94 lines
3.1 KiB
Matlab
94 lines
3.1 KiB
Matlab
function [visiblePoints] = cylinderSampleProjectionStereo(K, pose, imageSize, cylinders)
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import gtsam.*
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%% memory allocation
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cylinderNum = length(cylinders);
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visiblePoints.data = cell(1);
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visiblePoints.Z = cell(1);
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visiblePoints.cylinderIdx = cell(1);
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visiblePoints.overallIdx = cell(1);
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%% check visiblity of points on each cylinder
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pointCloudIndex = 0;
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visiblePointIdx = 1;
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for i = 1:cylinderNum
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pointNum = length(cylinders{i}.Points);
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% to check point visibility
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for j = 1:pointNum
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pointCloudIndex = pointCloudIndex + 1;
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% For Cheirality Exception
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sampledPoint3 = cylinders{i}.Points{j};
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sampledPoint3local = pose.transformTo(sampledPoint3);
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if sampledPoint3local.z < 0
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continue;
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end
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% measurements
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Z.du = K.fx() * K.baseline() / sampledPoint3local.z;
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Z.uL = K.fx() * sampledPoint3local.x / sampledPoint3local.z + K.px();
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Z.uR = Z.uL + Z.du;
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Z.v = K.fy() / sampledPoint3local.z + K.py();
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% ignore points not visible in the scene
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if Z.uL < 0 || Z.uL >= imageSize.x || ...
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Z.uR < 0 || Z.uR >= imageSize.x || ...
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Z.v < 0 || Z.v >= imageSize.y
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continue;
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end
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% too small disparity may call indeterminant system exception
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if Z.du < 0.6
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continue;
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end
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% ignore points occluded
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% use a simple math hack to check occlusion:
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% 1. All points in front of cylinders' surfaces are visible
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% 2. For points behind the cylinders' surfaces, the cylinder
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visible = true;
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for k = 1:cylinderNum
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rayCameraToPoint = pose.translation().between(sampledPoint3).vector();
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rayCameraToCylinder = pose.translation().between(cylinders{k}.centroid).vector();
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rayCylinderToPoint = cylinders{k}.centroid.between(sampledPoint3).vector();
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% Condition 1: all points in front of the cylinders'
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% surfaces are visible
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if dot(rayCylinderToPoint, rayCameraToCylinder) < 0
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continue;
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else
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projectedRay = dot(rayCameraToCylinder, rayCameraToPoint) / norm(rayCameraToCylinder);
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if projectedRay > 0
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%rayCylinderToProjected = rayCameraToCylinder - norm(projectedRay) / norm(rayCameraToPoint) * rayCameraToPoint;
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if rayCylinderToPoint(1) > cylinders{k}.radius && ...
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rayCylinderToPoint(2) > cylinders{k}.radius
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continue;
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else
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visible = false;
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break;
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end
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end
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end
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end
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if visible
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visiblePoints.data{visiblePointIdx} = sampledPoint3;
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visiblePoints.Z{visiblePointIdx} = Z;
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visiblePoints.cylinderIdx{visiblePointIdx} = i;
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visiblePoints.overallIdx{visiblePointIdx} = pointCloudIndex;
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visiblePointIdx = visiblePointIdx + 1;
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end
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end
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end
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end
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