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findEdgePointsInIdealFrame.m
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findEdgePointsInIdealFrame.m
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%{
* Copyright (C) 2013-2025, The Regents of The University of Michigan.
* All rights reserved.
* This software was developed in the Biped Lab (https://www.biped.solutions/)
* under the direction of Jessy Grizzle, grizzle@umich.edu. This software may
* be available under alternative licensing terms; contact the address above.
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice, this
* list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS AS IS AND
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
* The views and conclusions contained in the software and documentation are those
* of the authors and should not be interpreted as representing official policies,
* either expressed or implied, of the Regents of The University of Michigan.
*
* AUTHOR: Bruce JK Huang (bjhuang[at]umich.edu)
* WEBSITE: https://www.brucerobot.com/
%}
function edge = findEdgePointsInIdealFrame(H_TL, X_ref, tag_length)
% X_ref: points that have been transformed back to the ideal frame
% X_ref(1,:) : x
% X_ref(2,:) : y
% X_ref(3,:) : z
% X_ref(4,:) : I
% X_ref(5,:) : R
% X_ref(6,:) : scan
% X_ref(7,:) : ExpNmbr
top_ring = max(X_ref(5, :));
bottom_ring = min(X_ref(5, :));
num_scan = max(X_ref(6, :)) - min(X_ref(6, :));
pick_points = max(1, ceil(num_scan));
% Ideal frame (top-left, bottom-left, bottom-right, top-right)
% ideal_frame.x = zeros(1,8);
% ideal_frame.y = [-tag_length/2, -tag_length/2, -tag_length/2, tag_length/2, tag_length/2, tag_length/2, tag_length/2, -tag_length/2];
% ideal_frame.z = [tag_length/2, -tag_length/2, -tag_length/2, -tag_length/2, -tag_length/2, tag_length/2, tag_length/2, tag_length/2];
% left, bottom, right, top (y-axis, -z-axis, -y-axis, z-axis)
edge_list(1).line = [-tag_length/2 0; -tag_length/2 1];
edge_list(2).line = [0 -tag_length/2; 1 -tag_length/2];
edge_list(3).line = [tag_length/2 0; tag_length/2 1];
edge_list(4).line = [0 tag_length/2; 1 tag_length/2];
edge(4).points = [];
% choose one point per scan per ring
for j = 1:num_scan
current_scan_points = X_ref(:, X_ref(6,:)==j);
for i = bottom_ring:top_ring
if size(current_scan_points(2:3, current_scan_points(5,:)==i), 2) > 1
current_ring_points = current_scan_points(1:3, current_scan_points(5,:)==i);
extreme_point1 = current_ring_points(:, 1);
extreme_point2 = current_ring_points(:, end);
dist1 = zeros(1, 4);
dist2 = zeros(1, 4);
for k = 1:4
dist1(1, k) = pointToLineDistance(extreme_point1(2:3, :)', edge_list(k).line(1, :), edge_list(k).line(2, :));
dist2(1, k) = pointToLineDistance(extreme_point2(2:3, :)', edge_list(k).line(1, :), edge_list(k).line(2, :));
end
[~, edge1_i] = min(dist1);
[~, edge2_i] = min(dist2);
edge_point_3D_1 = inv(H_TL) * [extreme_point1; 1];
edge_point_3D_2 = inv(H_TL) * [extreme_point2; 1];
% selected_edge_points = [current_ring_points(1:3, indices(selected_indices)); ones(1, length(selected_indices))];
edge(edge1_i).points = [edge(edge1_i).points, edge_point_3D_1];
edge(edge2_i).points = [edge(edge2_i).points, edge_point_3D_2];
end
end
end
% choose a few points using all scans
% for i = bottom_ring:top_ring
% current_ring_points = X_ref(:, X_ref(5,:)==i);
% % dist = zeros(length(current_ring_points), 4);
% for k = 1:4
% dist = pointToLineDistance(current_ring_points(2:3,:)', edge_list(k).line(1, :), edge_list(k).line(2, :));
% [value, indices] = mink(dist, pick_points);
% selected_indices = find (value<tag_length/8);
% selected_edge_points = inv(H_TL) * [current_ring_points(1:3, indices(selected_indices)); ones(1, length(selected_indices))];
% % selected_edge_points = [current_ring_points(1:3, indices(selected_indices)); ones(1, length(selected_indices))];
% edge(k).points = [edge(k).points, selected_edge_points];
% end
% end
% edge_list = [tag_length/2, -tag_length/2, -tag_length/2, tag_length/2];
% edge(4).points = [];
% for i = bottom_ring:top_ring
% current_ring_points = X_ref(:, X_ref(5,:)==i);
% first_point = current_ring_points(:, 1);
% edge_distance = [abs(first_point(2) - edge_list(1)), ...
% abs(first_point(3) - edge_list(2)), ...
% abs(first_point(2) - edge_list(3)), ...
% abs(first_point(3) - edge_list(4))];
% [~, first_index] = min(edge_distance);
% first_point = inv(H_TL) * [first_point(1:3); 1];
% edge(first_index).points = [edge(first_index).points, first_point];
% last_point = current_ring_points(:, end);
% edge_distance = [abs(last_point(2) - edge_list(1)), ...
% abs(last_point(3) - edge_list(2)), ...
% abs(last_point(2) - edge_list(3)), ...
% abs(last_point(3) - edge_list(4))];
% [~, last_index] = min(edge_distance);
% last_point = inv(H_TL) * [last_point(1:3); 1];
% edge(last_index).points = [edge(last_index).points, last_point];
% end
% fig_hangle = figure(99999);
% cla(fig_hangle)
% X_move_back = inv(H_TL) * [X_ref(1:3,:); ones(1, size(X_ref(1, :), 2))];
% scatter3(X_move_back(1,:), X_move_back(2,:), X_move_back(3,:), 'k.')
% % scatter3(X_ref(1,:), X_ref(2,:), X_ref(3,:), 'k.')
% hold on
% scatter3(edge(1).points(1,:), edge(1).points(2,:), edge(1).points(3,:), 'ro', 'filled')
% scatter3(edge(2).points(1,:), edge(2).points(2,:), edge(2).points(3,:), 'go', 'filled')
% scatter3(edge(3).points(1,:), edge(3).points(2,:), edge(3).points(3,:), 'bo', 'filled')
% scatter3(edge(4).points(1,:), edge(4).points(2,:), edge(4).points(3,:), 'mo', 'filled')
% title('edge parsing results')
% xlabel("x")
% ylabel("y")
% zlabel("z")
% axis equal
end