vpMbtPolygon.cpp

/****************************************************************************
 *
 * $Id: vpMbtPolygon.cpp 4952 2014-11-12 14:04:40Z fspindle $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2014 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
 * ("GPL") version 2 as published by the Free Software Foundation.
 * 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 http://www.irisa.fr/lagadic/visp/visp.html for more information.
 * 
 * This software was developed at:
 * INRIA Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 * http://www.irisa.fr/lagadic
 *
 * 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:
 * Make the complete tracking of an object by using its CAD model
 *
 * Authors:
 * Nicolas Melchior
 * Romain Tallonneau
 * Eric Marchand
 * Aurelien Yol
 *
 *****************************************************************************/

#include <limits.h>

#include <visp/vpConfig.h>
#include <visp/vpMbtPolygon.h>
#include <visp/vpPolygon.h>

vpMbtPolygon::vpMbtPolygon()
  : index(-1), nbpt(0), nbCornersInsidePrev(0), isvisible(false), isappearing(false),
    p(NULL), roiPointsClip(), clippingFlag(vpMbtPolygon::NO_CLIPPING),
    distNearClip(0.001), distFarClip(100.),
    useLod(false), minLineLengthThresh(50.0), minPolygonAreaThresh(2500.0), name("")
{
}

vpMbtPolygon::vpMbtPolygon(const vpMbtPolygon& mbtp)
  : index(-1), nbpt(0), nbCornersInsidePrev(0), isvisible(false), isappearing(false),
    p(NULL), roiPointsClip(), clippingFlag(vpMbtPolygon::NO_CLIPPING),
    distNearClip(0.001), distFarClip(100.),
    useLod(false), minLineLengthThresh(50.0), minPolygonAreaThresh(2500.0), name("")
{
  *this = mbtp;
}

vpMbtPolygon& vpMbtPolygon::operator=(const vpMbtPolygon& mbtp)
{
  index = mbtp.index;
  nbpt = mbtp.nbpt;
  nbCornersInsidePrev = mbtp.nbCornersInsidePrev;
  isvisible = mbtp.isvisible;
  isappearing = mbtp.isappearing;
  roiPointsClip = mbtp.roiPointsClip;
  clippingFlag = mbtp.clippingFlag;
  distNearClip = mbtp.distNearClip;
  distFarClip = mbtp.distFarClip;
  useLod = mbtp.useLod;
  minLineLengthThresh = mbtp.minLineLengthThresh;
  minPolygonAreaThresh = mbtp.minPolygonAreaThresh;
  name = mbtp.name;

  if (p) delete [] p;
  p = new vpPoint [nbpt];
  for(unsigned int i = 0; i < nbpt; i++)
    p[i] = mbtp.p[i];

  return (*this);
}

vpMbtPolygon::~vpMbtPolygon()
{
  if (p !=NULL)
  {
    delete[] p;
    p = NULL;
  }
}

vpPoint &
vpMbtPolygon::getPoint(const unsigned int _index)
{
  if(_index >= nbpt){
    throw vpException(vpException::dimensionError, "index out of range");
  }
  return p[_index];
}

void
vpMbtPolygon::setNbPoint(const unsigned int nb)
{
  nbpt = nb ;
  if (p != NULL)
    delete[] p;
  p = new vpPoint[nb] ;
}

void
vpMbtPolygon::addPoint(const unsigned int n, const vpPoint &P)
{
  //if( p!NULL && n < nbpt )
    p[n] = P ;
}

void
vpMbtPolygon::changeFrame(const vpHomogeneousMatrix &cMo)
{
  for (unsigned int i = 0 ; i < nbpt ; i++)
  {
    p[i].changeFrame(cMo) ;
    p[i].projection() ;
  }
}

bool 
vpMbtPolygon::isVisible(const vpHomogeneousMatrix &cMo, const double alpha, const bool &modulo,
          const vpCameraParameters &cam, const vpImage<unsigned char> &I)
{
  //   std::cout << "Computing angle from MBT Face (cMo, alpha)" << std::endl;

  changeFrame(cMo);

  if(nbpt <= 2) {
    //Level of detail (LOD)
    if(useLod) {
      vpCameraParameters c = cam;
      if(clippingFlag > 3) { // Contains at least one FOV constraint
        c.computeFov(I.getWidth(), I.getHeight());
      }
      computeRoiClipped(c);
      std::vector<vpImagePoint> roiImagePoints;
      getRoiClipped(c, roiImagePoints);

      if (roiImagePoints.size() == 2) {
        double x1 = roiImagePoints[0].get_u();
        double y1 = roiImagePoints[0].get_v();
        double x2 = roiImagePoints[1].get_u();
        double y2 = roiImagePoints[1].get_v();
        double length = std::sqrt((x1 - x2) * (x1 - x2) + (y1 - y2) * (y1 - y2));
//          std::cout << "Index=" << index << " ; Line length=" << length << " ; clippingFlag=" << clippingFlag << std::endl;
//        vpTRACE("index=%d lenght=%f minLineLengthThresh=%f", index, length, minLineLengthThresh);

        if (length < minLineLengthThresh) {
          isvisible = false;
          isappearing = false;
          return false;
        }
      }
    }

    /* a line is always visible when LOD is not used */
    isvisible = true;
    isappearing = false;
    return  true ;
  }

  //Check visibility from normal
  //Newell's Method for calculating the normal of an arbitrary 3D polygon
  //https://www.opengl.org/wiki/Calculating_a_Surface_Normal
  vpColVector faceNormal(3);
  vpColVector currentVertex, nextVertex;
  for(unsigned int  i = 0; i<nbpt; i++) {
    currentVertex = p[i].cP;
    nextVertex = p[(i+1) % nbpt].cP;

    faceNormal[0] += (currentVertex[1] - nextVertex[1]) * (currentVertex[2] + nextVertex[2]);
    faceNormal[1] += (currentVertex[2] - nextVertex[2]) * (currentVertex[0] + nextVertex[0]);
    faceNormal[2] += (currentVertex[0] - nextVertex[0]) * (currentVertex[1] + nextVertex[1]);
  }
  faceNormal.normalize();
  
  vpColVector e4(3) ;
  vpPoint pt;
  for (unsigned int i = 0; i < nbpt; i += 1){
    pt.set_X(pt.get_X() + p[i].get_X());
    pt.set_Y(pt.get_Y() + p[i].get_Y());
    pt.set_Z(pt.get_Z() + p[i].get_Z());
  }
  e4[0] = -pt.get_X() / (double)nbpt;
  e4[1] = -pt.get_Y() / (double)nbpt;
  e4[2] = -pt.get_Z() / (double)nbpt;
  e4.normalize();

  double angle = acos(vpColVector::dotProd(e4, faceNormal));

//  vpCTRACE << angle << "/" << vpMath::deg(angle) << "/" << vpMath::deg(alpha) << std::endl;

  if( angle < alpha || (modulo && (M_PI - angle) < alpha)) {
    isvisible = true;
    isappearing = false;

    if (useLod) {
      vpCameraParameters c = cam;
      if(clippingFlag > 3) { // Contains at least one FOV constraint
        c.computeFov(I.getWidth(), I.getHeight());
      }
      computeRoiClipped(c);
      std::vector<vpImagePoint> roiImagePoints;
      getRoiClipped(c, roiImagePoints);

      vpPolygon roiPolygon(roiImagePoints);
      double area = roiPolygon.getArea();
//      std::cout << "After normal test ; Index=" << index << " ; area=" << area << " ; clippingFlag="
//          << clippingFlag << std::endl;
      if (area < minPolygonAreaThresh) {
        isappearing = false;
        isvisible = false;
        return false;
      }
    }

    return true;
  }

  if (angle < alpha+vpMath::rad(1) ){
    isappearing = true;
  }
  else if (modulo && (M_PI - angle) < alpha+vpMath::rad(1) ){
    isappearing = true;
  }
  else {
    isappearing = false;
  }

  isvisible = false ;
  return false ;
}

void
vpMbtPolygon::computeRoiClipped(const vpCameraParameters &cam)
{
  roiPointsClip.clear();
  std::vector<vpColVector> fovNormals;
  std::vector<std::pair<vpPoint,unsigned int> > roiPointsClipTemp;
  std::vector<std::pair<vpPoint,unsigned int> > roiPointsClipTemp2;

  if(cam.isFovComputed() && clippingFlag > 3)
    fovNormals = cam.getFovNormals();

  for(unsigned int i = 0 ; i < nbpt ; i++){
      p[i%nbpt].projection();
      roiPointsClipTemp.push_back(std::make_pair(p[i%nbpt],vpMbtPolygon::NO_CLIPPING));
  }

  if(clippingFlag != vpMbtPolygon::NO_CLIPPING)
  for(unsigned int i = 1 ; i < 64 ; i=i*2)
  {
      if(((clippingFlag & i) == i) || ((clippingFlag > vpMbtPolygon::FAR_CLIPPING) && (i==1)))
      {
      for(unsigned int j = 0 ; j < roiPointsClipTemp.size() ; j++)
      {
          vpPoint p1Clipped = roiPointsClipTemp[j].first;
          vpPoint p2Clipped = roiPointsClipTemp[(j+1)%roiPointsClipTemp.size()].first;

          unsigned int p2ClippedInfoBefore = roiPointsClipTemp[(j+1)%roiPointsClipTemp.size()].second;
          unsigned int p1ClippedInfo = roiPointsClipTemp[j].second;
          unsigned int p2ClippedInfo = roiPointsClipTemp[(j+1)%roiPointsClipTemp.size()].second;

          bool problem = true;

          switch(i){
          case 1:
            problem = !(vpMbtPolygon::getClippedPointsDistance(p1Clipped, p2Clipped, p1Clipped, p2Clipped, p1ClippedInfo, p2ClippedInfo,
                                                               i, distNearClip));
            break;
          case 2:
            problem = !(vpMbtPolygon::getClippedPointsDistance(p1Clipped, p2Clipped, p1Clipped, p2Clipped, p1ClippedInfo, p2ClippedInfo,
                                                               i, distFarClip));
            break;
          case 4:
            problem = !(vpMbtPolygon::getClippedPointsFovGeneric(p1Clipped, p2Clipped, p1Clipped, p2Clipped, p1ClippedInfo, p2ClippedInfo,
                                                        fovNormals[0], vpMbtPolygon::LEFT_CLIPPING));
            break;
          case 8:
            problem = !(vpMbtPolygon::getClippedPointsFovGeneric(p1Clipped, p2Clipped, p1Clipped, p2Clipped, p1ClippedInfo, p2ClippedInfo,
                                                        fovNormals[1], vpMbtPolygon::RIGHT_CLIPPING));
            break;
          case 16:
            problem = !(vpMbtPolygon::getClippedPointsFovGeneric(p1Clipped, p2Clipped, p1Clipped, p2Clipped, p1ClippedInfo, p2ClippedInfo,
                                                        fovNormals[2], vpMbtPolygon::UP_CLIPPING));
            break;
          case 32:
            problem = !(vpMbtPolygon::getClippedPointsFovGeneric(p1Clipped, p2Clipped, p1Clipped, p2Clipped, p1ClippedInfo, p2ClippedInfo,
                                                        fovNormals[3], vpMbtPolygon::DOWN_CLIPPING));
            break;
          }

          if(!problem)
          {
            p1Clipped.projection();
            roiPointsClipTemp2.push_back(std::make_pair(p1Clipped, p1ClippedInfo));

            if(p2ClippedInfo != p2ClippedInfoBefore)
            {
              p2Clipped.projection();
              roiPointsClipTemp2.push_back(std::make_pair(p2Clipped, p2ClippedInfo));
            }

            if(nbpt == 2){
              if(p2ClippedInfo == p2ClippedInfoBefore)
              {
                p2Clipped.projection();
                roiPointsClipTemp2.push_back(std::make_pair(p2Clipped, p2ClippedInfo));
              }
              break;
            }
          }
      }

      roiPointsClipTemp = roiPointsClipTemp2;
      roiPointsClipTemp2.clear();
      }
  }

  roiPointsClip = roiPointsClipTemp;
}
    
bool
vpMbtPolygon::getClippedPointsFovGeneric(const vpPoint &p1, const vpPoint &p2,
                                vpPoint &p1Clipped, vpPoint &p2Clipped, 
                                unsigned int &p1ClippedInfo, unsigned int &p2ClippedInfo,
                                const vpColVector &normal, const unsigned int &flag)
{    
  vpRowVector p1Vec(3);
  p1Vec[0] = p1.get_X(); p1Vec[1] = p1.get_Y(); p1Vec[2] = p1.get_Z();
  p1Vec = p1Vec.normalize();
  
  vpRowVector p2Vec(3);
  p2Vec[0] = p2.get_X(); p2Vec[1] = p2.get_Y(); p2Vec[2] = p2.get_Z();
  p2Vec = p2Vec.normalize();
  
  if((clippingFlag & flag) == flag){
    double beta1 = acos( p1Vec * normal );
    double beta2 = acos( p2Vec * normal );

//    std::cout << beta1 << " && " << beta2 << std::endl;

    //    if(!(beta1 < M_PI / 2.0 && beta2 < M_PI / 2.0))
    if(beta1 < M_PI / 2.0 && beta2 < M_PI / 2.0)
      return false;
    else if (beta1 < M_PI / 2.0 || beta2 < M_PI / 2.0){
      vpPoint pClipped;
      double t = -(normal[0] * p1.get_X() + normal[1] * p1.get_Y() + normal[2] * p1.get_Z());
      t = t / ( normal[0] * (p2.get_X() - p1.get_X()) + normal[1] * (p2.get_Y() - p1.get_Y()) + normal[2] * (p2.get_Z() - p1.get_Z()) );
      
      pClipped.set_X((p2.get_X() - p1.get_X())*t + p1.get_X());
      pClipped.set_Y((p2.get_Y() - p1.get_Y())*t + p1.get_Y());
      pClipped.set_Z((p2.get_Z() - p1.get_Z())*t + p1.get_Z());
      
      if(beta1 < M_PI / 2.0){
        p1ClippedInfo = p1ClippedInfo | flag;
        p1Clipped = pClipped;
      }
      else{
        p2ClippedInfo = p2ClippedInfo | flag;
        p2Clipped = pClipped;
      }
    }
  }
  
  return true;
}

bool
vpMbtPolygon::getClippedPointsDistance(const vpPoint &p1, const vpPoint &p2,
                               vpPoint &p1Clipped, vpPoint &p2Clipped,
                               unsigned int &p1ClippedInfo, unsigned int &p2ClippedInfo,
                               const unsigned int &flag, const double &distance)
{
    // Since p1 and p1Clipped can be the same object as well as p2 and p2Clipped
    // to avoid a valgrind "Source and destination overlap in memcpy" error,
    // we introduce a two temporary points.
    vpPoint p1Clipped_, p2Clipped_;
    p1Clipped_ = p1;
    p2Clipped_ = p2;

    p1Clipped = p1Clipped_;
    p2Clipped = p2Clipped_;


    bool test1 = (p1Clipped.get_Z() < distance && p2Clipped.get_Z() < distance);
    if(flag == vpMbtPolygon::FAR_CLIPPING)
        test1 = (p1Clipped.get_Z() > distance && p2Clipped.get_Z() > distance);

    bool test2 = (p1Clipped.get_Z() < distance || p2Clipped.get_Z() < distance);
    if(flag == vpMbtPolygon::FAR_CLIPPING)
        test2 = (p1Clipped.get_Z() > distance || p2Clipped.get_Z() > distance);

    bool test3 = (p1Clipped.get_Z() < distance);
    if(flag == vpMbtPolygon::FAR_CLIPPING)
        test3 = (p1Clipped.get_Z() > distance);

    if(test1)
      return false;

    else if(test2){
      vpPoint pClippedNear;
      double t;
      t = (p2Clipped.get_Z() - p1Clipped.get_Z());
      t = (distance - p1Clipped.get_Z()) / t;

      pClippedNear.set_X((p2Clipped.get_X() - p1Clipped.get_X())*t + p1Clipped.get_X());
      pClippedNear.set_Y((p2Clipped.get_Y() - p1Clipped.get_Y())*t + p1Clipped.get_Y());
      pClippedNear.set_Z(distance);

      if(test3){
        p1Clipped = pClippedNear;
        if(flag == vpMbtPolygon::FAR_CLIPPING)
            p1ClippedInfo = p1ClippedInfo | vpMbtPolygon::FAR_CLIPPING;
        else
            p1ClippedInfo = p1ClippedInfo | vpMbtPolygon::NEAR_CLIPPING;
      }
      else{
        p2Clipped = pClippedNear;
        if(flag == vpMbtPolygon::FAR_CLIPPING)
            p2ClippedInfo = p2ClippedInfo | vpMbtPolygon::FAR_CLIPPING;
        else
            p2ClippedInfo = p2ClippedInfo | vpMbtPolygon::NEAR_CLIPPING;
      }
    }

    return true;
}

std::vector<vpImagePoint>
vpMbtPolygon::getRoi(const vpCameraParameters &cam)
{     
  std::vector<vpImagePoint> roi;
  for (unsigned int i = 0; i < nbpt; i ++){
    vpImagePoint ip;
    vpMeterPixelConversion::convertPoint(cam, p[i].get_x(), p[i].get_y(), ip);
    roi.push_back(ip);
  }
  
  return roi;
}

std::vector<vpImagePoint> 
vpMbtPolygon::getRoi(const vpCameraParameters &cam, const vpHomogeneousMatrix &cMo)
{
  changeFrame(cMo);
  return getRoi(cam);
}

void
vpMbtPolygon::getRoiClipped(std::vector<vpPoint> &points)
{
  for(unsigned int i = 0 ; i < roiPointsClip.size() ; i++){
    points.push_back(roiPointsClip[i].first);
  }
}

void
vpMbtPolygon::getRoiClipped(const vpCameraParameters &cam, std::vector<vpImagePoint> &roi)
{
  for(unsigned int i = 0 ; i < roiPointsClip.size() ; i++){
    vpImagePoint ip;
    vpMeterPixelConversion::convertPoint(cam,roiPointsClip[i].first.get_x(),roiPointsClip[i].first.get_y(),ip);
//    std::cout << "## " << ip.get_j() << " - " << ip.get_i() << std::endl;
    roi.push_back(ip);
  }
}

void
vpMbtPolygon::getRoiClipped(const vpCameraParameters &cam, std::vector<vpImagePoint> &roi, const vpHomogeneousMatrix &cMo)
{
  changeFrame(cMo);
  computeRoiClipped(cam);
  getRoiClipped(cam, roi);
}
  
void
vpMbtPolygon::getRoiClipped(const vpCameraParameters &cam, std::vector<std::pair<vpImagePoint,unsigned int> > &roi)
{
  for(unsigned int i = 0 ; i < roiPointsClip.size() ; i++){
    vpImagePoint ip;
    roiPointsClip[i].first.projection();
    vpMeterPixelConversion::convertPoint(cam,roiPointsClip[i].first.get_x(),roiPointsClip[i].first.get_y(),ip);
    roi.push_back(std::make_pair(ip, roiPointsClip[i].second));
  }
}

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



unsigned int 
vpMbtPolygon::getNbCornerInsideImage(const vpImage<unsigned char>& I, const vpCameraParameters &cam)
{
  unsigned int nbPolyIn = 0;
  for (unsigned int i = 0; i < nbpt; i ++){
    if(p[i].get_Z() > 0){
      vpImagePoint ip;
      vpMeterPixelConversion::convertPoint(cam, p[i].get_x(), p[i].get_y(), ip);
      if((ip.get_i() >= 0) && (ip.get_j() >= 0) && (ip.get_i() < I.getHeight()) && (ip.get_j() < I.getWidth()))
        nbPolyIn++;
    }
  }
  
  nbCornersInsidePrev = nbPolyIn;
  
  return nbPolyIn;
}

//###################################
//      Static functions
//###################################

void
vpMbtPolygon::getClippedPolygon(const std::vector<vpPoint> &ptIn, std::vector<vpPoint> &ptOut, const vpHomogeneousMatrix &cMo, const unsigned int &clippingFlags,
                                const vpCameraParameters &cam, const double &znear, const double &zfar)
{
    ptOut.clear();
    vpMbtPolygon poly;
    poly.setNbPoint((unsigned int)ptIn.size());
    poly.setClipping(clippingFlags);

    if((clippingFlags & vpMbtPolygon::NEAR_CLIPPING) == vpMbtPolygon::NEAR_CLIPPING)
        poly.setNearClippingDistance(znear);

    if((clippingFlags & vpMbtPolygon::FAR_CLIPPING) == vpMbtPolygon::FAR_CLIPPING)
        poly.setFarClippingDistance(zfar);

    for(unsigned int i = 0; i < ptIn.size(); i++)
        poly.addPoint(i,ptIn[i]);

    poly.changeFrame(cMo);
    poly.computeRoiClipped(cam);
    poly.getRoiClipped(ptOut);
}

void                
vpMbtPolygon::getMinMaxRoi(const std::vector<vpImagePoint> &iroi, int & i_min, int &i_max, int &j_min, int &j_max)
{
  // i_min_d = std::numeric_limits<double>::max(); // create an error under Windows. To fix it we have to add #undef max
  double i_min_d = (double) INT_MAX;
  double i_max_d = 0;
  double j_min_d = (double) INT_MAX;
  double j_max_d = 0;

  for (unsigned int i = 0; i < iroi.size(); i += 1){
    if(i_min_d > iroi[i].get_i())
      i_min_d = iroi[i].get_i();
    
    if(iroi[i].get_i() < 0)
      i_min_d = 1;
    
    if((iroi[i].get_i() > 0) && (i_max_d < iroi[i].get_i()))
      i_max_d = iroi[i].get_i();
    
    if(j_min_d > iroi[i].get_j())
      j_min_d = iroi[i].get_j();
    
    if(iroi[i].get_j() < 0)
      j_min_d = 1;//border
      
    if((iroi[i].get_j() > 0) && j_max_d < iroi[i].get_j())
      j_max_d = iroi[i].get_j();
  }
  i_min = static_cast<int> (i_min_d);
  i_max = static_cast<int> (i_max_d);
  j_min = static_cast<int> (j_min_d);
  j_max = static_cast<int> (j_max_d);
}

bool
vpMbtPolygon::roiInsideImage(const vpImage<unsigned char>& I, const std::vector<vpImagePoint>& corners)
{
  double nbPolyIn = 0;
  for(unsigned int i=0; i<corners.size(); ++i){
    if((corners[i].get_i() >= 0) && (corners[i].get_j() >= 0) &&
       (corners[i].get_i() < I.getHeight()) && (corners[i].get_j() < I.getWidth())){
      nbPolyIn++;
    }
  }
  
  if(nbPolyIn < 3 && nbPolyIn < 0.7 * corners.size())
    return false;
  
  return true;
}

void
vpMbtPolygon::setLod(const bool use_lod)
{
  this->useLod = use_lod;
}

#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS

bool
vpMbtPolygon::isVisible(const vpHomogeneousMatrix &cMo, const bool &depthTest)
{
  changeFrame(cMo) ;
  
  if(depthTest)
    for (unsigned int i = 0 ; i < nbpt ; i++){
      if(p[i].get_Z() < 0){
        isappearing = false;
        isvisible = false ;
        return false ;
      }
    }
  
  return isVisible(cMo, vpMath::rad(89));
}
#endif