vpMbtFaceDepthNormal Class Reference

#include <vpMbtFaceDepthNormal.h>

Public Types
enum	vpFaceCentroidType { GEOMETRIC_CENTROID , MEAN_CENTROID }
enum	vpFeatureEstimationType { ROBUST_FEATURE_ESTIMATION = 0 , ROBUST_SVD_PLANE_ESTIMATION = 1 , PCL_PLANE_ESTIMATION = 2 }

Public Member Functions
	vpMbtFaceDepthNormal ()
	vpMbtFaceDepthNormal (const vpMbtFaceDepthNormal &mbt_face)
virtual	~vpMbtFaceDepthNormal ()
vpMbtFaceDepthNormal &	operator= (const vpMbtFaceDepthNormal &mbt_face)
void	addLine (vpPoint &p1, vpPoint &p2, vpMbHiddenFaces< vpMbtPolygon > *const faces, vpUniRand &rand_gen, int polygon=-1, std::string name="")
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, const vpImage< bool > *mask=nullptr)
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, 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, 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)
void	computeNormalVisibility (float nx, float ny, float nz, const pcl::PointXYZ &centroid_point, pcl::PointXYZ &face_normal)
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)
bool	isTracked () const
bool	isVisible () const
void	setCameraParameters (const vpCameraParameters &camera)
void	setFaceCentroidMethod (const vpFaceCentroidType &method)
void	setFeatureEstimationMethod (const vpFeatureEstimationType &method)
void	setPclPlaneEstimationMethod (int method)
void	setPclPlaneEstimationRansacMaxIter (int maxIter)
void	setPclPlaneEstimationRansacThreshold (double threshold)
void	setScanLineVisibilityTest (bool v)
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
bool	computeDesiredFeaturesPCL (const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &point_cloud_face, vpColVector &desired_features, vpColVector &desired_normal, vpColVector &centroid_point)
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)
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

Protected Attributes
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

Detailed Description

Manage depth normal features for a particular face.

Tutorials & Examples

Tutorials
If you are interested in using a MBT tracker in your applications, you may have a look at:

• Tutorial: Markerless generic model-based tracking using a color camera
• Tutorial: Markerless generic model-based tracking using a stereo camera
• Tutorial: Markerless generic model-based tracking using a RGB-D camera
• Tutorial: Markerless generic model-based tracking using AprilTag for initialization (use case)
• Tutorial: Loading a model-based generic tracker from JSON
• Tutorial: How to use Blender to generate simulated data for model-based tracking experiments

Definition at line 68 of file vpMbtFaceDepthNormal.h.

Member Enumeration Documentation

vpFaceCentroidType

enum vpMbtFaceDepthNormal::vpFaceCentroidType

How to compute the centroid of a face using depth feature.

Enumerator
GEOMETRIC_CENTROID	Compute the geometric centroid.
MEAN_CENTROID	Compute the mean centroid.

Definition at line 74 of file vpMbtFaceDepthNormal.h.

vpFeatureEstimationType

enum vpMbtFaceDepthNormal::vpFeatureEstimationType

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

Enumerator
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.

Definition at line 83 of file vpMbtFaceDepthNormal.h.

Constructor & Destructor Documentation

vpMbtFaceDepthNormal() [1/2]

BEGIN_VISP_NAMESPACE vpMbtFaceDepthNormal::vpMbtFaceDepthNormal

(

)

Definition at line 57 of file vpMbtFaceDepthNormal.cpp.

References GEOMETRIC_CENTROID, m_cam, m_clippingFlag, m_distFarClip, m_distNearClip, m_faceActivated, m_faceCentroidMethod, m_faceDesiredCentroid, m_faceDesiredNormal, m_featureEstimationMethod, m_hiddenFace, m_isTrackedDepthNormalFace, m_isVisible, m_listOfFaceLines, m_pclPlaneEstimationMethod, m_pclPlaneEstimationRansacMaxIter, m_pclPlaneEstimationRansacThreshold, m_planeCamera, m_planeObject, m_polygon, m_polygonLines, m_useScanLine, and ROBUST_FEATURE_ESTIMATION.

Referenced by operator=(), and vpMbtFaceDepthNormal().

vpMbtFaceDepthNormal() [2/2]

vpMbtFaceDepthNormal::vpMbtFaceDepthNormal

(

const vpMbtFaceDepthNormal &

mbt_face

)

Copy constructor.

Parameters

mbt_face

: MBT face to copy.

Definition at line 71 of file vpMbtFaceDepthNormal.cpp.

References vpMbtFaceDepthNormal().

~vpMbtFaceDepthNormal()

vpMbtFaceDepthNormal::~vpMbtFaceDepthNormal ( )

virtual

Destructor.

Definition at line 110 of file vpMbtFaceDepthNormal.cpp.

References m_listOfFaceLines.

Member Function Documentation

addLine()

void vpMbtFaceDepthNormal::addLine	(	vpPoint &	P1,
		vpPoint &	P2,
		vpMbHiddenFaces< vpMbtPolygon > *const	faces,
		vpUniRand &	rand_gen,
		int	polygon = -1,
		std::string	name = "" )

Add a line belonging to the the polygon to the list of lines. It is defined by its two extremities.

If the line already exists, the polygon'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 131 of file vpMbtFaceDepthNormal.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 vpMbDepthNormalTracker::addFace().

computeDesiredFeatures() [1/3]

bool vpMbtFaceDepthNormal::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,
		const vpImage< bool > *	mask = nullptr )

Definition at line 192 of file vpMbtFaceDepthNormal.cpp.

References vpException::badValue, vpCPUFeatures::checkSSE2(), computeDesiredFeaturesPCL(), computeDesiredFeaturesRobustFeatures(), computeDesiredFeaturesSVD(), computeDesiredNormalAndCentroid(), computeROI(), vpPixelMeterConversion::convertPoint(), vpPolygon::getBoundingBox(), vpMeTracker::inRoiMask(), vpPolygon::isInside(), m_cam, m_faceActivated, m_featureEstimationMethod, m_hiddenFace, m_polygon, m_useScanLine, PCL_PLANE_ESTIMATION, ROBUST_FEATURE_ESTIMATION, and ROBUST_SVD_PLANE_ESTIMATION.

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

computeDesiredFeatures() [2/3]

bool vpMbtFaceDepthNormal::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,
		const vpImage< bool > *	mask = nullptr )

Definition at line 359 of file vpMbtFaceDepthNormal.cpp.

References vpException::badValue, vpCPUFeatures::checkSSE2(), computeDesiredFeaturesPCL(), computeDesiredFeaturesRobustFeatures(), computeDesiredFeaturesSVD(), computeDesiredNormalAndCentroid(), computeROI(), vpPixelMeterConversion::convertPoint(), vpPolygon::getBoundingBox(), vpMeTracker::inRoiMask(), vpPolygon::isInside(), m_cam, m_faceActivated, m_featureEstimationMethod, m_hiddenFace, m_polygon, m_useScanLine, PCL_PLANE_ESTIMATION, ROBUST_FEATURE_ESTIMATION, and ROBUST_SVD_PLANE_ESTIMATION.

computeDesiredFeatures() [3/3]

bool vpMbtFaceDepthNormal::computeDesiredFeatures	(	const vpHomogeneousMatrix &	cMo,
		unsigned int	width,
		unsigned int	height,
		const vpMatrix &	point_cloud,
		vpColVector &	desired_features,
		unsigned int	stepX,
		unsigned int	stepY,
		const vpImage< bool > *	mask = nullptr )

Definition at line 520 of file vpMbtFaceDepthNormal.cpp.

References vpException::badValue, vpCPUFeatures::checkSSE2(), computeDesiredFeaturesPCL(), computeDesiredFeaturesRobustFeatures(), computeDesiredFeaturesSVD(), computeDesiredNormalAndCentroid(), computeROI(), vpPixelMeterConversion::convertPoint(), vpPolygon::getBoundingBox(), vpMeTracker::inRoiMask(), vpPolygon::isInside(), m_cam, m_faceActivated, m_featureEstimationMethod, m_hiddenFace, m_polygon, m_useScanLine, PCL_PLANE_ESTIMATION, ROBUST_FEATURE_ESTIMATION, and ROBUST_SVD_PLANE_ESTIMATION.

computeDesiredFeaturesPCL()

bool vpMbtFaceDepthNormal::computeDesiredFeaturesPCL ( const pcl::PointCloud< pcl::PointXYZ >::ConstPtr & point_cloud_face, vpColVector & desired_features, vpColVector & desired_normal, vpColVector & centroid_point )

protected

Definition at line 681 of file vpMbtFaceDepthNormal.cpp.

References computeNormalVisibility(), m_pclPlaneEstimationMethod, m_pclPlaneEstimationRansacMaxIter, m_pclPlaneEstimationRansacThreshold, and vpColVector::resize().

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

computeDesiredFeaturesRobustFeatures()

void vpMbtFaceDepthNormal::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 )

protected

Definition at line 753 of file vpMbtFaceDepthNormal.cpp.

References computeNormalVisibility(), and estimateFeatures().

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

computeDesiredFeaturesSVD()

void vpMbtFaceDepthNormal::computeDesiredFeaturesSVD ( const std::vector< double > & point_cloud_face, const vpHomogeneousMatrix & cMo, vpColVector & desired_features, vpColVector & desired_normal, vpColVector & centroid_point )

protected

Definition at line 781 of file vpMbtFaceDepthNormal.cpp.

References computeNormalVisibility(), estimatePlaneEquationSVD(), and vpColVector::resize().

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

computeDesiredNormalAndCentroid()

void vpMbtFaceDepthNormal::computeDesiredNormalAndCentroid ( const vpHomogeneousMatrix & cMo, const vpColVector & desired_normal, const vpColVector & centroid_point )

protected

Definition at line 797 of file vpMbtFaceDepthNormal.cpp.

References m_faceDesiredCentroid, and m_faceDesiredNormal.

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

computeInteractionMatrix()

void vpMbtFaceDepthNormal::computeInteractionMatrix	(	const vpHomogeneousMatrix &	cMo,
		vpMatrix &	L,
		vpColVector &	features )

Definition at line 1111 of file vpMbtFaceDepthNormal.cpp.

References m_planeCamera, m_planeObject, and vpColVector::resize().

computeNormalVisibility() [1/3]

void vpMbtFaceDepthNormal::computeNormalVisibility	(	double	nx,
		double	ny,
		double	nz,
		const vpColVector &	centroid_point,
		vpColVector &	face_normal )

Definition at line 1065 of file vpMbtFaceDepthNormal.cpp.

References vpColVector::dotProd(), vpColVector::normalize(), and vpColVector::resize().

Referenced by computeDesiredFeaturesPCL(), computeDesiredFeaturesRobustFeatures(), computeDesiredFeaturesSVD(), displayFeature(), displayFeature(), and getFeaturesForDisplay().

computeNormalVisibility() [2/3]

void vpMbtFaceDepthNormal::computeNormalVisibility	(	double	nx,
		double	ny,
		double	nz,
		const vpHomogeneousMatrix &	cMo,
		const vpCameraParameters &	camera,
		vpColVector &	correct_normal,
		vpPoint &	centroid )

Definition at line 975 of file vpMbtFaceDepthNormal.cpp.

References computePolygonCentroid(), vpColVector::dotProd(), GEOMETRIC_CENTROID, vpPoint::get_X(), vpPoint::get_Y(), vpPoint::get_Z(), m_faceCentroidMethod, m_polygon, vpColVector::normalize(), vpForwardProjection::project(), vpColVector::resize(), vpPoint::set_X(), vpPoint::set_Y(), and vpPoint::set_Z().

computeNormalVisibility() [3/3]

void vpMbtFaceDepthNormal::computeNormalVisibility	(	float	nx,
		float	ny,
		float	nz,
		const pcl::PointXYZ &	centroid_point,
		pcl::PointXYZ &	face_normal )

Definition at line 1040 of file vpMbtFaceDepthNormal.cpp.

References vpColVector::dotProd(), and vpColVector::normalize().

computePolygonCentroid()

bool vpMbtFaceDepthNormal::computePolygonCentroid ( const std::vector< vpPoint > & points, vpPoint & centroid )

protected

Definition at line 822 of file vpMbtFaceDepthNormal.cpp.

References vpPoint::set_X(), vpPoint::set_Y(), and vpPoint::set_Z().

Referenced by computeNormalVisibility(), and planeIsInvalid().

computeROI()

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

protected

Definition at line 872 of file vpMbtFaceDepthNormal.cpp.

References vpMeterPixelConversion::convertPoint(), vpPolygon3D::DOWN_CLIPPING, vpPolygon3D::FAR_CLIPPING, vpPolygon3D::LEFT_CLIPPING, m_cam, m_clippingFlag, m_hiddenFace, m_polygon, m_polygonLines, m_useScanLine, vpPolygon3D::NEAR_CLIPPING, vpPolygon3D::RIGHT_CLIPPING, and vpPolygon3D::UP_CLIPPING.

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

computeVisibility()

void vpMbtFaceDepthNormal::computeVisibility

(

)

Definition at line 938 of file vpMbtFaceDepthNormal.cpp.

References m_isVisible, and m_polygon.

Referenced by vpMbDepthNormalTracker::computeVisibility().

computeVisibilityDisplay()

void vpMbtFaceDepthNormal::computeVisibilityDisplay

(

)

Definition at line 940 of file vpMbtFaceDepthNormal.cpp.

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

Referenced by getModelForDisplay().

display() [1/2]

void vpMbtFaceDepthNormal::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 1156 of file vpMbtFaceDepthNormal.cpp.

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

display() [2/2]

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

Definition at line 1170 of file vpMbtFaceDepthNormal.cpp.

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

displayFeature() [1/2]

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

Definition at line 1184 of file vpMbtFaceDepthNormal.cpp.

References vpColor::blue, vpPoint::changeFrame(), vpCameraParameters::computeFov(), computeNormalVisibility(), vpMeterPixelConversion::convertPoint(), vpDisplay::displayArrow(), vpPoint::get_X(), vpPoint::get_x(), vpPoint::get_Y(), vpPoint::get_y(), vpPoint::get_Z(), m_faceActivated, m_faceDesiredCentroid, m_faceDesiredNormal, m_isTrackedDepthNormalFace, m_isVisible, m_planeCamera, m_planeObject, vpForwardProjection::project(), vpColor::red, vpPoint::set_X(), vpPoint::set_Y(), and vpPoint::set_Z().

displayFeature() [2/2]

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

Definition at line 1239 of file vpMbtFaceDepthNormal.cpp.

References vpColor::blue, vpPoint::changeFrame(), vpCameraParameters::computeFov(), computeNormalVisibility(), vpMeterPixelConversion::convertPoint(), vpDisplay::displayArrow(), vpPoint::get_X(), vpPoint::get_x(), vpPoint::get_Y(), vpPoint::get_y(), vpPoint::get_Z(), m_faceActivated, m_faceDesiredCentroid, m_faceDesiredNormal, m_isTrackedDepthNormalFace, m_isVisible, m_planeCamera, m_planeObject, vpForwardProjection::project(), vpColor::red, vpPoint::set_X(), vpPoint::set_Y(), and vpPoint::set_Z().

estimateFeatures()

void vpMbtFaceDepthNormal::estimateFeatures ( const std::vector< double > & point_cloud_face, const vpHomogeneousMatrix & cMo, vpColVector & x_estimated, std::vector< double > & weights )

protected

Definition at line 1294 of file vpMbtFaceDepthNormal.cpp.

References vpCPUFeatures::checkSSE2(), m_planeCamera, m_planeObject, vpColVector::resize(), and vpMath::sqr().

Referenced by computeDesiredFeaturesRobustFeatures().

estimatePlaneEquationSVD()

void vpMbtFaceDepthNormal::estimatePlaneEquationSVD ( const std::vector< double > & point_cloud_face, const vpHomogeneousMatrix & cMo, vpColVector & plane_equation_estimated, vpColVector & centroid )

protected

Definition at line 1611 of file vpMbtFaceDepthNormal.cpp.

References vpMatrix::getCol(), m_planeCamera, m_planeObject, vpColVector::resize(), vpArray2D< Type >::size(), vpMatrix::svd(), and vpMatrix::t().

Referenced by computeDesiredFeaturesSVD().

getFeaturesForDisplay()

std::vector< std::vector< double > > vpMbtFaceDepthNormal::getFeaturesForDisplay	(	const vpHomogeneousMatrix &	cMo,
		const vpCameraParameters &	cam,
		double	scale = 0.05 )

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()

Definition at line 1746 of file vpMbtFaceDepthNormal.cpp.

References vpPoint::changeFrame(), computeNormalVisibility(), vpMeterPixelConversion::convertPoint(), vpImagePoint::get_i(), vpImagePoint::get_j(), vpPoint::get_X(), vpPoint::get_x(), vpPoint::get_Y(), vpPoint::get_y(), vpPoint::get_Z(), m_faceActivated, m_faceDesiredCentroid, m_faceDesiredNormal, m_isTrackedDepthNormalFace, m_isVisible, m_planeCamera, m_planeObject, vpForwardProjection::project(), vpPoint::set_X(), vpPoint::set_Y(), and vpPoint::set_Z().

Referenced by vpMbDepthNormalTracker::getFeaturesForDisplayDepthNormal().

getModelForDisplay()

std::vector< std::vector< double > > vpMbtFaceDepthNormal::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 1845 of file vpMbtFaceDepthNormal.cpp.

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

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

isTracked()

bool vpMbtFaceDepthNormal::isTracked ( ) const

inline

Definition at line 180 of file vpMbtFaceDepthNormal.h.

References m_isTrackedDepthNormalFace.

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

isVisible()

bool vpMbtFaceDepthNormal::isVisible ( ) const

inline

Definition at line 182 of file vpMbtFaceDepthNormal.h.

References m_polygon.

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

operator=()

vpMbtFaceDepthNormal & vpMbtFaceDepthNormal::operator=

(

const vpMbtFaceDepthNormal &

mbt_face

)

Copy operator.

Parameters

mbt_face

: MBT face to copy.

Definition at line 80 of file vpMbtFaceDepthNormal.cpp.

References m_cam, m_clippingFlag, m_distFarClip, m_distNearClip, m_faceActivated, m_faceCentroidMethod, m_faceDesiredCentroid, m_faceDesiredNormal, m_featureEstimationMethod, m_hiddenFace, m_isTrackedDepthNormalFace, m_isVisible, m_listOfFaceLines, m_pclPlaneEstimationMethod, m_pclPlaneEstimationRansacMaxIter, m_pclPlaneEstimationRansacThreshold, m_planeCamera, m_planeObject, m_polygon, m_polygonLines, m_useScanLine, and vpMbtFaceDepthNormal().

planeIsInvalid()

bool vpMbtFaceDepthNormal::planeIsInvalid	(	const vpHomogeneousMatrix &	cMo,
		double	maxAngle )

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.

Definition at line 1089 of file vpMbtFaceDepthNormal.cpp.

References vpPoint::changeFrame(), computePolygonCentroid(), vpColVector::frobeniusNorm(), vpPoint::get_X(), vpPoint::get_Y(), vpPoint::get_Z(), m_planeCamera, m_planeObject, m_polygon, and vpForwardProjection::project().

samePoint()

bool vpMbtFaceDepthNormal::samePoint ( const vpPoint & P1, const vpPoint & P2 ) const

protected

Check if two vpPoints are similar.

To be similar : .

Parameters

P1	: The first point to compare
P2	: The second point to compare

Definition at line 1876 of file vpMbtFaceDepthNormal.cpp.

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

Referenced by addLine().

setCameraParameters()

void vpMbtFaceDepthNormal::setCameraParameters

(

const vpCameraParameters &

camera

)

Definition at line 1889 of file vpMbtFaceDepthNormal.cpp.

References m_cam, and m_listOfFaceLines.

setFaceCentroidMethod()

void vpMbtFaceDepthNormal::setFaceCentroidMethod ( const vpFaceCentroidType & method )

inline

Definition at line 186 of file vpMbtFaceDepthNormal.h.

References m_faceCentroidMethod.

setFeatureEstimationMethod()

void vpMbtFaceDepthNormal::setFeatureEstimationMethod ( const vpFeatureEstimationType & method )

inline

Definition at line 188 of file vpMbtFaceDepthNormal.h.

References m_featureEstimationMethod.

Referenced by vpMbDepthNormalTracker::addFace().

setPclPlaneEstimationMethod()

void vpMbtFaceDepthNormal::setPclPlaneEstimationMethod ( int method )

inline

Definition at line 190 of file vpMbtFaceDepthNormal.h.

References m_pclPlaneEstimationMethod.

Referenced by vpMbDepthNormalTracker::addFace().

setPclPlaneEstimationRansacMaxIter()

void vpMbtFaceDepthNormal::setPclPlaneEstimationRansacMaxIter ( int maxIter )

inline

Definition at line 192 of file vpMbtFaceDepthNormal.h.

References m_pclPlaneEstimationRansacMaxIter.

Referenced by vpMbDepthNormalTracker::addFace().

setPclPlaneEstimationRansacThreshold()

void vpMbtFaceDepthNormal::setPclPlaneEstimationRansacThreshold ( double threshold )

inline

Definition at line 194 of file vpMbtFaceDepthNormal.h.

References m_pclPlaneEstimationRansacThreshold.

Referenced by vpMbDepthNormalTracker::addFace().

setScanLineVisibilityTest()

void vpMbtFaceDepthNormal::setScanLineVisibilityTest

(

bool

v

)

Definition at line 1899 of file vpMbtFaceDepthNormal.cpp.

References m_listOfFaceLines, and m_useScanLine.

setTracked()

void vpMbtFaceDepthNormal::setTracked ( bool tracked )

inline

Definition at line 201 of file vpMbtFaceDepthNormal.h.

References m_isTrackedDepthNormalFace.

Referenced by vpMbDepthNormalTracker::setUseDepthNormalTracking().

Member Data Documentation

m_cam

vpCameraParameters vpMbtFaceDepthNormal::m_cam

Camera intrinsic parameters.

Definition at line 93 of file vpMbtFaceDepthNormal.h.

Referenced by vpMbDepthNormalTracker::addFace(), addLine(), computeDesiredFeatures(), computeDesiredFeatures(), computeDesiredFeatures(), computeROI(), operator=(), setCameraParameters(), and vpMbtFaceDepthNormal().

m_clippingFlag

unsigned int vpMbtFaceDepthNormal::m_clippingFlag

Flags specifying which clipping to used.

Definition at line 95 of file vpMbtFaceDepthNormal.h.

Referenced by vpMbDepthNormalTracker::addFace(), addLine(), computeROI(), operator=(), and vpMbtFaceDepthNormal().

m_distFarClip

double vpMbtFaceDepthNormal::m_distFarClip

Distance for near clipping.

Definition at line 97 of file vpMbtFaceDepthNormal.h.

Referenced by vpMbDepthNormalTracker::addFace(), addLine(), operator=(), and vpMbtFaceDepthNormal().

m_distNearClip

double vpMbtFaceDepthNormal::m_distNearClip

Distance for near clipping.

Definition at line 99 of file vpMbtFaceDepthNormal.h.

Referenced by vpMbDepthNormalTracker::addFace(), addLine(), operator=(), and vpMbtFaceDepthNormal().

m_faceActivated

bool vpMbtFaceDepthNormal::m_faceActivated

protected

True if the face should be considered by the tracker.

Definition at line 280 of file vpMbtFaceDepthNormal.h.

Referenced by computeDesiredFeatures(), computeDesiredFeatures(), computeDesiredFeatures(), displayFeature(), displayFeature(), getFeaturesForDisplay(), operator=(), and vpMbtFaceDepthNormal().

m_faceCentroidMethod

vpFaceCentroidType vpMbtFaceDepthNormal::m_faceCentroidMethod

protected

Method to compute the face centroid for the current features.

Definition at line 282 of file vpMbtFaceDepthNormal.h.

Referenced by computeNormalVisibility(), operator=(), setFaceCentroidMethod(), and vpMbtFaceDepthNormal().

m_faceDesiredCentroid

vpPoint vpMbtFaceDepthNormal::m_faceDesiredCentroid

protected

Desired centroid (computed from the sensor).

Definition at line 284 of file vpMbtFaceDepthNormal.h.

Referenced by computeDesiredNormalAndCentroid(), displayFeature(), displayFeature(), getFeaturesForDisplay(), operator=(), and vpMbtFaceDepthNormal().

m_faceDesiredNormal

vpPoint vpMbtFaceDepthNormal::m_faceDesiredNormal

protected

Face (normalized) normal (computed from the sensor).

Definition at line 286 of file vpMbtFaceDepthNormal.h.

Referenced by computeDesiredNormalAndCentroid(), displayFeature(), displayFeature(), getFeaturesForDisplay(), operator=(), and vpMbtFaceDepthNormal().

m_featureEstimationMethod

vpFeatureEstimationType vpMbtFaceDepthNormal::m_featureEstimationMethod

protected

Method to estimate the desired features.

Definition at line 288 of file vpMbtFaceDepthNormal.h.

Referenced by computeDesiredFeatures(), computeDesiredFeatures(), computeDesiredFeatures(), operator=(), setFeatureEstimationMethod(), and vpMbtFaceDepthNormal().

m_hiddenFace

vpMbHiddenFaces<vpMbtPolygon>* vpMbtFaceDepthNormal::m_hiddenFace

Pointer to the list of faces.

Definition at line 101 of file vpMbtFaceDepthNormal.h.

Referenced by vpMbDepthNormalTracker::addFace(), computeDesiredFeatures(), computeDesiredFeatures(), computeDesiredFeatures(), computeROI(), operator=(), and vpMbtFaceDepthNormal().

m_isTrackedDepthNormalFace

bool vpMbtFaceDepthNormal::m_isTrackedDepthNormalFace

protected

Definition at line 290 of file vpMbtFaceDepthNormal.h.

Referenced by displayFeature(), displayFeature(), getFeaturesForDisplay(), getModelForDisplay(), isTracked(), operator=(), setTracked(), and vpMbtFaceDepthNormal().

m_isVisible

bool vpMbtFaceDepthNormal::m_isVisible

protected

Definition at line 292 of file vpMbtFaceDepthNormal.h.

Referenced by computeVisibility(), displayFeature(), displayFeature(), getFeaturesForDisplay(), operator=(), and vpMbtFaceDepthNormal().

m_listOfFaceLines

std::vector<vpMbtDistanceLine *> vpMbtFaceDepthNormal::m_listOfFaceLines

protected

Definition at line 294 of file vpMbtFaceDepthNormal.h.

Referenced by addLine(), computeVisibilityDisplay(), getModelForDisplay(), operator=(), setCameraParameters(), setScanLineVisibilityTest(), vpMbtFaceDepthNormal(), and ~vpMbtFaceDepthNormal().

m_pclPlaneEstimationMethod

int vpMbtFaceDepthNormal::m_pclPlaneEstimationMethod

protected

PCL plane estimation method.

Definition at line 299 of file vpMbtFaceDepthNormal.h.

Referenced by computeDesiredFeaturesPCL(), operator=(), setPclPlaneEstimationMethod(), and vpMbtFaceDepthNormal().

m_pclPlaneEstimationRansacMaxIter

int vpMbtFaceDepthNormal::m_pclPlaneEstimationRansacMaxIter

protected

PCL pane estimation max number of iterations.

Definition at line 301 of file vpMbtFaceDepthNormal.h.

Referenced by computeDesiredFeaturesPCL(), operator=(), setPclPlaneEstimationRansacMaxIter(), and vpMbtFaceDepthNormal().

m_pclPlaneEstimationRansacThreshold

double vpMbtFaceDepthNormal::m_pclPlaneEstimationRansacThreshold

protected

PCL plane estimation RANSAC threshold.

Definition at line 303 of file vpMbtFaceDepthNormal.h.

Referenced by computeDesiredFeaturesPCL(), operator=(), setPclPlaneEstimationRansacThreshold(), and vpMbtFaceDepthNormal().

m_planeCamera

vpPlane vpMbtFaceDepthNormal::m_planeCamera

protected

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

Definition at line 297 of file vpMbtFaceDepthNormal.h.

Referenced by computeInteractionMatrix(), displayFeature(), displayFeature(), estimateFeatures(), estimatePlaneEquationSVD(), getFeaturesForDisplay(), operator=(), planeIsInvalid(), and vpMbtFaceDepthNormal().

m_planeObject

vpPlane vpMbtFaceDepthNormal::m_planeObject

Plane equation described in the object frame.

Definition at line 103 of file vpMbtFaceDepthNormal.h.

Referenced by vpMbDepthNormalTracker::addFace(), computeInteractionMatrix(), displayFeature(), displayFeature(), estimateFeatures(), estimatePlaneEquationSVD(), getFeaturesForDisplay(), operator=(), planeIsInvalid(), and vpMbtFaceDepthNormal().

m_polygon

vpMbtPolygon* vpMbtFaceDepthNormal::m_polygon

Polygon defining the face.

Definition at line 105 of file vpMbtFaceDepthNormal.h.

Referenced by vpMbDepthNormalTracker::addFace(), computeDesiredFeatures(), computeDesiredFeatures(), computeDesiredFeatures(), computeNormalVisibility(), computeROI(), computeVisibility(), getModelForDisplay(), isVisible(), operator=(), planeIsInvalid(), vpMbDepthNormalTracker::setUseDepthNormalTracking(), and vpMbtFaceDepthNormal().

m_polygonLines

std::vector<PolygonLine> vpMbtFaceDepthNormal::m_polygonLines

protected

Definition at line 305 of file vpMbtFaceDepthNormal.h.

Referenced by addLine(), computeROI(), operator=(), and vpMbtFaceDepthNormal().

m_useScanLine

bool vpMbtFaceDepthNormal::m_useScanLine

Scan line visibility.

Definition at line 107 of file vpMbtFaceDepthNormal.h.

Referenced by vpMbDepthNormalTracker::addFace(), addLine(), computeDesiredFeatures(), computeDesiredFeatures(), computeDesiredFeatures(), computeROI(), operator=(), setScanLineVisibilityTest(), and vpMbtFaceDepthNormal().