Visual Servoing Platform  version 3.3.0
vpMbDepthNormalTracker.h
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30  *
31  * Description:
32  * Model-based tracker using depth normal features.
33  *
34  *****************************************************************************/
35 
36 #ifndef _vpMbDepthNormalTracker_h_
37 #define _vpMbDepthNormalTracker_h_
38 
39 #include <visp3/core/vpConfig.h>
40 #include <visp3/core/vpPlane.h>
41 #include <visp3/mbt/vpMbTracker.h>
42 #include <visp3/mbt/vpMbtFaceDepthNormal.h>
43 
44 #if DEBUG_DISPLAY_DEPTH_NORMAL
45 #include <visp3/core/vpDisplay.h>
46 #endif
47 
48 class VISP_EXPORT vpMbDepthNormalTracker : public virtual vpMbTracker
49 {
50 public:
52  virtual ~vpMbDepthNormalTracker();
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 vpMbtFaceDepthNormal::vpFeatureEstimationType getDepthFeatureEstimationMethod() const
61  {
62  return m_depthNormalFeatureEstimationMethod;
63  }
64 
65  virtual inline vpColVector getError() const { return m_error_depthNormal; }
66 
67  virtual std::vector<std::vector<double> > getModelForDisplay(unsigned int width, unsigned int height,
68  const vpHomogeneousMatrix &cMo,
69  const vpCameraParameters &cam,
70  bool displayFullModel=false);
71 
72  virtual inline vpColVector getRobustWeights() const { return m_w_depthNormal; }
73 
74  virtual void init(const vpImage<unsigned char> &I);
75 
76  virtual void loadConfigFile(const std::string &configFile);
77 
78  void reInitModel(const vpImage<unsigned char> &I, const std::string &cad_name, const vpHomogeneousMatrix &cMo,
79  bool verbose = false);
80 #if defined(VISP_HAVE_PCL)
81  void reInitModel(const pcl::PointCloud<pcl::PointXYZ>::ConstPtr &point_cloud, const std::string &cad_name,
82  const vpHomogeneousMatrix &cMo, bool verbose = false);
83 #endif
84 
85  virtual void resetTracker();
86 
87  virtual void setCameraParameters(const vpCameraParameters &camera);
88 
89  virtual void setDepthNormalFaceCentroidMethod(const vpMbtFaceDepthNormal::vpFaceCentroidType &method);
90 
91  virtual void setDepthNormalFeatureEstimationMethod(const vpMbtFaceDepthNormal::vpFeatureEstimationType &method);
92 
93  virtual void setDepthNormalPclPlaneEstimationMethod(int method);
94 
95  virtual void setDepthNormalPclPlaneEstimationRansacMaxIter(int maxIter);
96 
97  virtual void setDepthNormalPclPlaneEstimationRansacThreshold(double thresold);
98 
99  virtual void setDepthNormalSamplingStep(unsigned int stepX, unsigned int stepY);
100 
101  // virtual void setDepthNormalUseRobust(bool use);
102 
103  virtual void setOgreVisibilityTest(const bool &v);
104 
105  virtual void setPose(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cdMo);
106  virtual void setPose(const vpImage<vpRGBa> &I_color, const vpHomogeneousMatrix &cdMo);
107 #if defined(VISP_HAVE_PCL)
108  virtual void setPose(const pcl::PointCloud<pcl::PointXYZ>::ConstPtr &point_cloud, const vpHomogeneousMatrix &cdMo);
109 #endif
110 
111  virtual void setScanLineVisibilityTest(const bool &v);
112 
113  void setUseDepthNormalTracking(const std::string &name, const bool &useDepthNormalTracking);
114 
115  virtual void testTracking();
116 
117  virtual void track(const vpImage<unsigned char> &);
118  virtual void track(const vpImage<vpRGBa> &I_color);
119 #if defined(VISP_HAVE_PCL)
120  virtual void track(const pcl::PointCloud<pcl::PointXYZ>::ConstPtr &point_cloud);
121 #endif
122  virtual void track(const std::vector<vpColVector> &point_cloud, unsigned int width, unsigned int height);
123 
124 protected:
126  vpMbtFaceDepthNormal::vpFeatureEstimationType m_depthNormalFeatureEstimationMethod;
128  vpMbHiddenFaces<vpMbtPolygon> m_depthNormalHiddenFacesDisplay;
130  std::vector<vpMbtFaceDepthNormal *> m_depthNormalListOfActiveFaces;
132  std::vector<vpColVector> m_depthNormalListOfDesiredFeatures;
134  std::vector<vpMbtFaceDepthNormal *> m_depthNormalFaces;
136  int m_depthNormalPclPlaneEstimationMethod;
138  int m_depthNormalPclPlaneEstimationRansacMaxIter;
140  double m_depthNormalPclPlaneEstimationRansacThreshold;
142  unsigned int m_depthNormalSamplingStepX;
144  unsigned int m_depthNormalSamplingStepY;
146  bool m_depthNormalUseRobust;
148  vpColVector m_error_depthNormal;
150  std::vector<std::vector<double> > m_featuresToBeDisplayedDepthNormal;
152  vpMatrix m_L_depthNormal;
154  vpRobust m_robust_depthNormal;
156  vpColVector m_w_depthNormal;
158  vpColVector m_weightedError_depthNormal;
159 #if DEBUG_DISPLAY_DEPTH_NORMAL
160  vpDisplay *m_debugDisp_depthNormal;
161  vpImage<unsigned char> m_debugImage_depthNormal;
162 #endif
163 
164  void addFace(vpMbtPolygon &polygon, bool alreadyClose);
165 
166  void computeVisibility(unsigned int width, unsigned int height);
167 
168  void computeVVS();
169  virtual void computeVVSInit();
171 
172  virtual std::vector<std::vector<double> > getFeaturesForDisplayDepthNormal();
173 
174  virtual void initCircle(const vpPoint &p1, const vpPoint &p2, const vpPoint &p3, double radius,
175  int idFace = 0, const std::string &name = "");
176 
177  virtual void initCylinder(const vpPoint &p1, const vpPoint &p2, double radius, int idFace = 0,
178  const std::string &name = "");
179 
180  virtual void initFaceFromCorners(vpMbtPolygon &polygon);
181 
182  virtual void initFaceFromLines(vpMbtPolygon &polygon);
183 
184 #ifdef VISP_HAVE_PCL
185  void segmentPointCloud(const pcl::PointCloud<pcl::PointXYZ>::ConstPtr &point_cloud);
186 #endif
187  void segmentPointCloud(const std::vector<vpColVector> &point_cloud, unsigned int width,
188  unsigned int height);
189 };
190 #endif
vpMbTracker::loadConfigFile
virtual void loadConfigFile(const std::string &configFile)
Definition: vpMbTracker.cpp:3785
vpMbtFaceDepthNormal::vpFeatureEstimationType
vpFeatureEstimationType
Definition: vpMbtFaceDepthNormal.h:61
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
vpRobust
Contains an M-Estimator and various influence function.
Definition: vpRobust.h:58
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
vpMbDepthNormalTracker
Definition: vpMbDepthNormalTracker.h:48
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::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
vpMbtFaceDepthNormal::vpFaceCentroidType
vpFaceCentroidType
Definition: vpMbtFaceDepthNormal.h:56
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