Visual Servoing Platform  version 3.3.0
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, unsigned int thickness = 1, bool displayFullModel = false);
56 
57  virtual void display(const vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
58  const vpColor &col, unsigned int thickness = 1, bool displayFullModel = false);
59 
60  virtual inline vpColVector getError() const { return m_error_depthDense; }
61 
62  virtual std::vector<std::vector<double> > getModelForDisplay(unsigned int width, unsigned int height,
63  const vpHomogeneousMatrix &cMo,
64  const vpCameraParameters &cam,
65  bool displayFullModel=false);
66 
67  virtual inline vpColVector getRobustWeights() const { return m_w_depthDense; }
68 
69  virtual void init(const vpImage<unsigned char> &I);
70 
71  virtual void loadConfigFile(const std::string &configFile);
72 
73  void reInitModel(const vpImage<unsigned char> &I, const std::string &cad_name, const vpHomogeneousMatrix &cMo,
74  bool verbose = false);
75 #if defined(VISP_HAVE_PCL)
76  void reInitModel(const pcl::PointCloud<pcl::PointXYZ>::ConstPtr &point_cloud, const std::string &cad_name,
77  const vpHomogeneousMatrix &cMo, bool verbose = false);
78 #endif
79 
80  virtual void resetTracker();
81 
82  virtual void setCameraParameters(const vpCameraParameters &camera);
83 
84  virtual void setDepthDenseFilteringMaxDistance(double maxDistance);
85  virtual void setDepthDenseFilteringMethod(int method);
86  virtual void setDepthDenseFilteringMinDistance(double minDistance);
87  virtual void setDepthDenseFilteringOccupancyRatio(double occupancyRatio);
88 
89  inline void setDepthDenseSamplingStep(unsigned int stepX, unsigned int stepY)
90  {
91  if (stepX == 0 || stepY == 0) {
92  std::cerr << "stepX and stepY must be greater than zero!" << std::endl;
93  return;
94  }
95 
96  m_depthDenseSamplingStepX = stepX;
97  m_depthDenseSamplingStepY = stepY;
98  }
99 
100  virtual void setOgreVisibilityTest(const bool &v);
101 
102  virtual void setPose(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cdMo);
103  virtual void setPose(const vpImage<vpRGBa> &I_color, const vpHomogeneousMatrix &cdMo);
104 #ifdef VISP_HAVE_PCL
105  virtual void setPose(const pcl::PointCloud<pcl::PointXYZ>::ConstPtr &point_cloud, const vpHomogeneousMatrix &cdMo);
106 #endif
107 
108  virtual void setScanLineVisibilityTest(const bool &v);
109 
110  void setUseDepthDenseTracking(const std::string &name, const bool &useDepthDenseTracking);
111 
112  virtual void testTracking();
113 
114  virtual void track(const vpImage<unsigned char> &);
115  virtual void track(const vpImage<vpRGBa> &);
116 #ifdef VISP_HAVE_PCL
117  virtual void track(const pcl::PointCloud<pcl::PointXYZ>::ConstPtr &point_cloud);
118 #endif
119  virtual void track(const std::vector<vpColVector> &point_cloud, unsigned int width, unsigned int height);
120 
121 protected:
123  vpMbHiddenFaces<vpMbtPolygon> m_depthDenseHiddenFacesDisplay;
125  std::vector<vpMbtFaceDepthDense *> m_depthDenseListOfActiveFaces;
127  unsigned int m_denseDepthNbFeatures;
129  std::vector<vpMbtFaceDepthDense *> m_depthDenseFaces;
131  unsigned int m_depthDenseSamplingStepX;
133  unsigned int m_depthDenseSamplingStepY;
135  vpColVector m_error_depthDense;
137  vpMatrix m_L_depthDense;
139  vpMbtTukeyEstimator<double> m_robust_depthDense;
141  vpColVector m_w_depthDense;
143  vpColVector m_weightedError_depthDense;
144 #if DEBUG_DISPLAY_DEPTH_DENSE
145  vpDisplay *m_debugDisp_depthDense;
146  vpImage<unsigned char> m_debugImage_depthDense;
147 #endif
148 
149  void addFace(vpMbtPolygon &polygon, bool alreadyClose);
150 
151  void computeVisibility(unsigned int width, unsigned int height);
152 
153  void computeVVS();
154  virtual void computeVVSInit();
156  virtual void computeVVSWeights();
158 
159  virtual void initCircle(const vpPoint &p1, const vpPoint &p2, const vpPoint &p3, double radius,
160  int idFace = 0, const std::string &name = "");
161 
162  virtual void initCylinder(const vpPoint &p1, const vpPoint &p2, double radius, int idFace = 0,
163  const std::string &name = "");
164 
165  virtual void initFaceFromCorners(vpMbtPolygon &polygon);
166 
167  virtual void initFaceFromLines(vpMbtPolygon &polygon);
168 
169 #ifdef VISP_HAVE_PCL
170  void segmentPointCloud(const pcl::PointCloud<pcl::PointXYZ>::ConstPtr &point_cloud);
171 #endif
172  void segmentPointCloud(const std::vector<vpColVector> &point_cloud, unsigned int width,
173  unsigned int height);
174 };
175 #endif
vpMbDepthDenseTracker
Definition: vpMbDepthDenseTracker.h:48
vpMbTracker::loadConfigFile
virtual void loadConfigFile(const std::string &configFile)
Definition: vpMbTracker.cpp:3785
vpMbTracker::getError
virtual vpColVector getError() const =0
vpMbTracker::computeVVSInteractionMatrixAndResidu
virtual void computeVVSInteractionMatrixAndResidu()=0
vpMbTracker::computeVVSInit
virtual void computeVVSInit()=0
vpCameraParameters
Generic class defining intrinsic camera parameters.
Definition: vpCameraParameters.h:233
vpMbTracker::track
virtual void track(const vpImage< unsigned char > &I)=0
vpMbHiddenFaces< vpMbtPolygon >
vpMbTracker::setCameraParameters
virtual void setCameraParameters(const vpCameraParameters &cam)
Definition: vpMbTracker.h:483
vpMbTracker::init
virtual void init(const vpImage< unsigned char > &I)=0
vpMbTracker::initCircle
virtual void initCircle(const vpPoint &p1, const vpPoint &p2, const vpPoint &p3, double radius, int idFace=0, const std::string &name="")=0
vpMbTracker::display
virtual void display(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, unsigned int thickness=1, bool displayFullModel=false)=0
vpColVector
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
vpMbTracker::resetTracker
virtual void resetTracker()=0
vpMatrix
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:164
vpMbtPolygon
Implementation of a polygon of the model used by the model-based tracker.
Definition: vpMbtPolygon.h:66
vpMbTracker::getModelForDisplay
virtual std::vector< std::vector< double > > getModelForDisplay(unsigned int width, unsigned int height, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, bool displayFullModel=false)=0
vpMbTracker::initFaceFromCorners
virtual void initFaceFromCorners(vpMbtPolygon &polygon)=0
vpMbTracker::initCylinder
virtual void initCylinder(const vpPoint &p1, const vpPoint &p2, double radius, int idFace=0, const std::string &name="")=0
vpMbTracker::computeVVSWeights
virtual void computeVVSWeights(vpRobust &robust, const vpColVector &error, vpColVector &w)
Definition: vpMbTracker.cpp:2988
vpMbTracker::setOgreVisibilityTest
virtual void setOgreVisibilityTest(const bool &v)
Definition: vpMbTracker.cpp:2692
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:104
vpPoint
Class that defines what is a point.
Definition: vpPoint.h:58
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:149
vpMbTracker::setScanLineVisibilityTest
virtual void setScanLineVisibilityTest(const bool &v)
Definition: vpMbTracker.h:597
vpDisplay
Class that defines generic functionnalities for display.
Definition: vpDisplay.h:171