#include <vpMbHiddenFaces.h>

Public Member Functions
	vpMbHiddenFaces ()
virtual	~vpMbHiddenFaces ()
	vpMbHiddenFaces (const vpMbHiddenFaces &copy)
vpMbHiddenFaces &	operator= (vpMbHiddenFaces other)
void	addPolygon (PolygonType *p)
bool	computeVisibility (const vpHomogeneousMatrix &cMo, const double &angleAppears, const double &angleDisappears, bool &changed, bool useOgre, bool not_used, unsigned int width, unsigned int height, 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 (unsigned int i)
bool	isOgreInitialised ()
bool	isVisible (unsigned int i)
bool	isVisibleOgre (const vpTranslationVector &cameraPos, const unsigned int &index)
PolygonType *	operator[] (unsigned int i)
const PolygonType *	operator[] (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 (bool showConfigDialog)
unsigned int	setVisible (unsigned int width, unsigned int height, const vpCameraParameters &cam, const vpHomogeneousMatrix &cMo, const double &angle, bool &changed)
unsigned int	setVisible (unsigned int width, unsigned int height, 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 (unsigned int width, unsigned int height, 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

Friends
void	swap (vpMbHiddenFaces &first, vpMbHiddenFaces &second)

Detailed Description

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

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

Tutorials & Examples

Tutorials
If you are interested in using a MBT tracker in your applications, you may have a look at:

Examples: catchGenericTrackerCAOParsing.cpp.

Definition at line 81 of file vpMbHiddenFaces.h.

Constructor & Destructor Documentation

◆ vpMbHiddenFaces() [1/2]

template<class PolygonType>

vpMbHiddenFaces< PolygonType >::vpMbHiddenFaces ( )

Basic constructor.

Definition at line 295 of file vpMbHiddenFaces.h.

Referenced by operator=(), swap, and vpMbHiddenFaces().

◆ ~vpMbHiddenFaces()

template<class PolygonType>

vpMbHiddenFaces< PolygonType >::~vpMbHiddenFaces ( )

virtual

Basic destructor.

Definition at line 310 of file vpMbHiddenFaces.h.

◆ vpMbHiddenFaces() [2/2]

template<class PolygonType = vpMbtPolygon>

vpMbHiddenFaces ( const vpMbHiddenFaces< PolygonType > & copy )

Definition at line 342 of file vpMbHiddenFaces.h.

References vpMbHiddenFaces().

Member Function Documentation

◆ addPolygon()

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 389 of file vpMbHiddenFaces.h.

◆ computeClippedPolygons()

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 452 of file vpMbHiddenFaces.h.

◆ computeScanLineQuery()

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 511 of file vpMbHiddenFaces.h.

◆ computeScanLineRender()

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 475 of file vpMbHiddenFaces.h.

References size().

◆ computeVisibility()

template<class PolygonType>

bool vpMbHiddenFaces< PolygonType >::computeVisibility	(	const vpHomogeneousMatrix &	cMo,
		const double &	angleAppears,
		const double &	angleDisappears,
		bool &	changed,
		bool	useOgre,
		bool	not_used,
		unsigned int	width,
		unsigned int	height,
		const vpCameraParameters &	cam,
		const vpTranslationVector &	cameraPos,
		unsigned int	index )

Compute the visibility of a given face index.

Parameters

[in]	cMo	: The pose of the camera
[in]	angleAppears	: Angle used to test the appearance of a face
[in]	angleDisappears	: Angle used to test the disappearance of a face
[in]	changed	: True if a face appeared, disappeared or too many points have been lost. False otherwise.
[in]	useOgre	: True if a Ogre is used to test the visibility, False otherwise.
[in]	not_used	: Unused parameter.
[in]	width	: Image width.
[in]	height	: Image height.
[in]	cam	: Camera parameters.
[in]	cameraPos	: Position of the camera. Used only when Ogre is used as 3rd party.
[in]	index	: Index of the face to consider.

Returns: Return true if the face is visible.

Definition at line 580 of file vpMbHiddenFaces.h.

References isVisible(), and isVisibleOgre().

◆ displayOgre()

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 762 of file vpMbHiddenFaces.h.

References isVisible().

◆ getGoodNbRayCastingAttemptsRatio()

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 successful attempts that has to be considered. Value will be between 0.0 (0%) and 1.0 (100%).

Definition at line 177 of file vpMbHiddenFaces.h.

◆ getMbScanLineRenderer()

template<class PolygonType = vpMbtPolygon>

vpMbScanLine & vpMbHiddenFaces< PolygonType >::getMbScanLineRenderer ( )

inline

Definition at line 125 of file vpMbHiddenFaces.h.

◆ getNbRayCastingAttemptsForVisibility()

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 159 of file vpMbHiddenFaces.h.

◆ getNbVisiblePolygon()

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 147 of file vpMbHiddenFaces.h.

◆ getOgreContext()

template<class PolygonType = vpMbtPolygon>

vpAROgre * vpMbHiddenFaces< PolygonType >::getOgreContext ( )

inline

Get the Ogre3D Context.

Returns: A pointer on a vpAROgre instance.

Definition at line 166 of file vpMbHiddenFaces.h.

◆ getPolygon()

template<class PolygonType = vpMbtPolygon>

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

inline

Get the list of polygons.

Returns: Mbt Klt polygons list.

Examples: catchGenericTrackerCAOParsing.cpp.

Definition at line 136 of file vpMbHiddenFaces.h.

◆ initOgre()

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 730 of file vpMbHiddenFaces.h.

◆ isAppearing()

template<class PolygonType = vpMbtPolygon>

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

inline

Definition at line 180 of file vpMbHiddenFaces.h.

Referenced by vpMbEdgeTracker::computeVVSFirstPhase(), vpMbEdgeTracker::computeVVSFirstPhaseFactor(), and vpMbEdgeKltTracker::trackFirstLoop().

◆ isOgreInitialised()

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 188 of file vpMbHiddenFaces.h.

◆ isVisible()

template<class PolygonType = vpMbtPolygon>

bool vpMbHiddenFaces< PolygonType >::isVisible ( 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 198 of file vpMbHiddenFaces.h.

Referenced by computeVisibility(), vpMbtFaceDepthDense::computeVisibilityDisplay(), vpMbtFaceDepthNormal::computeVisibilityDisplay(), displayOgre(), vpMbEdgeTracker::initMovingEdge(), and vpMbTracker::projectionErrorInitMovingEdge().

◆ isVisibleOgre()

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 824 of file vpMbHiddenFaces.h.

Referenced by computeVisibility().

◆ operator=()

template<class PolygonType>

vpMbHiddenFaces< PolygonType > & vpMbHiddenFaces< PolygonType >::operator= ( vpMbHiddenFaces< PolygonType > other )

Copy assignment operator.

Definition at line 377 of file vpMbHiddenFaces.h.

References swap, and vpMbHiddenFaces().

◆ operator[]() [1/2]

template<class PolygonType = vpMbtPolygon>

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

inline

Operator[] as modifier.

Definition at line 205 of file vpMbHiddenFaces.h.

◆ operator[]() [2/2]

template<class PolygonType = vpMbtPolygon>

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

inline

Operator[] as reader.

Definition at line 207 of file vpMbHiddenFaces.h.

◆ reset()

template<class PolygonType>

void vpMbHiddenFaces< PolygonType >::reset ( )

Reset the hidden faces (remove the list of PolygonType).

Definition at line 409 of file vpMbHiddenFaces.h.

◆ setBackgroundSizeOgre()

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 tracking.

Warning: This function has to be called before initOgre().

Parameters

h	: Height of the background
w	: Width of the background

Definition at line 222 of file vpMbHiddenFaces.h.

◆ setGoodNbRayCastingAttemptsRatio()

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 successful attempts that has to be considered. Value has to be between 0.0 (0%) and 1.0 (100%).

Definition at line 247 of file vpMbHiddenFaces.h.

◆ setNbRayCastingAttemptsForVisibility()

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 236 of file vpMbHiddenFaces.h.

◆ setOgreShowConfigDialog()

template<class PolygonType = vpMbtPolygon>

void vpMbHiddenFaces< PolygonType >::setOgreShowConfigDialog ( 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 265 of file vpMbHiddenFaces.h.

◆ setVisible() [1/3]

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 718 of file vpMbHiddenFaces.h.

◆ setVisible() [2/3]

template<class PolygonType>

unsigned int vpMbHiddenFaces< PolygonType >::setVisible	(	unsigned int	width,
		unsigned int	height,
		const vpCameraParameters &	cam,
		const vpHomogeneousMatrix &	cMo,
		const double &	angle,
		bool &	changed )

Compute the number of visible polygons.

Parameters

width	: Image width used to check if the region of interest is inside the image.
height	: Image height 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 678 of file vpMbHiddenFaces.h.

References setVisible().

Referenced by setVisible().

◆ setVisible() [3/3]

template<class PolygonType>

unsigned int vpMbHiddenFaces< PolygonType >::setVisible	(	unsigned int	width,
		unsigned int	height,
		const vpCameraParameters &	cam,
		const vpHomogeneousMatrix &	cMo,
		const double &	angleAppears,
		const double &	angleDisappears,
		bool &	changed )

Compute the number of visible polygons.

Parameters

width	: Image width used to check if the region of interest is inside the image.
height	: Image height 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 699 of file vpMbHiddenFaces.h.

◆ setVisibleOgre() [1/2]

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 809 of file vpMbHiddenFaces.h.

◆ setVisibleOgre() [2/2]

template<class PolygonType>

unsigned int vpMbHiddenFaces< PolygonType >::setVisibleOgre	(	unsigned int	width,
		unsigned int	height,
		const vpCameraParameters &	cam,
		const vpHomogeneousMatrix &	cMo,
		const double &	angleAppears,
		const double &	angleDisappears,
		bool &	changed )

Compute the number of visible polygons through Ogre3D.

Parameters

width	: Image width used to check if the region of interest is inside the image.
height	: Image height 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 790 of file vpMbHiddenFaces.h.

◆ size()

template<class PolygonType = vpMbtPolygon>

unsigned int vpMbHiddenFaces< PolygonType >::size ( ) const

inline

Get the number of polygons.

Returns: Size of the list.

Examples: catchGenericTrackerCAOParsing.cpp.

Definition at line 288 of file vpMbHiddenFaces.h.

Referenced by computeScanLineRender().

◆ swap

template<class PolygonType = vpMbtPolygon>

void swap	(	vpMbHiddenFaces< PolygonType > &	first,
		vpMbHiddenFaces< PolygonType > &	second )

friend

Definition at line 357 of file vpMbHiddenFaces.h.

References swap, and vpMbHiddenFaces().

Referenced by operator=(), and swap.

Public Member Functions

Friends

Detailed Description

Tutorials & Examples

Constructor & Destructor Documentation

◆ vpMbHiddenFaces() [1/2]

◆ ~vpMbHiddenFaces()

◆ vpMbHiddenFaces() [2/2]

Member Function Documentation

◆ addPolygon()

◆ computeClippedPolygons()

◆ computeScanLineQuery()

◆ computeScanLineRender()

◆ computeVisibility()

◆ displayOgre()

◆ getGoodNbRayCastingAttemptsRatio()

◆ getMbScanLineRenderer()

◆ getNbRayCastingAttemptsForVisibility()

◆ getNbVisiblePolygon()

◆ getOgreContext()

◆ getPolygon()

◆ initOgre()

◆ isAppearing()

◆ isOgreInitialised()

◆ isVisible()

◆ isVisibleOgre()

◆ operator=()

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ reset()

◆ setBackgroundSizeOgre()

◆ setGoodNbRayCastingAttemptsRatio()

◆ setNbRayCastingAttemptsForVisibility()

◆ setOgreShowConfigDialog()

◆ setVisible() [1/3]

◆ setVisible() [2/3]

◆ setVisible() [3/3]

◆ setVisibleOgre() [1/2]

◆ setVisibleOgre() [2/2]

◆ size()

Friends And Related Symbol Documentation

◆ swap