#include <vpMbHiddenFaces.h>

Public Member Functions
	vpMbHiddenFaces ()

	~vpMbHiddenFaces ()

void	addPolygon (PolygonType *p)

bool	computeVisibility (const vpHomogeneousMatrix &cMo, const double &angleAppears, const double &angleDisappears, bool &changed, bool useOgre, bool testRoi, const vpImage< unsigned char > &I, const vpCameraParameters &cam, const vpTranslationVector &cameraPos, unsigned int index)

void	displayOgre (const vpHomogeneousMatrix &cMo)

std::vector< PolygonType * > &	getPolygon ()

void	initOgre (const vpCameraParameters &cam=vpCameraParameters())

unsigned int	getNbVisiblePolygon () const

vpAROgre *	getOgreContext ()

bool	isAppearing (const unsigned int i)

bool	isOgreInitialised ()

bool	isVisible (const unsigned int i)

bool	isVisibleOgre (const vpTranslationVector &cameraPos, const unsigned int &index)

PolygonType *	operator[] (const unsigned int i)

const PolygonType *	operator[] (const unsigned int i) const

void	reset ()

void	setBackgroundSizeOgre (const unsigned int &h, const unsigned int &w)

unsigned int	setVisible (const vpImage< unsigned char > &I, const vpCameraParameters &cam, const vpHomogeneousMatrix &cMo, const double &angle, bool &changed)

unsigned int	setVisible (const vpImage< unsigned char > &I, const vpCameraParameters &cam, const vpHomogeneousMatrix &cMo, const double &angleAppears, const double &angleDisappears, bool &changed)

unsigned int	setVisible (const vpHomogeneousMatrix &cMo, const double &angleAppears, const double &angleDisappears, bool &changed)

unsigned int	setVisibleOgre (const vpImage< unsigned char > &I, const vpCameraParameters &cam, const vpHomogeneousMatrix &cMo, const double &angleAppears, const double &angleDisappears, bool &changed)

unsigned int	setVisibleOgre (const vpHomogeneousMatrix &cMo, const double &angleAppears, const double &angleDisappears, bool &changed)

unsigned int	size () const

Deprecated functions
vp_deprecated bool	getDepthTest ()

vp_deprecated void	setDepthTest (const bool &d)

unsigned int	setVisible (const vpHomogeneousMatrix &cMo)

Public Attributes
bool	depthTest

Detailed Description

template<class PolygonType = vpMbtPolygon>
class vpMbHiddenFaces< PolygonType >

Implementation of the polygons management for the model-based trackers.

Definition at line 68 of file vpMbHiddenFaces.h.

Constructor & Destructor Documentation

template<class PolygonType >

vpMbHiddenFaces< PolygonType >::vpMbHiddenFaces ( )

Basic constructor.

Definition at line 224 of file vpMbHiddenFaces.h.

References vpAROgre::setShowConfigDialog().

template<class PolygonType >

vpMbHiddenFaces< PolygonType >::~vpMbHiddenFaces ( )

Basic destructor.

Definition at line 243 of file vpMbHiddenFaces.h.

Member Function Documentation

template<class PolygonType>

void vpMbHiddenFaces< PolygonType >::addPolygon ( PolygonType * p )

Add a polygon to the list of polygons.

Parameters

p	: The polygon to add.

Definition at line 278 of file vpMbHiddenFaces.h.

Referenced by vpMbTracker::addPolygon().

template<class PolygonType >

bool vpMbHiddenFaces< PolygonType >::computeVisibility	(	const vpHomogeneousMatrix &	cMo,
		const double &	angleAppears,
		const double &	angleDisappears,
		bool &	changed,
		bool	useOgre,
		bool	testRoi,
		const vpImage< unsigned char > &	I,
		const vpCameraParameters &	cam,
		const vpTranslationVector &	cameraPos,
		unsigned int	index
	)

Compute the visibility of a given face index.

Parameters

cMo	: The pose of the camera
angleAppears	: Angle used to test the appearance of a face
angleDisappears	: Angle used to test the disappearance of a face
changed	: True if a face appeared, disappeared or too many points have been lost. False otherwise
useOgre	: True if a Ogre is used to test the visibility, False otherwise
testRoi	: True if a face have to be entirely in the image False otherwise
I	: Image used to test if a face is entirely projected in the image.
cam	: Camera parameters.
cameraPos	: Position of the camera. Used only when Ogre is used as 3rd party.
index	: Index of the face to consider.

Returns: Return true if the face is visible.

Definition at line 394 of file vpMbHiddenFaces.h.

template<class PolygonType >

void vpMbHiddenFaces< PolygonType >::displayOgre ( const vpHomogeneousMatrix & cMo )

Update the display in Ogre Window.

Parameters

cMo	: Pose used to display.

Definition at line 581 of file vpMbHiddenFaces.h.

References vpAROgre::display(), and vpAROgre::isWindowHidden().

Referenced by vpMbEdgeKltTracker::display(), vpMbKltTracker::display(), and vpMbEdgeTracker::display().

template<class PolygonType = vpMbtPolygon>

vp_deprecated bool vpMbHiddenFaces< PolygonType >::getDepthTest ( )

inline

Deprecated:: This method is deprecated since it is no more used since ViSP 2.7.2.

Get the depthTest value.

Returns: true if all the points of a polygon has to be in front of the camera, false otherwise.

Definition at line 207 of file vpMbHiddenFaces.h.

template<class PolygonType = vpMbtPolygon>

unsigned int vpMbHiddenFaces< PolygonType >::getNbVisiblePolygon ( ) const

inline

get the number of visible polygons.

Returns: number of visible polygons.

Definition at line 122 of file vpMbHiddenFaces.h.

template<class PolygonType = vpMbtPolygon>

vpAROgre* vpMbHiddenFaces< PolygonType >::getOgreContext ( )

inline

Get the Ogre3D Context.

Returns: A pointer on a vpAROgre instance.

Definition at line 130 of file vpMbHiddenFaces.h.

Referenced by vpMbTracker::setFarClippingDistance(), vpMbTracker::setNearClippingDistance(), vpMbEdgeKltTracker::vpMbEdgeKltTracker(), vpMbEdgeTracker::vpMbEdgeTracker(), and vpMbKltTracker::vpMbKltTracker().

template<class PolygonType = vpMbtPolygon>

std::vector<PolygonType*>& vpMbHiddenFaces< PolygonType >::getPolygon ( )

inline

Get the list of polygons.

Returns: Mbt Klt polygons list.

Definition at line 111 of file vpMbHiddenFaces.h.

Referenced by vpMbTracker::addPolygon(), vpMbTracker::extractFaces(), vpMbTracker::extractLines(), and vpMbTracker::loadCAOModel().

template<class PolygonType >

void vpMbHiddenFaces< PolygonType >::initOgre ( const vpCameraParameters & cam = vpCameraParameters() )

Initialise the ogre context for face visibility tests.

Parameters

cam	: Camera parameters.

Definition at line 549 of file vpMbHiddenFaces.h.

References vpAROgre::getSceneManager(), vpAROgre::init(), and vpAROgre::setCameraParameters().

Referenced by vpMbKltTracker::init(), and vpMbEdgeTracker::init().

template<class PolygonType = vpMbtPolygon>

bool vpMbHiddenFaces< PolygonType >::isAppearing ( const unsigned int i )

inline

Definition at line 133 of file vpMbHiddenFaces.h.

Referenced by vpMbEdgeTracker::computeVVS(), and vpMbEdgeKltTracker::trackFirstLoop().

template<class PolygonType = vpMbtPolygon>

bool vpMbHiddenFaces< PolygonType >::isOgreInitialised ( )

inline

Tell whether if Ogre Context is initialised or not.

Returns: True if it does, false otherwise.

Definition at line 142 of file vpMbHiddenFaces.h.

Referenced by vpMbKltTracker::init(), and vpMbEdgeTracker::init().

template<class PolygonType = vpMbtPolygon>

bool vpMbHiddenFaces< PolygonType >::isVisible ( const unsigned int i )

inline

Check if the polygon at position i in the list is visible.

Parameters

i	: TPosition in the list.

Returns: Return true if the polygon is visible.

Definition at line 152 of file vpMbHiddenFaces.h.

Referenced by vpMbEdgeTracker::initMovingEdge().

template<class PolygonType >

bool vpMbHiddenFaces< PolygonType >::isVisibleOgre	(	const vpTranslationVector &	cameraPos,
		const unsigned int &	index
	)

Test the visibility of a polygon through Ogre3D via RayCasting.

Parameters

cameraPos	: Position of the camera in the 3D world.
index	: Index of the polygon.

Returns: Return true if the polygon is visible, False otherwise.

Definition at line 641 of file vpMbHiddenFaces.h.

References vpAROgre::getCamera(), and vpAROgre::getSceneManager().

template<class PolygonType = vpMbtPolygon>

PolygonType* vpMbHiddenFaces< PolygonType >::operator[] ( const unsigned int i )

inline

operator[] as modifier.

Definition at line 159 of file vpMbHiddenFaces.h.

template<class PolygonType = vpMbtPolygon>

const PolygonType* vpMbHiddenFaces< PolygonType >::operator[] ( const unsigned int i ) const

inline

operator[] as reader.

Definition at line 161 of file vpMbHiddenFaces.h.

template<class PolygonType >

void vpMbHiddenFaces< PolygonType >::reset ( )

Reset the Hidden faces (remove the list of PolygonType)

Definition at line 299 of file vpMbHiddenFaces.h.

References vpAROgre::setShowConfigDialog().

Referenced by vpMbKltTracker::reInitModel(), vpMbEdgeTracker::reInitModel(), vpMbKltTracker::resetTracker(), and vpMbEdgeTracker::resetTracker().

template<class PolygonType = vpMbtPolygon>

void vpMbHiddenFaces< PolygonType >::setBackgroundSizeOgre	(	const unsigned int &	h,
		const unsigned int &	w
	)

inline

Set the background size (by default it is 640x480). The background size has to match with the size of the image that you are using for the traking.

Warning: This function has to be called before initOgre().

Parameters

h	: Height of the background
w	: Width of the background

Definition at line 175 of file vpMbHiddenFaces.h.

Referenced by vpMbKltTracker::init(), and vpMbEdgeTracker::init().

template<class PolygonType = vpMbtPolygon>

vp_deprecated void vpMbHiddenFaces< PolygonType >::setDepthTest ( const bool & d )

inline

Deprecated:: This method is deprecated since it is no more used since ViSP 2.7.2.

Set the depthTest value.

Parameters

d	: New value.

Definition at line 215 of file vpMbHiddenFaces.h.

template<class PolygonType >

unsigned int vpMbHiddenFaces< PolygonType >::setVisible	(	const vpImage< unsigned char > &	I,
		const vpCameraParameters &	cam,
		const vpHomogeneousMatrix &	cMo,
		const double &	angle,
		bool &	changed
	)

Compute the number of visible polygons.

Parameters

I	: Image used to check if the region of interest is inside the image.
cam	: Camera parameters.
cMo	: The pose of the camera.
angle	: Angle used to test the appearance and disappearance of a face.
changed	: True if a face appeared, disappeared or too many points have been lost. False otherwise

Returns: Return the number of visible polygons

Definition at line 500 of file vpMbHiddenFaces.h.

Referenced by vpMbKltTracker::init(), vpMbKltTracker::postTracking(), vpMbKltTracker::setPose(), and vpMbEdgeTracker::visibleFace().

template<class PolygonType >

unsigned int vpMbHiddenFaces< PolygonType >::setVisible	(	const vpImage< unsigned char > &	I,
		const vpCameraParameters &	cam,
		const vpHomogeneousMatrix &	cMo,
		const double &	angleAppears,
		const double &	angleDisappears,
		bool &	changed
	)

Compute the number of visible polygons.

Parameters

I	: Image used to check if the region of interest is inside the image.
cam	: Camera parameters.
cMo	: The pose of the camera
changed	: True if a face appeared, disappeared or too many points have been lost. False otherwise
angleAppears	: Angle used to test the appearance of a face
angleDisappears	: Angle used to test the disappearance of a face

Returns: Return the number of visible polygons

Definition at line 519 of file vpMbHiddenFaces.h.

template<class PolygonType >

unsigned int vpMbHiddenFaces< PolygonType >::setVisible	(	const vpHomogeneousMatrix &	cMo,
		const double &	angleAppears,
		const double &	angleDisappears,
		bool &	changed
	)

Compute the number of visible polygons.

Parameters

cMo	: The pose of the camera
angleAppears	: Angle used to test the appearance of a face
angleDisappears	: Angle used to test the disappearance of a face
changed	: True if a face appeared, disappeared or too many points have been lost. False otherwise

Returns: Return the number of visible polygons

Definition at line 536 of file vpMbHiddenFaces.h.

template<class PolygonType >

unsigned int vpMbHiddenFaces< PolygonType >::setVisible ( const vpHomogeneousMatrix & cMo )

Deprecated:: This method is deprecated since it is no more used since ViSP 2.7.2.

Compute the number of visible polygons.

Parameters

cMo	: The pose of the camera

Returns: Return the number of visible polygons

Definition at line 732 of file vpMbHiddenFaces.h.

template<class PolygonType >

unsigned int vpMbHiddenFaces< PolygonType >::setVisibleOgre	(	const vpImage< unsigned char > &	I,
		const vpCameraParameters &	cam,
		const vpHomogeneousMatrix &	cMo,
		const double &	angleAppears,
		const double &	angleDisappears,
		bool &	changed
	)

Compute the number of visible polygons through Ogre3D.

Parameters

I	: Image used to check if the region of interest is inside the image.
cam	: Camera parameters.
cMo	: The pose of the camera
changed	: True if a face appeared, disappeared or too many points have been lost. False otherwise
angleAppears	: Angle used to test the appearance of a face
angleDisappears	: Angle used to test the disappearance of a face

Returns: Return the number of visible polygons

Definition at line 609 of file vpMbHiddenFaces.h.

Referenced by vpMbKltTracker::init(), vpMbKltTracker::postTracking(), vpMbKltTracker::setPose(), and vpMbEdgeTracker::visibleFace().

template<class PolygonType >

unsigned int vpMbHiddenFaces< PolygonType >::setVisibleOgre	(	const vpHomogeneousMatrix &	cMo,
		const double &	angleAppears,
		const double &	angleDisappears,
		bool &	changed
	)

Compute the number of visible polygons through Ogre3D.

Parameters

cMo	: The pose of the camera
angleAppears	: Angle used to test the appearance of a face
angleDisappears	: Angle used to test the disappearance of a face
changed	: True if a face appeared, disappeared or too many points have been lost. False otherwise

Returns: Return the number of visible polygons

Definition at line 626 of file vpMbHiddenFaces.h.

template<class PolygonType = vpMbtPolygon>

unsigned int vpMbHiddenFaces< PolygonType >::size ( ) const

inline

Get the number of polygons.

Returns: Size of the list.

Definition at line 191 of file vpMbHiddenFaces.h.

Referenced by vpMbTracker::getNbPolygon(), vpMbTracker::getPolygon(), vpMbTracker::setClipping(), vpMbTracker::setFarClippingDistance(), vpMbTracker::setLod(), vpMbTracker::setMinLineLengthThresh(), vpMbTracker::setMinPolygonAreaThresh(), and vpMbTracker::setNearClippingDistance().

Member Data Documentation

template<class PolygonType = vpMbtPolygon>

bool vpMbHiddenFaces< PolygonType >::depthTest

Boolean specifying if a polygon has to be entirely in front of the camera or not.

Definition at line 195 of file vpMbHiddenFaces.h.

Referenced by vpMbHiddenFaces< vpMbtPolygon >::getDepthTest().

Public Member Functions

Public Attributes

Detailed Description

template<class PolygonType = vpMbtPolygon> class vpMbHiddenFaces< PolygonType >

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<class PolygonType = vpMbtPolygon>
class vpMbHiddenFaces< PolygonType >