vpMbScanLine.h

/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2023 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 as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * 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 https://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:
 * Compute the visibility of 3D polygons already transformed in the camera
 *frame
 *
 * Authors:
 * Aurelien Yol
 *
*****************************************************************************/
 
#ifndef vpMbScanLine_HH
#define vpMbScanLine_HH
 
#include <deque>
#include <limits> // numeric_limits
#include <list>
#include <map>
#include <set>
#include <vector>
 
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpColVector.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpImageConvert.h>
#include <visp3/core/vpImagePoint.h>
#include <visp3/core/vpPoint.h>
 
//#define DEBUG_DISP // Uncomment to get visibility debug display
 
#if defined(DEBUG_DISP)
#include <visp3/core/vpDisplay.h>
#endif
 
#ifndef DOXYGEN_SHOULD_SKIP_THIS
BEGIN_VISP_NAMESPACE
 
class VISP_EXPORT vpMbScanLine
{
public:
  typedef enum { START = 1, END = 0, POINT = 2 } vpMbScanLineType;
 
  typedef std::pair<vpColVector, vpColVector> vpMbScanLineEdge;
 
  struct vpMbScanLineSegment
  {
    vpMbScanLineSegment() : type(START), edge(), p(0), P1(0), P2(0), Z1(0), Z2(0), ID(0), b_sample_Y(false) { }
    vpMbScanLineType type;
    vpMbScanLineEdge edge;
    double p;      // This value can be either x or y-coordinate value depending if
                   // the structure is used in X or Y-axis scanlines computation.
    double P1, P2; // Same comment as previous value.
    double Z1, Z2;
    int ID;
    bool b_sample_Y;
  };
 
  struct vpMbScanLineEdgeComparator
  {
    inline bool operator()(const vpMbScanLineEdge &l0, const vpMbScanLineEdge &l1) const
    {
      for (unsigned int i = 0; i < 3; ++i)
        if (l0.first[i] < l1.first[i])
          return true;
        else if (l0.first[i] > l1.first[i])
          return false;
      for (unsigned int i = 0; i < 3; ++i)
        if (l0.second[i] < l1.second[i])
          return true;
        else if (l0.second[i] > l1.second[i])
          return false;
      return false;
    }
  };
 
  struct vpMbScanLineSegmentComparator
  {
    inline bool operator()(const vpMbScanLineSegment &a, const vpMbScanLineSegment &b) const
    {
      // return a.p == b.p ? a.type < b.type : a.p < b.p;
      return (std::fabs(a.p - b.p) <= std::numeric_limits<double>::epsilon()) ? a.type < b.type : a.p < b.p;
    }
 
    inline bool operator()(const std::pair<double, vpMbScanLineSegment> &a,
                           const std::pair<double, vpMbScanLineSegment> &b) const
    {
      return a.first < b.first;
    }
  };
 
private:
  unsigned int w, h;
  vpCameraParameters K;
  unsigned int maskBorder;
  vpImage<unsigned char> mask;
  vpImage<int> primitive_ids;
  std::map<vpMbScanLineEdge, std::set<int>, vpMbScanLineEdgeComparator> visibility_samples;
  double depthTreshold;
 
public:
#if defined(DEBUG_DISP)
  vpDisplay *dispMaskDebug;
  vpDisplay *dispLineDebug;
  vpImage<unsigned char> linedebugImg;
#endif
 
  vpMbScanLine();
  virtual ~vpMbScanLine();
 
  void drawScene(const std::vector<std::vector<std::pair<vpPoint, unsigned int> > *> &polygons,
                 std::vector<int> listPolyIndices, const vpCameraParameters &K, unsigned int w, unsigned int h);
 
  double getDepthTreshold() { return depthTreshold; }
  unsigned int getMaskBorder() { return maskBorder; }
  const vpImage<unsigned char> &getMask() const { return mask; }
  const vpImage<int> &getPrimitiveIDs() const { return primitive_ids; }
 
  void queryLineVisibility(const vpPoint &a, const vpPoint &b, std::vector<std::pair<vpPoint, vpPoint> > &lines,
                           const bool &displayResults = false);
 
  void setDepthTreshold(const double &treshold) { depthTreshold = treshold; }
  void setMaskBorder(const unsigned int &mb) { maskBorder = mb; }
 
private:
  void createScanLinesFromLocals(std::vector<std::vector<vpMbScanLineSegment> > &scanlines,
                                 std::vector<std::vector<vpMbScanLineSegment> > &localScanlines,
                                 const unsigned int &size);
 
  void drawLineY(const vpColVector &a, const vpColVector &b, const vpMbScanLineEdge &line_ID, const int ID,
                 std::vector<std::vector<vpMbScanLineSegment> > &scanlines);
 
  void drawLineX(const vpColVector &a, const vpColVector &b, const vpMbScanLineEdge &line_ID, const int ID,
                 std::vector<std::vector<vpMbScanLineSegment> > &scanlines);
 
  void drawPolygonY(const std::vector<std::pair<vpPoint, unsigned int> > &polygon, const int ID,
                    std::vector<std::vector<vpMbScanLineSegment> > &scanlines);
 
  void drawPolygonX(const std::vector<std::pair<vpPoint, unsigned int> > &polygon, const int ID,
                    std::vector<std::vector<vpMbScanLineSegment> > &scanlines);
 
  // Static functions
  static vpMbScanLineEdge makeMbScanLineEdge(const vpPoint &a, const vpPoint &b);
  static void createVectorFromPoint(const vpPoint &p, vpColVector &v, const vpCameraParameters &K);
  static double getAlpha(double x, double X0, double Z0, double X1, double Z1);
  static double mix(double a, double b, double alpha);
  static vpPoint mix(const vpPoint &a, const vpPoint &b, double alpha);
  static double norm(const vpPoint &a, const vpPoint &b);
};
END_VISP_NAMESPACE
#endif // doxygen should skip this
 
#endif