Visual Servoing Platform version 3.5.0
vpMbDepthNormalTracker.h
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 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
48class VISP_EXPORT vpMbDepthNormalTracker : public virtual vpMbTracker
49{
50public:
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
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, bool verbose=true);
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
124protected:
130 std::vector<vpMbtFaceDepthNormal *> m_depthNormalListOfActiveFaces;
132 std::vector<vpColVector> m_depthNormalListOfDesiredFeatures;
134 std::vector<vpMbtFaceDepthNormal *> m_depthNormalFaces;
150 std::vector<std::vector<double> > m_featuresToBeDisplayedDepthNormal;
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
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
Class to define RGB colors available for display functionnalities.
Definition: vpColor.h:158
Class that defines generic functionnalities for display.
Definition: vpDisplay.h:178
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:154
vpMatrix m_L_depthNormal
Interaction matrix.
vpRobust m_robust_depthNormal
Robust.
virtual vpColVector getError() const
vpMbtFaceDepthNormal::vpFeatureEstimationType m_depthNormalFeatureEstimationMethod
Method to estimate the desired features.
virtual vpColVector getRobustWeights() const
std::vector< vpMbtFaceDepthNormal * > m_depthNormalFaces
List of faces.
int m_depthNormalPclPlaneEstimationRansacMaxIter
PCL RANSAC maximum number of iterations.
unsigned int m_depthNormalSamplingStepY
Sampling step in y-direction.
double m_depthNormalPclPlaneEstimationRansacThreshold
PCL RANSAC threshold.
bool m_depthNormalUseRobust
If true, use Tukey robust M-Estimator.
vpColVector m_w_depthNormal
Robust weights.
vpColVector m_error_depthNormal
(s - s*)
vpColVector m_weightedError_depthNormal
Weighted error.
std::vector< vpMbtFaceDepthNormal * > m_depthNormalListOfActiveFaces
List of current active (visible and with features extracted) faces.
int m_depthNormalPclPlaneEstimationMethod
PCL plane estimation method.
std::vector< vpColVector > m_depthNormalListOfDesiredFeatures
List of desired features.
vpMbHiddenFaces< vpMbtPolygon > m_depthNormalHiddenFacesDisplay
Set of faces describing the object used only for display with scan line.
virtual vpMbtFaceDepthNormal::vpFeatureEstimationType getDepthFeatureEstimationMethod() const
std::vector< std::vector< double > > m_featuresToBeDisplayedDepthNormal
Display features.
unsigned int m_depthNormalSamplingStepX
Sampling step in x-direction.
Main methods for a model-based tracker.
Definition: vpMbTracker.h:105
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 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)
Definition: vpMbTracker.h:487
virtual void setScanLineVisibilityTest(const bool &v)
Definition: vpMbTracker.h:601
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.
Definition: vpMbtPolygon.h:67
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition: vpPoint.h:82
Contains an M-estimator and various influence function.
Definition: vpRobust.h:89