Visual Servoing Platform version 3.5.0
vpMbDepthDenseTracker.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See http://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Model-based tracker using depth dense features.
33 *
34 *****************************************************************************/
35
36#include <iostream>
37
38#include <visp3/core/vpConfig.h>
39
40#ifdef VISP_HAVE_PCL
41#include <pcl/point_cloud.h>
42#endif
43
44#include <visp3/core/vpDisplay.h>
45#include <visp3/core/vpExponentialMap.h>
46#include <visp3/core/vpTrackingException.h>
47#include <visp3/mbt/vpMbDepthDenseTracker.h>
48#include <visp3/mbt/vpMbtXmlGenericParser.h>
49
50#if DEBUG_DISPLAY_DEPTH_DENSE
51#include <visp3/gui/vpDisplayGDI.h>
52#include <visp3/gui/vpDisplayX.h>
53#endif
54
56 : m_depthDenseHiddenFacesDisplay(), m_depthDenseListOfActiveFaces(),
57 m_denseDepthNbFeatures(0), m_depthDenseFaces(), m_depthDenseSamplingStepX(2), m_depthDenseSamplingStepY(2),
58 m_error_depthDense(), m_L_depthDense(), m_robust_depthDense(), m_w_depthDense(), m_weightedError_depthDense()
59#if DEBUG_DISPLAY_DEPTH_DENSE
60 ,
61 m_debugDisp_depthDense(NULL), m_debugImage_depthDense()
62#endif
63{
64#ifdef VISP_HAVE_OGRE
65 faces.getOgreContext()->setWindowName("MBT Depth Dense");
66#endif
67
68#if defined(VISP_HAVE_X11) && DEBUG_DISPLAY_DEPTH_DENSE
69 m_debugDisp_depthDense = new vpDisplayX;
70#elif defined(VISP_HAVE_GDI) && DEBUG_DISPLAY_DEPTH_DENSE
71 m_debugDisp_depthDense = new vpDisplayGDI;
72#endif
73}
74
76{
77 for (size_t i = 0; i < m_depthDenseFaces.size(); i++) {
78 delete m_depthDenseFaces[i];
79 }
80
81#if DEBUG_DISPLAY_DEPTH_DENSE
82 delete m_debugDisp_depthDense;
83#endif
84}
85
86void vpMbDepthDenseTracker::addFace(vpMbtPolygon &polygon, bool alreadyClose)
87{
88 if (polygon.nbpt < 3) {
89 return;
90 }
91
92 // Copy hidden faces
94
96 normal_face->m_hiddenFace = &faces;
97 normal_face->m_polygon = &polygon;
98 normal_face->m_cam = m_cam;
99 normal_face->m_useScanLine = useScanLine;
100 normal_face->m_clippingFlag = clippingFlag;
101 normal_face->m_distNearClip = distNearClip;
102 normal_face->m_distFarClip = distFarClip;
103
104 // Add lines that compose the face
105 unsigned int nbpt = polygon.getNbPoint();
106 if (nbpt > 0) {
107 for (unsigned int i = 0; i < nbpt - 1; i++) {
108 normal_face->addLine(polygon.p[i], polygon.p[i + 1], &m_depthDenseHiddenFacesDisplay, m_rand, polygon.getIndex(),
109 polygon.getName());
110 }
111
112 if (!alreadyClose) {
113 // Add last line that closes the face
114 normal_face->addLine(polygon.p[nbpt - 1], polygon.p[0], &m_depthDenseHiddenFacesDisplay, m_rand, polygon.getIndex(),
115 polygon.getName());
116 }
117 }
118
119 // Construct a vpPlane in object frame
120 vpPoint pts[3];
121 pts[0] = polygon.p[0];
122 pts[1] = polygon.p[1];
123 pts[2] = polygon.p[2];
124 normal_face->m_planeObject = vpPlane(pts[0], pts[1], pts[2], vpPlane::object_frame);
125
126 m_depthDenseFaces.push_back(normal_face);
127}
128
129void vpMbDepthDenseTracker::computeVisibility(unsigned int width, unsigned int height)
130{
131 bool changed = false;
132 faces.setVisible(width, height, m_cam, m_cMo, angleAppears, angleDisappears, changed);
133
134 if (useScanLine) {
135 // if (clippingFlag <= 2) {
136 // cam.computeFov(width, height);
137 // }
138
140 faces.computeScanLineRender(m_cam, width, height);
141 }
142
143 for (std::vector<vpMbtFaceDepthDense *>::const_iterator it = m_depthDenseFaces.begin();
144 it != m_depthDenseFaces.end(); ++it) {
145 vpMbtFaceDepthDense *face_normal = *it;
146 face_normal->computeVisibility();
147 }
148}
149
151{
152 double normRes = 0;
153 double normRes_1 = -1;
154 unsigned int iter = 0;
155
157
159 vpMatrix LTL;
160 vpColVector LTR, v;
161
162 double mu = m_initialMu;
163 vpHomogeneousMatrix cMo_prev;
164
165 bool isoJoIdentity_ = true;
167 vpMatrix L_true, LVJ_true;
168
169 while (std::fabs(normRes_1 - normRes) > m_stopCriteriaEpsilon && (iter < m_maxIter)) {
171
172 bool reStartFromLastIncrement = false;
173 computeVVSCheckLevenbergMarquardt(iter, m_error_depthDense, error_prev, cMo_prev, mu, reStartFromLastIncrement);
174
175 if (!reStartFromLastIncrement) {
177
178 if (computeCovariance) {
179 L_true = m_L_depthDense;
180 if (!isoJoIdentity_) {
181 cVo.buildFrom(m_cMo);
182 LVJ_true = (m_L_depthDense * cVo * oJo);
183 }
184 }
185
186 // Compute DoF only once
187 if (iter == 0) {
188 isoJoIdentity_ = true;
189 oJo.eye();
190
191 // If all the 6 dof should be estimated, we check if the interaction
192 // matrix is full rank. If not we remove automatically the dof that
193 // cannot be estimated This is particularly useful when consering
194 // circles (rank 5) and cylinders (rank 4)
195 if (isoJoIdentity_) {
196 cVo.buildFrom(m_cMo);
197
198 vpMatrix K; // kernel
199 unsigned int rank = (m_L_depthDense * cVo).kernel(K);
200 if (rank == 0) {
201 throw vpException(vpException::fatalError, "Rank=0, cannot estimate the pose !");
202 }
203
204 if (rank != 6) {
205 vpMatrix I; // Identity
206 I.eye(6);
207 oJo = I - K.AtA();
208
209 isoJoIdentity_ = false;
210 }
211 }
212 }
213
214 double num = 0.0, den = 0.0;
215 for (unsigned int i = 0; i < m_L_depthDense.getRows(); i++) {
216 // Compute weighted errors and stop criteria
219 den += m_w_depthDense[i];
220
221 // weight interaction matrix
222 for (unsigned int j = 0; j < 6; j++) {
223 m_L_depthDense[i][j] *= m_w_depthDense[i];
224 }
225 }
226
228 m_error_depthDense, error_prev, LTR, mu, v);
229
230 cMo_prev = m_cMo;
232
233 normRes_1 = normRes;
234 normRes = sqrt(num / den);
235 }
236
237 iter++;
238 }
239
240 computeCovarianceMatrixVVS(isoJoIdentity_, m_w_depthDense, cMo_prev, L_true, LVJ_true, m_error_depthDense);
241}
242
244{
246
247 for (std::vector<vpMbtFaceDepthDense *>::const_iterator it = m_depthDenseListOfActiveFaces.begin();
248 it != m_depthDenseListOfActiveFaces.end(); ++it) {
249 vpMbtFaceDepthDense *face = *it;
251 }
252
256
258 m_w_depthDense = 1;
259}
260
262{
263 unsigned int start_index = 0;
264 for (std::vector<vpMbtFaceDepthDense *>::const_iterator it = m_depthDenseListOfActiveFaces.begin();
265 it != m_depthDenseListOfActiveFaces.end(); ++it) {
266 vpMbtFaceDepthDense *face = *it;
267
268 vpMatrix L_face;
269 vpColVector error;
270
271 face->computeInteractionMatrixAndResidu(m_cMo, L_face, error);
272
273 m_error_depthDense.insert(start_index, error);
274 m_L_depthDense.insert(L_face, start_index, 0);
275
276 start_index += error.getRows();
277 }
278}
279
281{
283}
284
286 const vpCameraParameters &cam, const vpColor &col, unsigned int thickness,
287 bool displayFullModel)
288{
289 std::vector<std::vector<double> > models = vpMbDepthDenseTracker::getModelForDisplay(I.getWidth(), I.getHeight(), cMo, cam, displayFullModel);
290
291 for (size_t i = 0; i < models.size(); i++) {
292 if (vpMath::equal(models[i][0], 0)) {
293 vpImagePoint ip1(models[i][1], models[i][2]);
294 vpImagePoint ip2(models[i][3], models[i][4]);
295 vpDisplay::displayLine(I, ip1, ip2, col, thickness);
296 }
297 }
298}
299
301 const vpCameraParameters &cam, const vpColor &col, unsigned int thickness,
302 bool displayFullModel)
303{
304 std::vector<std::vector<double> > models = vpMbDepthDenseTracker::getModelForDisplay(I.getWidth(), I.getHeight(), cMo, cam, displayFullModel);
305
306 for (size_t i = 0; i < models.size(); i++) {
307 if (vpMath::equal(models[i][0], 0)) {
308 vpImagePoint ip1(models[i][1], models[i][2]);
309 vpImagePoint ip2(models[i][3], models[i][4]);
310 vpDisplay::displayLine(I, ip1, ip2, col, thickness);
311 }
312 }
313}
314
329std::vector<std::vector<double> > vpMbDepthDenseTracker::getModelForDisplay(unsigned int width, unsigned int height,
330 const vpHomogeneousMatrix &cMo,
331 const vpCameraParameters &cam,
332 bool displayFullModel)
333{
334 std::vector<std::vector<double> > models;
335
336 vpCameraParameters c = cam;
337
338 bool changed = false;
340
341 if (useScanLine) {
342 c.computeFov(width, height);
343
346 }
347
348 for (std::vector<vpMbtFaceDepthDense *>::const_iterator it = m_depthDenseFaces.begin();
349 it != m_depthDenseFaces.end(); ++it) {
350 vpMbtFaceDepthDense *face_dense = *it;
351 std::vector<std::vector<double> > modelLines = face_dense->getModelForDisplay(width, height, cMo, cam, displayFullModel);
352 models.insert(models.end(), modelLines.begin(), modelLines.end());
353 }
354
355 return models;
356}
357
359{
360 if (!modelInitialised) {
361 throw vpException(vpException::fatalError, "model not initialized");
362 }
363
364 bool reInitialisation = false;
365 if (!useOgre) {
367 } else {
368#ifdef VISP_HAVE_OGRE
369 if (!faces.isOgreInitialised()) {
373 // Turn off Ogre config dialog display for the next call to this
374 // function since settings are saved in the ogre.cfg file and used
375 // during the next call
376 ogreShowConfigDialog = false;
377 }
378
380#else
382#endif
383 }
384
385 if (useScanLine || clippingFlag > 3)
387
389}
390
391void vpMbDepthDenseTracker::loadConfigFile(const std::string &configFile, bool verbose)
392{
394 xmlp.setVerbose(verbose);
398
401
402 try {
403 if (verbose) {
404 std::cout << " *********** Parsing XML for Mb Depth Dense Tracker ************ " << std::endl;
405 }
406 xmlp.parse(configFile);
407 } catch (const vpException &e) {
408 std::cerr << "Exception: " << e.what() << std::endl;
409 throw vpException(vpException::ioError, "Cannot open XML file \"%s\"", configFile.c_str());
410 }
411
412 vpCameraParameters camera;
413 xmlp.getCameraParameters(camera);
414 setCameraParameters(camera);
415
418
419 if (xmlp.hasNearClippingDistance())
421
422 if (xmlp.hasFarClippingDistance())
424
425 if (xmlp.getFovClipping())
427
429}
430
431void vpMbDepthDenseTracker::reInitModel(const vpImage<unsigned char> &I, const std::string &cad_name,
432 const vpHomogeneousMatrix &cMo, bool verbose)
433{
434 m_cMo.eye();
435
436 for (size_t i = 0; i < m_depthDenseFaces.size(); i++) {
437 delete m_depthDenseFaces[i];
438 m_depthDenseFaces[i] = NULL;
439 }
440
441 m_depthDenseFaces.clear();
442
443 loadModel(cad_name, verbose);
444 initFromPose(I, cMo);
445}
446
447#if defined(VISP_HAVE_PCL)
448void vpMbDepthDenseTracker::reInitModel(const pcl::PointCloud<pcl::PointXYZ>::ConstPtr &point_cloud,
449 const std::string &cad_name, const vpHomogeneousMatrix &cMo,
450 bool verbose)
451{
452 vpImage<unsigned char> I_dummy(point_cloud->height, point_cloud->width);
453 reInitModel(I_dummy, cad_name, cMo, verbose);
454}
455
456#endif
457
459{
460 m_cMo.eye();
461
462 for (std::vector<vpMbtFaceDepthDense *>::iterator it = m_depthDenseFaces.begin();
463 it != m_depthDenseFaces.end(); ++it) {
464 vpMbtFaceDepthDense *normal_face = *it;
465 delete normal_face;
466 normal_face = NULL;
467 }
468
469 m_depthDenseFaces.clear();
470
472 computeCovariance = false;
473
476
478
479 m_lambda = 1.0;
480 m_maxIter = 30;
481
482 faces.reset();
483
485
486 useScanLine = false;
487
488#ifdef VISP_HAVE_OGRE
489 useOgre = false;
490#endif
491
493}
494
496{
497 m_cam = cam;
498
499 for (std::vector<vpMbtFaceDepthDense *>::const_iterator it = m_depthDenseFaces.begin();
500 it != m_depthDenseFaces.end(); ++it) {
501 (*it)->setCameraParameters(cam);
502 }
503}
504
506{
507 for (std::vector<vpMbtFaceDepthDense *>::const_iterator it = m_depthDenseFaces.begin();
508 it != m_depthDenseFaces.end(); ++it) {
509 (*it)->setDepthDenseFilteringMaxDistance(maxDistance);
510 }
511}
512
514{
515 for (std::vector<vpMbtFaceDepthDense *>::const_iterator it = m_depthDenseFaces.begin();
516 it != m_depthDenseFaces.end(); ++it) {
517 (*it)->setDepthDenseFilteringMethod(method);
518 }
519}
520
522{
523 for (std::vector<vpMbtFaceDepthDense *>::const_iterator it = m_depthDenseFaces.begin();
524 it != m_depthDenseFaces.end(); ++it) {
525 (*it)->setDepthDenseFilteringMinDistance(minDistance);
526 }
527}
528
530{
531 if (occupancyRatio < 0.0 || occupancyRatio > 1.0) {
532 std::cerr << "occupancyRatio < 0.0 || occupancyRatio > 1.0" << std::endl;
533 return;
534 }
535
536 for (std::vector<vpMbtFaceDepthDense *>::const_iterator it = m_depthDenseFaces.begin();
537 it != m_depthDenseFaces.end(); ++it) {
538 (*it)->setDepthDenseFilteringOccupancyRatio(occupancyRatio);
539 }
540}
541
542#ifdef VISP_HAVE_PCL
543void vpMbDepthDenseTracker::segmentPointCloud(const pcl::PointCloud<pcl::PointXYZ>::ConstPtr &point_cloud)
544{
546
547#if DEBUG_DISPLAY_DEPTH_DENSE
548 if (!m_debugDisp_depthDense->isInitialised()) {
549 m_debugImage_depthDense.resize(point_cloud->height, point_cloud->width);
550 m_debugDisp_depthDense->init(m_debugImage_depthDense, 50, 0, "Debug display dense depth tracker");
551 }
552
553 m_debugImage_depthDense = 0;
554 std::vector<std::vector<vpImagePoint> > roiPts_vec;
555#endif
556
557 for (std::vector<vpMbtFaceDepthDense *>::iterator it = m_depthDenseFaces.begin();
558 it != m_depthDenseFaces.end(); ++it) {
559 vpMbtFaceDepthDense *face = *it;
560
561 if (face->isVisible() && face->isTracked()) {
562#if DEBUG_DISPLAY_DEPTH_DENSE
563 std::vector<std::vector<vpImagePoint> > roiPts_vec_;
564#endif
566#if DEBUG_DISPLAY_DEPTH_DENSE
567 ,
568 m_debugImage_depthDense, roiPts_vec_
569#endif
570 , m_mask
571 )) {
572 m_depthDenseListOfActiveFaces.push_back(*it);
573
574#if DEBUG_DISPLAY_DEPTH_DENSE
575 roiPts_vec.insert(roiPts_vec.end(), roiPts_vec_.begin(), roiPts_vec_.end());
576#endif
577 }
578 }
579 }
580
581#if DEBUG_DISPLAY_DEPTH_DENSE
582 vpDisplay::display(m_debugImage_depthDense);
583
584 for (size_t i = 0; i < roiPts_vec.size(); i++) {
585 if (roiPts_vec[i].empty())
586 continue;
587
588 for (size_t j = 0; j < roiPts_vec[i].size() - 1; j++) {
589 vpDisplay::displayLine(m_debugImage_depthDense, roiPts_vec[i][j], roiPts_vec[i][j + 1], vpColor::red, 2);
590 }
591 vpDisplay::displayLine(m_debugImage_depthDense, roiPts_vec[i][0], roiPts_vec[i][roiPts_vec[i].size() - 1],
592 vpColor::red, 2);
593 }
594
595 vpDisplay::flush(m_debugImage_depthDense);
596#endif
597}
598#endif
599
600void vpMbDepthDenseTracker::segmentPointCloud(const std::vector<vpColVector> &point_cloud, unsigned int width,
601 unsigned int height)
602{
604
605#if DEBUG_DISPLAY_DEPTH_DENSE
606 if (!m_debugDisp_depthDense->isInitialised()) {
607 m_debugImage_depthDense.resize(height, width);
608 m_debugDisp_depthDense->init(m_debugImage_depthDense, 50, 0, "Debug display dense depth tracker");
609 }
610
611 m_debugImage_depthDense = 0;
612 std::vector<std::vector<vpImagePoint> > roiPts_vec;
613#endif
614
615 for (std::vector<vpMbtFaceDepthDense *>::iterator it = m_depthDenseFaces.begin();
616 it != m_depthDenseFaces.end(); ++it) {
617 vpMbtFaceDepthDense *face = *it;
618
619 if (face->isVisible() && face->isTracked()) {
620#if DEBUG_DISPLAY_DEPTH_DENSE
621 std::vector<std::vector<vpImagePoint> > roiPts_vec_;
622#endif
623 if (face->computeDesiredFeatures(m_cMo, width, height, point_cloud, m_depthDenseSamplingStepX,
625#if DEBUG_DISPLAY_DEPTH_DENSE
626 ,
627 m_debugImage_depthDense, roiPts_vec_
628#endif
629 , m_mask
630 )) {
631 m_depthDenseListOfActiveFaces.push_back(*it);
632
633#if DEBUG_DISPLAY_DEPTH_DENSE
634 roiPts_vec.insert(roiPts_vec.end(), roiPts_vec_.begin(), roiPts_vec_.end());
635#endif
636 }
637 }
638 }
639
640#if DEBUG_DISPLAY_DEPTH_DENSE
641 vpDisplay::display(m_debugImage_depthDense);
642
643 for (size_t i = 0; i < roiPts_vec.size(); i++) {
644 if (roiPts_vec[i].empty())
645 continue;
646
647 for (size_t j = 0; j < roiPts_vec[i].size() - 1; j++) {
648 vpDisplay::displayLine(m_debugImage_depthDense, roiPts_vec[i][j], roiPts_vec[i][j + 1], vpColor::red, 2);
649 }
650 vpDisplay::displayLine(m_debugImage_depthDense, roiPts_vec[i][0], roiPts_vec[i][roiPts_vec[i].size() - 1],
651 vpColor::red, 2);
652 }
653
654 vpDisplay::flush(m_debugImage_depthDense);
655#endif
656}
657
659{
661#ifdef VISP_HAVE_OGRE
662 faces.getOgreContext()->setWindowName("MBT Depth Dense");
663#endif
664}
665
667{
668 m_cMo = cdMo;
669 init(I);
670}
671
673{
674 m_cMo = cdMo;
676 init(m_I);
677}
678
679#if defined(VISP_HAVE_PCL)
680void vpMbDepthDenseTracker::setPose(const pcl::PointCloud<pcl::PointXYZ>::ConstPtr &point_cloud,
681 const vpHomogeneousMatrix &cdMo)
682{
683 m_I.resize(point_cloud->height, point_cloud->width);
684 m_cMo = cdMo;
685 init(m_I);
686}
687#endif
688
690{
692
693 for (std::vector<vpMbtFaceDepthDense *>::const_iterator it = m_depthDenseFaces.begin();
694 it != m_depthDenseFaces.end(); ++it) {
695 (*it)->setScanLineVisibilityTest(v);
696 }
697}
698
699void vpMbDepthDenseTracker::setUseDepthDenseTracking(const std::string &name, const bool &useDepthDenseTracking)
700{
701 for (std::vector<vpMbtFaceDepthDense *>::const_iterator it = m_depthDenseFaces.begin();
702 it != m_depthDenseFaces.end(); ++it) {
703 vpMbtFaceDepthDense *face = *it;
704 if (face->m_polygon->getName() == name) {
705 face->setTracked(useDepthDenseTracking);
706 }
707 }
708}
709
711
713{
714 throw vpException(vpException::fatalError, "Cannot track with a grayscale image!");
715}
716
718{
719 throw vpException(vpException::fatalError, "Cannot track with a color image!");
720}
721
722#ifdef VISP_HAVE_PCL
723void vpMbDepthDenseTracker::track(const pcl::PointCloud<pcl::PointXYZ>::ConstPtr &point_cloud)
724{
725 segmentPointCloud(point_cloud);
726
727 computeVVS();
728
729 computeVisibility(point_cloud->width, point_cloud->height);
730}
731#endif
732
733void vpMbDepthDenseTracker::track(const std::vector<vpColVector> &point_cloud, unsigned int width,
734 unsigned int height)
735{
736 segmentPointCloud(point_cloud, width, height);
737
738 computeVVS();
739
740 computeVisibility(width, height);
741}
742
743void vpMbDepthDenseTracker::initCircle(const vpPoint & /*p1*/, const vpPoint & /*p2*/, const vpPoint & /*p3*/,
744 double /*radius*/, int /*idFace*/, const std::string & /*name*/)
745{
746 throw vpException(vpException::fatalError, "vpMbDepthDenseTracker::initCircle() should not be called!");
747}
748
749void vpMbDepthDenseTracker::initCylinder(const vpPoint & /*p1*/, const vpPoint & /*p2*/, double /*radius*/,
750 int /*idFace*/, const std::string & /*name*/)
751{
752 throw vpException(vpException::fatalError, "vpMbDepthDenseTracker::initCylinder() should not be called!");
753}
754
756
void setWindowName(const Ogre::String &n)
Definition: vpAROgre.h:269
void resize(unsigned int nrows, unsigned int ncols, bool flagNullify=true, bool recopy_=true)
Definition: vpArray2D.h:304
unsigned int getRows() const
Definition: vpArray2D.h:289
Generic class defining intrinsic camera parameters.
void computeFov(const unsigned int &w, const unsigned int &h)
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
void insert(unsigned int i, const vpColVector &v)
void resize(unsigned int i, bool flagNullify=true)
Definition: vpColVector.h:310
Class to define RGB colors available for display functionnalities.
Definition: vpColor.h:158
static const vpColor red
Definition: vpColor.h:217
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:129
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition: vpDisplayX.h:135
static void display(const vpImage< unsigned char > &I)
static void displayLine(const vpImage< unsigned char > &I, const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int thickness=1, bool segment=true)
static void flush(const vpImage< unsigned char > &I)
error that can be emited by ViSP classes.
Definition: vpException.h:72
@ ioError
I/O error.
Definition: vpException.h:91
@ fatalError
Fatal error.
Definition: vpException.h:96
const char * what() const
static vpHomogeneousMatrix direct(const vpColVector &v)
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpHomogeneousMatrix inverse() const
static void convert(const vpImage< unsigned char > &src, vpImage< vpRGBa > &dest)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:88
unsigned int getWidth() const
Definition: vpImage.h:246
void resize(unsigned int h, unsigned int w)
resize the image : Image initialization
Definition: vpImage.h:800
unsigned int getHeight() const
Definition: vpImage.h:188
static double rad(double deg)
Definition: vpMath.h:110
static double sqr(double x)
Definition: vpMath.h:116
static bool equal(double x, double y, double s=0.001)
Definition: vpMath.h:295
static double deg(double rad)
Definition: vpMath.h:103
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:154
void eye()
Definition: vpMatrix.cpp:449
vpMatrix AtA() const
Definition: vpMatrix.cpp:629
void insert(const vpMatrix &A, unsigned int r, unsigned int c)
Definition: vpMatrix.cpp:5988
void segmentPointCloud(const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &point_cloud)
virtual void setPose(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cdMo)
vpMbtTukeyEstimator< double > m_robust_depthDense
Tukey M-Estimator.
virtual void display(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, unsigned int thickness=1, bool displayFullModel=false)
virtual std::vector< std::vector< double > > getModelForDisplay(unsigned int width, unsigned int height, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, bool displayFullModel=false)
virtual void setDepthDenseFilteringMaxDistance(double maxDistance)
virtual void initCircle(const vpPoint &p1, const vpPoint &p2, const vpPoint &p3, double radius, int idFace=0, const std::string &name="")
void computeVisibility(unsigned int width, unsigned int height)
virtual void setDepthDenseFilteringMethod(int method)
virtual void computeVVSInteractionMatrixAndResidu()
void reInitModel(const vpImage< unsigned char > &I, const std::string &cad_name, const vpHomogeneousMatrix &cMo, bool verbose=false)
vpColVector m_weightedError_depthDense
Weighted error.
unsigned int m_depthDenseSamplingStepY
Sampling step in y-direction.
virtual void init(const vpImage< unsigned char > &I)
vpMbHiddenFaces< vpMbtPolygon > m_depthDenseHiddenFacesDisplay
Set of faces describing the object used only for display with scan line.
virtual void setOgreVisibilityTest(const bool &v)
virtual void loadConfigFile(const std::string &configFile, bool verbose=true)
void setUseDepthDenseTracking(const std::string &name, const bool &useDepthDenseTracking)
unsigned int m_depthDenseSamplingStepX
Sampling step in x-direction.
virtual void setScanLineVisibilityTest(const bool &v)
vpColVector m_error_depthDense
(s - s*)
virtual void track(const vpImage< unsigned char > &)
virtual void initFaceFromCorners(vpMbtPolygon &polygon)
virtual void initCylinder(const vpPoint &p1, const vpPoint &p2, double radius, int idFace=0, const std::string &name="")
vpMatrix m_L_depthDense
Interaction matrix.
virtual void initFaceFromLines(vpMbtPolygon &polygon)
virtual void setCameraParameters(const vpCameraParameters &camera)
std::vector< vpMbtFaceDepthDense * > m_depthDenseListOfActiveFaces
List of current active (visible and features extracted) faces.
void setDepthDenseSamplingStep(unsigned int stepX, unsigned int stepY)
void addFace(vpMbtPolygon &polygon, bool alreadyClose)
virtual void setDepthDenseFilteringMinDistance(double minDistance)
unsigned int m_denseDepthNbFeatures
Nb features.
vpColVector m_w_depthDense
Robust weights.
virtual void setDepthDenseFilteringOccupancyRatio(double occupancyRatio)
std::vector< vpMbtFaceDepthDense * > m_depthDenseFaces
List of faces.
void computeClippedPolygons(const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam)
unsigned int setVisibleOgre(unsigned int width, unsigned int height, const vpCameraParameters &cam, const vpHomogeneousMatrix &cMo, const double &angleAppears, const double &angleDisappears, bool &changed)
void initOgre(const vpCameraParameters &cam=vpCameraParameters())
unsigned int setVisible(unsigned int width, unsigned int height, const vpCameraParameters &cam, const vpHomogeneousMatrix &cMo, const double &angle, bool &changed)
void setBackgroundSizeOgre(const unsigned int &h, const unsigned int &w)
void computeScanLineRender(const vpCameraParameters &cam, const unsigned int &w, const unsigned int &h)
vpAROgre * getOgreContext()
void setOgreShowConfigDialog(bool showConfigDialog)
double m_lambda
Gain of the virtual visual servoing stage.
Definition: vpMbTracker.h:187
virtual void computeCovarianceMatrixVVS(const bool isoJoIdentity_, const vpColVector &w_true, const vpHomogeneousMatrix &cMoPrev, const vpMatrix &L_true, const vpMatrix &LVJ_true, const vpColVector &error)
bool modelInitialised
Definition: vpMbTracker.h:123
vpImage< unsigned char > m_I
Grayscale image buffer, used when passing color images.
Definition: vpMbTracker.h:223
virtual void computeVVSCheckLevenbergMarquardt(unsigned int iter, vpColVector &error, const vpColVector &m_error_prev, const vpHomogeneousMatrix &cMoPrev, double &mu, bool &reStartFromLastIncrement, vpColVector *const w=NULL, const vpColVector *const m_w_prev=NULL)
bool m_computeInteraction
Definition: vpMbTracker.h:185
vpMatrix oJo
The Degrees of Freedom to estimate.
Definition: vpMbTracker.h:115
vpUniRand m_rand
Random number generator used in vpMbtDistanceLine::buildFrom()
Definition: vpMbTracker.h:227
double m_initialMu
Initial Mu for Levenberg Marquardt optimization loop.
Definition: vpMbTracker.h:193
vpHomogeneousMatrix m_cMo
The current pose.
Definition: vpMbTracker.h:113
virtual void computeVVSPoseEstimation(const bool isoJoIdentity_, unsigned int iter, vpMatrix &L, vpMatrix &LTL, vpColVector &R, const vpColVector &error, vpColVector &error_prev, vpColVector &LTR, double &mu, vpColVector &v, const vpColVector *const w=NULL, vpColVector *const m_w_prev=NULL)
vpCameraParameters m_cam
The camera parameters.
Definition: vpMbTracker.h:111
double m_stopCriteriaEpsilon
Epsilon threshold to stop the VVS optimization loop.
Definition: vpMbTracker.h:191
bool useOgre
Use Ogre3d for visibility tests.
Definition: vpMbTracker.h:155
vpMbHiddenFaces< vpMbtPolygon > faces
Set of faces describing the object.
Definition: vpMbTracker.h:143
virtual void setScanLineVisibilityTest(const bool &v)
Definition: vpMbTracker.h:601
virtual void setOgreVisibilityTest(const bool &v)
vpMbtOptimizationMethod m_optimizationMethod
Optimization method used.
Definition: vpMbTracker.h:140
double angleDisappears
Angle used to detect a face disappearance.
Definition: vpMbTracker.h:147
virtual void setNearClippingDistance(const double &dist)
virtual void setFarClippingDistance(const double &dist)
double distFarClip
Distance for near clipping.
Definition: vpMbTracker.h:151
bool useScanLine
Use Scanline for visibility tests.
Definition: vpMbTracker.h:158
virtual void setClipping(const unsigned int &flags)
double angleAppears
Angle used to detect a face appearance.
Definition: vpMbTracker.h:145
const vpImage< bool > * m_mask
Mask used to disable tracking on a part of image.
Definition: vpMbTracker.h:221
virtual void initFromPose(const vpImage< unsigned char > &I, const std::string &initFile)
virtual void loadModel(const std::string &modelFile, bool verbose=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
bool computeCovariance
Flag used to specify if the covariance matrix has to be computed or not.
Definition: vpMbTracker.h:128
double distNearClip
Distance for near clipping.
Definition: vpMbTracker.h:149
unsigned int m_maxIter
Maximum number of iterations of the virtual visual servoing stage.
Definition: vpMbTracker.h:189
bool ogreShowConfigDialog
Definition: vpMbTracker.h:156
unsigned int clippingFlag
Flags specifying which clipping to used.
Definition: vpMbTracker.h:153
vpMbHiddenFaces< vpMbtPolygon > * m_hiddenFace
Pointer to the list of faces.
double m_distFarClip
Distance for near clipping.
vpPlane m_planeObject
Plane equation described in the object frame.
bool computeDesiredFeatures(const vpHomogeneousMatrix &cMo, const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &point_cloud, unsigned int stepX, unsigned int stepY, const vpImage< bool > *mask=NULL)
std::vector< std::vector< double > > getModelForDisplay(unsigned int width, unsigned int height, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, bool displayFullModel=false)
unsigned int getNbFeatures() const
void setTracked(bool tracked)
void computeInteractionMatrixAndResidu(const vpHomogeneousMatrix &cMo, vpMatrix &L, vpColVector &error)
vpMbtPolygon * m_polygon
Polygon defining the face.
bool m_useScanLine
Scan line visibility.
unsigned int m_clippingFlag
Flags specifying which clipping to used.
vpCameraParameters m_cam
Camera intrinsic parameters.
double m_distNearClip
Distance for near clipping.
void addLine(vpPoint &p1, vpPoint &p2, vpMbHiddenFaces< vpMbtPolygon > *const faces, vpUniRand &rand_gen, int polygon=-1, std::string name="")
Implementation of a polygon of the model used by the model-based tracker.
Definition: vpMbtPolygon.h:67
std::string getName() const
Definition: vpMbtPolygon.h:108
int getIndex() const
Definition: vpMbtPolygon.h:101
Parse an Xml file to extract configuration parameters of a mbtConfig object.
void getCameraParameters(vpCameraParameters &cam) const
void setDepthDenseSamplingStepY(unsigned int stepY)
void setAngleDisappear(const double &adisappear)
void setDepthDenseSamplingStepX(unsigned int stepX)
void setAngleAppear(const double &aappear)
unsigned int getDepthDenseSamplingStepY() const
void parse(const std::string &filename)
unsigned int getDepthDenseSamplingStepX() const
void setCameraParameters(const vpCameraParameters &cam)
This class defines the container for a plane geometrical structure.
Definition: vpPlane.h:59
@ object_frame
Definition: vpPlane.h:70
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition: vpPoint.h:82
unsigned int nbpt
Number of points used to define the polygon.
Definition: vpPolygon3D.h:76
unsigned int getNbPoint() const
Definition: vpPolygon3D.h:132
vpPoint * p
corners in the object frame
Definition: vpPolygon3D.h:81
vpVelocityTwistMatrix buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)