vpMbtDistanceLine.h

/****************************************************************************
 *
 * $Id: vpMbtDistanceLine.h 3530 2012-01-03 10:52:12Z fspindle $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2012 by INRIA. All rights reserved.
 * 
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact INRIA about acquiring a ViSP Professional 
 * Edition License.
 *
 * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
 * 
 * This software was developed at:
 * INRIA Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 * http://www.irisa.fr/lagadic
 *
 * If you have questions regarding the use of this file, please contact
 * INRIA at visp@inria.fr
 * 
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 *
 * Description:
 * Make the complete tracking of an object by using its CAD model
 *
 * Authors:
 * Nicolas Melchior
 * Romain Tallonneau
 * Eric Marchand
 *
 *****************************************************************************/

#ifndef DOXYGEN_SHOULD_SKIP_THIS

#ifndef vpMbtDistanceLine_HH
#define vpMbtDistanceLine_HH

#include <visp/vpPoint.h>
#include <visp/vpMbtMeLine.h>
#include <visp/vpLine.h>
#include <visp/vpHomogeneousMatrix.h>
#include <visp/vpFeatureLine.h>
#include <visp/vpMbtHiddenFace.h>

#include <list>

class VISP_EXPORT vpMbtDistanceLine
{
  private :
    std::string name;
    unsigned int index;
    vpCameraParameters cam;
    vpMe *me;
    double alpha;
    double wmean;
    vpFeatureLine featureline ;
    
  public: 
    vpMbtMeLine *meline;
    vpLine *line;
    vpPoint *p1;
    vpPoint *p2;
    vpMatrix L;
    vpColVector error;
    unsigned int nbFeature;
    bool Reinit;
    vpMbtHiddenFaces *hiddenface;
    std::list<int> Lindex_polygon;
    bool isvisible;
    
  public:
    vpMbtDistanceLine() ;
    ~vpMbtDistanceLine() ;

    inline void getCameraParameters(vpCameraParameters& cam) {cam = this->cam;}
    
    inline void setCameraParameters(const vpCameraParameters& cam) {this->cam = cam;}
    
    inline double getMeanWeight() const {return wmean;}
    
    inline void setMeanWeight(const double wmean) {this->wmean = wmean;}
    
    inline void setVisible(bool _isvisible) {isvisible = _isvisible ;}
    
    inline bool isVisible() const {return isvisible; }
    
    inline void setIndex(const unsigned int i) {index = i;} 
    
    inline unsigned int getIndex() {return index ;}
    
    inline std::string getName() const {return name;}
    
    inline void setName(const std::string name) {this->name = name;}
    
    inline void setName(const char* name) {this->name = name;}

    void setMovingEdge(vpMe *Me);
    
    void buildFrom(vpPoint &_p1, vpPoint &_p2);
    
    void initMovingEdge(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo);
    void trackMovingEdge(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo);
    void updateMovingEdge(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo);

    void initInteractionMatrixError();
    void computeInteractionMatrixError(const vpHomogeneousMatrix &cMo);
    void display(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor col, const unsigned int thickness = 1, const bool displayFullModel = false);
    void display(const vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor col, const unsigned int thickness = 1, const bool displayFullModel = false);
    void displayMovingEdges(const vpImage<unsigned char> &I);

    bool closeToImageBorder(const vpImage<unsigned char>& I, const unsigned int threshold);

    void reinitMovingEdge(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo);

  private:
    void project(const vpHomogeneousMatrix &cMo);
    void setFace( vpMbtHiddenFaces *_hiddenface) { hiddenface = _hiddenface ; }
    void belongToPolygon(int index) { Lindex_polygon.push_back(index); }

} ;

#endif
#endif