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Visual Servoing Platform
version 3.2.0
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#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 () | |
virtual | ~vpMbtFaceDepthNormal () |
void | addLine (vpPoint &p1, vpPoint &p2, vpMbHiddenFaces< vpMbtPolygon > *const faces, int polygon=-1, std::string name="") |
bool | computeDesiredFeatures (const vpHomogeneousMatrix &cMo, const unsigned int width, const unsigned int height, const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &point_cloud, vpColVector &desired_features, const unsigned int stepX, const unsigned int stepY, const vpImage< bool > *mask=NULL) |
bool | computeDesiredFeatures (const vpHomogeneousMatrix &cMo, const unsigned int width, const unsigned int height, const std::vector< vpColVector > &point_cloud, vpColVector &desired_features, const unsigned int stepX, const unsigned int stepY, const vpImage< bool > *mask=NULL) |
void | computeInteractionMatrix (const vpHomogeneousMatrix &cMo, vpMatrix &L, vpColVector &features) |
void | computeVisibility () |
void | computeVisibilityDisplay () |
void | computeNormalVisibility (const double nx, const double ny, const double nz, const vpColVector ¢roid_point, vpColVector &face_normal) |
void | computeNormalVisibility (const float nx, const float ny, const float nz, const pcl::PointXYZ ¢roid_point, pcl::PointXYZ &face_normal) |
void | computeNormalVisibility (const double nx, const double ny, const double nz, const vpHomogeneousMatrix &cMo, const vpCameraParameters &camera, vpColVector &correct_normal, vpPoint ¢roid) |
void | display (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, const unsigned int thickness=1, const bool displayFullModel=false) |
void | display (const vpImage< vpRGBa > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, const unsigned int thickness=1, const bool displayFullModel=false) |
void | displayFeature (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const double scale=0.05, const unsigned int thickness=1) |
void | displayFeature (const vpImage< vpRGBa > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const double scale=0.05, const unsigned int thickness=1) |
bool | isTracked () const |
bool | isVisible () const |
void | setCameraParameters (const vpCameraParameters &camera) |
void | setFaceCentroidMethod (const vpFaceCentroidType &method) |
void | setFeatureEstimationMethod (const vpFeatureEstimationType &method) |
void | setPclPlaneEstimationMethod (const int method) |
void | setPclPlaneEstimationRansacMaxIter (const int maxIter) |
void | setPclPlaneEstimationRansacThreshold (const double threshold) |
void | setScanLineVisibilityTest (const bool v) |
void | setTracked (const 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 ¢roid_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 ¢roid_point) |
void | computeDesiredFeaturesSVD (const std::vector< double > &point_cloud_face, const vpHomogeneousMatrix &cMo, vpColVector &desired_features, vpColVector &desired_normal, vpColVector ¢roid_point) |
void | computeDesiredNormalAndCentroid (const vpHomogeneousMatrix &cMo, const vpColVector &desired_normal, const vpColVector ¢roid_point) |
bool | computePolygonCentroid (const std::vector< vpPoint > &points, vpPoint ¢roid) |
void | computeROI (const vpHomogeneousMatrix &cMo, const unsigned int width, const 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 ¢roid) |
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 |
Definition at line 52 of file vpMbtFaceDepthNormal.h.
Enumerator | |
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GEOMETRIC_CENTROID | Compute the geometric centroid. |
MEAN_CENTROID | Compute the mean centroid. |
Definition at line 55 of file vpMbtFaceDepthNormal.h.
Enumerator | |
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ROBUST_FEATURE_ESTIMATION | |
ROBUST_SVD_PLANE_ESTIMATION | |
PCL_PLANE_ESTIMATION |
Definition at line 60 of file vpMbtFaceDepthNormal.h.
vpMbtFaceDepthNormal::vpMbtFaceDepthNormal | ( | ) |
Definition at line 57 of file vpMbtFaceDepthNormal.cpp.
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Definition at line 68 of file vpMbtFaceDepthNormal.cpp.
References m_listOfFaceLines.
void vpMbtFaceDepthNormal::addLine | ( | vpPoint & | P1, |
vpPoint & | P2, | ||
vpMbHiddenFaces< vpMbtPolygon > *const | faces, | ||
int | polygon = -1 , |
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std::string | name = "" |
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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 ploygone's index is added to the list of polygon to which it belongs.
P1 | : The first extremity of the line. |
P2 | : The second extremity of the line. |
faces | : Pointer to vpMbHiddenFaces. |
polygon | : The index of the polygon to which the line belongs. |
name | : the optional name of the line |
Definition at line 88 of file vpMbtFaceDepthNormal.cpp.
Referenced by vpMbDepthNormalTracker::addFace().
bool vpMbtFaceDepthNormal::computeDesiredFeatures | ( | const vpHomogeneousMatrix & | cMo, |
const unsigned int | width, | ||
const unsigned int | height, | ||
const pcl::PointCloud< pcl::PointXYZ >::ConstPtr & | point_cloud, | ||
vpColVector & | desired_features, | ||
const unsigned int | stepX, | ||
const unsigned int | stepY, | ||
const vpImage< bool > * | mask = NULL |
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Definition at line 149 of file vpMbtFaceDepthNormal.cpp.
References vpException::badValue, vpCPUFeatures::checkSSE2(), computeDesiredFeaturesPCL(), computeDesiredFeaturesRobustFeatures(), computeDesiredFeaturesSVD(), computeDesiredNormalAndCentroid(), computeROI(), vpPixelMeterConversion::convertPoint(), vpRect::getBottom(), vpPolygon::getBoundingBox(), vpRect::getHeight(), vpMbtPolygon::getIndex(), vpRect::getLeft(), vpMbHiddenFaces< PolygonType >::getMbScanLineRenderer(), vpRect::getRight(), vpRect::getTop(), vpRect::getWidth(), vpMeTracker::inMask(), vpPolygon::isInside(), m_cam, m_faceActivated, m_featureEstimationMethod, m_hiddenFace, m_polygon, m_useScanLine, PCL_PLANE_ESTIMATION, ROBUST_FEATURE_ESTIMATION, ROBUST_SVD_PLANE_ESTIMATION, vpRect::setBottom(), vpRect::setLeft(), vpRect::setRight(), and vpRect::setTop().
Referenced by vpMbDepthNormalTracker::segmentPointCloud().
bool vpMbtFaceDepthNormal::computeDesiredFeatures | ( | const vpHomogeneousMatrix & | cMo, |
const unsigned int | width, | ||
const unsigned int | height, | ||
const std::vector< vpColVector > & | point_cloud, | ||
vpColVector & | desired_features, | ||
const unsigned int | stepX, | ||
const unsigned int | stepY, | ||
const vpImage< bool > * | mask = NULL |
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Definition at line 309 of file vpMbtFaceDepthNormal.cpp.
References vpException::badValue, vpCPUFeatures::checkSSE2(), computeDesiredFeaturesPCL(), computeDesiredFeaturesRobustFeatures(), computeDesiredFeaturesSVD(), computeDesiredNormalAndCentroid(), computeROI(), vpPixelMeterConversion::convertPoint(), vpRect::getBottom(), vpPolygon::getBoundingBox(), vpRect::getHeight(), vpMbtPolygon::getIndex(), vpRect::getLeft(), vpMbHiddenFaces< PolygonType >::getMbScanLineRenderer(), vpRect::getRight(), vpRect::getTop(), vpRect::getWidth(), vpMeTracker::inMask(), vpPolygon::isInside(), m_cam, m_faceActivated, m_featureEstimationMethod, m_hiddenFace, m_polygon, m_useScanLine, PCL_PLANE_ESTIMATION, ROBUST_FEATURE_ESTIMATION, ROBUST_SVD_PLANE_ESTIMATION, vpRect::setBottom(), vpRect::setLeft(), vpRect::setRight(), and vpRect::setTop().
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Definition at line 468 of file vpMbtFaceDepthNormal.cpp.
References computeNormalVisibility(), m_pclPlaneEstimationMethod, m_pclPlaneEstimationRansacMaxIter, m_pclPlaneEstimationRansacThreshold, and vpColVector::resize().
Referenced by computeDesiredFeatures().
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Definition at line 530 of file vpMbtFaceDepthNormal.cpp.
References computeNormalVisibility(), and estimateFeatures().
Referenced by computeDesiredFeatures().
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Definition at line 558 of file vpMbtFaceDepthNormal.cpp.
References computeNormalVisibility(), estimatePlaneEquationSVD(), and vpColVector::resize().
Referenced by computeDesiredFeatures().
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Definition at line 574 of file vpMbtFaceDepthNormal.cpp.
References vpHomogeneousMatrix::inverse(), m_faceDesiredCentroid, m_faceDesiredNormal, and vpPoint::setWorldCoordinates().
Referenced by computeDesiredFeatures().
void vpMbtFaceDepthNormal::computeInteractionMatrix | ( | const vpHomogeneousMatrix & | cMo, |
vpMatrix & | L, | ||
vpColVector & | features | ||
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Definition at line 855 of file vpMbtFaceDepthNormal.cpp.
References vpPlane::changeFrame(), vpPlane::getA(), vpPlane::getB(), vpPlane::getC(), vpPlane::getD(), m_planeCamera, m_planeObject, and vpColVector::resize().
void vpMbtFaceDepthNormal::computeNormalVisibility | ( | const double | nx, |
const double | ny, | ||
const double | nz, | ||
const vpColVector & | centroid_point, | ||
vpColVector & | face_normal | ||
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Definition at line 835 of file vpMbtFaceDepthNormal.cpp.
References vpColVector::dotProd(), vpColVector::normalize(), and vpColVector::resize().
Referenced by computeDesiredFeaturesPCL(), computeDesiredFeaturesRobustFeatures(), computeDesiredFeaturesSVD(), and displayFeature().
void vpMbtFaceDepthNormal::computeNormalVisibility | ( | const double | nx, |
const double | ny, | ||
const double | nz, | ||
const vpHomogeneousMatrix & | cMo, | ||
const vpCameraParameters & | camera, | ||
vpColVector & | correct_normal, | ||
vpPoint & | centroid | ||
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Definition at line 748 of file vpMbtFaceDepthNormal.cpp.
References computePolygonCentroid(), vpColVector::dotProd(), GEOMETRIC_CENTROID, vpPoint::get_X(), vpPoint::get_Y(), vpPoint::get_Z(), vpPolygon3D::getPolygonClipped(), vpPolygon3D::getRoiClipped(), m_faceCentroidMethod, m_polygon, vpColVector::normalize(), vpForwardProjection::project(), vpColVector::resize(), vpPoint::set_X(), vpPoint::set_Y(), vpPoint::set_Z(), and vpArray2D< Type >::size().
void vpMbtFaceDepthNormal::computeNormalVisibility | ( | const float | nx, |
const float | ny, | ||
const float | nz, | ||
const pcl::PointXYZ & | centroid_point, | ||
pcl::PointXYZ & | face_normal | ||
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Definition at line 811 of file vpMbtFaceDepthNormal.cpp.
References vpColVector::dotProd(), and vpColVector::normalize().
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Definition at line 599 of file vpMbtFaceDepthNormal.cpp.
References vpPoint::get_X(), vpPoint::set_X(), vpPoint::set_Y(), and vpPoint::set_Z().
Referenced by computeNormalVisibility().
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Definition at line 648 of file vpMbtFaceDepthNormal.cpp.
References vpCameraParameters::computeFov(), vpMbHiddenFaces< PolygonType >::computeScanLineQuery(), vpMeterPixelConversion::convertPoint(), vpPolygon3D::DOWN_CLIPPING, vpPolygon3D::FAR_CLIPPING, vpPolygon3D::getRoiClipped(), 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().
void vpMbtFaceDepthNormal::computeVisibility | ( | ) |
Definition at line 713 of file vpMbtFaceDepthNormal.cpp.
References vpMbtPolygon::isVisible(), m_isVisible, and m_polygon.
Referenced by vpMbDepthNormalTracker::computeVisibility().
void vpMbtFaceDepthNormal::computeVisibilityDisplay | ( | ) |
Definition at line 715 of file vpMbtFaceDepthNormal.cpp.
References vpMbtDistanceLine::hiddenface, vpMbHiddenFaces< PolygonType >::isVisible(), vpMbtDistanceLine::Lindex_polygon, m_listOfFaceLines, and vpMbtDistanceLine::setVisible().
Referenced by display().
void vpMbtFaceDepthNormal::display | ( | const vpImage< unsigned char > & | I, |
const vpHomogeneousMatrix & | cMo, | ||
const vpCameraParameters & | cam, | ||
const vpColor & | col, | ||
const unsigned int | thickness = 1 , |
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const bool | displayFullModel = false |
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Definition at line 900 of file vpMbtFaceDepthNormal.cpp.
References computeVisibilityDisplay(), vpMbtDistanceLine::display(), vpMbtPolygon::isVisible(), m_isTrackedDepthNormalFace, m_listOfFaceLines, and m_polygon.
Referenced by vpMbDepthNormalTracker::display().
void vpMbtFaceDepthNormal::display | ( | const vpImage< vpRGBa > & | I, |
const vpHomogeneousMatrix & | cMo, | ||
const vpCameraParameters & | cam, | ||
const vpColor & | col, | ||
const unsigned int | thickness = 1 , |
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const bool | displayFullModel = false |
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Definition at line 915 of file vpMbtFaceDepthNormal.cpp.
References computeVisibilityDisplay(), vpMbtDistanceLine::display(), vpMbtPolygon::isVisible(), m_isTrackedDepthNormalFace, m_listOfFaceLines, and m_polygon.
void vpMbtFaceDepthNormal::displayFeature | ( | const vpImage< unsigned char > & | I, |
const vpHomogeneousMatrix & | cMo, | ||
const vpCameraParameters & | cam, | ||
const double | scale = 0.05 , |
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const unsigned int | thickness = 1 |
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Definition at line 930 of file vpMbtFaceDepthNormal.cpp.
References vpColor::blue, vpPoint::changeFrame(), vpPlane::changeFrame(), vpCameraParameters::computeFov(), computeNormalVisibility(), vpMeterPixelConversion::convertPoint(), vpDisplay::displayArrow(), vpPoint::get_X(), vpPoint::get_x(), vpPoint::get_Y(), vpPoint::get_y(), vpPoint::get_Z(), vpPlane::getA(), vpPlane::getB(), vpPlane::getC(), vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), 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().
Referenced by vpMbDepthNormalTracker::display().
void vpMbtFaceDepthNormal::displayFeature | ( | const vpImage< vpRGBa > & | I, |
const vpHomogeneousMatrix & | cMo, | ||
const vpCameraParameters & | cam, | ||
const double | scale = 0.05 , |
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const unsigned int | thickness = 1 |
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Definition at line 986 of file vpMbtFaceDepthNormal.cpp.
References vpColor::blue, vpPoint::changeFrame(), vpPlane::changeFrame(), vpCameraParameters::computeFov(), computeNormalVisibility(), vpMeterPixelConversion::convertPoint(), vpDisplay::displayArrow(), vpPoint::get_X(), vpPoint::get_x(), vpPoint::get_Y(), vpPoint::get_y(), vpPoint::get_Z(), vpPlane::getA(), vpPlane::getB(), vpPlane::getC(), vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), 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().
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Definition at line 1042 of file vpMbtFaceDepthNormal.cpp.
References vpPlane::changeFrame(), vpCPUFeatures::checkSSE2(), vpPlane::getA(), vpPlane::getB(), vpPlane::getC(), vpPlane::getD(), m_planeCamera, m_planeObject, vpColVector::resize(), and vpMath::sqr().
Referenced by computeDesiredFeaturesRobustFeatures().
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Definition at line 1358 of file vpMbtFaceDepthNormal.cpp.
References vpPlane::changeFrame(), vpPlane::getA(), vpPlane::getB(), vpPlane::getC(), vpMatrix::getCol(), vpPlane::getD(), m_planeCamera, m_planeObject, vpColVector::resize(), vpArray2D< Type >::size(), vpMatrix::svd(), and vpMatrix::t().
Referenced by computeDesiredFeaturesSVD().
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Definition at line 136 of file vpMbtFaceDepthNormal.h.
Referenced by vpMbDepthNormalTracker::segmentPointCloud().
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Definition at line 138 of file vpMbtFaceDepthNormal.h.
References vpMbtPolygon::isvisible.
Referenced by vpMbDepthNormalTracker::segmentPointCloud().
Check if two vpPoints are similar.
To be similar : .
P1 | : The first point to compare |
P2 | : The second point to compare |
Definition at line 1495 of file vpMbtFaceDepthNormal.cpp.
void vpMbtFaceDepthNormal::setCameraParameters | ( | const vpCameraParameters & | camera | ) |
Definition at line 1508 of file vpMbtFaceDepthNormal.cpp.
References m_cam, and m_listOfFaceLines.
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Definition at line 142 of file vpMbtFaceDepthNormal.h.
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Definition at line 144 of file vpMbtFaceDepthNormal.h.
Referenced by vpMbDepthNormalTracker::addFace().
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Definition at line 146 of file vpMbtFaceDepthNormal.h.
Referenced by vpMbDepthNormalTracker::addFace().
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Definition at line 148 of file vpMbtFaceDepthNormal.h.
Referenced by vpMbDepthNormalTracker::addFace().
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Definition at line 150 of file vpMbtFaceDepthNormal.h.
Referenced by vpMbDepthNormalTracker::addFace().
void vpMbtFaceDepthNormal::setScanLineVisibilityTest | ( | const bool | v | ) |
Definition at line 1518 of file vpMbtFaceDepthNormal.cpp.
References m_listOfFaceLines, and m_useScanLine.
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Definition at line 157 of file vpMbtFaceDepthNormal.h.
Referenced by vpMbDepthNormalTracker::setUseDepthNormalTracking().
vpCameraParameters vpMbtFaceDepthNormal::m_cam |
Camera intrinsic parameters.
Definition at line 69 of file vpMbtFaceDepthNormal.h.
Referenced by vpMbDepthNormalTracker::addFace(), computeDesiredFeatures(), computeROI(), and setCameraParameters().
unsigned int vpMbtFaceDepthNormal::m_clippingFlag |
Flags specifying which clipping to used.
Definition at line 71 of file vpMbtFaceDepthNormal.h.
Referenced by vpMbDepthNormalTracker::addFace(), and computeROI().
double vpMbtFaceDepthNormal::m_distFarClip |
Distance for near clipping.
Definition at line 73 of file vpMbtFaceDepthNormal.h.
Referenced by vpMbDepthNormalTracker::addFace().
double vpMbtFaceDepthNormal::m_distNearClip |
Distance for near clipping.
Definition at line 75 of file vpMbtFaceDepthNormal.h.
Referenced by vpMbDepthNormalTracker::addFace().
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True if the face should be considered by the tracker.
Definition at line 236 of file vpMbtFaceDepthNormal.h.
Referenced by computeDesiredFeatures(), and displayFeature().
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Method to compute the face centroid for the current features.
Definition at line 238 of file vpMbtFaceDepthNormal.h.
Referenced by computeNormalVisibility().
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Desired centroid (computed from the sensor)
Definition at line 240 of file vpMbtFaceDepthNormal.h.
Referenced by computeDesiredNormalAndCentroid(), and displayFeature().
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Face (normalized) normal (computed from the sensor)
Definition at line 242 of file vpMbtFaceDepthNormal.h.
Referenced by computeDesiredNormalAndCentroid(), and displayFeature().
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Method to estimate the desired features.
Definition at line 244 of file vpMbtFaceDepthNormal.h.
Referenced by computeDesiredFeatures().
vpMbHiddenFaces<vpMbtPolygon>* vpMbtFaceDepthNormal::m_hiddenFace |
Pointer to the list of faces.
Definition at line 77 of file vpMbtFaceDepthNormal.h.
Referenced by vpMbDepthNormalTracker::addFace(), computeDesiredFeatures(), and computeROI().
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Definition at line 246 of file vpMbtFaceDepthNormal.h.
Referenced by display(), and displayFeature().
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Definition at line 248 of file vpMbtFaceDepthNormal.h.
Referenced by computeVisibility(), and displayFeature().
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Definition at line 250 of file vpMbtFaceDepthNormal.h.
Referenced by computeVisibilityDisplay(), display(), setCameraParameters(), setScanLineVisibilityTest(), and ~vpMbtFaceDepthNormal().
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PCL plane estimation method.
Definition at line 255 of file vpMbtFaceDepthNormal.h.
Referenced by computeDesiredFeaturesPCL().
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PCL pane estimation max number of iterations.
Definition at line 257 of file vpMbtFaceDepthNormal.h.
Referenced by computeDesiredFeaturesPCL().
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PCL plane estimation RANSAC threshold.
Definition at line 259 of file vpMbtFaceDepthNormal.h.
Referenced by computeDesiredFeaturesPCL().
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Plane equation described in the camera frame and updated with the current pose
Definition at line 253 of file vpMbtFaceDepthNormal.h.
Referenced by computeInteractionMatrix(), displayFeature(), estimateFeatures(), and estimatePlaneEquationSVD().
vpPlane vpMbtFaceDepthNormal::m_planeObject |
Plane equation described in the object frame.
Definition at line 79 of file vpMbtFaceDepthNormal.h.
Referenced by vpMbDepthNormalTracker::addFace(), computeInteractionMatrix(), displayFeature(), estimateFeatures(), and estimatePlaneEquationSVD().
vpMbtPolygon* vpMbtFaceDepthNormal::m_polygon |
Polygon defining the face.
Definition at line 81 of file vpMbtFaceDepthNormal.h.
Referenced by vpMbDepthNormalTracker::addFace(), computeDesiredFeatures(), computeNormalVisibility(), computeROI(), computeVisibility(), display(), and vpMbDepthNormalTracker::setUseDepthNormalTracking().
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Definition at line 261 of file vpMbtFaceDepthNormal.h.
Referenced by computeROI().
bool vpMbtFaceDepthNormal::m_useScanLine |
Scan line visibility.
Definition at line 83 of file vpMbtFaceDepthNormal.h.
Referenced by vpMbDepthNormalTracker::addFace(), computeDesiredFeatures(), computeROI(), and setScanLineVisibilityTest().