Visual Servoing Platform  version 3.2.0
vpMbDepthDenseTracker.h
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30  *
31  * Description:
32  * Model-based tracker using depth dense features.
33  *
34  *****************************************************************************/
35 
36 #ifndef _vpMbDepthDenseTracker_h_
37 #define _vpMbDepthDenseTracker_h_
38 
39 #include <visp3/core/vpPlane.h>
40 #include <visp3/mbt/vpMbTracker.h>
41 #include <visp3/mbt/vpMbtFaceDepthDense.h>
42 #include <visp3/mbt/vpMbtTukeyEstimator.h>
43 
44 #if DEBUG_DISPLAY_DEPTH_DENSE
45 #include <visp3/core/vpDisplay.h>
46 #endif
47 
48 class VISP_EXPORT vpMbDepthDenseTracker : public virtual vpMbTracker
49 {
50 public:
52  virtual ~vpMbDepthDenseTracker();
53 
54  virtual void display(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
55  const vpColor &col, const unsigned int thickness = 1, const bool displayFullModel = false);
56 
57  virtual void display(const vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
58  const vpColor &col, const unsigned int thickness = 1, const bool displayFullModel = false);
59 
60  virtual inline vpColVector getError() const { return m_error_depthDense; }
61 
62  virtual inline vpColVector getRobustWeights() const { return m_w_depthDense; }
63 
64  virtual void init(const vpImage<unsigned char> &I);
65 
66  virtual void loadConfigFile(const std::string &configFile);
67 
68  void reInitModel(const vpImage<unsigned char> &I, const std::string &cad_name, const vpHomogeneousMatrix &cMo_,
69  const bool verbose = false);
70 #if defined(VISP_HAVE_PCL)
71  void reInitModel(const pcl::PointCloud<pcl::PointXYZ>::ConstPtr &point_cloud, const std::string &cad_name,
72  const vpHomogeneousMatrix &cMo_, const bool verbose = false);
73 #endif
74 
75  virtual void resetTracker();
76 
77  virtual void setCameraParameters(const vpCameraParameters &camera);
78 
79  virtual void setDepthDenseFilteringMaxDistance(const double maxDistance);
80  virtual void setDepthDenseFilteringMethod(const int method);
81  virtual void setDepthDenseFilteringMinDistance(const double minDistance);
82  virtual void setDepthDenseFilteringOccupancyRatio(const double occupancyRatio);
83 
84  inline void setDepthDenseSamplingStep(const unsigned int stepX, const unsigned int stepY)
85  {
86  if (stepX == 0 || stepY == 0) {
87  std::cerr << "stepX and stepY must be greater than zero!" << std::endl;
88  return;
89  }
90 
91  m_depthDenseSamplingStepX = stepX;
92  m_depthDenseSamplingStepY = stepY;
93  }
94 
95  virtual void setOgreVisibilityTest(const bool &v);
96 
97  virtual void setPose(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cdMo);
98 #ifdef VISP_HAVE_PCL
99  virtual void setPose(const pcl::PointCloud<pcl::PointXYZ>::ConstPtr &point_cloud, const vpHomogeneousMatrix &cdMo);
100 #endif
101 
102  virtual void setScanLineVisibilityTest(const bool &v);
103 
104  void setUseDepthDenseTracking(const std::string &name, const bool &useDepthDenseTracking);
105 
106  virtual void testTracking();
107 
108  virtual void track(const vpImage<unsigned char> &);
109 #ifdef VISP_HAVE_PCL
110  virtual void track(const pcl::PointCloud<pcl::PointXYZ>::ConstPtr &point_cloud);
111 #endif
112  virtual void track(const std::vector<vpColVector> &point_cloud, const unsigned int width, const unsigned int height);
113 
114 protected:
116  vpMbHiddenFaces<vpMbtPolygon> m_depthDenseHiddenFacesDisplay;
118  vpImage<unsigned char> m_depthDenseI_dummyVisibility;
120  std::vector<vpMbtFaceDepthDense *> m_depthDenseListOfActiveFaces;
122  unsigned int m_denseDepthNbFeatures;
124  std::vector<vpMbtFaceDepthDense *> m_depthDenseFaces;
126  unsigned int m_depthDenseSamplingStepX;
128  unsigned int m_depthDenseSamplingStepY;
130  vpColVector m_error_depthDense;
132  vpMatrix m_L_depthDense;
134  vpMbtTukeyEstimator<double> m_robust_depthDense;
136  vpColVector m_w_depthDense;
138  vpColVector m_weightedError_depthDense;
139 #if DEBUG_DISPLAY_DEPTH_DENSE
140  vpDisplay *m_debugDisp_depthDense;
141  vpImage<unsigned char> m_debugImage_depthDense;
142 #endif
143 
144  void addFace(vpMbtPolygon &polygon, const bool alreadyClose);
145 
146  void computeVisibility(const unsigned int width, const unsigned int height);
147 
148  void computeVVS();
149  virtual void computeVVSInit();
151  virtual void computeVVSWeights();
153 
154  virtual void initCircle(const vpPoint &p1, const vpPoint &p2, const vpPoint &p3, const double radius,
155  const int idFace = 0, const std::string &name = "");
156 
157  virtual void initCylinder(const vpPoint &p1, const vpPoint &p2, const double radius, const int idFace = 0,
158  const std::string &name = "");
159 
160  virtual void initFaceFromCorners(vpMbtPolygon &polygon);
161 
162  virtual void initFaceFromLines(vpMbtPolygon &polygon);
163 
164 #ifdef VISP_HAVE_PCL
165  void segmentPointCloud(const pcl::PointCloud<pcl::PointXYZ>::ConstPtr &point_cloud);
166 #endif
167  void segmentPointCloud(const std::vector<vpColVector> &point_cloud, const unsigned int width,
168  const unsigned int height);
169 };
170 #endif
vpMbDepthDenseTracker
Definition: vpMbDepthDenseTracker.h:47
vpMbTracker::loadConfigFile
virtual void loadConfigFile(const std::string &configFile)
Definition: vpMbTracker.cpp:3406
vpMbTracker::initCylinder
virtual void initCylinder(const vpPoint &p1, const vpPoint &p2, const double radius, const int idFace=0, const std::string &name="")=0
vpMbTracker::getError
virtual vpColVector getError() const =0
vpMbTracker::initCircle
virtual void initCircle(const vpPoint &p1, const vpPoint &p2, const vpPoint &p3, const double radius, const int idFace=0, const std::string &name="")=0
vpMbTracker::computeVVSInteractionMatrixAndResidu
virtual void computeVVSInteractionMatrixAndResidu()=0
vpMbTracker::computeVVSInit
virtual void computeVVSInit()=0
vpCameraParameters
Generic class defining intrinsic camera parameters.
Definition: vpCameraParameters.h:232
vpMbTracker::track
virtual void track(const vpImage< unsigned char > &I)=0
vpMbHiddenFaces< vpMbtPolygon >
vpMbTracker::display
virtual 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)=0
vpMbTracker::init
virtual void init(const vpImage< unsigned char > &I)=0
vpColVector
Implementation of column vector and the associated operations.
Definition: vpColVector.h:71
vpMbTracker::resetTracker
virtual void resetTracker()=0
vpMatrix
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:103
vpMbtPolygon
Implementation of a polygon of the model used by the model-based tracker.
Definition: vpMbtPolygon.h:65
vpMbTracker::initFaceFromCorners
virtual void initFaceFromCorners(vpMbtPolygon &polygon)=0
vpMbTracker::setCameraParameters
virtual void setCameraParameters(const vpCameraParameters &camera)
Definition: vpMbTracker.h:472
vpMbTracker::computeVVSWeights
virtual void computeVVSWeights(vpRobust &robust, const vpColVector &error, vpColVector &w)
Definition: vpMbTracker.cpp:2609
vpMbTracker::setOgreVisibilityTest
virtual void setOgreVisibilityTest(const bool &v)
Definition: vpMbTracker.cpp:2313
vpMbTracker::setPose
virtual void setPose(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cdMo)=0
vpMbTracker::initFaceFromLines
virtual void initFaceFromLines(vpMbtPolygon &polygon)=0
vpMbTracker::testTracking
virtual void testTracking()=0
vpMbTracker::getRobustWeights
virtual vpColVector getRobustWeights() const =0
vpImage< unsigned char >
vpMbTracker
Main methods for a model-based tracker.
Definition: vpMbTracker.h:109
vpPoint
Class that defines what is a point.
Definition: vpPoint.h:57
vpColor
Class to define colors available for display functionnalities.
Definition: vpColor.h:119
vpHomogeneousMatrix
Implementation of an homogeneous matrix and operations on such kind of matrices.
Definition: vpHomogeneousMatrix.h:91
vpMbTracker::setScanLineVisibilityTest
virtual void setScanLineVisibilityTest(const bool &v)
Definition: vpMbTracker.h:586
vpDisplay
Class that defines generic functionnalities for display.
Definition: vpDisplay.h:170