89 lines
3.0 KiB
Matlab
89 lines
3.0 KiB
Matlab
function [visiblePoints] = cylinderSampleProjectionStereo(K, pose, imageSize, cylinders)
|
|
|
|
import gtsam.*
|
|
|
|
%% memory allocation
|
|
cylinderNum = length(cylinders);
|
|
|
|
visiblePoints.data = cell(1);
|
|
visiblePoints.Z = cell(1);
|
|
visiblePoints.cylinderIdx = cell(1);
|
|
visiblePoints.overallIdx = cell(1);
|
|
|
|
%% check visiblity of points on each cylinder
|
|
pointCloudIndex = 0;
|
|
visiblePointIdx = 1;
|
|
for i = 1:cylinderNum
|
|
|
|
pointNum = length(cylinders{i}.Points);
|
|
|
|
% to check point visibility
|
|
for j = 1:pointNum
|
|
|
|
pointCloudIndex = pointCloudIndex + 1;
|
|
|
|
% For Cheirality Exception
|
|
sampledPoint3 = cylinders{i}.Points{j};
|
|
sampledPoint3local = pose.transform_to(sampledPoint3);
|
|
if sampledPoint3local.z < 0
|
|
continue;
|
|
end
|
|
|
|
% measurements
|
|
Z.du = K.fx() * K.baseline() / sampledPoint3local.z;
|
|
Z.uL = K.fx() * sampledPoint3local.x / sampledPoint3local.z + K.px();
|
|
Z.uR = Z.uL + Z.du;
|
|
Z.v = K.fy() / sampledPoint3local.z + K.py();
|
|
|
|
% ignore points not visible in the scene
|
|
if Z.uL < 0 || Z.uL >= imageSize.x || ...
|
|
Z.uR < 0 || Z.uR >= imageSize.x || ...
|
|
Z.v < 0 || Z.v >= imageSize.y
|
|
continue;
|
|
end
|
|
|
|
% ignore points occluded
|
|
% use a simple math hack to check occlusion:
|
|
% 1. All points in front of cylinders' surfaces are visible
|
|
% 2. For points behind the cylinders' surfaces, the cylinder
|
|
visible = true;
|
|
for k = 1:cylinderNum
|
|
|
|
rayCameraToPoint = pose.translation().between(sampledPoint3).vector();
|
|
rayCameraToCylinder = pose.translation().between(cylinders{k}.centroid).vector();
|
|
rayCylinderToPoint = cylinders{k}.centroid.between(sampledPoint3).vector();
|
|
|
|
% Condition 1: all points in front of the cylinders'
|
|
% surfaces are visible
|
|
if dot(rayCylinderToPoint, rayCameraToCylinder) < 0
|
|
continue;
|
|
else
|
|
projectedRay = dot(rayCameraToCylinder, rayCameraToPoint) / norm(rayCameraToCylinder);
|
|
if projectedRay > 0
|
|
%rayCylinderToProjected = rayCameraToCylinder - norm(projectedRay) / norm(rayCameraToPoint) * rayCameraToPoint;
|
|
if rayCylinderToPoint(1) > cylinders{k}.radius && ...
|
|
rayCylinderToPoint(2) > cylinders{k}.radius
|
|
continue;
|
|
else
|
|
visible = false;
|
|
break;
|
|
end
|
|
end
|
|
end
|
|
|
|
end
|
|
|
|
if visible
|
|
visiblePoints.data{visiblePointIdx} = sampledPoint3;
|
|
visiblePoints.Z{visiblePointIdx} = Z;
|
|
visiblePoints.cylinderIdx{visiblePointIdx} = i;
|
|
visiblePoints.overallIdx{visiblePointIdx} = pointCloudIndex;
|
|
visiblePointIdx = visiblePointIdx + 1;
|
|
end
|
|
|
|
end
|
|
|
|
end
|
|
|
|
end
|