vpImageSimulator.cpp

/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description: Class which enables to project an image in the 3D space
 * and get the view of a virtual camera.
 *
*****************************************************************************/
 
#include <visp3/core/vpImageConvert.h>
#include <visp3/core/vpMatrixException.h>
#include <visp3/core/vpMeterPixelConversion.h>
#include <visp3/core/vpPixelMeterConversion.h>
#include <visp3/core/vpPolygon3D.h>
#include <visp3/core/vpRotationMatrix.h>
#include <visp3/robot/vpImageSimulator.h>
 
#ifdef VISP_HAVE_MODULE_IO
#include <visp3/io/vpImageIo.h>
#endif
 
vpImageSimulator::vpImageSimulator(const vpColorPlan &col)
  : cMt(), pt(), ptClipped(), interp(SIMPLE), normal_obj(), normal_Cam(), normal_Cam_optim(), distance(1.),
    visible_result(1.), visible(false), X0_2_optim(nullptr), frobeniusNorm_u(0.), fronbniusNorm_v(0.), vbase_u(),
    vbase_v(), vbase_u_optim(nullptr), vbase_v_optim(nullptr), Xinter_optim(nullptr), listTriangle(), colorI(col), Ig(), Ic(),
    rect(), cleanPrevImage(false), setBackgroundTexture(false), bgColor(vpColor::white), focal(), needClipping(false)
{
  for (int i = 0; i < 4; i++)
    X[i].resize(3);
 
  for (int i = 0; i < 4; i++)
    X2[i].resize(3);
 
  normal_obj.resize(3);
  visible = false;
  normal_Cam.resize(3);
 
  // Xinter.resize(3);
 
  vbase_u.resize(3);
  vbase_v.resize(3);
 
  focal.resize(3);
  focal = 0;
  focal[2] = 1;
 
  normal_Cam_optim = new double[3];
  X0_2_optim = new double[3];
  vbase_u_optim = new double[3];
  vbase_v_optim = new double[3];
  Xinter_optim = new double[3];
 
  pt.resize(4);
}
 
vpImageSimulator::vpImageSimulator(const vpImageSimulator &text)
  : cMt(), pt(), ptClipped(), interp(SIMPLE), normal_obj(), normal_Cam(), normal_Cam_optim(), distance(1.),
    visible_result(1.), visible(false), X0_2_optim(nullptr), frobeniusNorm_u(0.), fronbniusNorm_v(0.), vbase_u(),
    vbase_v(), vbase_u_optim(nullptr), vbase_v_optim(nullptr), Xinter_optim(nullptr), listTriangle(), colorI(GRAY_SCALED), Ig(),
    Ic(), rect(), cleanPrevImage(false), setBackgroundTexture(false), bgColor(vpColor::white), focal(),
    needClipping(false)
{
  pt.resize(4);
  for (unsigned int i = 0; i < 4; i++) {
    X[i] = text.X[i];
    pt[i] = text.pt[i];
  }
 
  for (int i = 0; i < 4; i++)
    X2[i].resize(3);
 
  Ic = text.Ic;
  Ig = text.Ig;
 
  focal.resize(3);
  focal = 0;
  focal[2] = 1;
 
  normal_obj = text.normal_obj;
  frobeniusNorm_u = text.frobeniusNorm_u;
  fronbniusNorm_v = text.fronbniusNorm_v;
 
  normal_Cam.resize(3);
  vbase_u.resize(3);
  vbase_v.resize(3);
 
  normal_Cam_optim = new double[3];
  X0_2_optim = new double[3];
  vbase_u_optim = new double[3];
  vbase_v_optim = new double[3];
  Xinter_optim = new double[3];
 
  colorI = text.colorI;
  interp = text.interp;
  bgColor = text.bgColor;
  cleanPrevImage = text.cleanPrevImage;
  setBackgroundTexture = false;
 
  setCameraPosition(text.cMt);
}
 
vpImageSimulator::~vpImageSimulator()
{
  delete[] normal_Cam_optim;
  delete[] X0_2_optim;
  delete[] vbase_u_optim;
  delete[] vbase_v_optim;
  delete[] Xinter_optim;
}
 
vpImageSimulator &vpImageSimulator::operator=(const vpImageSimulator &sim)
{
  for (unsigned int i = 0; i < 4; i++) {
    X[i] = sim.X[i];
    pt[i] = sim.pt[i];
  }
 
  Ic = sim.Ic;
  Ig = sim.Ig;
 
  bgColor = sim.bgColor;
  cleanPrevImage = sim.cleanPrevImage;
 
  focal = sim.focal;
 
  normal_obj = sim.normal_obj;
  frobeniusNorm_u = sim.frobeniusNorm_u;
  fronbniusNorm_v = sim.fronbniusNorm_v;
 
  colorI = sim.colorI;
  interp = sim.interp;
 
  setCameraPosition(sim.cMt);
 
  return *this;
}
 
void vpImageSimulator::getImage(vpImage<unsigned char> &I, const vpCameraParameters &cam)
{
  if (setBackgroundTexture)
    // The Ig has been set to a previously defined background texture
    I = Ig;
  else {
    if (cleanPrevImage) {
      unsigned char col = (unsigned char)(0.2126 * bgColor.R + 0.7152 * bgColor.G + 0.0722 * bgColor.B);
      for (unsigned int i = 0; i < I.getHeight(); i++) {
        for (unsigned int j = 0; j < I.getWidth(); j++) {
          I[i][j] = col;
        }
      }
    }
  }
 
  if (visible) {
    if (!needClipping)
      getRoi(I.getWidth(), I.getHeight(), cam, pt, rect);
    else
      getRoi(I.getWidth(), I.getHeight(), cam, ptClipped, rect);
 
    double top = rect.getTop();
    double bottom = rect.getBottom();
    double left = rect.getLeft();
    double right = rect.getRight();
 
    unsigned char *bitmap = I.bitmap;
    unsigned int width = I.getWidth();
    vpImagePoint ip;
 
    for (unsigned int i = (unsigned int)top; i < (unsigned int)bottom; i++) {
      for (unsigned int j = (unsigned int)left; j < (unsigned int)right; j++) {
        double x = 0, y = 0;
        ip.set_ij(i, j);
        vpPixelMeterConversion::convertPoint(cam, ip, x, y);
        ip.set_ij(y, x);
        if (colorI == GRAY_SCALED) {
          unsigned char Ipixelplan = 0;
          if (getPixel(ip, Ipixelplan)) {
            *(bitmap + i * width + j) = Ipixelplan;
          }
        } else if (colorI == COLORED) {
          vpRGBa Ipixelplan;
          if (getPixel(ip, Ipixelplan)) {
            unsigned char pixelgrey =
                (unsigned char)(0.2126 * Ipixelplan.R + 0.7152 * Ipixelplan.G + 0.0722 * Ipixelplan.B);
            *(bitmap + i * width + j) = pixelgrey;
          }
        }
      }
    }
  }
}
 
void vpImageSimulator::getImage(vpImage<unsigned char> &I, vpImage<unsigned char> &Isrc, const vpCameraParameters &cam)
{
  if (cleanPrevImage) {
    unsigned char col = (unsigned char)(0.2126 * bgColor.R + 0.7152 * bgColor.G + 0.0722 * bgColor.B);
    for (unsigned int i = 0; i < I.getHeight(); i++) {
      for (unsigned int j = 0; j < I.getWidth(); j++) {
        I[i][j] = col;
      }
    }
  }
  if (visible) {
    if (!needClipping)
      getRoi(I.getWidth(), I.getHeight(), cam, pt, rect);
    else
      getRoi(I.getWidth(), I.getHeight(), cam, ptClipped, rect);
 
    double top = rect.getTop();
    double bottom = rect.getBottom();
    double left = rect.getLeft();
    double right = rect.getRight();
 
    unsigned char *bitmap = I.bitmap;
    unsigned int width = I.getWidth();
    vpImagePoint ip;
 
    for (unsigned int i = (unsigned int)top; i < (unsigned int)bottom; i++) {
      for (unsigned int j = (unsigned int)left; j < (unsigned int)right; j++) {
        double x = 0, y = 0;
        ip.set_ij(i, j);
        vpPixelMeterConversion::convertPoint(cam, ip, x, y);
        ip.set_ij(y, x);
        unsigned char Ipixelplan = 0;
        if (getPixel(Isrc, ip, Ipixelplan)) {
          *(bitmap + i * width + j) = Ipixelplan;
        }
      }
    }
  }
}
 
void vpImageSimulator::getImage(vpImage<unsigned char> &I, const vpCameraParameters &cam, vpMatrix &zBuffer)
{
  if (I.getWidth() != (unsigned int)zBuffer.getCols() || I.getHeight() != (unsigned int)zBuffer.getRows())
    throw(vpMatrixException(vpMatrixException::incorrectMatrixSizeError,
                            " zBuffer must have the same size as the image I ! "));
 
  if (cleanPrevImage) {
    unsigned char col = (unsigned char)(0.2126 * bgColor.R + 0.7152 * bgColor.G + 0.0722 * bgColor.B);
    for (unsigned int i = 0; i < I.getHeight(); i++) {
      for (unsigned int j = 0; j < I.getWidth(); j++) {
        I[i][j] = col;
      }
    }
  }
  if (visible) {
    if (!needClipping)
      getRoi(I.getWidth(), I.getHeight(), cam, pt, rect);
    else
      getRoi(I.getWidth(), I.getHeight(), cam, ptClipped, rect);
 
    double top = rect.getTop();
    double bottom = rect.getBottom();
    double left = rect.getLeft();
    double right = rect.getRight();
 
    unsigned char *bitmap = I.bitmap;
    unsigned int width = I.getWidth();
    vpImagePoint ip;
 
    for (unsigned int i = (unsigned int)top; i < (unsigned int)bottom; i++) {
      for (unsigned int j = (unsigned int)left; j < (unsigned int)right; j++) {
        double x = 0, y = 0;
        ip.set_ij(i, j);
        vpPixelMeterConversion::convertPoint(cam, ip, x, y);
        ip.set_ij(y, x);
        if (colorI == GRAY_SCALED) {
          unsigned char Ipixelplan;
          if (getPixel(ip, Ipixelplan)) {
            if (Xinter_optim[2] < zBuffer[i][j] || zBuffer[i][j] < 0) {
              *(bitmap + i * width + j) = Ipixelplan;
              zBuffer[i][j] = Xinter_optim[2];
            }
          }
        } else if (colorI == COLORED) {
          vpRGBa Ipixelplan;
          if (getPixel(ip, Ipixelplan)) {
            if (Xinter_optim[2] < zBuffer[i][j] || zBuffer[i][j] < 0) {
              unsigned char pixelgrey =
                  (unsigned char)(0.2126 * Ipixelplan.R + 0.7152 * Ipixelplan.G + 0.0722 * Ipixelplan.B);
              *(bitmap + i * width + j) = pixelgrey;
              zBuffer[i][j] = Xinter_optim[2];
            }
          }
        }
      }
    }
  }
}
 
void vpImageSimulator::getImage(vpImage<vpRGBa> &I, const vpCameraParameters &cam)
{
  if (cleanPrevImage) {
    for (unsigned int i = 0; i < I.getHeight(); i++) {
      for (unsigned int j = 0; j < I.getWidth(); j++) {
        I[i][j] = bgColor;
      }
    }
  }
 
  if (visible) {
    if (!needClipping)
      getRoi(I.getWidth(), I.getHeight(), cam, pt, rect);
    else
      getRoi(I.getWidth(), I.getHeight(), cam, ptClipped, rect);
 
    double top = rect.getTop();
    double bottom = rect.getBottom();
    double left = rect.getLeft();
    double right = rect.getRight();
 
    vpRGBa *bitmap = I.bitmap;
    unsigned int width = I.getWidth();
    vpImagePoint ip;
 
    for (unsigned int i = (unsigned int)top; i < (unsigned int)bottom; i++) {
      for (unsigned int j = (unsigned int)left; j < (unsigned int)right; j++) {
        double x = 0, y = 0;
        ip.set_ij(i, j);
        vpPixelMeterConversion::convertPoint(cam, ip, x, y);
        ip.set_ij(y, x);
        if (colorI == GRAY_SCALED) {
          unsigned char Ipixelplan;
          if (getPixel(ip, Ipixelplan)) {
            vpRGBa pixelcolor;
            pixelcolor.R = Ipixelplan;
            pixelcolor.G = Ipixelplan;
            pixelcolor.B = Ipixelplan;
            *(bitmap + i * width + j) = pixelcolor;
          }
        } else if (colorI == COLORED) {
          vpRGBa Ipixelplan;
          if (getPixel(ip, Ipixelplan)) {
            *(bitmap + i * width + j) = Ipixelplan;
          }
        }
      }
    }
  }
}
 
void vpImageSimulator::getImage(vpImage<vpRGBa> &I, vpImage<vpRGBa> &Isrc, const vpCameraParameters &cam)
{
  if (cleanPrevImage) {
    for (unsigned int i = 0; i < I.getHeight(); i++) {
      for (unsigned int j = 0; j < I.getWidth(); j++) {
        I[i][j] = bgColor;
      }
    }
  }
 
  if (visible) {
    if (!needClipping)
      getRoi(I.getWidth(), I.getHeight(), cam, pt, rect);
    else
      getRoi(I.getWidth(), I.getHeight(), cam, ptClipped, rect);
 
    double top = rect.getTop();
    double bottom = rect.getBottom();
    double left = rect.getLeft();
    double right = rect.getRight();
 
    vpRGBa *bitmap = I.bitmap;
    unsigned int width = I.getWidth();
    vpImagePoint ip;
 
    for (unsigned int i = (unsigned int)top; i < (unsigned int)bottom; i++) {
      for (unsigned int j = (unsigned int)left; j < (unsigned int)right; j++) {
        double x = 0, y = 0;
        ip.set_ij(i, j);
        vpPixelMeterConversion::convertPoint(cam, ip, x, y);
        ip.set_ij(y, x);
        vpRGBa Ipixelplan;
        if (getPixel(Isrc, ip, Ipixelplan)) {
          *(bitmap + i * width + j) = Ipixelplan;
        }
      }
    }
  }
}
 
void vpImageSimulator::getImage(vpImage<vpRGBa> &I, const vpCameraParameters &cam, vpMatrix &zBuffer)
{
  if (I.getWidth() != (unsigned int)zBuffer.getCols() || I.getHeight() != (unsigned int)zBuffer.getRows())
    throw(vpMatrixException(vpMatrixException::incorrectMatrixSizeError,
                            " zBuffer must have the same size as the image I ! "));
 
  if (cleanPrevImage) {
    for (unsigned int i = 0; i < I.getHeight(); i++) {
      for (unsigned int j = 0; j < I.getWidth(); j++) {
        I[i][j] = bgColor;
      }
    }
  }
  if (visible) {
    if (!needClipping)
      getRoi(I.getWidth(), I.getHeight(), cam, pt, rect);
    else
      getRoi(I.getWidth(), I.getHeight(), cam, ptClipped, rect);
 
    double top = rect.getTop();
    double bottom = rect.getBottom();
    double left = rect.getLeft();
    double right = rect.getRight();
 
    vpRGBa *bitmap = I.bitmap;
    unsigned int width = I.getWidth();
    vpImagePoint ip;
 
    for (unsigned int i = (unsigned int)top; i < (unsigned int)bottom; i++) {
      for (unsigned int j = (unsigned int)left; j < (unsigned int)right; j++) {
        double x = 0, y = 0;
        ip.set_ij(i, j);
        vpPixelMeterConversion::convertPoint(cam, ip, x, y);
        ip.set_ij(y, x);
        if (colorI == GRAY_SCALED) {
          unsigned char Ipixelplan;
          if (getPixel(ip, Ipixelplan)) {
            if (Xinter_optim[2] < zBuffer[i][j] || zBuffer[i][j] < 0) {
              vpRGBa pixelcolor;
              pixelcolor.R = Ipixelplan;
              pixelcolor.G = Ipixelplan;
              pixelcolor.B = Ipixelplan;
              *(bitmap + i * width + j) = pixelcolor;
              zBuffer[i][j] = Xinter_optim[2];
            }
          }
        } else if (colorI == COLORED) {
          vpRGBa Ipixelplan;
          if (getPixel(ip, Ipixelplan)) {
            if (Xinter_optim[2] < zBuffer[i][j] || zBuffer[i][j] < 0) {
              *(bitmap + i * width + j) = Ipixelplan;
              zBuffer[i][j] = Xinter_optim[2];
            }
          }
        }
      }
    }
  }
}
 
void vpImageSimulator::getImage(vpImage<unsigned char> &I, std::list<vpImageSimulator> &list,
                                const vpCameraParameters &cam)
{
 
  unsigned int width = I.getWidth();
  unsigned int height = I.getHeight();
 
  unsigned int nbsimList = (unsigned int)list.size();
 
  if (nbsimList < 1)
    return;
 
  vpImageSimulator **simList = new vpImageSimulator *[nbsimList];
 
  double topFinal = height + 1;
  ;
  double bottomFinal = -1;
  double leftFinal = width + 1;
  double rightFinal = -1;
 
  unsigned int unvisible = 0;
  unsigned int indexSimu = 0;
  for (std::list<vpImageSimulator>::iterator it = list.begin(); it != list.end(); ++it, ++indexSimu) {
    vpImageSimulator *sim = &(*it);
    if (sim->visible)
      simList[indexSimu] = sim;
    else
      unvisible++;
  }
  nbsimList = nbsimList - unvisible;
 
  if (nbsimList < 1) {
    delete[] simList;
    return;
  }
 
  for (unsigned int i = 0; i < nbsimList; i++) {
    if (!simList[i]->needClipping)
      simList[i]->getRoi(width, height, cam, simList[i]->pt, simList[i]->rect);
    else
      simList[i]->getRoi(width, height, cam, simList[i]->ptClipped, simList[i]->rect);
 
    if (topFinal > simList[i]->rect.getTop())
      topFinal = simList[i]->rect.getTop();
    if (bottomFinal < simList[i]->rect.getBottom())
      bottomFinal = simList[i]->rect.getBottom();
    if (leftFinal > simList[i]->rect.getLeft())
      leftFinal = simList[i]->rect.getLeft();
    if (rightFinal < simList[i]->rect.getRight())
      rightFinal = simList[i]->rect.getRight();
  }
 
  double zmin = -1;
  int indice = -1;
  unsigned char *bitmap = I.bitmap;
  vpImagePoint ip;
 
  for (unsigned int i = (unsigned int)topFinal; i < (unsigned int)bottomFinal; i++) {
    for (unsigned int j = (unsigned int)leftFinal; j < (unsigned int)rightFinal; j++) {
      zmin = -1;
      double x = 0, y = 0;
      ip.set_ij(i, j);
      vpPixelMeterConversion::convertPoint(cam, ip, x, y);
      ip.set_ij(y, x);
      for (int k = 0; k < (int)nbsimList; k++) {
        double z = 0;
        if (simList[k]->getPixelDepth(ip, z)) {
          if (z < zmin || zmin < 0) {
            zmin = z;
            indice = k;
          }
        }
      }
      if (indice >= 0) {
        if (simList[indice]->colorI == GRAY_SCALED) {
          unsigned char Ipixelplan = 255;
          simList[indice]->getPixel(ip, Ipixelplan);
          *(bitmap + i * width + j) = Ipixelplan;
        } else if (simList[indice]->colorI == COLORED) {
          vpRGBa Ipixelplan(255, 255, 255);
          simList[indice]->getPixel(ip, Ipixelplan);
          unsigned char pixelgrey =
              (unsigned char)(0.2126 * Ipixelplan.R + 0.7152 * Ipixelplan.G + 0.0722 * Ipixelplan.B);
          *(bitmap + i * width + j) = pixelgrey;
        }
      }
    }
  }
 
  delete[] simList;
}
 
void vpImageSimulator::getImage(vpImage<vpRGBa> &I, std::list<vpImageSimulator> &list, const vpCameraParameters &cam)
{
 
  unsigned int width = I.getWidth();
  unsigned int height = I.getHeight();
 
  unsigned int nbsimList = (unsigned int)list.size();
 
  if (nbsimList < 1)
    return;
 
  vpImageSimulator **simList = new vpImageSimulator *[nbsimList];
 
  double topFinal = height + 1;
  ;
  double bottomFinal = -1;
  double leftFinal = width + 1;
  double rightFinal = -1;
 
  unsigned int unvisible = 0;
  unsigned int indexSimu = 0;
  for (std::list<vpImageSimulator>::iterator it = list.begin(); it != list.end(); ++it, ++indexSimu) {
    vpImageSimulator *sim = &(*it);
    if (sim->visible)
      simList[indexSimu] = sim;
    else
      unvisible++;
  }
 
  nbsimList = nbsimList - unvisible;
 
  if (nbsimList < 1) {
    delete[] simList;
    return;
  }
 
  for (unsigned int i = 0; i < nbsimList; i++) {
    if (!simList[i]->needClipping)
      simList[i]->getRoi(width, height, cam, simList[i]->pt, simList[i]->rect);
    else
      simList[i]->getRoi(width, height, cam, simList[i]->ptClipped, simList[i]->rect);
 
    if (topFinal > simList[i]->rect.getTop())
      topFinal = simList[i]->rect.getTop();
    if (bottomFinal < simList[i]->rect.getBottom())
      bottomFinal = simList[i]->rect.getBottom();
    if (leftFinal > simList[i]->rect.getLeft())
      leftFinal = simList[i]->rect.getLeft();
    if (rightFinal < simList[i]->rect.getRight())
      rightFinal = simList[i]->rect.getRight();
  }
 
  double zmin = -1;
  int indice = -1;
  vpRGBa *bitmap = I.bitmap;
  vpImagePoint ip;
 
  for (unsigned int i = (unsigned int)topFinal; i < (unsigned int)bottomFinal; i++) {
    for (unsigned int j = (unsigned int)leftFinal; j < (unsigned int)rightFinal; j++) {
      zmin = -1;
      double x = 0, y = 0;
      ip.set_ij(i, j);
      vpPixelMeterConversion::convertPoint(cam, ip, x, y);
      ip.set_ij(y, x);
      for (int k = 0; k < (int)nbsimList; k++) {
        double z = 0;
        if (simList[k]->getPixelDepth(ip, z)) {
          if (z < zmin || zmin < 0) {
            zmin = z;
            indice = k;
          }
        }
      }
      if (indice >= 0) {
        if (simList[indice]->colorI == GRAY_SCALED) {
          unsigned char Ipixelplan = 255;
          simList[indice]->getPixel(ip, Ipixelplan);
          vpRGBa pixelcolor;
          pixelcolor.R = Ipixelplan;
          pixelcolor.G = Ipixelplan;
          pixelcolor.B = Ipixelplan;
          *(bitmap + i * width + j) = pixelcolor;
        } else if (simList[indice]->colorI == COLORED) {
          vpRGBa Ipixelplan(255, 255, 255);
          simList[indice]->getPixel(ip, Ipixelplan);
          // unsigned char pixelgrey = 0.2126 * Ipixelplan.R + 0.7152 *
          // Ipixelplan.G + 0.0722 * Ipixelplan.B;
          *(bitmap + i * width + j) = Ipixelplan;
        }
      }
    }
  }
 
  delete[] simList;
}
 
void vpImageSimulator::setCameraPosition(const vpHomogeneousMatrix &cMt_)
{
  cMt = cMt_;
  vpRotationMatrix R;
  cMt.extract(R);
  needClipping = false;
 
  normal_Cam = R * normal_obj;
 
  visible_result = vpColVector::dotProd(normal_Cam, focal);
 
  for (unsigned int i = 0; i < 4; i++)
    pt[i].track(cMt);
 
  vpColVector e1(3);
  vpColVector e2(3);
  vpColVector facenormal(3);
 
  e1[0] = pt[1].get_X() - pt[0].get_X();
  e1[1] = pt[1].get_Y() - pt[0].get_Y();
  e1[2] = pt[1].get_Z() - pt[0].get_Z();
 
  e2[0] = pt[2].get_X() - pt[1].get_X();
  e2[1] = pt[2].get_Y() - pt[1].get_Y();
  e2[2] = pt[2].get_Z() - pt[1].get_Z();
 
  facenormal = vpColVector::crossProd(e1, e2);
 
  double angle = pt[0].get_X() * facenormal[0] + pt[0].get_Y() * facenormal[1] + pt[0].get_Z() * facenormal[2];
 
  if (angle > 0) {
    visible = true;
  } else {
    visible = false;
  }
 
  if (visible) {
    for (unsigned int i = 0; i < 4; i++) {
      project(X[i], cMt, X2[i]);
      pt[i].track(cMt);
      if (pt[i].get_Z() < 0)
        needClipping = true;
    }
 
    vbase_u = X2[1] - X2[0];
    vbase_v = X2[3] - X2[0];
 
    distance = vpColVector::dotProd(normal_Cam, X2[1]);
 
    if (distance < 0) {
      visible = false;
      return;
    }
 
    for (unsigned int i = 0; i < 3; i++) {
      normal_Cam_optim[i] = normal_Cam[i];
      X0_2_optim[i] = X2[0][i];
      vbase_u_optim[i] = vbase_u[i];
      vbase_v_optim[i] = vbase_v[i];
    }
 
    std::vector<vpPoint> *ptPtr = &pt;
    if (needClipping) {
      vpPolygon3D::getClippedPolygon(pt, ptClipped, cMt, vpPolygon3D::NEAR_CLIPPING);
      ptPtr = &ptClipped;
    }
 
    listTriangle.clear();
    for (unsigned int i = 1; i < (*ptPtr).size() - 1; i++) {
      vpImagePoint ip1, ip2, ip3;
      ip1.set_j((*ptPtr)[0].get_x());
      ip1.set_i((*ptPtr)[0].get_y());
 
      ip2.set_j((*ptPtr)[i].get_x());
      ip2.set_i((*ptPtr)[i].get_y());
 
      ip3.set_j((*ptPtr)[i + 1].get_x());
      ip3.set_i((*ptPtr)[i + 1].get_y());
 
      vpTriangle tri(ip1, ip2, ip3);
      listTriangle.push_back(tri);
    }
  }
}
 
void vpImageSimulator::initPlan(vpColVector *X_)
{
  for (unsigned int i = 0; i < 4; i++) {
    X[i] = X_[i];
    pt[i].setWorldCoordinates(X_[i][0], X_[i][1], X_[i][2]);
  }
 
  normal_obj = vpColVector::crossProd(X[1] - X[0], X[3] - X[0]);
  normal_obj = normal_obj / normal_obj.frobeniusNorm();
 
  frobeniusNorm_u = (X[1] - X[0]).frobeniusNorm();
  fronbniusNorm_v = (X[3] - X[0]).frobeniusNorm();
}
 
void vpImageSimulator::init(const vpImage<unsigned char> &I, vpColVector *X_)
{
  Ig = I;
  vpImageConvert::convert(I, Ic);
  initPlan(X_);
}
 
void vpImageSimulator::init(const vpImage<vpRGBa> &I, vpColVector *X_)
{
  Ic = I;
  vpImageConvert::convert(I, Ig);
  initPlan(X_);
}
 
#ifdef VISP_HAVE_MODULE_IO
void vpImageSimulator::init(const char *file_image, vpColVector *X_)
{
  vpImageIo::read(Ig, file_image);
  vpImageIo::read(Ic, file_image);
  initPlan(X_);
}
#endif
 
void vpImageSimulator::init(const vpImage<unsigned char> &I, const std::vector<vpPoint> &X_)
{
  if (X_.size() != 4) {
    throw vpException(vpException::dimensionError, "the vector must contains 4 points to initialise the simulator");
  }
  vpColVector Xvec[4];
  for (unsigned int i = 0; i < 4; ++i) {
    Xvec[i].resize(3);
    Xvec[i][0] = X_[i].get_oX();
    Xvec[i][1] = X_[i].get_oY();
    Xvec[i][2] = X_[i].get_oZ();
  }
 
  Ig = I;
  vpImageConvert::convert(I, Ic);
  initPlan(Xvec);
}
void vpImageSimulator::init(const vpImage<vpRGBa> &I, const std::vector<vpPoint> &X_)
{
  if (X_.size() != 4) {
    throw vpException(vpException::dimensionError, "the vector must contains 4 points to initialise the simulator");
  }
  vpColVector Xvec[4];
  for (unsigned int i = 0; i < 4; ++i) {
    Xvec[i].resize(3);
    Xvec[i][0] = X_[i].get_oX();
    Xvec[i][1] = X_[i].get_oY();
    Xvec[i][2] = X_[i].get_oZ();
  }
 
  Ic = I;
  vpImageConvert::convert(I, Ig);
  initPlan(Xvec);
}
 
#ifdef VISP_HAVE_MODULE_IO
void vpImageSimulator::init(const char *file_image, const std::vector<vpPoint> &X_)
{
  if (X_.size() != 4) {
    throw vpException(vpException::dimensionError, "the vector must contains 4 points to initialise the simulator");
  }
  vpColVector Xvec[4];
  for (unsigned int i = 0; i < 4; ++i) {
    Xvec[i].resize(3);
    Xvec[i][0] = X_[i].get_oX();
    Xvec[i][1] = X_[i].get_oY();
    Xvec[i][2] = X_[i].get_oZ();
  }
 
  vpImageIo::read(Ig, file_image);
  vpImageIo::read(Ic, file_image);
  initPlan(Xvec);
}
#endif
 
bool vpImageSimulator::getPixel(const vpImagePoint &iP, unsigned char &Ipixelplan)
{
  //  std::cout << "In get Pixel" << std::endl;
  // test si pixel dans zone projetee
  bool inside = false;
  for (unsigned int i = 0; i < listTriangle.size(); i++)
    if (listTriangle[i].inTriangle(iP)) {
      inside = true;
      break;
    }
  if (!inside)
    return false;
 
  //  if(!T1.inTriangle(iP) && !T2.inTriangle(iP)){
  //    return false;}
 
  // methoed algebrique
  double z;
 
  // calcul de la profondeur de l'intersection
  z = distance / (normal_Cam_optim[0] * iP.get_u() + normal_Cam_optim[1] * iP.get_v() + normal_Cam_optim[2]);
  // calcul coordonnees 3D intersection
  Xinter_optim[0] = iP.get_u() * z;
  Xinter_optim[1] = iP.get_v() * z;
  Xinter_optim[2] = z;
 
  // recuperation des coordonnes de l'intersection dans le plan objet
  // repere plan object :
  //  centre = X0_2_optim[i] (premier point definissant le plan)
  //  base =  u:(X[1]-X[0]) et v:(X[3]-X[0])
  // ici j'ai considere que le plan est un rectangle => coordonnees sont
  // simplement obtenu par un produit scalaire
  double u = 0, v = 0;
  for (unsigned int i = 0; i < 3; i++) {
    double diff = (Xinter_optim[i] - X0_2_optim[i]);
    u += diff * vbase_u_optim[i];
    v += diff * vbase_v_optim[i];
  }
  u = u / (frobeniusNorm_u * frobeniusNorm_u);
  v = v / (fronbniusNorm_v * fronbniusNorm_v);
 
  if (u > 0 && v > 0 && u < 1. && v < 1.) {
    double i2, j2;
    i2 = v * (Ig.getHeight() - 1);
    j2 = u * (Ig.getWidth() - 1);
    if (interp == BILINEAR_INTERPOLATION)
      Ipixelplan = Ig.getValue(i2, j2);
    else if (interp == SIMPLE)
      Ipixelplan = Ig[(unsigned int)i2][(unsigned int)j2];
    return true;
  } else
    return false;
}
 
bool vpImageSimulator::getPixel(vpImage<unsigned char> &Isrc, const vpImagePoint &iP, unsigned char &Ipixelplan)
{
  // test si pixel dans zone projetee
  bool inside = false;
  for (unsigned int i = 0; i < listTriangle.size(); i++)
    if (listTriangle[i].inTriangle(iP)) {
      inside = true;
      break;
    }
  if (!inside)
    return false;
 
  //  if(!T1.inTriangle(iP) && !T2.inTriangle(iP))
  //    return false;
 
  // methoed algebrique
  double z;
 
  // calcul de la profondeur de l'intersection
  z = distance / (normal_Cam_optim[0] * iP.get_u() + normal_Cam_optim[1] * iP.get_v() + normal_Cam_optim[2]);
  // calcul coordonnees 3D intersection
  Xinter_optim[0] = iP.get_u() * z;
  Xinter_optim[1] = iP.get_v() * z;
  Xinter_optim[2] = z;
 
  // recuperation des coordonnes de l'intersection dans le plan objet
  // repere plan object :
  //  centre = X0_2_optim[i] (premier point definissant le plan)
  //  base =  u:(X[1]-X[0]) et v:(X[3]-X[0])
  // ici j'ai considere que le plan est un rectangle => coordonnees sont
  // simplement obtenu par un produit scalaire
  double u = 0, v = 0;
  for (unsigned int i = 0; i < 3; i++) {
    double diff = (Xinter_optim[i] - X0_2_optim[i]);
    u += diff * vbase_u_optim[i];
    v += diff * vbase_v_optim[i];
  }
  u = u / (frobeniusNorm_u * frobeniusNorm_u);
  v = v / (fronbniusNorm_v * fronbniusNorm_v);
 
  if (u > 0 && v > 0 && u < 1. && v < 1.) {
    double i2, j2;
    i2 = v * (Isrc.getHeight() - 1);
    j2 = u * (Isrc.getWidth() - 1);
    if (interp == BILINEAR_INTERPOLATION)
      Ipixelplan = Isrc.getValue(i2, j2);
    else if (interp == SIMPLE)
      Ipixelplan = Isrc[(unsigned int)i2][(unsigned int)j2];
    return true;
  } else
    return false;
}
 
bool vpImageSimulator::getPixel(const vpImagePoint &iP, vpRGBa &Ipixelplan)
{
  // test si pixel dans zone projetee
  bool inside = false;
  for (unsigned int i = 0; i < listTriangle.size(); i++)
    if (listTriangle[i].inTriangle(iP)) {
      inside = true;
      break;
    }
  if (!inside)
    return false;
  //  if(!T1.inTriangle(iP) && !T2.inTriangle(iP))
  //    return false;
 
  // methoed algebrique
  double z;
 
  // calcul de la profondeur de l'intersection
  z = distance / (normal_Cam_optim[0] * iP.get_u() + normal_Cam_optim[1] * iP.get_v() + normal_Cam_optim[2]);
  // calcul coordonnees 3D intersection
  Xinter_optim[0] = iP.get_u() * z;
  Xinter_optim[1] = iP.get_v() * z;
  Xinter_optim[2] = z;
 
  // recuperation des coordonnes de l'intersection dans le plan objet
  // repere plan object :
  //  centre = X0_2_optim[i] (premier point definissant le plan)
  //  base =  u:(X[1]-X[0]) et v:(X[3]-X[0])
  // ici j'ai considere que le plan est un rectangle => coordonnees sont
  // simplement obtenu par un produit scalaire
  double u = 0, v = 0;
  for (unsigned int i = 0; i < 3; i++) {
    double diff = (Xinter_optim[i] - X0_2_optim[i]);
    u += diff * vbase_u_optim[i];
    v += diff * vbase_v_optim[i];
  }
  u = u / (frobeniusNorm_u * frobeniusNorm_u);
  v = v / (fronbniusNorm_v * fronbniusNorm_v);
 
  if (u > 0 && v > 0 && u < 1. && v < 1.) {
    double i2, j2;
    i2 = v * (Ic.getHeight() - 1);
    j2 = u * (Ic.getWidth() - 1);
    if (interp == BILINEAR_INTERPOLATION)
      Ipixelplan = Ic.getValue(i2, j2);
    else if (interp == SIMPLE)
      Ipixelplan = Ic[(unsigned int)i2][(unsigned int)j2];
    return true;
  } else
    return false;
}
 
bool vpImageSimulator::getPixel(vpImage<vpRGBa> &Isrc, const vpImagePoint &iP, vpRGBa &Ipixelplan)
{
  // test si pixel dans zone projetee
  //  if(!T1.inTriangle(iP) && !T2.inTriangle(iP))
  //    return false;
  bool inside = false;
  for (unsigned int i = 0; i < listTriangle.size(); i++)
    if (listTriangle[i].inTriangle(iP)) {
      inside = true;
      break;
    }
  if (!inside)
    return false;
 
  // methoed algebrique
  double z;
 
  // calcul de la profondeur de l'intersection
  z = distance / (normal_Cam_optim[0] * iP.get_u() + normal_Cam_optim[1] * iP.get_v() + normal_Cam_optim[2]);
  // calcul coordonnees 3D intersection
  Xinter_optim[0] = iP.get_u() * z;
  Xinter_optim[1] = iP.get_v() * z;
  Xinter_optim[2] = z;
 
  // recuperation des coordonnes de l'intersection dans le plan objet
  // repere plan object :
  //  centre = X0_2_optim[i] (premier point definissant le plan)
  //  base =  u:(X[1]-X[0]) et v:(X[3]-X[0])
  // ici j'ai considere que le plan est un rectangle => coordonnees sont
  // simplement obtenu par un produit scalaire
  double u = 0, v = 0;
  for (unsigned int i = 0; i < 3; i++) {
    double diff = (Xinter_optim[i] - X0_2_optim[i]);
    u += diff * vbase_u_optim[i];
    v += diff * vbase_v_optim[i];
  }
  u = u / (frobeniusNorm_u * frobeniusNorm_u);
  v = v / (fronbniusNorm_v * fronbniusNorm_v);
 
  if (u > 0 && v > 0 && u < 1. && v < 1.) {
    double i2, j2;
    i2 = v * (Isrc.getHeight() - 1);
    j2 = u * (Isrc.getWidth() - 1);
    if (interp == BILINEAR_INTERPOLATION)
      Ipixelplan = Isrc.getValue(i2, j2);
    else if (interp == SIMPLE)
      Ipixelplan = Isrc[(unsigned int)i2][(unsigned int)j2];
    return true;
  } else
    return false;
}
 
bool vpImageSimulator::getPixelDepth(const vpImagePoint &iP, double &Zpixelplan)
{
  // test si pixel dans zone projetee
  bool inside = false;
  for (unsigned int i = 0; i < listTriangle.size(); i++)
    if (listTriangle[i].inTriangle(iP)) {
      inside = true;
      break;
    }
  if (!inside)
    return false;
  //  if(!T1.inTriangle(iP) && !T2.inTriangle(iP))
  //    return false;
 
  Zpixelplan = distance / (normal_Cam_optim[0] * iP.get_u() + normal_Cam_optim[1] * iP.get_v() + normal_Cam_optim[2]);
  return true;
}
 
bool vpImageSimulator::getPixelVisibility(const vpImagePoint &iP, double &Visipixelplan)
{
  // test si pixel dans zone projetee
  bool inside = false;
  for (unsigned int i = 0; i < listTriangle.size(); i++)
    if (listTriangle[i].inTriangle(iP)) {
      inside = true;
      break;
    }
  if (!inside)
    return false;
  //  if(!T1.inTriangle(iP) && !T2.inTriangle(iP))
  //    return false;
 
  Visipixelplan = visible_result;
  return true;
}
 
void vpImageSimulator::project(const vpColVector &_vin, const vpHomogeneousMatrix &_cMt, vpColVector &_vout)
{
  vpColVector XH(4);
  getHomogCoord(_vin, XH);
  getCoordFromHomog(_cMt * XH, _vout);
}
 
void vpImageSimulator::getHomogCoord(const vpColVector &_v, vpColVector &_vH)
{
  for (unsigned int i = 0; i < 3; i++)
    _vH[i] = _v[i];
  _vH[3] = 1.;
}
 
void vpImageSimulator::getCoordFromHomog(const vpColVector &_vH, vpColVector &_v)
{
  for (unsigned int i = 0; i < 3; i++)
    _v[i] = _vH[i] / _vH[3];
}
 
void vpImageSimulator::getRoi(const unsigned int &Iwidth, const unsigned int &Iheight, const vpCameraParameters &cam,
                              const std::vector<vpPoint> &point, vpRect &rectangle)
{
  double top = Iheight + 1;
  double bottom = -1;
  double right = -1;
  double left = Iwidth + 1;
 
  for (unsigned int i = 0; i < point.size(); i++) {
    double u = 0, v = 0;
    vpMeterPixelConversion::convertPoint(cam, point[i].get_x(), point[i].get_y(), u, v);
    if (v < top)
      top = v;
    if (v > bottom)
      bottom = v;
    if (u < left)
      left = u;
    if (u > right)
      right = u;
  }
  if (top < 0)
    top = 0;
  if (top >= Iheight)
    top = Iheight - 1;
  if (bottom < 0)
    bottom = 0;
  if (bottom >= Iheight)
    bottom = Iheight - 1;
  if (left < 0)
    left = 0;
  if (left >= Iwidth)
    left = Iwidth - 1;
  if (right < 0)
    right = 0;
  if (right >= Iwidth)
    right = Iwidth - 1;
 
  rectangle.setTop(top);
  rectangle.setBottom(bottom);
  rectangle.setLeft(left);
  rectangle.setRight(right);
}
 
std::vector<vpColVector> vpImageSimulator::get3DcornersTextureRectangle()
{
  std::vector<vpColVector> X_;
  for (int i = 0; i < 4; i++)
    X_.push_back(X[i]);
  return X_;
}
 
VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpImageSimulator & /*ip*/)
{
  os << "";
  return os;
}