vpPolygon3D.cpp

/****************************************************************************
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2017 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://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * 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:
 * Aurelien Yol
 *
 *****************************************************************************/

#include <limits.h>

#include <visp3/core/vpConfig.h>
#include <visp3/core/vpPolygon3D.h>
#include <visp3/core/vpPolygon.h>

vpPolygon3D::vpPolygon3D()
  : nbpt(0), nbCornersInsidePrev(0),
    p(NULL), polyClipped(), clippingFlag(vpPolygon3D::NO_CLIPPING),
    distNearClip(0.001), distFarClip(100.)
{
}

vpPolygon3D::vpPolygon3D(const vpPolygon3D& mbtp)
  : nbpt(mbtp.nbpt), nbCornersInsidePrev(mbtp.nbCornersInsidePrev),
    p(NULL), polyClipped(mbtp.polyClipped), clippingFlag(mbtp.clippingFlag),
    distNearClip(mbtp.distNearClip), distFarClip(mbtp.distFarClip)
{
  if (p) delete [] p;
  p = new vpPoint [nbpt];
  for(unsigned int i = 0; i < nbpt; i++)
    p[i] = mbtp.p[i];
}

vpPolygon3D& vpPolygon3D::operator=(const vpPolygon3D& mbtp)
{
  nbpt = mbtp.nbpt;
  nbCornersInsidePrev = mbtp.nbCornersInsidePrev;
  polyClipped = mbtp.polyClipped;
  clippingFlag = mbtp.clippingFlag;
  distNearClip = mbtp.distNearClip;
  distFarClip = 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);
}

vpPolygon3D::~vpPolygon3D()
{
  if (p !=NULL)
  {
    delete[] p;
    p = NULL;
  }
}

vpPoint &
vpPolygon3D::getPoint(const unsigned int _index)
{
  if(_index >= nbpt){
    throw vpException(vpException::dimensionError, "index out of range");
  }
  return p[_index];
}

void
vpPolygon3D::setNbPoint(const unsigned int nb)
{
  nbpt = nb ;
  if (p != NULL)
    delete[] p;
  p = new vpPoint[nb] ;
}

void
vpPolygon3D::addPoint(const unsigned int n, const vpPoint &P)
{
  //if( p!NULL && n < nbpt )
    p[n] = P ;
}

void
vpPolygon3D::changeFrame(const vpHomogeneousMatrix &cMo)
{
  for (unsigned int i = 0 ; i < nbpt ; i++)
  {
    p[i].changeFrame(cMo) ;
    p[i].projection() ;
  }
}

void
vpPolygon3D::computePolygonClipped(const vpCameraParameters &cam)
{
  polyClipped.clear();
  std::vector<vpColVector> fovNormals;
  std::vector<std::pair<vpPoint,unsigned int> > polyClippedTemp;
  std::vector<std::pair<vpPoint,unsigned int> > polyClippedTemp2;

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

  for(unsigned int i = 0 ; i < nbpt ; i++){
      p[i%nbpt].projection();
      polyClippedTemp.push_back(std::make_pair(p[i%nbpt],vpPolygon3D::NO_CLIPPING));
  }

  if(clippingFlag != vpPolygon3D::NO_CLIPPING) {
    for(unsigned int i = 1 ; i < 64 ; i=i*2)
    {
      if(((clippingFlag & i) == i) || ((clippingFlag > vpPolygon3D::FAR_CLIPPING) && (i==1)))
      {
        if(i > vpPolygon3D::FAR_CLIPPING && !cam.isFovComputed()) // To make sure we do not compute FOV clipping if camera normals are not computed
          continue;

        for(unsigned int j = 0 ; j < polyClippedTemp.size() ; j++)
        {
            vpPoint p1Clipped = polyClippedTemp[j].first;
            vpPoint p2Clipped = polyClippedTemp[(j+1)%polyClippedTemp.size()].first;

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

            bool problem = true;

            switch(i){
            case 1:
              problem = !(vpPolygon3D::getClippedPointsDistance(p1Clipped, p2Clipped, p1Clipped, p2Clipped, p1ClippedInfo, p2ClippedInfo,
                                                                 i, distNearClip));
              break;
            case 2:
              problem = !(vpPolygon3D::getClippedPointsDistance(p1Clipped, p2Clipped, p1Clipped, p2Clipped, p1ClippedInfo, p2ClippedInfo,
                                                                 i, distFarClip));
              break;
            case 4:
              problem = !(vpPolygon3D::getClippedPointsFovGeneric(p1Clipped, p2Clipped, p1Clipped, p2Clipped, p1ClippedInfo, p2ClippedInfo,
                                                          fovNormals[0], vpPolygon3D::LEFT_CLIPPING));
              break;
            case 8:
              problem = !(vpPolygon3D::getClippedPointsFovGeneric(p1Clipped, p2Clipped, p1Clipped, p2Clipped, p1ClippedInfo, p2ClippedInfo,
                                                          fovNormals[1], vpPolygon3D::RIGHT_CLIPPING));
              break;
            case 16:
              problem = !(vpPolygon3D::getClippedPointsFovGeneric(p1Clipped, p2Clipped, p1Clipped, p2Clipped, p1ClippedInfo, p2ClippedInfo,
                                                          fovNormals[2], vpPolygon3D::UP_CLIPPING));
              break;
            case 32:
              problem = !(vpPolygon3D::getClippedPointsFovGeneric(p1Clipped, p2Clipped, p1Clipped, p2Clipped, p1ClippedInfo, p2ClippedInfo,
                                                          fovNormals[3], vpPolygon3D::DOWN_CLIPPING));
              break;
            }

            if(!problem)
            {
              p1Clipped.projection();
              polyClippedTemp2.push_back(std::make_pair(p1Clipped, p1ClippedInfo));

              if(p2ClippedInfo != p2ClippedInfoBefore)
              {
                p2Clipped.projection();
                polyClippedTemp2.push_back(std::make_pair(p2Clipped, p2ClippedInfo));
              }

              if(nbpt == 2){
                if(p2ClippedInfo == p2ClippedInfoBefore)
                {
                  p2Clipped.projection();
                  polyClippedTemp2.push_back(std::make_pair(p2Clipped, p2ClippedInfo));
                }
                break;
              }
            }
        }

        polyClippedTemp = polyClippedTemp2;
        polyClippedTemp2.clear();
      }
    }
  }

  polyClipped = polyClippedTemp;
}
    
bool
vpPolygon3D::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.normalize();
  
  vpRowVector p2Vec(3);
  p2Vec[0] = p2.get_X(); p2Vec[1] = p2.get_Y(); p2Vec[2] = p2.get_Z();
  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
vpPolygon3D::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 == vpPolygon3D::FAR_CLIPPING)
        test1 = (p1Clipped.get_Z() > distance && p2Clipped.get_Z() > distance);

    bool test2 = (p1Clipped.get_Z() < distance || p2Clipped.get_Z() < distance);
    if(flag == vpPolygon3D::FAR_CLIPPING)
        test2 = (p1Clipped.get_Z() > distance || p2Clipped.get_Z() > distance);

    bool test3 = (p1Clipped.get_Z() < distance);
    if(flag == vpPolygon3D::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 == vpPolygon3D::FAR_CLIPPING)
            p1ClippedInfo = p1ClippedInfo | vpPolygon3D::FAR_CLIPPING;
        else
            p1ClippedInfo = p1ClippedInfo | vpPolygon3D::NEAR_CLIPPING;
      }
      else{
        p2Clipped = pClippedNear;
        if(flag == vpPolygon3D::FAR_CLIPPING)
            p2ClippedInfo = p2ClippedInfo | vpPolygon3D::FAR_CLIPPING;
        else
            p2ClippedInfo = p2ClippedInfo | vpPolygon3D::NEAR_CLIPPING;
      }
    }

    return true;
}

std::vector<vpImagePoint>
vpPolygon3D::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> 
vpPolygon3D::getRoi(const vpCameraParameters &cam, const vpHomogeneousMatrix &cMo)
{
  changeFrame(cMo);
  return getRoi(cam);
}

#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS

void
vpPolygon3D::getRoiClipped(std::vector<vpPoint> &points)
{
  for(unsigned int i = 0 ; i < polyClipped.size() ; i++){
    points.push_back(polyClipped[i].first);
  }
}
#endif

void
vpPolygon3D::getPolygonClipped(std::vector<std::pair<vpPoint,unsigned int> > &poly)
{
  poly = polyClipped;
}

void
vpPolygon3D::getPolygonClipped(std::vector<vpPoint> &poly)
{
  for(unsigned int i = 0 ; i < polyClipped.size() ; i++){
    poly.push_back(polyClipped[i].first);
  }
}

void
vpPolygon3D::getRoiClipped(const vpCameraParameters &cam, std::vector<vpImagePoint> &roi)
{
  for(unsigned int i = 0 ; i < polyClipped.size() ; i++){
    vpImagePoint ip;
    vpMeterPixelConversion::convertPoint(cam,polyClipped[i].first.get_x(),polyClipped[i].first.get_y(),ip);
//    std::cout << "## " << ip.get_j() << " - " << ip.get_i() << std::endl;
    roi.push_back(ip);
  }
}

void
vpPolygon3D::getRoiClipped(const vpCameraParameters &cam, std::vector<vpImagePoint> &roi, const vpHomogeneousMatrix &cMo)
{
  changeFrame(cMo);
  computePolygonClipped(cam);
  getRoiClipped(cam, roi);
}
  
void
vpPolygon3D::getRoiClipped(const vpCameraParameters &cam, std::vector<std::pair<vpImagePoint,unsigned int> > &roi)
{
  for(unsigned int i = 0 ; i < polyClipped.size() ; i++){
    vpImagePoint ip;
    polyClipped[i].first.projection();
    vpMeterPixelConversion::convertPoint(cam,polyClipped[i].first.get_x(),polyClipped[i].first.get_y(),ip);
    roi.push_back(std::make_pair(ip, polyClipped[i].second));
  }
}

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



unsigned int 
vpPolygon3D::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
vpPolygon3D::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();
    vpPolygon3D poly;
    poly.setNbPoint((unsigned int)ptIn.size());
    poly.setClipping(clippingFlags);

    if((clippingFlags & vpPolygon3D::NEAR_CLIPPING) == vpPolygon3D::NEAR_CLIPPING)
        poly.setNearClippingDistance(znear);

    if((clippingFlags & vpPolygon3D::FAR_CLIPPING) == vpPolygon3D::FAR_CLIPPING)
        poly.setFarClippingDistance(zfar);

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

    poly.changeFrame(cMo);
    poly.computePolygonClipped(cam);
    poly.getPolygonClipped(ptOut);
}

void                
vpPolygon3D::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
vpPolygon3D::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;
}