#include <vpMbtPolygon.h>

Public Types
enum	vpMbtPolygonClippingType { NO_CLIPPING = 0, NEAR_CLIPPING = 1, FAR_CLIPPING = 2, LEFT_CLIPPING = 4, RIGHT_CLIPPING = 8, UP_CLIPPING = 16, DOWN_CLIPPING = 32, FOV_CLIPPING = 60, ALL_CLIPPING = 63 }

Public Member Functions
	vpMbtPolygon ()

	vpMbtPolygon (const vpMbtPolygon &mbtp)

virtual	~vpMbtPolygon ()

void	addPoint (const unsigned int n, const vpPoint &P)

void	changeFrame (const vpHomogeneousMatrix &cMo)

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

unsigned int	getClipping () const

double	getFarClippingDistance () const

int	getIndex () const

std::string	getName () const

unsigned int	getNbPoint () const

unsigned int	getNbCornerInsidePrevImage () const

unsigned int	getNbCornerInsideImage (const vpImage< unsigned char > &I, const vpCameraParameters &cam)

double	getNearClippingDistance () const

vpPoint &	getPoint (const unsigned int _index)

std::vector< vpImagePoint >	getRoi (const vpCameraParameters &cam)

std::vector< vpImagePoint >	getRoi (const vpCameraParameters &cam, const vpHomogeneousMatrix &cMo)

void	getRoiClipped (std::vector< vpPoint > &points)

void	getRoiClipped (const vpCameraParameters &cam, std::vector< vpImagePoint > &roi)

void	getRoiClipped (const vpCameraParameters &cam, std::vector< vpImagePoint > &roi, const vpHomogeneousMatrix &cMo)

void	getRoiClipped (const vpCameraParameters &cam, std::vector< std::pair< vpImagePoint, unsigned int > > &roi)

void	getRoiClipped (const vpCameraParameters &cam, std::vector< std::pair< vpImagePoint, unsigned int > > &roi, const vpHomogeneousMatrix &cMo)

bool	isAppearing () const

virtual bool	isVisible (const vpHomogeneousMatrix &cMo, const double alpha, const bool &modulo=false, const vpCameraParameters &cam=vpCameraParameters(), const vpImage< unsigned char > &I=vpImage< unsigned char >())

bool	isVisible () const

vpMbtPolygon &	operator= (const vpMbtPolygon &mbtp)

void	setClipping (const unsigned int &flags)

void	setFarClippingDistance (const double &dist)

virtual void	setIndex (const int i)

void	setLod (const bool use_lod)

void	setMinLineLengthThresh (const double min_line_length)

void	setMinPolygonAreaThresh (const double min_polygon_area)

void	setName (const std::string &face_name)

virtual void	setNbPoint (const unsigned int nb)

void	setNearClippingDistance (const double &dist)

Deprecated functions
bool	isVisible (const vpHomogeneousMatrix &cMo, const bool &depthTest=false)

Static Public Member Functions
static void	getClippedPolygon (const std::vector< vpPoint > &ptIn, std::vector< vpPoint > &ptOut, const vpHomogeneousMatrix &cMo, const unsigned int &clippingFlags, const vpCameraParameters &cam=vpCameraParameters(), const double &znear=0.001, const double &zfar=100)

static void	getMinMaxRoi (const std::vector< vpImagePoint > &roi, int &i_min, int &i_max, int &j_min, int &j_max)

static bool	roiInsideImage (const vpImage< unsigned char > &I, const std::vector< vpImagePoint > &corners)

Public Attributes
int	index

unsigned int	nbpt

unsigned int	nbCornersInsidePrev

bool	isvisible

bool	isappearing

vpPoint *	p

std::vector< std::pair< vpPoint, unsigned int > >	roiPointsClip

unsigned int	clippingFlag

double	distNearClip

double	distFarClip

bool	useLod

double	minLineLengthThresh

double	minPolygonAreaThresh

std::string	name

Detailed Description

Implementation of a polygon of the model used by the model-based tracker.

Definition at line 67 of file vpMbtPolygon.h.

Member Enumeration Documentation

enum vpMbtPolygon::vpMbtPolygonClippingType

Enumerator
NO_CLIPPING
NEAR_CLIPPING
FAR_CLIPPING
LEFT_CLIPPING
RIGHT_CLIPPING
UP_CLIPPING
DOWN_CLIPPING
FOV_CLIPPING
ALL_CLIPPING

Definition at line 70 of file vpMbtPolygon.h.

Constructor & Destructor Documentation

vpMbtPolygon::vpMbtPolygon ( )

Basic constructor.

Definition at line 59 of file vpMbtPolygon.cpp.

vpMbtPolygon::vpMbtPolygon ( const vpMbtPolygon & mbtp )

Definition at line 67 of file vpMbtPolygon.cpp.

vpMbtPolygon::~vpMbtPolygon ( )

virtual

Basic destructor.

Definition at line 103 of file vpMbtPolygon.cpp.

References p.

Member Function Documentation

void vpMbtPolygon::addPoint	(	const unsigned int	n,
		const vpPoint &	P
	)

Add a corner point to the list of polygon's corners.

Parameters

n	: The index of the corner.
P	: The point to add.

Definition at line 149 of file vpMbtPolygon.cpp.

References p.

Referenced by vpMbTracker::addPolygon(), vpMbtDistanceLine::buildFrom(), and getClippedPolygon().

void vpMbtPolygon::changeFrame ( const vpHomogeneousMatrix & cMo )

Project the 3D corner points into the image thanks to the pose of the camera.

Parameters

cMo	: The pose of the camera.

Definition at line 161 of file vpMbtPolygon.cpp.

References vpPoint::changeFrame(), nbpt, p, and vpPoint::projection().

Referenced by vpMbKltTracker::display(), getClippedPolygon(), getRoi(), getRoiClipped(), and isVisible().

void vpMbtPolygon::computeRoiClipped ( const vpCameraParameters & cam = vpCameraParameters() )

Compute the region of interest in the image according to the used clipping.

Warning: If the FOV clipping is used, camera normals have to be precomputed.

Parameters

cam	: camera parameters used to compute the field of view.

Definition at line 307 of file vpMbtPolygon.cpp.

References clippingFlag, distFarClip, distNearClip, DOWN_CLIPPING, FAR_CLIPPING, vpCameraParameters::getFovNormals(), vpCameraParameters::isFovComputed(), LEFT_CLIPPING, nbpt, NO_CLIPPING, p, vpPoint::projection(), RIGHT_CLIPPING, roiPointsClip, and UP_CLIPPING.

Referenced by vpMbtDistanceLine::display(), vpMbKltTracker::display(), getClippedPolygon(), getRoiClipped(), vpMbtDistanceLine::initMovingEdge(), isVisible(), vpMbKltTracker::reinit(), vpMbKltTracker::setPose(), and vpMbtDistanceLine::updateMovingEdge().

void vpMbtPolygon::getClippedPolygon	(	const std::vector< vpPoint > &	ptIn,
		std::vector< vpPoint > &	ptOut,
		const vpHomogeneousMatrix &	cMo,
		const unsigned int &	clippingFlags,
		const vpCameraParameters &	cam = `vpCameraParameters()`,
		const double &	znear = `0.001`,
		const double &	zfar = `100`
	)

static

Static method to compute the clipped points from a set of initial points.

Warning: When using FOV clipping and personnal camera parameters, camera normals have to be computed before (see vpCameraParameters::computeFov())

Parameters

ptIn	: Input points
ptOut	: Output points (result of the clipping).
cMo	: Pose considered for the clipping.
clippingFlags	Clipping flag (see vpMbtPolygon::vpMbtPolygonClippingType).
cam	: Camera parameters (Only used if clipping flags contain FOV clipping).
znear	: Near clipping distance value (Only used if clipping flags contain Near clipping).
zfar	: Far clipping distance value (Only used if clipping flags contain Far clipping).

Definition at line 684 of file vpMbtPolygon.cpp.

References addPoint(), changeFrame(), computeRoiClipped(), FAR_CLIPPING, getRoiClipped(), NEAR_CLIPPING, setClipping(), setFarClippingDistance(), setNbPoint(), and setNearClippingDistance().

Referenced by vpImageSimulator::setCameraPosition().

unsigned int vpMbtPolygon::getClipping ( ) const

inline

Get the clipping used.

See also: vpMbtPolygonClipping

Returns: Clipping flags.

Definition at line 143 of file vpMbtPolygon.h.

Referenced by vpMbtDistanceLine::display(), vpMbtDistanceLine::initMovingEdge(), and vpMbtDistanceLine::updateMovingEdge().

double vpMbtPolygon::getFarClippingDistance ( ) const

inline

Get the far distance for clipping.

Returns: Far clipping value.

Definition at line 150 of file vpMbtPolygon.h.

int vpMbtPolygon::getIndex ( ) const

inline

Get the index of the face.

Returns: index : the index of the face.

Definition at line 157 of file vpMbtPolygon.h.

Referenced by vpMbEdgeTracker::addPolygon(), vpMbEdgeTracker::initFaceFromCorners(), and vpMbEdgeTracker::initFaceFromLines().

void vpMbtPolygon::getMinMaxRoi	(	const std::vector< vpImagePoint > &	roi,
		int &	i_min,
		int &	i_max,
		int &	j_min,
		int &	j_max
	)

static

Definition at line 707 of file vpMbtPolygon.cpp.

Referenced by vpMbtDistanceKltPoints::updateMask().

std::string vpMbtPolygon::getName ( ) const

inline

Get the name of the face.

Returns: Name of the face.

Definition at line 164 of file vpMbtPolygon.h.

Referenced by vpMbEdgeTracker::initFaceFromCorners(), and vpMbEdgeTracker::initFaceFromLines().

unsigned int vpMbtPolygon::getNbCornerInsideImage	(	const vpImage< unsigned char > &	I,
		const vpCameraParameters &	cam
	)

Static method to check the number of points of a region defined by the vector of image point that are inside the image.

Parameters

I	: The image used for its size.
cam	: The camera parameters.

Definition at line 649 of file vpMbtPolygon.cpp.

References vpMeterPixelConversion::convertPoint(), vpImagePoint::get_i(), vpImagePoint::get_j(), vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), nbCornersInsidePrev, nbpt, and p.

unsigned int vpMbtPolygon::getNbCornerInsidePrevImage ( ) const

inline

Return the number of corners at the previous computation.

Returns: number of corner of the face at the previous computation

Definition at line 178 of file vpMbtPolygon.h.

unsigned int vpMbtPolygon::getNbPoint ( ) const

inline

Return the number of corners.

Returns: number of corner of the face

Definition at line 171 of file vpMbtPolygon.h.

Referenced by vpMbEdgeTracker::addPolygon(), vpMbKltTracker::computeVVS(), vpMbEdgeTracker::initFaceFromCorners(), vpMbEdgeTracker::initFaceFromLines(), vpMbKltTracker::postTracking(), vpMbKltTracker::preTracking(), vpMbKltTracker::reinit(), vpMbKltTracker::setPose(), and vpMbKltTracker::testTracking().

double vpMbtPolygon::getNearClippingDistance ( ) const

inline

Get the near distance for clipping.

Returns: Near clipping value.

Definition at line 187 of file vpMbtPolygon.h.

vpPoint & vpMbtPolygon::getPoint ( const unsigned int _index )

Get a reference to a corner.

Exceptions

vpException::dimensionError if the _index is out of range.

Parameters

_index : the index of the corner

Definition at line 120 of file vpMbtPolygon.cpp.

References vpException::dimensionError, nbpt, and p.

Referenced by vpMbtDistanceKltPoints::init().

std::vector< vpImagePoint > vpMbtPolygon::getRoi ( const vpCameraParameters & cam )

Get the region of interest in the image.

Warning: Suppose that changeFrame() has already been called.

Parameters

cam	: camera parameters.

Returns: Image point corresponding to the region of interest.

Definition at line 530 of file vpMbtPolygon.cpp.

References vpMeterPixelConversion::convertPoint(), nbpt, and p.

Referenced by getRoi().

std::vector< vpImagePoint > vpMbtPolygon::getRoi	(	const vpCameraParameters &	cam,
		const vpHomogeneousMatrix &	cMo
	)

Get the region of interest in the image.

Parameters

cam	: camera parameters.
cMo	: pose.

Returns: Image point corresponding to the region of interest.

Definition at line 551 of file vpMbtPolygon.cpp.

References changeFrame(), and getRoi().

void vpMbtPolygon::getRoiClipped ( std::vector< vpPoint > & points )

Get the 3D points of the clipped region of interest.

Warning: Suppose that changeFrame() and computeRoiClipped() have already been called.

Parameters

points : resulting points.

Definition at line 565 of file vpMbtPolygon.cpp.

References roiPointsClip.

Referenced by vpMbKltTracker::display(), getClippedPolygon(), getRoiClipped(), vpMbtDistanceKltPoints::init(), isVisible(), and vpMbtDistanceKltPoints::updateMask().

void vpMbtPolygon::getRoiClipped	(	const vpCameraParameters &	cam,
		std::vector< vpImagePoint > &	roi
	)

Get the region of interest clipped in the image.

Warning: Suppose that changeFrame() and computeRoiClipped() have already been called.

Parameters

cam	: camera parameters.
roi	: image point corresponding to the region of interest.

Definition at line 581 of file vpMbtPolygon.cpp.

References vpMeterPixelConversion::convertPoint(), and roiPointsClip.

void vpMbtPolygon::getRoiClipped	(	const vpCameraParameters &	cam,
		std::vector< vpImagePoint > &	roi,
		const vpHomogeneousMatrix &	cMo
	)

Get the region of interest clipped in the image.

Parameters

cam	: camera parameters.
cMo	: pose.
roi	: image point corresponding to the region of interest.

Definition at line 599 of file vpMbtPolygon.cpp.

References changeFrame(), computeRoiClipped(), and getRoiClipped().

void vpMbtPolygon::getRoiClipped	(	const vpCameraParameters &	cam,
		std::vector< std::pair< vpImagePoint, unsigned int > > &	roi
	)

Get the region of interest clipped in the image and the information to know if it's a clipped point.

Warning: Suppose that changeFrame() and computeRoiClipped() have already been called.

Parameters

cam	: camera parameters.
roi	: image point corresponding to the region of interest with clipping information.

Definition at line 615 of file vpMbtPolygon.cpp.

References vpMeterPixelConversion::convertPoint(), and roiPointsClip.

void vpMbtPolygon::getRoiClipped	(	const vpCameraParameters &	cam,
		std::vector< std::pair< vpImagePoint, unsigned int > > &	roi,
		const vpHomogeneousMatrix &	cMo
	)

Get the region of interest clipped in the image and the information to know if it's a clipped point.

Parameters

cam	: camera parameters.
roi	: image point corresponding to the region of interest with clipping information.
cMo	: pose.

Definition at line 633 of file vpMbtPolygon.cpp.

References changeFrame(), computeRoiClipped(), and getRoiClipped().

bool vpMbtPolygon::isAppearing ( ) const

inline

Definition at line 205 of file vpMbtPolygon.h.

bool vpMbtPolygon::isVisible	(	const vpHomogeneousMatrix &	cMo,
		const double	alpha,
		const bool &	modulo = `false`,
		const vpCameraParameters &	cam = `vpCameraParameters()`,
		const vpImage< unsigned char > &	I = `vpImage<unsigned char>()`
	)

virtual

Check if the polygon is visible in the image and if the angle between the normal to the face and the line vector going from the optical center to the cog of the face is below the given threshold. To do that, the polygon is projected into the image thanks to the camera pose.

Parameters

cMo	: The pose of the camera.
alpha	: Maximum angle to detect if the face is visible (in rad).
modulo	: Indicates if the test should also consider faces that are not oriented counter clockwise. If true, the orientation of the face is without importance.
cam	: Camera parameters (intrinsics parameters)
I	: Image used to consider level of detail.

Returns: Return true if the polygon is visible.

Definition at line 186 of file vpMbtPolygon.cpp.

References changeFrame(), clippingFlag, vpCameraParameters::computeFov(), computeRoiClipped(), vpTracker::cP, vpColVector::dotProd(), vpPoint::get_X(), vpPoint::get_Y(), vpPoint::get_Z(), vpPolygon::getArea(), vpImage< Type >::getHeight(), getRoiClipped(), vpImage< Type >::getWidth(), isappearing, isvisible, minLineLengthThresh, minPolygonAreaThresh, nbpt, vpColVector::normalize(), p, vpMath::rad(), vpPoint::set_X(), vpPoint::set_Y(), vpPoint::set_Z(), and useLod.

Referenced by vpMbEdgeKltTracker::computeVVS(), vpMbKltTracker::computeVVS(), vpMbEdgeKltTracker::display(), vpMbKltTracker::display(), vpMbKltTracker::postTracking(), vpMbKltTracker::preTracking(), vpMbKltTracker::reinit(), vpMbKltTracker::setPose(), and vpMbKltTracker::testTracking().

bool vpMbtPolygon::isVisible ( ) const

inline

Definition at line 208 of file vpMbtPolygon.h.

Referenced by isVisible().

bool vpMbtPolygon::isVisible	(	const vpHomogeneousMatrix &	cMo,
		const bool &	depthTest = `false`
	)

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

Check if the polygon is visible in the image. To do that, the polygon is projected into the image thanks to the camera pose.

Parameters

cMo	: The pose of the camera.
depthTest	: True if a face has to be entirely visible (in front of the camera). False if it can be partially visible.

Returns: Return true if the polygon is visible.

Definition at line 827 of file vpMbtPolygon.cpp.

References changeFrame(), isappearing, isvisible, isVisible(), nbpt, p, and vpMath::rad().

vpMbtPolygon & vpMbtPolygon::operator= ( const vpMbtPolygon & mbtp )

Definition at line 76 of file vpMbtPolygon.cpp.

References clippingFlag, distFarClip, distNearClip, index, isappearing, isvisible, minLineLengthThresh, minPolygonAreaThresh, name, nbCornersInsidePrev, nbpt, p, roiPointsClip, and useLod.

bool vpMbtPolygon::roiInsideImage	(	const vpImage< unsigned char > &	I,
		const std::vector< vpImagePoint > &	corners
	)

static

Static method to check whether the region defined by the vector of image point is contained entirely in the image.

Parameters

I	: The image used for its size.
corners	: The vector of points defining a region

Definition at line 748 of file vpMbtPolygon.cpp.

References vpImage< Type >::getHeight(), and vpImage< Type >::getWidth().

void vpMbtPolygon::setClipping ( const unsigned int & flags )

inline

Specify which clipping to use.

See also: vpMbtPolygonClipping

Parameters

flags : New clipping flags.

Definition at line 219 of file vpMbtPolygon.h.

Referenced by vpMbEdgeTracker::addLine(), getClippedPolygon(), and vpMbEdgeTracker::setClipping().

void vpMbtPolygon::setFarClippingDistance ( const double & dist )

inline

Set the far distance for clipping.

Parameters

dist	: Far clipping value.

Definition at line 226 of file vpMbtPolygon.h.

References FAR_CLIPPING.

Referenced by vpMbEdgeTracker::addLine(), getClippedPolygon(), and vpMbEdgeTracker::setFarClippingDistance().

virtual void vpMbtPolygon::setIndex ( const int i )

inlinevirtual

Set the index of the face.

Parameters

i	: the new index of the face.

Definition at line 233 of file vpMbtPolygon.h.

Referenced by vpMbTracker::addPolygon().

void vpMbtPolygon::setLod ( const bool use_lod )

Set the flag to consider if the level of detail (LOD) is used or not. When activated, lines and faces of the 3D model are tracked if respectively their projected lenght and area in the image are significative enough. By significative, we mean:

if the lenght of the projected line in the image is greater that a threshold set by setMinLineLengthThresh()
if the area of the projected face in the image is greater that a threshold set by setMinPolygonAreaThresh().

Parameters

use_lod : true if level of detail must be used, false otherwise.

The sample code below shows how to introduce this feature:

#include <visp/vpMbEdgeTracker.h>
#include <visp/vpImageIo.h>
int main()
{
vpImage<unsigned char> I;
// Acquire an image
vpImageIo::read(I, "my-image.pgm");
std::string object = "my-object";
vpMbEdgeTracker tracker;
tracker.loadConfigFile( object+".xml" );
tracker.loadModel( object+".cao" );
tracker.setLod(true);
tracker.setMinLineLengthThresh(20.);
tracker.setMinPolygonAreaThresh(20.*20.);
tracker.initClick(I, object+".init" );
while (true) {
  // tracking loop
}
vpXmlParser::cleanup();
return 0;
}

See also: setMinLineLengthThresh(), setMinPolygonAreaThresh()

Definition at line 810 of file vpMbtPolygon.cpp.

References useLod.

Referenced by vpMbTracker::addPolygon().

void vpMbtPolygon::setMinLineLengthThresh ( const double min_line_length )

inline

Set the threshold for the minimum line length to be considered as visible in the LOD (level of detail) case. This threshold is only used when setLoD() is turned on.

Parameters

min_line_length : threshold for the minimum line length in pixel. When a single line that doesn't belong to a face is considered by the tracker, this line is tracked only if its lenght in pixel is greater than min_line_length.

See also: setLoD()

Definition at line 247 of file vpMbtPolygon.h.

Referenced by vpMbTracker::addPolygon().

void vpMbtPolygon::setMinPolygonAreaThresh ( const double min_polygon_area )

inline

Set the minimum polygon area to be considered as visible in the LOD (level of detail) case. This threshold is only used when setLoD() is turned on.

Parameters

min_polygon_area : threshold for the minimum polygon area in pixel. When a face is considered by the tracker, this face is tracked only if its area in pixel is greater than min_polygon_area.