Visual Servoing Platform version 3.6.0
Loading...
Searching...
No Matches
vpMbDepthDenseTracker.h
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 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 https://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#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
48class VISP_EXPORT vpMbDepthDenseTracker : public virtual vpMbTracker
49{
50public:
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, bool verbose = true);
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
121protected:
125 std::vector<vpMbtFaceDepthDense *> m_depthDenseListOfActiveFaces;
129 std::vector<vpMbtFaceDepthDense *> m_depthDenseFaces;
139 vpMbtTukeyEstimator<double> m_robust_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, int idFace = 0,
160 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, unsigned int height);
173};
174#endif
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
Class to define RGB colors available for display functionalities.
Definition vpColor.h:152
Class that defines generic functionalities for display.
Definition vpDisplay.h:173
Implementation of an homogeneous matrix and operations on such kind of matrices.
Definition of the vpImage class member functions.
Definition vpImage.h:135
Implementation of a matrix and operations on matrices.
Definition vpMatrix.h:152
vpMbtTukeyEstimator< double > m_robust_depthDense
Tukey M-Estimator.
virtual vpColVector getError() const
vpColVector m_weightedError_depthDense
Weighted error.
unsigned int m_depthDenseSamplingStepY
Sampling step in y-direction.
vpMbHiddenFaces< vpMbtPolygon > m_depthDenseHiddenFacesDisplay
Set of faces describing the object used only for display with scan line.
unsigned int m_depthDenseSamplingStepX
Sampling step in x-direction.
vpColVector m_error_depthDense
(s - s*)
vpMatrix m_L_depthDense
Interaction matrix.
std::vector< vpMbtFaceDepthDense * > m_depthDenseListOfActiveFaces
List of current active (visible and features extracted) faces.
void setDepthDenseSamplingStep(unsigned int stepX, unsigned int stepY)
unsigned int m_denseDepthNbFeatures
Nb features.
vpColVector m_w_depthDense
Robust weights.
virtual vpColVector getRobustWeights() const
std::vector< vpMbtFaceDepthDense * > m_depthDenseFaces
List of faces.
Implementation of the polygons management for the model-based trackers.
Main methods for a model-based tracker.
virtual void track(const vpImage< unsigned char > &I)=0
virtual void resetTracker()=0
virtual void init(const vpImage< unsigned char > &I)=0
virtual void initFaceFromLines(vpMbtPolygon &polygon)=0
virtual void initCircle(const vpPoint &p1, const vpPoint &p2, const vpPoint &p3, double radius, int idFace=0, const std::string &name="")=0
virtual void initCylinder(const vpPoint &p1, const vpPoint &p2, double radius, int idFace=0, const std::string &name="")=0
virtual void computeVVSWeights(vpRobust &robust, const vpColVector &error, vpColVector &w)
virtual std::vector< std::vector< double > > getModelForDisplay(unsigned int width, unsigned int height, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, bool displayFullModel=false)=0
virtual void setCameraParameters(const vpCameraParameters &cam)
virtual void setScanLineVisibilityTest(const bool &v)
virtual void setOgreVisibilityTest(const bool &v)
virtual void setPose(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cdMo)=0
virtual void computeVVSInteractionMatrixAndResidu()=0
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
virtual void computeVVSInit()=0
virtual void testTracking()=0
virtual void initFaceFromCorners(vpMbtPolygon &polygon)=0
virtual void loadConfigFile(const std::string &configFile, bool verbose=true)
Implementation of a polygon of the model used by the model-based tracker.
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition vpPoint.h:77