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get4CornersL1Inspired.m
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get4CornersL1Inspired.m
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%{
* Copyright (C) 2013-2020, 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 bag_data = get4CornersL1Inspired(opt, opts, bag_data, tag_num)
X = bag_data.lidar_target(tag_num).payload_points;
target_len = bag_data.lidar_target(tag_num).tag_size;
% clean data
[X_clean, X_ref, X_std, L_infinity, N] = cleanLiDARTargetCore(opt.H_TL, X, target_len);
bag_data.lidar_target(tag_num).L1_inspired.clean_up.std = N*(X_std(1));
bag_data.lidar_target(tag_num).L1_inspired.clean_up.L_infinity = L_infinity;
bag_data.lidar_target(tag_num).L1_inspired.clean_up.L_1 = sum(X_ref(1:3,:), 1);
% cost
opt_tmp = optimizeCost(opt.H_TL, X_clean, target_len, ...
bag_data.lidar_target(tag_num).L1_inspired.clean_up.std/2);
target_lidar = [0 -target_len/2 -target_len/2 1; % x y z 1
0 -target_len/2 target_len/2 1;
0 target_len/2 target_len/2 1;
0 target_len/2 -target_len/2 1]';
% reject if not enough coverage
X_projected = opt_tmp.H_opt * X_clean;
[~, area_frame] = makeConvexHull(target_lidar(2:3,:));
[index, area_2D] = convhull(X_projected(2:3,:)');
ratio = area_2D/area_frame;
if ratio < 0.8
bag_data.lidar_target(tag_num).L1_inspired.corners = [];
bag_data.lidar_target(tag_num).L1_inspired.four_corners_line = [];
bag_data.lidar_target(tag_num).L1_inspired.pc_points_original = [];
bag_data.lidar_target(tag_num).L1_inspired.pc_points = [];
bag_data.lidar_target(tag_num).L1_inspired.centroid = [];
bag_data.lidar_target(tag_num).L1_inspired.normal_vector = [];
bag_data.lidar_target(tag_num).L1_inspired.H_LT = [];
bag_data.camera_target(tag_num).L1_inspired.corners = [];
else
corners3D = opt_tmp.H_opt \ target_lidar;
corners3D = sortrows(corners3D', 3, 'descend')';
[centroid, normals] = computeCentroidAndNormals(corners3D);
bag_data.lidar_target(tag_num).L1_inspired.corners = corners3D;
bag_data.lidar_target(tag_num).L1_inspired.four_corners_line = point3DToLineForDrawing(corners3D);
bag_data.lidar_target(tag_num).L1_inspired.pc_points_original = X;
bag_data.lidar_target(tag_num).L1_inspired.pc_points = X_clean;
bag_data.lidar_target(tag_num).L1_inspired.centroid = centroid;
bag_data.lidar_target(tag_num).L1_inspired.normal_vector = normals;
bag_data.lidar_target(tag_num).L1_inspired.H_LT = inv(opt_tmp.H_opt);
bag_data.camera_target(tag_num).L1_inspired.corners = bag_data.camera_target(tag_num).corners;
end
% figure(999)
% cla
% X_projected = opt_tmp.H_opt * X_clean;
% scatter3(X_projected(1,:), X_projected(2,:), X_projected(3,:))
% hold on, axis equal,
%
%
% plot3(X_projected(1,index), X_projected(2,index), X_projected(3,index))
% % scatter3()
% four_corners_line = point3DToLineForDrawing(target_lidar);
% plot3(four_corners_line(1,:), four_corners_line(2,:), four_corners_line(3,:))
end