SuperqVisualization Class Reference

This class shows the point cloud used for modeling or the estimated superquadric overlapped on the camera image and in real time. More...

#include <superqVisualization.h>

Inherits RateThread.

Public Member Functions
	SuperqVisualization (int rate, const std::string &_eye, const std::string &_what_to_plot, yarp::sig::Vector &_x, yarp::sig::Vector &_x_filtered, std::deque< int > &_Color, yarp::dev::IGazeControl *_igaze, const yarp::sig::Matrix _K, std::deque< yarp::sig::Vector > &_points, const int &_vis_points, const int &_vis_step)
bool	showPoints ()
	Show point cloud on the image. More...
bool	showSuperq (yarp::sig::Vector &x_to_show)
	Show reconstructed superquadric on the image. More...
yarp::sig::Vector	from3Dto2D (const yarp::sig::Vector &point3D)
	Compute 2D pixels from 3D points. More...
virtual bool	threadInit ()
	Init function of RateThread.
virtual void	run ()
	Run function of RateThread.
void	interruptPorts ()
	Interrupt ports functionalities.
virtual void	threadRelease ()
	Release function of RateThread.
void	setPar (const std::string &par_name, const std::string &value)
	Set a given parameter equal to a string. More...
void	setPar (const std::string &par_name, const int &value)
	Set a given parameter equal to a desired value. More...
void	setColor (const int &r, const int &g, const int &b)
	Set color for visualization. More...
void	setPar (const yarp::os::Property &newOptions, bool first_time)
	Set parameters for visualization. More...
yarp::os::Property	getPar ()
	Get parameters for visualization. More...
double	getTime ()
	Get time required for visualization. More...

Data Fields
yarp::sig::Vector &	superq
	Estimated superquadric.
yarp::sig::Vector &	superq_filtered
	Filtered superquadric.
std::deque< yarp::sig::Vector > &	points
	Object point cloud.
yarp::sig::ImageOf< yarp::sig::PixelRgb > *	imgIn
	Input image.

Protected Attributes
yarp::os::BufferedPort< yarp::sig::ImageOf< yarp::sig::PixelRgb > >	portImgIn
	Input image port.
yarp::os::BufferedPort< yarp::sig::ImageOf< yarp::sig::PixelRgb > >	portImgOut
	Output image port *.
int	r
	R value for visualization.
int	g
	Green value for visualization.
int	b
	Blue value for visualization.
double	t_vis
	Time for visualization.
int	vis_points
	Number of points used for visualization.
int	vis_step
	Number of visualization step.
std::string	what_to_plot
	String used for deciding what to plot: "points" or "superq".
yarp::sig::Vector	point
yarp::sig::Vector	point1
yarp::sig::Vector	point2D
std::deque< int >	Color
std::string	eye
	Eye camera selected.
yarp::sig::Matrix	R
yarp::sig::Matrix	H
yarp::sig::Matrix	K
yarp::dev::IGazeControl *	igaze
	Gaze Control interface.
yarp::os::Mutex	mutex

Detailed Description

This class shows the point cloud used for modeling or the estimated superquadric overlapped on the camera image and in real time.

Definition at line 36 of file superqVisualization.h.

Member Function Documentation

from3Dto2D()

Vector SuperqVisualization::from3Dto2D

(

const yarp::sig::Vector &

point3D

)

Compute 2D pixels from 3D points.

Parameters

point3D

is the 3D point to be converted

Returns

a 2D vector representing the corresponding pixel

Definition at line 168 of file superqVisualization.cpp.

Referenced by showPoints(), and showSuperq().

{
    Vector point2D(3,0.0);
    Vector point_aux(4,1.0);
    point_aux.setSubvector(0,point3D);
    point2D=K*H*point_aux;
    return point2D.subVector(0,1)/point2D[2];
}

getPar()

Property SuperqVisualization::getPar

(

)

Get parameters for visualization.

Returns

a property with all the visualization options

Definition at line 330 of file superqVisualization.cpp.

References eye, vis_points, vis_step, and what_to_plot.

{
    LockGuard lg(mutex);

    Property advOptions;
    advOptions.put("visualized_points",vis_points);
    if (Color[0]==255 && Color[1]==0 && Color[2]==0)
        advOptions.put("color","red");
    else if  (Color[0]==0 && Color[1]==255 && Color[2]==0)
        advOptions.put("color","green");
    else if  (Color[0]==0 && Color[1]==0 &&Color[2]==255)
        advOptions.put("color","blue");
    advOptions.put("camera",eye);
    advOptions.put("visualized_points_step",vis_step);
    advOptions.put("what_to_plot",what_to_plot);
    return advOptions;
}

getTime()

double SuperqVisualization::getTime

(

)

Get time required for visualization.

Returns

the visualization time

Definition at line 349 of file superqVisualization.cpp.

References t_vis.

{   
    LockGuard lg(mutex);
    return t_vis;
}

setColor()

void SuperqVisualization::setColor	(	const int &	r,
		const int &	g,
		const int &	b
	)

Set color for visualization.

Parameters

r	is the red component
g	is the green component
b	is the blue component

setPar() [1/3]

void SuperqVisualization::setPar	(	const std::string &	par_name,
		const std::string &	value
	)

Set a given parameter equal to a string.

Parameters

par_name	is the name of the parameter to be changed
value	is the new value

setPar() [2/3]

void SuperqVisualization::setPar	(	const std::string &	par_name,
		const int &	value
	)

Set a given parameter equal to a desired value.

Parameters

par_name	is the name of the parameter to be changed
value	is the new value

setPar() [3/3]

void SuperqVisualization::setPar	(	const yarp::os::Property &	newOptions,
		bool	first_time
	)

Set parameters for visualization.

Parameters

newOptions	is a Property with the new options to set
first_time	takes into account if the options have already been set or not

showPoints()

bool SuperqVisualization::showPoints

(

)

Show point cloud on the image.

Returns

true

Definition at line 117 of file superqVisualization.cpp.

References eye, from3Dto2D(), igaze, imgIn, points, portImgOut, and vis_step.

Referenced by run().

{
    PixelRgb color(Color[0],Color[1],Color[2]);
    Stamp *stamp=NULL;
    Vector pos, orient;

    ImageOf<PixelRgb> &imgOut=portImgOut.prepare();
    imgOut=*imgIn;

    if (eye=="left")
    {
        if (igaze->getLeftEyePose(pos,orient,stamp))
        {
            H=axis2dcm(orient);
            H.setSubcol(pos,0,3);
            H=SE3inv(H);
        }
    }
    else
    {
        if (igaze->getRightEyePose(pos,orient,stamp))
        {
            H=axis2dcm(orient);
            H.setSubcol(pos,0,3);
            H=SE3inv(H);
        }
    }

    Vector point(3,0.0);

     for (size_t i=0; i<points.size(); i+=vis_step)
     {
         point=points[i].subVector(0,2);
         point2D=from3Dto2D(point);

         cv::Point target_point((int)point2D[0],(int)point2D[1]);

         if ((target_point.x<0) || (target_point.y<0) || (target_point.x>=320) || (target_point.y>=240))
         {
             yWarning("[SuperqVisualization]:  Not acceptable pixels!");
         }
         else
            imgOut.pixel(target_point.x, target_point.y)=color;
     }

    portImgOut.write();

    return true;
}

showSuperq()

bool SuperqVisualization::showSuperq

(

yarp::sig::Vector &

x_to_show

)

Show reconstructed superquadric on the image.

Parameters

x_to_show

is the superquadric to be shown

Returns

true/false on success/failure

Definition at line 39 of file superqVisualization.cpp.

References eye, from3Dto2D(), igaze, imgIn, portImgOut, and vis_points.

Referenced by run().

{
    LockGuard lg(mutex);

    PixelRgb color(Color[0],Color[1],Color[2]);
    Vector pos, orient;
    double co,so,ce,se;
    Stamp *stamp=NULL;

    ImageOf<PixelRgb> &imgOut=portImgOut.prepare();
    imgOut=*imgIn;

    R=euler2dcm(x_toshow.subVector(8,10));
    R=R.transposed();

    if ((norm(x_toshow)>0.0))
    {
        if (eye=="left")
        {
            if (igaze->getLeftEyePose(pos,orient,stamp))
            {
                H=axis2dcm(orient);
                H.setSubcol(pos,0,3);
                H=SE3inv(H);
            }
        }
        else
        {
            if (igaze->getRightEyePose(pos,orient,stamp))
            {
                H=axis2dcm(orient);
                H.setSubcol(pos,0,3);
                H=SE3inv(H);
            }
        }

        double step=2*M_PI/vis_points;

        for (double eta=-M_PI; eta<M_PI; eta+=step)
        {
             for (double omega=-M_PI; omega<M_PI;omega+=step)
             {
                 co=cos(omega); so=sin(omega);
                 ce=cos(eta); se=sin(eta);

                 point[0]=x_toshow[0] * sign(ce)*(pow(abs(ce),x_toshow[3])) * sign(co)*(pow(abs(co),x_toshow[4])) * R(0,0) +
                            x_toshow[1] * sign(ce)*(pow(abs(ce),x_toshow[3]))* sign(so)*(pow(abs(so),x_toshow[4])) * R(0,1)+
                                x_toshow[2] * sign(se)*(pow(abs(se),x_toshow[3])) * R(0,2) + x_toshow[5];

                 point[1]=x_toshow[0] * sign(ce)*(pow(abs(ce),x_toshow[3])) * sign(co)*(pow(abs(co),x_toshow[4])) * R(1,0) +
                            x_toshow[1] * sign(ce)*(pow(abs(ce),x_toshow[3])) * sign(so)*(pow(abs(so),x_toshow[4])) * R(1,1)+
                                x_toshow[2] * sign(se)*(pow(abs(se),x_toshow[3])) * R(1,2) + x_toshow[6];

                 point[2]=x_toshow[0] * sign(ce)*(pow(abs(ce),x_toshow[3])) * sign(co)*(pow(abs(co),x_toshow[4])) * R(2,0) +
                            x_toshow[1] * sign(ce)*(pow(abs(ce),x_toshow[3])) * sign(so)*(pow(abs(so),x_toshow[4])) * R(2,1)+
                                x_toshow[2] * sign(se)*(pow(abs(se),x_toshow[3])) * R(2,2) + x_toshow[7];

                 point2D=from3Dto2D(point);

                 cv::Point target_point((int)point2D[0],(int)point2D[1]);

                 if ((target_point.x<0) || (target_point.y<0) || (target_point.x>=320) || (target_point.y>=240))
                 {
                     yWarning("[SuperqVisualization]: Not acceptable pixels!");
                 }
                 else
                    imgOut.pixel(target_point.x, target_point.y)=color;
             }
         }
    }

    portImgOut.write();

    return true;

}

---

The documentation for this class was generated from the following files:

• C:/Users/upattacini/Desktop/superquadric-model/include/superqVisualization.h
• C:/Users/upattacini/Desktop/superquadric-model/src/superqVisualization.cpp