// Copyright 2020 The MediaPipe Authors.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef MEDIAPIPE_MODULES_OBJECTRON_CALCULATORS_BOX_H_
#define MEDIAPIPE_MODULES_OBJECTRON_CALCULATORS_BOX_H_
#include <vector>
#include "mediapipe/modules/objectron/calculators/model.h"
namespace mediapipe {
// Model for the bounding box in 3D
// The box has 9 degrees of freedom, which uniquely defines 8 keypoints in the
// fixed world-coordinate system.
//
// The 8 keypoints are defined as follows
//
// kp-id axis
// 0 000 ---
// 1 001 --+
// 2 010 -+-
// 3 011 -++
// 4 100 +--
// 5 101 +-+
// 6 110 ++-
// 7 111 +++
//
// where xyz means positive or negative vector along the axis where the center
// of the box is the origin. The resulting bounding box is
//
// x x
// 0 + + + + + + + + 4 .-------
// +\ +\ |\
// + \ y + \ z | \ y
// + \ + \ | \
// + 2 + + + + + + + + 6
// z + + + +
// + + + +
// + + C + +
// + + + +
// 1 + + + + + + + + 5 +
// \ + \ +
// \ + \ +
// \+ \+
// 3 + + + + + + + + 7
//
// World coordinate system: +y is up (aligned with gravity),
// +z is toward the user, +x follows right hand rule.
// The front face is defined as +z axis on xy plane.
// The top face is defined as +y axis on xz plane.
//
class Box : public Model {
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
explicit Box(const std::string& category);
~Box() override = default;
bool InsideTest(const Vector3f& point, int check_axis) const;
const std::vector<Face>& GetFaces() const { return faces_; }
const Face& GetFace(size_t face_id) const { return faces_[face_id]; }
const std::vector<std::array<int, 2>>& GetEdges() const { return edges_; }
const std::array<int, 2>& GetEdge(size_t edge_id) const {
return edges_[edge_id];
}
// Returns the keypoints for the front face of the box.
// The front face is defind as a face with +z normal vector on xy plane
// In Box's c'tor, the top face is set to {1, 3, 7, 5}
const Face& GetFrontFace() const;
// Returns the keypoints for the top face of the box.
// The top face is defind as a face with +z normal vector on xy plane
// In Box's c'tor, the top face is set to {1, 3, 7, 5}
const Face& GetTopFace() const;
void Update() override;
void Adjust(const std::vector<float>& variables) override;
float* GetVertex(size_t vertex_id) override;
const float* GetVertex(size_t vertex_id) const override;
void Deserialize(const Object& obj) override;
void Serialize(Object* obj) override;
// Computes the plane center and the normal vector for the plane the object
// is sitting on in the world cooordinate system. The normal vector is roughly
// aligned with gravity.
std::pair<Vector3f, Vector3f> GetGroundPlane() const;
// Estimates a box 9-dof parameters from the given vertices. Directly computes
// the scale of the box, then solves for orientation and translation.
// Expects a std::vector of size 9 of a Eigen::Vector3f or mapped Vector3f.
// If mapping proto messages, we recommend to use the Map<const Vector3f>.
// For example:
//
// using T = Map<const Vector3f>;
// std::vector<T> vertices;
// for (const auto& point : message) { // point is a repeated float message.
// T p(point.data());
// vertices.emplace_back(p);
// }
// box.Fit<T>(vertices);
//
// The Points must be arranged as 1 + 8 (center keypoint followed by 8 box
// vertices) vector. This function will overwrite the scale and transformation
// properties of the class.
template <typename T = Eigen::Map<const Vector3f>>
void Fit(const std::vector<T>& vertices);
private:
std::vector<Face> faces_;
std::vector<std::array<int, 2>> edges_;
std::vector<Vector3f> bounding_box_;
};
} // namespace mediapipe
#endif // MEDIAPIPE_MODULES_OBJECTRON_CALCULATORS_BOX_H_
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