#include <vpPointMap.h>

Public Member Functions
	vpPointMap (unsigned maxPoints, double minDistNewPoints, double maxDepthErrorVisibility, double maxDepthErrorCandidate, double outlierThreshold)
const vpMatrix &	getPoints ()
void	setPoints (const vpMatrix &X)
void	getPoints (const vpArray2D< int > &indices, vpMatrix &X)
void	project (const vpHomogeneousMatrix &cTw, vpMatrix &cX)
void	project (const vpArray2D< int > &indices, const vpHomogeneousMatrix &cTw, vpMatrix &cX)
void	project (const vpArray2D< int > &indices, const vpHomogeneousMatrix &cTw, vpMatrix &cX, vpMatrix &xs)
void	project (const vpCameraParameters &cam, const vpArray2D< int > &indices, const vpHomogeneousMatrix &cTw, vpMatrix &cX, vpMatrix &xs, vpMatrix &uvs)
void	getVisiblePoints (const unsigned int h, const unsigned int w, const vpMatrix &cX, const vpMatrix &uvs, const vpColVector &expectedZ, std::vector< int > &indices)
void	getVisiblePoints (const unsigned int h, const unsigned int w, const vpCameraParameters &cam, const vpHomogeneousMatrix &cTw, const vpImage< float > &depth, std::vector< int > &indices)
void	getOutliers (const vpArray2D< int > &originalIndices, const vpMatrix &uvs, const vpMatrix &observations, std::vector< int > &indices)
void	selectValidNewCandidates (const vpCameraParameters &cam, const vpHomogeneousMatrix &cTw, const vpArray2D< int > &originalIndices, const vpMatrix &uvs, const vpImage< float > &modelDepth, const vpImage< float > &depth, const vpImage< vpRGBf > &normals, vpMatrix &oXs, vpMatrix &oNs, std::vector< int > &validCandidateIndices)
void	updatePoints (const vpArray2D< int > &indicesToRemove, const vpMatrix &pointsToAdd, const vpMatrix &normalsToAdd, std::vector< int > &removedIndices, unsigned int &numAddedPoints)
void	updatePoint (unsigned int index, double X, double Y, double Z)
void	clear ()
void	computeReprojectionErrorAndJacobian (const vpArray2D< int > &indices, const vpHomogeneousMatrix &cTw, const vpMatrix &observations, vpMatrix &J, vpColVector &e) const
void	compute3DErrorAndJacobian (const vpArray2D< int > &indices, const vpHomogeneousMatrix &cTw, const vpMatrix &observations, vpMatrix &J, vpColVector &e) const
Settings
unsigned int	getNumMaxPoints () const
void	setNumMaxPoints (unsigned int maxNumPoints)
double	getMinDistanceAddNewPoints () const
void	setMinDistanceAddNewPoints (double distance)
double	getMaxDepthErrorVisibilityCriterion () const
void	setMaxDepthErrorVisibilityCriterion (double depthError)
double	getThresholdNormalVisibiltyCriterion () const
void	setThresholdNormalVisibiltyCriterion (double normalDegThreshold)
double	getMaxDepthErrorCandidate () const
void	setMaxDepthErrorCandidate (double depthError)
double	getOutlierReprojectionErrorThreshold () const
void	setOutlierReprojectionErrorThreshold (double thresholdPx)

Detailed Description

Examples: catchRBT.cpp.

Definition at line 45 of file vpPointMap.h.

Constructor & Destructor Documentation

◆ vpPointMap()

vpPointMap::vpPointMap	(	unsigned	maxPoints,
		double	minDistNewPoints,
		double	maxDepthErrorVisibility,
		double	maxDepthErrorCandidate,
		double	outlierThreshold )

inline

Definition at line 48 of file vpPointMap.h.

Member Function Documentation

◆ clear()

void vpPointMap::clear ( )

Definition at line 338 of file vpPointMap.cpp.

◆ compute3DErrorAndJacobian()

void vpPointMap::compute3DErrorAndJacobian	(	const vpArray2D< int > &	indices,
		const vpHomogeneousMatrix &	cTw,
		const vpMatrix &	observations,
		vpMatrix &	J,
		vpColVector &	e ) const

inline

Definition at line 148 of file vpPointMap.h.

References vpArray2D< Type >::getRows(), and vpArray2D< Type >::resize().

◆ computeReprojectionErrorAndJacobian()

void vpPointMap::computeReprojectionErrorAndJacobian	(	const vpArray2D< int > &	indices,
		const vpHomogeneousMatrix &	cTw,
		const vpMatrix &	observations,
		vpMatrix &	J,
		vpColVector &	e ) const

inline

Definition at line 118 of file vpPointMap.h.

References vpArray2D< Type >::getRows(), and vpArray2D< Type >::resize().

◆ getMaxDepthErrorCandidate()

double vpPointMap::getMaxDepthErrorCandidate ( ) const

inline

Definition at line 77 of file vpPointMap.h.

◆ getMaxDepthErrorVisibilityCriterion()

double vpPointMap::getMaxDepthErrorVisibilityCriterion ( ) const

inline

Definition at line 71 of file vpPointMap.h.

◆ getMinDistanceAddNewPoints()

double vpPointMap::getMinDistanceAddNewPoints ( ) const

inline

Definition at line 68 of file vpPointMap.h.

◆ getNumMaxPoints()

unsigned int vpPointMap::getNumMaxPoints ( ) const

inline

Definition at line 62 of file vpPointMap.h.

◆ getOutlierReprojectionErrorThreshold()

double vpPointMap::getOutlierReprojectionErrorThreshold ( ) const

inline

Definition at line 80 of file vpPointMap.h.

◆ getOutliers()

void vpPointMap::getOutliers	(	const vpArray2D< int > &	originalIndices,
		const vpMatrix &	uvs,
		const vpMatrix &	observations,
		std::vector< int > &	indices )

Definition at line 217 of file vpPointMap.cpp.

References vpException::dimensionError, vpArray2D< Type >::getRows(), and vpMath::sqr().

◆ getPoints() [1/2]

const vpMatrix & vpPointMap::getPoints ( )

inline

Definition at line 87 of file vpPointMap.h.

◆ getPoints() [2/2]

BEGIN_VISP_NAMESPACE void vpPointMap::getPoints	(	const vpArray2D< int > &	indices,
		vpMatrix &	X )

Definition at line 41 of file vpPointMap.cpp.

References vpArray2D< Type >::getRows(), and vpArray2D< Type >::resize().

◆ getThresholdNormalVisibiltyCriterion()

double vpPointMap::getThresholdNormalVisibiltyCriterion ( ) const

inline

Definition at line 74 of file vpPointMap.h.

◆ getVisiblePoints() [1/2]

void vpPointMap::getVisiblePoints	(	const unsigned int	h,
		const unsigned int	w,
		const vpCameraParameters &	cam,
		const vpHomogeneousMatrix &	cTw,
		const vpImage< float > &	depth,
		std::vector< int > &	indices )

Definition at line 127 of file vpPointMap.cpp.

References vpRotationMatrix::inverse(), vpMatrix::mult2Matrices(), vpColVector::normalize(), vpMath::rad(), and vpRotationMatrix::t().

◆ getVisiblePoints() [2/2]

void vpPointMap::getVisiblePoints	(	const unsigned int	h,
		const unsigned int	w,
		const vpMatrix &	cX,
		const vpMatrix &	uvs,
		const vpColVector &	expectedZ,
		std::vector< int > &	indices )

Definition at line 112 of file vpPointMap.cpp.

References vpArray2D< Type >::getRows().

◆ project() [1/4]

void vpPointMap::project	(	const vpArray2D< int > &	indices,
		const vpHomogeneousMatrix &	cTw,
		vpMatrix &	cX )

Definition at line 67 of file vpPointMap.cpp.

References vpArray2D< Type >::getRows(), vpMatrix::mult2Matrices(), and vpArray2D< Type >::resize().

◆ project() [2/4]

void vpPointMap::project	(	const vpArray2D< int > &	indices,
		const vpHomogeneousMatrix &	cTw,
		vpMatrix &	cX,
		vpMatrix &	xs )

Definition at line 90 of file vpPointMap.cpp.

References vpArray2D< Type >::getRows(), project(), and vpArray2D< Type >::resize().

◆ project() [3/4]

void vpPointMap::project	(	const vpCameraParameters &	cam,
		const vpArray2D< int > &	indices,
		const vpHomogeneousMatrix &	cTw,
		vpMatrix &	cX,
		vpMatrix &	xs,
		vpMatrix &	uvs )

Definition at line 100 of file vpPointMap.cpp.

References vpException::badValue, vpArray2D< Type >::getCols(), vpArray2D< Type >::getRows(), vpCameraParameters::perspectiveProjWithoutDistortion, project(), and vpArray2D< Type >::resize().

◆ project() [4/4]

void vpPointMap::project	(	const vpHomogeneousMatrix &	cTw,
		vpMatrix &	cX )

Definition at line 52 of file vpPointMap.cpp.

References vpMatrix::mult2Matrices(), and vpArray2D< Type >::resize().

Referenced by project(), and project().

◆ selectValidNewCandidates()

void vpPointMap::selectValidNewCandidates	(	const vpCameraParameters &	cam,
		const vpHomogeneousMatrix &	cTw,
		const vpArray2D< int > &	originalIndices,
		const vpMatrix &	uvs,
		const vpImage< float > &	modelDepth,
		const vpImage< float > &	depth,
		const vpImage< vpRGBf > &	normals,
		vpMatrix &	oXs,
		vpMatrix &	oNs,
		std::vector< int > &	validCandidateIndices )

Definition at line 232 of file vpPointMap.cpp.

References vpRGBf::B, vpException::dimensionError, vpRGBf::G, vpHomogeneousMatrix::getRotationMatrix(), vpArray2D< Type >::getRows(), vpImage< Type >::getSize(), vpHomogeneousMatrix::getTranslationVector(), vpRGBf::R, vpArray2D< Type >::resize(), and vpMath::sqr().

◆ setMaxDepthErrorCandidate()

void vpPointMap::setMaxDepthErrorCandidate ( double depthError )

inline

Definition at line 78 of file vpPointMap.h.

◆ setMaxDepthErrorVisibilityCriterion()

void vpPointMap::setMaxDepthErrorVisibilityCriterion ( double depthError )

inline

Definition at line 72 of file vpPointMap.h.

◆ setMinDistanceAddNewPoints()

void vpPointMap::setMinDistanceAddNewPoints ( double distance )

inline

Definition at line 69 of file vpPointMap.h.

◆ setNumMaxPoints()

void vpPointMap::setNumMaxPoints ( unsigned int maxNumPoints )

inline

Definition at line 63 of file vpPointMap.h.

◆ setOutlierReprojectionErrorThreshold()

void vpPointMap::setOutlierReprojectionErrorThreshold ( double thresholdPx )

inline

Definition at line 81 of file vpPointMap.h.

◆ setPoints()

void vpPointMap::setPoints ( const vpMatrix & X )

inline

Definition at line 88 of file vpPointMap.h.

◆ setThresholdNormalVisibiltyCriterion()

void vpPointMap::setThresholdNormalVisibiltyCriterion ( double normalDegThreshold )

inline

Definition at line 75 of file vpPointMap.h.

◆ updatePoint()

void vpPointMap::updatePoint	(	unsigned int	index,
		double	X,
		double	Y,
		double	Z )

inline

Definition at line 110 of file vpPointMap.h.

◆ updatePoints()

void vpPointMap::updatePoints	(	const vpArray2D< int > &	indicesToRemove,
		const vpMatrix &	pointsToAdd,
		const vpMatrix &	normalsToAdd,
		std::vector< int > &	removedIndices,
		unsigned int &	numAddedPoints )

Definition at line 377 of file vpPointMap.cpp.

References vpException::dimensionError, and vpArray2D< Type >::getRows().

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ vpPointMap()

Member Function Documentation

◆ clear()

◆ compute3DErrorAndJacobian()

◆ computeReprojectionErrorAndJacobian()

◆ getMaxDepthErrorCandidate()

◆ getMaxDepthErrorVisibilityCriterion()

◆ getMinDistanceAddNewPoints()

◆ getNumMaxPoints()

◆ getOutlierReprojectionErrorThreshold()

◆ getOutliers()

◆ getPoints() [1/2]

◆ getPoints() [2/2]

◆ getThresholdNormalVisibiltyCriterion()

◆ getVisiblePoints() [1/2]

◆ getVisiblePoints() [2/2]

◆ project() [1/4]

◆ project() [2/4]

◆ project() [3/4]

◆ project() [4/4]

◆ selectValidNewCandidates()

◆ setMaxDepthErrorCandidate()

◆ setMaxDepthErrorVisibilityCriterion()

◆ setMinDistanceAddNewPoints()

◆ setNumMaxPoints()

◆ setOutlierReprojectionErrorThreshold()

◆ setPoints()

◆ setThresholdNormalVisibiltyCriterion()

◆ updatePoint()

◆ updatePoints()