vpPolygon::isInside(), m_depthDenseFilteringMaxDist, m_depthDenseFilteringMethod, m_depthDenseFilteringMinDist, m_depthDenseFilteringOccupancyRatio, m_hiddenFace, m_pointCloudFace, m_polygon, m_useScanLine, MAX_DISTANCE_FILTERING, MIN_DISTANCE_FILTERING, vpRect::setBottom(), vpRect::setLeft(), vpRect::setRight(), and vpRect::setTop().

◆ computeInteractionMatrixAndResidu()

void vpMbtFaceDepthDense::computeInteractionMatrixAndResidu ( const vpHomogeneousMatrix & cMo,
vpMatrix & L,
vpColVector & error )

Definition at line 472 of file vpMbtFaceDepthDense.cpp.

References vpCPUFeatures::checkNeon(), vpCPUFeatures::checkSSE2(), vpArray2D< Type >::data, getNbFeatures(), m_planeCamera, m_planeObject, m_pointCloudFace, vpColVector::resize(), and vpColVector::t().

Referenced by vpMbDepthDenseTracker::computeVVSInteractionMatrixAndResidu().

◆ computeROI()

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

Definition at line 700 of file vpMbtFaceDepthDense.cpp.

References vpMeterPixelConversion::convertPoint(), vpPolygon3D::DOWN_CLIPPING, vpPolygon3D::FAR_CLIPPING, vpPoint::get_X(), vpPoint::get_Y(), vpPoint::get_Z(), vpPolygon3D::LEFT_CLIPPING, m_cam, m_clippingFlag, m_hiddenFace, m_polygon, m_polygonLines, m_useScanLine, vpPolygon3D::NEAR_CLIPPING, vpPolygon3D::RIGHT_CLIPPING, vpPoint::set_X(), vpPoint::set_Y(), vpPoint::set_Z(), and vpPolygon3D::UP_CLIPPING.

Referenced by computeDesiredFeatures(), and computeDesiredFeatures().

◆ computeVisibility()

void vpMbtFaceDepthDense::computeVisibility ( )

Definition at line 437 of file vpMbtFaceDepthDense.cpp.

References m_isVisible, and m_polygon.

Referenced by vpMbDepthDenseTracker::computeVisibility().

◆ computeVisibilityDisplay()

void vpMbtFaceDepthDense::computeVisibilityDisplay ( )

Definition at line 439 of file vpMbtFaceDepthDense.cpp.

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

Referenced by getModelForDisplay().

◆ display() [1/2]

void vpMbtFaceDepthDense::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 807 of file vpMbtFaceDepthDense.cpp.

References vpDisplay::displayLine(), and getModelForDisplay().

◆ display() [2/2]

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

Definition at line 821 of file vpMbtFaceDepthDense.cpp.

References vpDisplay::displayLine(), and getModelForDisplay().

◆ displayFeature() [1/2]

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

Definition at line 835 of file vpMbtFaceDepthDense.cpp.

◆ displayFeature() [2/2]

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

Definition at line 841 of file vpMbtFaceDepthDense.cpp.

◆ getModelForDisplay()

std::vector< std::vector< double > > vpMbtFaceDepthDense::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 858 of file vpMbtFaceDepthDense.cpp.

References computeVisibilityDisplay(), vpMbtDistanceLine::getModelForDisplay(), m_isTrackedDepthDenseFace, m_listOfFaceLines, and m_polygon.

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

◆ getNbFeatures()

unsigned int vpMbtFaceDepthDense::getNbFeatures ( ) const
inline

Definition at line 129 of file vpMbtFaceDepthDense.h.

References m_pointCloudFace.

Referenced by computeInteractionMatrixAndResidu(), and vpMbDepthDenseTracker::computeVVSInit().

◆ isTracked()

bool vpMbtFaceDepthDense::isTracked ( ) const
inline

Definition at line 131 of file vpMbtFaceDepthDense.h.

References m_isTrackedDepthDenseFace.

Referenced by vpMbDepthDenseTracker::segmentPointCloud(), and vpMbDepthDenseTracker::segmentPointCloud().

◆ isVisible()

bool vpMbtFaceDepthDense::isVisible ( ) const
inline

Definition at line 133 of file vpMbtFaceDepthDense.h.

References m_polygon.

Referenced by vpMbDepthDenseTracker::segmentPointCloud(), and vpMbDepthDenseTracker::segmentPointCloud().

◆ samePoint()

bool vpMbtFaceDepthDense::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 889 of file vpMbtFaceDepthDense.cpp.

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

Referenced by addLine().

◆ setCameraParameters()

void vpMbtFaceDepthDense::setCameraParameters ( const vpCameraParameters & camera)

Definition at line 902 of file vpMbtFaceDepthDense.cpp.

References m_cam, and m_listOfFaceLines.

◆ setDepthDenseFilteringMaxDistance()

void vpMbtFaceDepthDense::setDepthDenseFilteringMaxDistance ( double maxDistance)
inline

Definition at line 139 of file vpMbtFaceDepthDense.h.

References m_depthDenseFilteringMaxDist.

◆ setDepthDenseFilteringMethod()

void vpMbtFaceDepthDense::setDepthDenseFilteringMethod ( int method)
inline

Definition at line 141 of file vpMbtFaceDepthDense.h.

References m_depthDenseFilteringMethod.

◆ setDepthDenseFilteringMinDistance()

void vpMbtFaceDepthDense::setDepthDenseFilteringMinDistance ( double minDistance)
inline

Definition at line 143 of file vpMbtFaceDepthDense.h.

References m_depthDenseFilteringMinDist.

◆ setDepthDenseFilteringOccupancyRatio()

void vpMbtFaceDepthDense::setDepthDenseFilteringOccupancyRatio ( double occupancyRatio)
inline

Definition at line 145 of file vpMbtFaceDepthDense.h.

References m_depthDenseFilteringOccupancyRatio.

◆ setScanLineVisibilityTest()

void vpMbtFaceDepthDense::setScanLineVisibilityTest ( bool v)

Definition at line 912 of file vpMbtFaceDepthDense.cpp.

References m_listOfFaceLines, and m_useScanLine.

◆ setTracked()

void vpMbtFaceDepthDense::setTracked ( bool tracked)
inline

Definition at line 154 of file vpMbtFaceDepthDense.h.

References m_isTrackedDepthDenseFace.

Referenced by vpMbDepthDenseTracker::setUseDepthDenseTracking().

Member Data Documentation

◆ m_cam

vpCameraParameters vpMbtFaceDepthDense::m_cam

Camera intrinsic parameters.

Definition at line 68 of file vpMbtFaceDepthDense.h.

Referenced by vpMbDepthDenseTracker::addFace(), addLine(), computeROI(), setCameraParameters(), and vpMbtFaceDepthDense().

◆ m_clippingFlag

unsigned int vpMbtFaceDepthDense::m_clippingFlag

Flags specifying which clipping to used.

Definition at line 70 of file vpMbtFaceDepthDense.h.

Referenced by vpMbDepthDenseTracker::addFace(), addLine(), computeROI(), and vpMbtFaceDepthDense().

◆ m_depthDenseFilteringMaxDist

double vpMbtFaceDepthDense::m_depthDenseFilteringMaxDist
protected

Maximum distance threshold.

Definition at line 202 of file vpMbtFaceDepthDense.h.

Referenced by computeDesiredFeatures(), computeDesiredFeatures(), setDepthDenseFilteringMaxDistance(), and vpMbtFaceDepthDense().

◆ m_depthDenseFilteringMethod

int vpMbtFaceDepthDense::m_depthDenseFilteringMethod
protected

Method to use to consider or not the face.

Definition at line 200 of file vpMbtFaceDepthDense.h.

Referenced by computeDesiredFeatures(), computeDesiredFeatures(), setDepthDenseFilteringMethod(), and vpMbtFaceDepthDense().

◆ m_depthDenseFilteringMinDist

double vpMbtFaceDepthDense::m_depthDenseFilteringMinDist
protected

Minimum distance threshold.

Definition at line 204 of file vpMbtFaceDepthDense.h.

Referenced by computeDesiredFeatures(), computeDesiredFeatures(), setDepthDenseFilteringMinDistance(), and vpMbtFaceDepthDense().

◆ m_depthDenseFilteringOccupancyRatio

double vpMbtFaceDepthDense::m_depthDenseFilteringOccupancyRatio
protected

Ratio between available depth points and theoretical number of points.

Definition at line 206 of file vpMbtFaceDepthDense.h.

Referenced by computeDesiredFeatures(), computeDesiredFeatures(), setDepthDenseFilteringOccupancyRatio(), and vpMbtFaceDepthDense().

◆ m_distFarClip

double vpMbtFaceDepthDense::m_distFarClip

Distance for near clipping.

Definition at line 72 of file vpMbtFaceDepthDense.h.

Referenced by vpMbDepthDenseTracker::addFace(), addLine(), and vpMbtFaceDepthDense().

◆ m_distNearClip

double vpMbtFaceDepthDense::m_distNearClip

Distance for near clipping.

Definition at line 74 of file vpMbtFaceDepthDense.h.

Referenced by vpMbDepthDenseTracker::addFace(), addLine(), and vpMbtFaceDepthDense().

◆ m_hiddenFace

vpMbHiddenFaces<vpMbtPolygon>* vpMbtFaceDepthDense::m_hiddenFace

Pointer to the list of faces.

Definition at line 76 of file vpMbtFaceDepthDense.h.

Referenced by vpMbDepthDenseTracker::addFace(), computeDesiredFeatures(), computeDesiredFeatures(), computeROI(), and vpMbtFaceDepthDense().

◆ m_isTrackedDepthDenseFace

bool vpMbtFaceDepthDense::m_isTrackedDepthDenseFace
protected

Flag to define if the face should be tracked or not.

Definition at line 208 of file vpMbtFaceDepthDense.h.

Referenced by getModelForDisplay(), isTracked(), setTracked(), and vpMbtFaceDepthDense().

◆ m_isVisible

bool vpMbtFaceDepthDense::m_isVisible
protected

Visibility flag.

Definition at line 210 of file vpMbtFaceDepthDense.h.

Referenced by computeVisibility(), and vpMbtFaceDepthDense().

◆ m_listOfFaceLines

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

Definition at line 211 of file vpMbtFaceDepthDense.h.

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

◆ m_planeCamera

vpPlane vpMbtFaceDepthDense::m_planeCamera
protected

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

Definition at line 214 of file vpMbtFaceDepthDense.h.

Referenced by computeInteractionMatrixAndResidu(), and vpMbtFaceDepthDense().

◆ m_planeObject

vpPlane vpMbtFaceDepthDense::m_planeObject

Plane equation described in the object frame.

Definition at line 78 of file vpMbtFaceDepthDense.h.

Referenced by vpMbDepthDenseTracker::addFace(), computeInteractionMatrixAndResidu(), and vpMbtFaceDepthDense().

◆ m_pointCloudFace

std::vector<double> vpMbtFaceDepthDense::m_pointCloudFace
protected

List of depth points inside the face.

Definition at line 216 of file vpMbtFaceDepthDense.h.

Referenced by computeDesiredFeatures(), computeDesiredFeatures(), computeInteractionMatrixAndResidu(), getNbFeatures(), and vpMbtFaceDepthDense().

◆ m_polygon

vpMbtPolygon* vpMbtFaceDepthDense::m_polygon

Polygon defining the face.

Definition at line 80 of file vpMbtFaceDepthDense.h.

Referenced by vpMbDepthDenseTracker::addFace(), computeDesiredFeatures(), computeDesiredFeatures(), computeROI(), computeVisibility(), getModelForDisplay(), isVisible(), vpMbDepthDenseTracker::setUseDepthDenseTracking(), and vpMbtFaceDepthDense().

◆ m_polygonLines

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

Polygon lines used for scan-line visibility.

Definition at line 218 of file vpMbtFaceDepthDense.h.

Referenced by addLine(), computeROI(), and vpMbtFaceDepthDense().

◆ m_useScanLine

bool vpMbtFaceDepthDense::m_useScanLine

Scan line visibility.

Definition at line 82 of file vpMbtFaceDepthDense.h.

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