Visual Servoing Platform version 3.5.0
vpMbtDistanceCircle.h
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30 *
31 * Description:
32 * Manage a circle used in the model-based tracker.
33 *
34 * Authors:
35 * Fabien Spindler
36 *
37 *****************************************************************************/
38
44#ifndef vpMbtDistanceCircle_HH
45#define vpMbtDistanceCircle_HH
46
47#include <visp3/core/vpCircle.h>
48#include <visp3/core/vpHomogeneousMatrix.h>
49#include <visp3/core/vpPoint.h>
50#include <visp3/mbt/vpMbHiddenFaces.h>
51#include <visp3/mbt/vpMbtMeEllipse.h>
52#include <visp3/visual_features/vpFeatureEllipse.h>
53
61class VISP_EXPORT vpMbtDistanceCircle
62{
63private:
64 std::string name;
65 unsigned int index;
67 vpMe *me;
68 // double alpha;
69 double wmean;
70 vpFeatureEllipse featureEllipse;
72 // vpMbtPolygon poly;
73 bool isTrackedCircle;
74
75public:
77 vpMbtMeEllipse *meEllipse;
78
81
83 double radius;
84
91
97 unsigned int nbFeature;
99 bool Reinit;
106
107 // private:
108 //#ifndef DOXYGEN_SHOULD_SKIP_THIS
109 // vpMbtDistanceCircle(const vpMbtDistanceCircle &)
110 // : name(), index(0), cam(), me(NULL), wmean(1),
111 // featureEllipse(), isTrackedCircle(true), meEllipse(NULL),
112 // circle(NULL), radius(0.), p1(NULL), p2(NULL), p3(NULL),
113 // L(), error(), nbFeature(0), Reinit(false),
114 // hiddenface(NULL), index_polygon(-1), isvisible(false)
115 // {
116 // throw vpException(vpException::functionNotImplementedError, "Not
117 // implemented!");
118 // }
119 // vpMbtDistanceCircle &operator=(const vpMbtDistanceCircle &){
120 // throw vpException(vpException::functionNotImplementedError, "Not
121 // implemented!"); return *this;
122 // }
123 //#endif
124
125public:
127 virtual ~vpMbtDistanceCircle();
128
129 void buildFrom(const vpPoint &_p1, const vpPoint &_p2, const vpPoint &_p3, double r);
130
131 void computeInteractionMatrixError(const vpHomogeneousMatrix &cMo);
132
133 void display(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
134 const vpColor &col, unsigned int thickness = 1, bool displayFullModel = false);
135 void display(const vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
136 const vpColor &col, unsigned int thickness = 1, bool displayFullModel = false);
137 void displayMovingEdges(const vpImage<unsigned char> &I);
138 void displayMovingEdges(const vpImage<vpRGBa> &I);
139
145 inline void getCameraParameters(vpCameraParameters &camera) { camera = this->cam; }
146
152 inline unsigned int getIndex() { return index; }
153
161 inline double getMeanWeight() const { return wmean; }
162
163 std::vector<std::vector<double> > getFeaturesForDisplay();
164
165 std::vector<double> getModelForDisplay(const vpHomogeneousMatrix &cMo,
166 const vpCameraParameters &cam,
167 bool displayFullModel = false);
168
174 inline std::string getName() const { return name; }
175
181 // inline vpMbtPolygon& getPolygon() {return poly;}
182
183 void initInteractionMatrixError();
184
185 bool initMovingEdge(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, bool doNotTrack,
186 const vpImage<bool> *mask = NULL);
187
193 inline bool isTracked() const { return isTrackedCircle; }
194
200 inline bool isVisible() const { return isvisible; }
201
202 void reinitMovingEdge(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo,
203 const vpImage<bool> *mask = NULL);
204
209 inline void setCameraParameters(const vpCameraParameters &camera) { this->cam = camera; }
210
216 inline void setTracked(const bool &track) { this->isTrackedCircle = track; }
217
223 inline void setIndex(unsigned int i) { index = i; }
224
230 inline void setMeanWeight(double _wmean) { this->wmean = _wmean; }
231
232 void setMovingEdge(vpMe *Me);
233
239 inline void setName(const std::string &circle_name) { this->name = circle_name; }
240
246 inline void setName(const char *circle_name) { this->name = std::string(circle_name); }
247
254 inline void setVisible(bool _isvisible) { isvisible = _isvisible; }
255
256 void trackMovingEdge(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo);
257
258 void updateMovingEdge(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo);
259
260private:
261 void project(const vpHomogeneousMatrix &cMo);
262};
263
264#endif
Generic class defining intrinsic camera parameters.
Class that defines a 3D circle in the object frame and allows forward projection of a 3D circle in th...
Definition: vpCircle.h:92
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
Class to define RGB colors available for display functionnalities.
Definition: vpColor.h:158
Class that defines 2D ellipse visual feature.
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:154
Manage a circle used in the model-based tracker.
void setVisible(bool _isvisible)
void setName(const char *circle_name)
void setCameraParameters(const vpCameraParameters &camera)
vpColVector error
The error vector.
vpMbHiddenFaces< vpMbtPolygon > * hiddenface
Pointer to the list of faces.
vpPoint * p1
The center of the circle.
double getMeanWeight() const
unsigned int nbFeature
The number of moving edges.
vpMatrix L
The interaction matrix.
void getCameraParameters(vpCameraParameters &camera)
void setIndex(unsigned int i)
std::string getName() const
vpCircle * circle
The circle to track.
vpPoint * p2
A point on the plane containing the circle.
void setMeanWeight(double _wmean)
bool isvisible
Indicates if the circle is visible or not.
bool Reinit
Indicates if the circle has to be reinitialized.
double radius
The radius of the circle.
int index_polygon
Index of the faces which contain the line.
vpPoint * p3
An other point on the plane containing the circle.
vpMbtMeEllipse * meEllipse
The moving edge containers.
void setName(const std::string &circle_name)
void setTracked(const bool &track)
Definition: vpMe.h:61
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition: vpPoint.h:82