vpMbtPolygon.cpp

/****************************************************************************
 *
 * $Id: vpMbtPolygon.cpp 4632 2014-02-03 17:06:40Z 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>

vpMbtPolygon::vpMbtPolygon()
  : index(-1), nbpt(0), nbCornersInsidePrev(0), isvisible(false), isappearing(false),
    p(NULL), roiPointsClip(), clippingFlag(vpMbtPolygon::NO_CLIPPING),
    distNearClip(0.001), distFarClip(100.)
{
}

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.)
{
  *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.distFarClip;

  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)
{
  //   std::cout << "Computing angle from MBT Face (cMo, alpha)" << std::endl;
  if(nbpt <= 2){
    /* a line is allways visible */
    isvisible = true;
    isappearing = false;
    return  true ;
  }

  changeFrame(cMo);

  vpColVector e1(3) ;
  vpColVector e2(3) ;
  vpColVector facenormal(3) ;

  e1[0] = p[1].get_X() - p[0].get_X() ;
  e1[1] = p[1].get_Y() - p[0].get_Y() ;
  e1[2] = p[1].get_Z() - p[0].get_Z() ;

  e2[0] = p[2].get_X() - p[1].get_X() ;
  e2[1] = p[2].get_Y() - p[1].get_Y() ;
  e2[2] = p[2].get_Z() - p[1].get_Z() ;
 
  e1.normalize();
  e2.normalize();
  
  facenormal = vpColVector::crossProd(e1,e2) ;
  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 cos_angle = vpColVector::dotProd (e4, facenormal);
  double angle = acos(cos_angle);
  
//   std::cout << cos_angle << "/" << vpMath::deg(angle) << std::endl;
  
  if( angle < alpha ){
    isvisible = true;
    isappearing = false;
    return true;
  }

  if(modulo && (M_PI - angle) < alpha){
    isvisible = true;
    isappearing = 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 = std::vector<std::pair<vpPoint,unsigned int> >();
  std::vector<vpColVector> fovNormals;
  
  if(cam.isFovComputed() && clippingFlag > 3)
    fovNormals = cam.getFovNormals();
  
  for (unsigned int i = 0; i < nbpt; i ++){
    vpPoint p1Clipped, p2Clipped;
    unsigned int p1ClippedInfo, p2ClippedInfo;
    vpImagePoint ip;
    if(vpMbtPolygon::getClippedPoints(p[i], p[(i+1)%nbpt], p1Clipped, p2Clipped, p1ClippedInfo, p2ClippedInfo, cam, fovNormals)){
      p1Clipped.projection();
      roiPointsClip.push_back(std::make_pair(p1Clipped, p1ClippedInfo));
      
      if(p2ClippedInfo != vpMbtPolygon::NO_CLIPPING){
        p2Clipped.projection();
        roiPointsClip.push_back(std::make_pair(p2Clipped, p2ClippedInfo));
      }
      
      if(nbpt == 2){ //Case of a line.
        if(p2ClippedInfo == vpMbtPolygon::NO_CLIPPING){
          p2Clipped.projection();
          roiPointsClip.push_back(std::make_pair(p2Clipped, p2ClippedInfo));
        }
        break;
      }
    }
  }
}    
    
bool
vpMbtPolygon::getClippedPointsFov(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 );
    
    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::getClippedPoints(const vpPoint &p1, const vpPoint &p2, 
                               vpPoint &p1Clipped, vpPoint &p2Clipped, 
                               unsigned int &p1ClippedInfo, unsigned int &p2ClippedInfo,
                               const vpCameraParameters &cam, const std::vector<vpColVector> &fovNormals)
{
  p1Clipped = p1;
  p2Clipped = p2;
  p1ClippedInfo = vpMbtPolygon::NO_CLIPPING;
  p2ClippedInfo = vpMbtPolygon::NO_CLIPPING;
  
  if(clippingFlag != vpMbtPolygon::NO_CLIPPING){
    // Near Clipping
    if( (clippingFlag & vpMbtPolygon::NEAR_CLIPPING) == vpMbtPolygon::NEAR_CLIPPING || 
        ((clippingFlag & vpMbtPolygon::LEFT_CLIPPING) == vpMbtPolygon::LEFT_CLIPPING && (clippingFlag & vpMbtPolygon::RIGHT_CLIPPING) == vpMbtPolygon::RIGHT_CLIPPING) || 
        ((clippingFlag & vpMbtPolygon::UP_CLIPPING) == vpMbtPolygon::UP_CLIPPING && (clippingFlag & vpMbtPolygon::DOWN_CLIPPING) == vpMbtPolygon::DOWN_CLIPPING)){
      if(p1Clipped.get_Z() < distNearClip && p2Clipped.get_Z() < distNearClip) //Not using getClippedPointsFov for efficiency
        return false;
      else if(p1Clipped.get_Z() < distNearClip || p2Clipped.get_Z() < distNearClip){
        vpPoint pClippedNear;
        double t = (p2Clipped.get_Z() - p1Clipped.get_Z());
        t = (distNearClip - 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(distNearClip);
        
        if(p1Clipped.get_Z() < distNearClip){
          p1Clipped = pClippedNear;
          p1ClippedInfo = p1ClippedInfo | vpMbtPolygon::NEAR_CLIPPING;
        }
        else{
          p2Clipped = pClippedNear;
          p2ClippedInfo = p2ClippedInfo | vpMbtPolygon::NEAR_CLIPPING;
        }
      }
    }
    
    // Left Clipping
    if((clippingFlag & vpMbtPolygon::LEFT_CLIPPING) == vpMbtPolygon::LEFT_CLIPPING){
      if(!cam.isFovComputed())
        vpTRACE("Field of view not computed, left clipping skipped.");
      else if(!getClippedPointsFov(p1Clipped, p2Clipped, p1Clipped, p2Clipped, p1ClippedInfo, p2ClippedInfo, 
             fovNormals[0], vpMbtPolygon::LEFT_CLIPPING))
        return false;
    }
    
    // Right Clipping
    if((clippingFlag & vpMbtPolygon::RIGHT_CLIPPING) == vpMbtPolygon::RIGHT_CLIPPING ){
      if(!cam.isFovComputed())
        vpTRACE("Field of view not computed, right clipping skipped.");
      else if(!getClippedPointsFov(p1Clipped, p2Clipped, p1Clipped, p2Clipped, p1ClippedInfo, p2ClippedInfo, 
             fovNormals[1], vpMbtPolygon::RIGHT_CLIPPING))
        return false;
    }
      
    // Up Clipping
    if((clippingFlag & vpMbtPolygon::UP_CLIPPING) == vpMbtPolygon::UP_CLIPPING){
      if(!cam.isFovComputed())
        vpTRACE("Field of view not computed, up clipping skipped.");
      else if(!getClippedPointsFov(p1Clipped, p2Clipped, p1Clipped, p2Clipped, p1ClippedInfo, p2ClippedInfo, 
              fovNormals[2], vpMbtPolygon::UP_CLIPPING))
        return false;
    }
      
    // Down Clipping
    if((clippingFlag & vpMbtPolygon::DOWN_CLIPPING) == vpMbtPolygon::DOWN_CLIPPING ){
      if(!cam.isFovComputed())
        vpTRACE("Field of view not computed, down clipping skipped.");
      else if(!getClippedPointsFov(p1Clipped, p2Clipped, p1Clipped, p2Clipped, p1ClippedInfo, p2ClippedInfo, 
              fovNormals[3], vpMbtPolygon::DOWN_CLIPPING))
        return false;
    }
      
    // Far Clipping
    if( (clippingFlag & vpMbtPolygon::FAR_CLIPPING) == vpMbtPolygon::FAR_CLIPPING ){
      if(p1Clipped.get_Z() > distFarClip && p2Clipped.get_Z() > distFarClip) //Not using getClippedPointsFov for efficiency
        return false;
      else if(p1Clipped.get_Z() > distFarClip || p2Clipped.get_Z() > distFarClip){
        vpPoint pClippedFar;
        double t = (p2Clipped.get_Z() - p1Clipped.get_Z());
        t = (distFarClip - p1Clipped.get_Z()) / t;
        
        pClippedFar.set_X((p2Clipped.get_X() - p1Clipped.get_X())*t + p1Clipped.get_X());
        pClippedFar.set_Y((p2Clipped.get_Y() - p1Clipped.get_Y())*t + p1Clipped.get_Y());
        pClippedFar.set_Z(distFarClip); 
        
        if(p1Clipped.get_Z() > distFarClip){
          p1Clipped = pClippedFar;
          p1ClippedInfo = p1ClippedInfo | vpMbtPolygon::FAR_CLIPPING;
        }
        else{
          p2Clipped = pClippedFar;
          p2ClippedInfo = p2ClippedInfo | vpMbtPolygon::FAR_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(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);
    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;
    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::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;
}

#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