Visual Servoing Platform version 3.6.0
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vpMbtPolygon.cpp
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 * Make the complete tracking of an object by using its CAD model
33 *
34 * Authors:
35 * Romain Tallonneau
36 * Aurelien Yol
37 *
38*****************************************************************************/
39
40#include <limits.h>
41
42#include <visp3/core/vpConfig.h>
48#include <visp3/core/vpPolygon.h>
49#include <visp3/mbt/vpMbtPolygon.h>
50
55 : index(-1), isvisible(false), isappearing(false), useLod(false), minLineLengthThresh(50.0),
56 minPolygonAreaThresh(2500.0), name(""), hasOrientation(true)
57{
58}
59
61 : vpPolygon3D(mbtp), index(mbtp.index), isvisible(mbtp.isvisible), isappearing(mbtp.isappearing), useLod(mbtp.useLod),
62 minLineLengthThresh(mbtp.minLineLengthThresh), minPolygonAreaThresh(mbtp.minPolygonAreaThresh), name(mbtp.name),
63 hasOrientation(mbtp.hasOrientation)
64{
65 //*this = mbtp; // Should not be called by copy contructor to avoid multiple
66 // assignements.
67}
68
83
88
105bool vpMbtPolygon::isVisible(const vpHomogeneousMatrix &cMo, double alpha, const bool &modulo,
106 const vpCameraParameters &cam, unsigned int width, unsigned int height)
107{
108 // std::cout << "Computing angle from MBT Face (cMo, alpha)" << std::endl;
109
110 changeFrame(cMo);
111
112 if (nbpt <= 2) {
113 // Level of detail (LOD)
114 if (useLod) {
115 vpCameraParameters c = cam;
116 if (clippingFlag > 3) { // Contains at least one FOV constraint
117 c.computeFov(width, height);
118 }
120 std::vector<vpImagePoint> roiImagePoints;
121 getRoiClipped(c, roiImagePoints);
122
123 if (roiImagePoints.size() == 2) {
124 double x1 = roiImagePoints[0].get_u();
125 double y1 = roiImagePoints[0].get_v();
126 double x2 = roiImagePoints[1].get_u();
127 double y2 = roiImagePoints[1].get_v();
128 double length = std::sqrt((x1 - x2) * (x1 - x2) + (y1 - y2) * (y1 - y2));
129 // std::cout << "Index=" << index << " ; Line length=" <<
130 // length << " ; clippingFlag=" << clippingFlag << std::endl;
131 // vpTRACE("index=%d length=%f minLineLengthThresh=%f", index,
132 // length, minLineLengthThresh);
133
134 if (length < minLineLengthThresh) {
135 isvisible = false;
136 isappearing = false;
137 return false;
138 }
139 }
140 }
141
142 /* a line is always visible when LOD is not used */
143 isvisible = true;
144 isappearing = false;
145 return true;
146 }
147
148 // If the polygon has no orientation, the angle check visibility is always
149 // valid. Feature mainly used for cylinders.
150 if (!hasOrientation) {
151 isvisible = true;
152 isappearing = false;
153 return true;
154 }
155
156 // Check visibility from normal
157 // Newell's Method for calculating the normal of an arbitrary 3D polygon
158 // https://www.opengl.org/wiki/Calculating_a_Surface_Normal
159 vpColVector faceNormal(3);
160 vpColVector currentVertex, nextVertex;
161 for (unsigned int i = 0; i < nbpt; i++) {
162 currentVertex = p[i].cP;
163 nextVertex = p[(i + 1) % nbpt].cP;
164
165 faceNormal[0] += (currentVertex[1] - nextVertex[1]) * (currentVertex[2] + nextVertex[2]);
166 faceNormal[1] += (currentVertex[2] - nextVertex[2]) * (currentVertex[0] + nextVertex[0]);
167 faceNormal[2] += (currentVertex[0] - nextVertex[0]) * (currentVertex[1] + nextVertex[1]);
168 }
169 faceNormal.normalize();
170
171 vpColVector e4(3);
172 vpPoint pt;
173 for (unsigned int i = 0; i < nbpt; i += 1) {
174 pt.set_X(pt.get_X() + p[i].get_X());
175 pt.set_Y(pt.get_Y() + p[i].get_Y());
176 pt.set_Z(pt.get_Z() + p[i].get_Z());
177 }
178 e4[0] = -pt.get_X() / (double)nbpt;
179 e4[1] = -pt.get_Y() / (double)nbpt;
180 e4[2] = -pt.get_Z() / (double)nbpt;
181 e4.normalize();
182
183 double angle = acos(vpColVector::dotProd(e4, faceNormal));
184
185 // vpCTRACE << angle << "/" << vpMath::deg(angle) << "/" <<
186 // vpMath::deg(alpha) << std::endl;
187
188 if (angle < alpha || (modulo && (M_PI - angle) < alpha)) {
189 isvisible = true;
190 isappearing = false;
191
192 if (useLod) {
193 vpCameraParameters c = cam;
194 if (clippingFlag > 3) { // Contains at least one FOV constraint
195 c.computeFov(width, height);
196 }
198 std::vector<vpImagePoint> roiImagePoints;
199 getRoiClipped(c, roiImagePoints);
200
201 vpPolygon roiPolygon(roiImagePoints);
202 double area = roiPolygon.getArea();
203 // std::cout << "After normal test ; Index=" << index << " ; area="
204 // << area << " ; clippingFlag="
205 // << clippingFlag << std::endl;
206 if (area < minPolygonAreaThresh) {
207 isappearing = false;
208 isvisible = false;
209 return false;
210 }
211 }
212
213 return true;
214 }
215
216 if (angle < alpha + vpMath::rad(1)) {
217 isappearing = true;
218 } else if (modulo && (M_PI - angle) < alpha + vpMath::rad(1)) {
219 isappearing = true;
220 } else {
221 isappearing = false;
222 }
223
224 isvisible = false;
225 return false;
226}
227
228//###################################
229// Static functions
230//###################################
231
275void vpMbtPolygon::setLod(bool use_lod) { this->useLod = use_lod; }
Generic class defining intrinsic camera parameters.
void computeFov(const unsigned int &w, const unsigned int &h)
Implementation of column vector and the associated operations.
static double dotProd(const vpColVector &a, const vpColVector &b)
vpColVector & normalize()
Implementation of an homogeneous matrix and operations on such kind of matrices.
static double rad(double deg)
Definition vpMath.h:116
Implementation of a polygon of the model used by the model-based tracker.
bool isvisible
flag to specify whether the face is visible or not
bool hasOrientation
double minLineLengthThresh
void setLod(bool use_lod)
double minPolygonAreaThresh
virtual ~vpMbtPolygon()
bool isappearing
flag to specify whether the face is appearing or not
std::string name
Name of the polygon.
bool isVisible() const
vpMbtPolygon & operator=(const vpMbtPolygon &mbtp)
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition vpPoint.h:77
double get_Y() const
Get the point cY coordinate in the camera frame.
Definition vpPoint.cpp:451
void set_X(double cX)
Set the point cX coordinate in the camera frame.
Definition vpPoint.cpp:490
void set_Y(double cY)
Set the point cY coordinate in the camera frame.
Definition vpPoint.cpp:492
double get_Z() const
Get the point cZ coordinate in the camera frame.
Definition vpPoint.cpp:453
void set_Z(double cZ)
Set the point cZ coordinate in the camera frame.
Definition vpPoint.cpp:494
double get_X() const
Get the point cX coordinate in the camera frame.
Definition vpPoint.cpp:449
Implements a 3D polygon with render functionalities like clipping.
Definition vpPolygon3D.h:55
void changeFrame(const vpHomogeneousMatrix &cMo)
unsigned int nbpt
Number of points used to define the polygon.
Definition vpPolygon3D.h:71
vpPoint * p
corners in the object frame
Definition vpPolygon3D.h:76
void computePolygonClipped(const vpCameraParameters &cam=vpCameraParameters())
unsigned int clippingFlag
Clipping flag.
Definition vpPolygon3D.h:80
void getRoiClipped(const vpCameraParameters &cam, std::vector< vpImagePoint > &roi)
vpPolygon3D & operator=(const vpPolygon3D &mbtp)
Defines a generic 2D polygon.
Definition vpPolygon.h:97
double getArea() const
Definition vpPolygon.h:155
vpColVector cP
Definition vpTracker.h:72