#include <visp3/mbt/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 not_used, const vpImage< unsigned char > &I, const vpCameraParameters &cam, const vpTranslationVector &cameraPos, unsigned int index)

void	computeClippedPolygons (const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam)

void	computeScanLineRender (const vpCameraParameters &cam, const unsigned int &w, const unsigned int &h)

void	computeScanLineQuery (const vpPoint &a, const vpPoint &b, std::vector< std::pair< vpPoint, vpPoint > > &lines, const bool &displayResults=false)

vpMbScanLine &	getMbScanLineRenderer ()

void	displayOgre (const vpHomogeneousMatrix &cMo)

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

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

unsigned int	getNbVisiblePolygon () const

unsigned int	getNbRayCastingAttemptsForVisibility ()

vpAROgre *	getOgreContext ()

double	getGoodNbRayCastingAttemptsRatio ()

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)

void	setNbRayCastingAttemptsForVisibility (const unsigned int &attempts)

void	setGoodNbRayCastingAttemptsRatio (const double &ratio)

void	setOgreShowConfigDialog (const bool showConfigDialog)

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

Detailed Description

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

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

Definition at line 66 of file vpMbHiddenFaces.h.

Constructor & Destructor Documentation

template<class PolygonType >

vpMbHiddenFaces< PolygonType >::vpMbHiddenFaces ( )

Basic constructor.

Definition at line 261 of file vpMbHiddenFaces.h.

template<class PolygonType >

vpMbHiddenFaces< PolygonType >::~vpMbHiddenFaces ( )

Basic destructor.

Definition at line 278 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 313 of file vpMbHiddenFaces.h.

Referenced by vpMbTracker::addPolygon().

template<class PolygonType >

void vpMbHiddenFaces< PolygonType >::computeClippedPolygons	(	const vpHomogeneousMatrix &	cMo,
		const vpCameraParameters &	cam
	)

Compute the clipped points of the polygons that have been added via addPolygon().

Parameters

cMo	: Pose that will be used to clip the polygons.
cam	: Camera parameters that will be used to clip the polygons.

Definition at line 378 of file vpMbHiddenFaces.h.

Referenced by vpMbKltTracker::display(), vpMbEdgeTracker::init(), vpMbEdgeKltTracker::postTracking(), vpMbKltTracker::reinit(), vpMbEdgeKltTracker::setPose(), vpMbKltTracker::setPose(), and vpMbEdgeTracker::track().

template<class PolygonType >

void vpMbHiddenFaces< PolygonType >::computeScanLineQuery	(	const vpPoint &	a,
		const vpPoint &	b,
		std::vector< std::pair< vpPoint, vpPoint > > &	lines,
		const bool &	displayResults = `false`
	)

Compute Scanline visibility results for a line.

Warning: computeScanLineRender() function has to be called before

Parameters

a	: First point of the line.
b	: Second point of the line.
lines	: Result of the scanline visibility. List of the visible parts of the line.
displayResults	: True if the results have to be displayed. False otherwise

Definition at line 435 of file vpMbHiddenFaces.h.

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

template<class PolygonType >

void vpMbHiddenFaces< PolygonType >::computeScanLineRender	(	const vpCameraParameters &	cam,
		const unsigned int &	w,
		const unsigned int &	h
	)

Render the scene in order to perform, later via computeScanLineQuery(), visibility tests.

Parameters

cam	: Camera parameters that will be used to render the scene.
w	: Width of the render window.
h	: Height of the render window.

Definition at line 400 of file vpMbHiddenFaces.h.

Referenced by vpMbKltTracker::display(), vpMbEdgeTracker::init(), vpMbEdgeKltTracker::postTracking(), vpMbKltTracker::reinit(), vpMbEdgeKltTracker::setPose(), vpMbKltTracker::setPose(), and vpMbEdgeTracker::track().

template<class PolygonType >

bool vpMbHiddenFaces< PolygonType >::computeVisibility	(	const vpHomogeneousMatrix &	cMo,
		const double &	angleAppears,
		const double &	angleDisappears,
		bool &	changed,
		bool	useOgre,
		bool	not_used,
		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.
not_used	: Unused parameter.
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 504 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 684 of file vpMbHiddenFaces.h.

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

template<class PolygonType = vpMbtPolygon>

double vpMbHiddenFaces< PolygonType >::getGoodNbRayCastingAttemptsRatio ( )

inline

Get the ratio of visibility attempts that has to be successful to consider a polygon as visible.

See Also: getNbRayCastingAttemptsForVisibility()

Returns: Ratio of succesful attempts that has to be considered. Value will be between 0.0 (0%) and 1.0 (100%).

Definition at line 161 of file vpMbHiddenFaces.h.

template<class PolygonType = vpMbtPolygon>

vpMbScanLine& vpMbHiddenFaces< PolygonType >::getMbScanLineRenderer ( )

inline

Definition at line 112 of file vpMbHiddenFaces.h.

Referenced by vpMbtDistanceKltPoints::init(), vpMbtDistanceKltCylinder::init(), vpMbEdgeKltTracker::loadConfigFile(), vpMbKltTracker::loadConfigFile(), vpMbKltTracker::reinit(), and vpMbKltTracker::setMaskBorder().

template<class PolygonType = vpMbtPolygon>

unsigned int vpMbHiddenFaces< PolygonType >::getNbRayCastingAttemptsForVisibility ( )

inline

Get the number of rays that will be sent toward each polygon for visibility test. Each ray will go from the optic center of the camera to a random point inside the considered polygon.

See Also: getGoodNbRayCastingAttemptsRatio()

Returns: Number of rays sent.

Definition at line 145 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 134 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 152 of file vpMbHiddenFaces.h.

Referenced by vpMbTracker::setFarClippingDistance(), vpMbTracker::setNearClippingDistance(), vpMbKltTracker::setOgreVisibilityTest(), vpMbEdgeTracker::setOgreVisibilityTest(), 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 123 of file vpMbHiddenFaces.h.

Referenced by vpMbTracker::addPolygon(), vpMbTracker::extractFaces(), vpMbTracker::extractLines(), vpMbTracker::getPolygonFaces(), vpMbtDistanceKltCylinder::init(), 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 651 of file vpMbHiddenFaces.h.

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

template<class PolygonType = vpMbtPolygon>

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

inline

Definition at line 164 of file vpMbHiddenFaces.h.

Referenced by vpMbEdgeTracker::computeVVSFirstPhase(), vpMbEdgeTracker::computeVVSFirstPhaseFactor(), 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 173 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 183 of file vpMbHiddenFaces.h.

Referenced by vpMbEdgeTracker::initMovingEdge(), and vpMbKltTracker::reinit().

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 744 of file vpMbHiddenFaces.h.

template<class PolygonType = vpMbtPolygon>

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

inline

operator[] as modifier.

Definition at line 190 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 192 of file vpMbHiddenFaces.h.

template<class PolygonType >

void vpMbHiddenFaces< PolygonType >::reset ( )

Reset the Hidden faces (remove the list of PolygonType)

Definition at line 335 of file vpMbHiddenFaces.h.

Referenced by vpMbEdgeKltTracker::reInitModel(), 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 206 of file vpMbHiddenFaces.h.

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

template<class PolygonType = vpMbtPolygon>

void vpMbHiddenFaces< PolygonType >::setGoodNbRayCastingAttemptsRatio ( const double & ratio )

inline

Set the ratio of visibility attempts that has to be successful to consider a polygon as visible.

See Also: setNbRayCastingAttemptsForVisibility(const unsigned int &)

Parameters

ratio : Ratio of succesful attempts that has to be considered. Value has to be between 0.0 (0%) and 1.0 (100%).

Definition at line 225 of file vpMbHiddenFaces.h.

template<class PolygonType = vpMbtPolygon>

void vpMbHiddenFaces< PolygonType >::setNbRayCastingAttemptsForVisibility ( const unsigned int & attempts )

inline

Set the number of rays that will be sent toward each polygon for visibility test. Each ray will go from the optic center of the camera to a random point inside the considered polygon.

See Also: setGoodNbRayCastingAttemptsRatio(const double &)

Parameters

attempts Number of rays to be sent.

Definition at line 216 of file vpMbHiddenFaces.h.

template<class PolygonType = vpMbtPolygon>

void vpMbHiddenFaces< PolygonType >::setOgreShowConfigDialog ( const bool showConfigDialog )

inline

Enable/Disable the appearance of Ogre config dialog on startup.

Warning: This method has only effect when Ogre is used and Ogre visibility test is enabled using setOgreVisibilityTest() with true parameter.

Parameters

showConfigDialog : if true, shows Ogre dialog window (used to set Ogre rendering options) when Ogre visibility is enabled. By default, this functionality is turned off.

Definition at line 236 of file vpMbHiddenFaces.h.

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

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 602 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 621 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 638 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 712 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 729 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 254 of file vpMbHiddenFaces.h.

Referenced by vpMbTracker::loadModel(), vpMbTracker::loadVRMLModel(), vpMbTracker::setClipping(), vpMbTracker::setFarClippingDistance(), vpMbTracker::setLod(), vpMbTracker::setMinLineLengthThresh(), vpMbTracker::setMinPolygonAreaThresh(), and vpMbTracker::setNearClippingDistance().

Public Member Functions

Detailed Description

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

Constructor & Destructor Documentation

Member Function Documentation

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