#include <visp3/mbt/vpMbtPolygon.h>

Inheritance diagram for vpMbtPolygon:

Public Types
enum	vpPolygon3DClippingType { 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 ()

int	getIndex () const

std::string	getName () const

bool	isAppearing () const

bool	isPolygonOriented ()

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)

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)

void	setIsPolygonOriented (const bool &oriented)

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

void	changeFrame (const vpHomogeneousMatrix &cMo)

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

unsigned int	getClipping () const

double	getFarClippingDistance () 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 (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)

void	getPolygonClipped (std::vector< std::pair< vpPoint, unsigned int > > &poly)

void	getPolygonClipped (std::vector< vpPoint > &poly)

void	setClipping (const unsigned int &flags)

void	setFarClippingDistance (const double &dist)

virtual void	setNbPoint (const unsigned int nb)

void	setNearClippingDistance (const double &dist)

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

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

bool	isvisible

bool	isappearing

bool	useLod

double	minLineLengthThresh

double	minPolygonAreaThresh

std::string	name

bool	hasOrientation

unsigned int	nbpt

unsigned int	nbCornersInsidePrev

vpPoint *	p

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

unsigned int	clippingFlag

double	distNearClip

double	distFarClip

Detailed Description

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

Definition at line 64 of file vpMbtPolygon.h.

Member Enumeration Documentation

enum vpPolygon3D::vpPolygon3DClippingType

inherited

Enumerator
NO_CLIPPING
NEAR_CLIPPING
FAR_CLIPPING
LEFT_CLIPPING
RIGHT_CLIPPING
UP_CLIPPING
DOWN_CLIPPING
FOV_CLIPPING
ALL_CLIPPING

Definition at line 62 of file vpPolygon3D.h.

Constructor & Destructor Documentation

vpMbtPolygon::vpMbtPolygon ( )

Basic constructor.

Definition at line 55 of file vpMbtPolygon.cpp.

vpMbtPolygon::vpMbtPolygon ( const vpMbtPolygon & mbtp )

Definition at line 62 of file vpMbtPolygon.cpp.

vpMbtPolygon::~vpMbtPolygon ( )

virtual

Basic destructor.

Definition at line 88 of file vpMbtPolygon.cpp.

Member Function Documentation

void vpPolygon3D::addPoint	(	const unsigned int	n,
		const vpPoint &	P
	)

inherited

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 136 of file vpPolygon3D.cpp.

References vpPolygon3D::p.

Referenced by vpMbTracker::addPolygon(), vpMbtDistanceLine::buildFrom(), and vpPolygon3D::getClippedPolygon().

void vpPolygon3D::changeFrame ( const vpHomogeneousMatrix & cMo )

inherited

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 148 of file vpPolygon3D.cpp.

References vpPoint::changeFrame(), vpPolygon3D::nbpt, vpPolygon3D::p, and vpPoint::projection().

Referenced by vpPolygon3D::getClippedPolygon(), vpPolygon3D::getRoi(), vpPolygon3D::getRoiClipped(), isVisible(), vpMbKltTracker::reinit(), and vpMbKltTracker::setPose().

void vpPolygon3D::computePolygonClipped ( const vpCameraParameters & cam = vpCameraParameters() )

inherited

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 165 of file vpPolygon3D.cpp.

References vpPolygon3D::clippingFlag, vpPolygon3D::distFarClip, vpPolygon3D::distNearClip, vpPolygon3D::DOWN_CLIPPING, vpPolygon3D::FAR_CLIPPING, vpCameraParameters::getFovNormals(), vpCameraParameters::isFovComputed(), vpPolygon3D::LEFT_CLIPPING, vpPolygon3D::nbpt, vpPolygon3D::NO_CLIPPING, vpPolygon3D::p, vpPolygon3D::polyClipped, vpPoint::projection(), vpPolygon3D::RIGHT_CLIPPING, and vpPolygon3D::UP_CLIPPING.

Referenced by vpMbtDistanceLine::display(), vpPolygon3D::getClippedPolygon(), vpPolygon3D::getRoiClipped(), vpMbtDistanceLine::initMovingEdge(), isVisible(), vpMbKltTracker::reinit(), vpMbKltTracker::setPose(), and vpMbtDistanceLine::updateMovingEdge().

void vpPolygon3D::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`
	)

staticinherited

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 vpPolygon3D::vpPolygon3DClippingType).
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 576 of file vpPolygon3D.cpp.

References vpPolygon3D::addPoint(), vpPolygon3D::changeFrame(), vpPolygon3D::computePolygonClipped(), vpPolygon3D::FAR_CLIPPING, vpPolygon3D::getPolygonClipped(), vpPolygon3D::NEAR_CLIPPING, vpPolygon3D::setClipping(), vpPolygon3D::setFarClippingDistance(), vpPolygon3D::setNbPoint(), and vpPolygon3D::setNearClippingDistance().

Referenced by vpImageSimulator::setCameraPosition().

unsigned int vpPolygon3D::getClipping ( ) const

inlineinherited

Get the clipping used.

See Also: vpPolygon3DClipping

Returns: Clipping flags.

Definition at line 121 of file vpPolygon3D.h.

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

double vpPolygon3D::getFarClippingDistance ( ) const

inlineinherited

Get the far distance for clipping.

Returns: Far clipping value.

Definition at line 128 of file vpPolygon3D.h.

int vpMbtPolygon::getIndex ( ) const

inline

Get the index of the face.

Returns: index : the index of the face.

Definition at line 94 of file vpMbtPolygon.h.

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

void vpPolygon3D::getMinMaxRoi	(	const std::vector< vpImagePoint > &	roi,
		int &	i_min,
		int &	i_max,
		int &	j_min,
		int &	j_max
	)

staticinherited

Definition at line 599 of file vpPolygon3D.cpp.

Referenced by vpMbtDistanceKltPoints::updateMask(), and vpMbtDistanceKltCylinder::updateMask().

std::string vpMbtPolygon::getName ( ) const

inline

Get the name of the face.

Returns: Name of the face.

Definition at line 101 of file vpMbtPolygon.h.

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

unsigned int vpPolygon3D::getNbCornerInsideImage	(	const vpImage< unsigned char > &	I,
		const vpCameraParameters &	cam
	)

inherited

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 541 of file vpPolygon3D.cpp.

References vpMeterPixelConversion::convertPoint(), vpImagePoint::get_i(), vpImagePoint::get_j(), vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpPolygon3D::nbCornersInsidePrev, vpPolygon3D::nbpt, and vpPolygon3D::p.

unsigned int vpPolygon3D::getNbCornerInsidePrevImage ( ) const

inlineinherited

Return the number of corners at the previous computation.

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

Definition at line 142 of file vpPolygon3D.h.

unsigned int vpPolygon3D::getNbPoint ( ) const

inlineinherited

Return the number of corners.

Returns: number of corner of the face

Definition at line 135 of file vpPolygon3D.h.

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

double vpPolygon3D::getNearClippingDistance ( ) const

inlineinherited

Get the near distance for clipping.

Returns: Near clipping value.

Definition at line 151 of file vpPolygon3D.h.

vpPoint & vpPolygon3D::getPoint ( const unsigned int _index )

inherited

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 107 of file vpPolygon3D.cpp.

References vpException::dimensionError, vpPolygon3D::nbpt, and vpPolygon3D::p.

Referenced by vpMbtDistanceKltPoints::init().

void vpPolygon3D::getPolygonClipped ( std::vector< std::pair< vpPoint, unsigned int > > & poly )

inherited

Get the 3D clipped points and their clipping information.

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

Parameters

poly	: resulting points plus clipping information.

Definition at line 444 of file vpPolygon3D.cpp.

References vpPolygon3D::polyClipped.

Referenced by vpMbtDistanceKltPoints::display(), and vpPolygon3D::getClippedPolygon().

void vpPolygon3D::getPolygonClipped ( std::vector< vpPoint > & poly )

inherited

Get the 3D clipped points.

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

Parameters

poly	: resulting points.

Definition at line 457 of file vpPolygon3D.cpp.

References vpPolygon3D::polyClipped.

std::vector< vpImagePoint > vpPolygon3D::getRoi ( const vpCameraParameters & cam )

inherited

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 392 of file vpPolygon3D.cpp.

References vpMeterPixelConversion::convertPoint(), vpPolygon3D::nbpt, and vpPolygon3D::p.

Referenced by vpPolygon3D::getRoi().

std::vector< vpImagePoint > vpPolygon3D::getRoi	(	const vpCameraParameters &	cam,
		const vpHomogeneousMatrix &	cMo
	)

inherited

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 413 of file vpPolygon3D.cpp.

References vpPolygon3D::changeFrame(), and vpPolygon3D::getRoi().

void vpPolygon3D::getRoiClipped	(	const vpCameraParameters &	cam,
		std::vector< vpImagePoint > &	roi
	)

inherited

Get the region of interest clipped in the image.

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

Parameters

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

Definition at line 473 of file vpPolygon3D.cpp.

References vpMeterPixelConversion::convertPoint(), and vpPolygon3D::polyClipped.

Referenced by vpPolygon3D::getRoiClipped(), vpMbtDistanceKltPoints::init(), isVisible(), and vpMbtDistanceKltPoints::updateMask().

void vpPolygon3D::getRoiClipped	(	const vpCameraParameters &	cam,
		std::vector< vpImagePoint > &	roi,
		const vpHomogeneousMatrix &	cMo
	)

inherited

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 491 of file vpPolygon3D.cpp.

References vpPolygon3D::changeFrame(), vpPolygon3D::computePolygonClipped(), and vpPolygon3D::getRoiClipped().

void vpPolygon3D::getRoiClipped	(	const vpCameraParameters &	cam,
		std::vector< std::pair< vpImagePoint, unsigned int > > &	roi
	)

inherited

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 computePolygonClipped() have already been called.

Parameters

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

Definition at line 507 of file vpPolygon3D.cpp.

References vpMeterPixelConversion::convertPoint(), and vpPolygon3D::polyClipped.

void vpPolygon3D::getRoiClipped	(	const vpCameraParameters &	cam,
		std::vector< std::pair< vpImagePoint, unsigned int > > &	roi,
		const vpHomogeneousMatrix &	cMo
	)

inherited

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 525 of file vpPolygon3D.cpp.

References vpPolygon3D::changeFrame(), vpPolygon3D::computePolygonClipped(), and vpPolygon3D::getRoiClipped().

void vpPolygon3D::getRoiClipped ( std::vector< vpPoint > & points )

inherited

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

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

Parameters

points : resulting points.

Definition at line 428 of file vpPolygon3D.cpp.

References vpPolygon3D::polyClipped.

bool vpMbtPolygon::isAppearing ( ) const

inline

Definition at line 103 of file vpMbtPolygon.h.

bool vpMbtPolygon::isPolygonOriented ( )

inline

Definition at line 104 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 108 of file vpMbtPolygon.cpp.

References vpPolygon3D::changeFrame(), vpPolygon3D::clippingFlag, vpCameraParameters::computeFov(), vpPolygon3D::computePolygonClipped(), vpTracker::cP, vpColVector::dotProd(), vpPoint::get_X(), vpPoint::get_Y(), vpPoint::get_Z(), vpPolygon::getArea(), vpImage< Type >::getHeight(), vpPolygon3D::getRoiClipped(), vpImage< Type >::getWidth(), hasOrientation, isappearing, isvisible, minLineLengthThresh, minPolygonAreaThresh, vpPolygon3D::nbpt, vpColVector::normalize(), vpPolygon3D::p, vpMath::rad(), vpPoint::set_X(), vpPoint::set_Y(), vpPoint::set_Z(), and useLod.

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

bool vpMbtPolygon::isVisible ( ) const

inline

Definition at line 107 of file vpMbtPolygon.h.

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

Definition at line 70 of file vpMbtPolygon.cpp.

References hasOrientation, index, isappearing, isvisible, minLineLengthThresh, minPolygonAreaThresh, name, vpPolygon3D::operator=(), and useLod.

bool vpPolygon3D::roiInsideImage	(	const vpImage< unsigned char > &	I,
		const std::vector< vpImagePoint > &	corners
	)

staticinherited

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 640 of file vpPolygon3D.cpp.

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

void vpPolygon3D::setClipping ( const unsigned int & flags )

inlineinherited

Specify which clipping to use.

See Also: vpPolygon3DClipping

Parameters

flags : New clipping flags.

Definition at line 189 of file vpPolygon3D.h.

Referenced by vpMbEdgeTracker::addLine(), vpPolygon3D::getClippedPolygon(), and vpMbEdgeTracker::setClipping().

void vpPolygon3D::setFarClippingDistance ( const double & dist )

inlineinherited

Set the far distance for clipping.

Parameters

dist	: Far clipping value.

Definition at line 196 of file vpPolygon3D.h.

References vpPolygon3D::FAR_CLIPPING.

Referenced by vpMbEdgeTracker::addLine(), vpPolygon3D::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 116 of file vpMbtPolygon.h.

Referenced by vpMbTracker::addPolygon().

void vpMbtPolygon::setIsPolygonOriented ( const bool & oriented )

inline

Set if the polygon is oriented or not.

Parameters

oriented : True if the polygon is oriented, false otherwise.

Definition at line 161 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 280 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 130 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.