vpMbtDistanceCylinder Class Reference

#include <vpMbtDistanceCylinder.h>

Public Member Functions
	vpMbtDistanceCylinder ()
	~vpMbtDistanceCylinder ()
void	buildFrom (const vpPoint &_p1, const vpPoint &_p2, const double r)
void	computeInteractionMatrixError (const vpHomogeneousMatrix &cMo, const vpImage< unsigned char > &I)
void	display (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor col, const unsigned int thickness=1)
void	display (const vpImage< vpRGBa > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor col, const unsigned int thickness=1)
void	displayMovingEdges (const vpImage< unsigned char > &I)
void	getCameraParameters (vpCameraParameters &camera)
unsigned int	getIndex ()
double	getMeanWeight1 () const
double	getMeanWeight2 () const
std::string	getName () const
void	initInteractionMatrixError ()
void	initMovingEdge (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo)
void	reinitMovingEdge (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo)
void	setCameraParameters (const vpCameraParameters &camera)
void	setIndex (const unsigned int i)
void	setMeanWeight1 (const double wmean)
void	setMeanWeight2 (const double wmean)
void	setMovingEdge (vpMe *Me)
void	setName (const std::string &cyl_name)
void	setName (const char *cyl_name)
void	trackMovingEdge (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo)
void	updateMovingEdge (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo)

Public Attributes
vpMbtMeLine *	meline1
vpMbtMeLine *	meline2
vpCircle *	cercle1
vpCircle *	cercle2
double	radius
vpPoint *	p1
vpPoint *	p2
vpMatrix	L
vpColVector	error
unsigned int	nbFeature
unsigned int	nbFeaturel1
unsigned int	nbFeaturel2
bool	Reinit
vpCylinder *	c

Detailed Description

Manage a cylinder used in the model-based tracker.

Definition at line 67 of file vpMbtDistanceCylinder.h.

Constructor & Destructor Documentation

vpMbtDistanceCylinder::vpMbtDistanceCylinder

(

)

Basic constructor

Definition at line 66 of file vpMbtDistanceCylinder.cpp.

vpMbtDistanceCylinder::~vpMbtDistanceCylinder

(

)

Basic destructor useful to deallocate the memory.

Definition at line 78 of file vpMbtDistanceCylinder.cpp.

References c, cercle1, cercle2, meline1, meline2, p1, and p2.

Member Function Documentation

void vpMbtDistanceCylinder::buildFrom	(	const vpPoint &	_p1,
		const vpPoint &	_p2,
		const double	r
	)

Build a vpMbtDistanceCylinder thanks to two points corresponding to the extremities of its axis and its radius.

Parameters

_p1	: The first extremity on the axis.
_p2	: The second extremity on the axis.
r	: Radius of the cylinder.

Definition at line 115 of file vpMbtDistanceCylinder.cpp.

References c, cercle1, cercle2, vpPoint::get_oX(), vpPoint::get_oY(), vpPoint::get_oZ(), p1, p2, radius, vpCircle::setWorldCoordinates(), and vpCylinder::setWorldCoordinates().

Referenced by vpMbEdgeTracker::addCylinder().

void vpMbtDistanceCylinder::computeInteractionMatrixError	(	const vpHomogeneousMatrix &	cMo,
		const vpImage< unsigned char > &	I
	)

Compute the interaction matrix and the error vector corresponding to the cylinder.

Definition at line 646 of file vpMbtDistanceCylinder.cpp.

References c, cercle1, cercle2, vpCircle::changeFrame(), vpCylinder::changeFrame(), vpFeatureBuilder::create(), vpDisplay::displayCross(), error, vpDisplay::flush(), vpCameraParameters::get_px(), vpCameraParameters::get_py(), vpCameraParameters::get_u0(), vpCameraParameters::get_v0(), vpMeTracker::getMeList(), vpFeatureLine::getRho(), vpFeatureLine::getTheta(), vpFeatureLine::interaction(), vpMeSite::j, L, vpCylinder::line1, vpCylinder::line2, meline1, meline2, vpColor::orange, vpCircle::projection(), vpCylinder::projection(), and vpColor::red.

Referenced by vpMbEdgeTracker::computeVVS(), vpMbEdgeKltTracker::trackFirstLoop(), and vpMbEdgeKltTracker::trackSecondLoop().

void vpMbtDistanceCylinder::display	(	const vpImage< unsigned char > &	I,
		const vpHomogeneousMatrix &	cMo,
		const vpCameraParameters &	camera,
		const vpColor	col,
		const unsigned int	thickness = 1
	)

Display the cylinder. The 3D cylinder is projected into the image.

Parameters

I	: The image.
cMo	: Pose used to project the 3D model into the image.
camera	: The camera parameters.
col	: The desired color.
thickness	: The thickness of the lines.

Definition at line 495 of file vpMbtDistanceCylinder.cpp.

References c, cercle1, cercle2, vpPoint::changeFrame(), vpCircle::changeFrame(), vpCylinder::changeFrame(), vpMeterPixelConversion::convertLine(), vpDisplay::displayLine(), vpCylinder::getRho1(), vpCylinder::getRho2(), vpCylinder::getTheta1(), vpCylinder::getTheta2(), p1, p2, vpCircle::projection(), vpPoint::projection(), vpCylinder::projection(), and vpImagePoint::set_ij().

void vpMbtDistanceCylinder::display	(	const vpImage< vpRGBa > &	I,
		const vpHomogeneousMatrix &	cMo,
		const vpCameraParameters &	camera,
		const vpColor	col,
		const unsigned int	thickness = 1
	)

Display the cylinder. The 3D cylinder is projected into the image.

Parameters

I	: The image.
cMo	: Pose used to project the 3D model into the image.
camera	: The camera parameters.
col	: The desired color.
thickness	: The thickness of the lines.

Definition at line 555 of file vpMbtDistanceCylinder.cpp.

References c, cercle1, cercle2, vpPoint::changeFrame(), vpCircle::changeFrame(), vpCylinder::changeFrame(), vpMeterPixelConversion::convertLine(), vpDisplay::displayLine(), vpCylinder::getRho1(), vpCylinder::getRho2(), vpCylinder::getTheta1(), vpCylinder::getTheta2(), p1, p2, vpCircle::projection(), vpPoint::projection(), vpCylinder::projection(), and vpImagePoint::set_ij().

void vpMbtDistanceCylinder::displayMovingEdges

(

const vpImage< unsigned char > &

I

)

Enable to display the points along the lines with a color corresponding to their state.

• If green : The vpMeSite is a good point.
• If blue : The point is removed because of the vpMeSite tracking phase (constrast problem).
• If purple : The point is removed because of the vpMeSite tracking phase (threshold problem).
• If blue : The point is removed because of the robust method in the virtual visual servoing.

Parameters

I	: The image.

Definition at line 617 of file vpMbtDistanceCylinder.cpp.

References vpMbtMeLine::display(), meline1, and meline2.

Referenced by vpMbEdgeKltTracker::postTracking(), and vpMbEdgeTracker::track().

void vpMbtDistanceCylinder::getCameraParameters ( vpCameraParameters &  camera )

inline

Get the camera paramters.

Parameters

camera

: The vpCameraParameters used to store the camera parameters.

Definition at line 131 of file vpMbtDistanceCylinder.h.

unsigned int vpMbtDistanceCylinder::getIndex ( )

inline

Get the index of the cylinder.

Returns

Return the index of the line.

Definition at line 138 of file vpMbtDistanceCylinder.h.

double vpMbtDistanceCylinder::getMeanWeight1 ( ) const

inline

Get the mean weight of the first line. The mean weight is computed thanks to the weight of each moving edge. Those weights are computed by the robust estimation method used during the virtual visual servoing.

Returns

The mean weight of the first line.

Definition at line 146 of file vpMbtDistanceCylinder.h.

double vpMbtDistanceCylinder::getMeanWeight2 ( ) const

inline

Get the mean weight of the second line. The mean weight is computed thanks to the weight of each moving edge. Those weights are computed by the robust estimation method used during the virtual visual servoing.

Returns

The mean weight of the second line.

Definition at line 154 of file vpMbtDistanceCylinder.h.

std::string vpMbtDistanceCylinder::getName ( ) const

inline

Get the name of the cylinder.

Returns

Return the name of the cylinder

Definition at line 161 of file vpMbtDistanceCylinder.h.

Referenced by vpMbEdgeTracker::removeCylinder().

void vpMbtDistanceCylinder::initInteractionMatrixError

(

)

Initialize the size of the interaction matrix and the error vector.

Definition at line 633 of file vpMbtDistanceCylinder.cpp.

References error, vpMeTracker::getMeList(), L, meline1, meline2, nbFeature, nbFeaturel1, nbFeaturel2, vpColVector::resize(), and vpMatrix::resize().

Referenced by vpMbEdgeTracker::computeVVS(), vpMbEdgeKltTracker::initMbtTracking(), and vpMbEdgeTracker::track().

void vpMbtDistanceCylinder::initMovingEdge	(	const vpImage< unsigned char > &	I,
		const vpHomogeneousMatrix &	cMo
	)

Initialize the moving edge thanks to a given pose of the camera. The 3D model is projected into the image to create moving edges along the lines.

Parameters

I	: The image.
cMo	: The pose of the camera used to initialize the moving edges.

Definition at line 233 of file vpMbtDistanceCylinder.cpp.

References c, cercle1, cercle2, vpPoint::changeFrame(), vpCircle::changeFrame(), vpCylinder::changeFrame(), vpMeterPixelConversion::convertLine(), vpImagePoint::get_i(), vpImagePoint::get_j(), vpCylinder::getRho1(), vpCylinder::getRho2(), vpCylinder::getTheta1(), vpCylinder::getTheta2(), vpMbtMeLine::imax, vpMbtMeLine::imin, vpMbtMeLine::initTracking(), vpMbtMeLine::jmax, vpMbtMeLine::jmin, meline1, meline2, p1, p2, vpCircle::projection(), vpPoint::projection(), vpCylinder::projection(), vpImagePoint::set_ij(), vpMeTracker::setInitRange(), vpMeTracker::setMe(), and vpTRACE.

Referenced by vpMbEdgeTracker::initMovingEdge(), reinitMovingEdge(), and vpMbEdgeTracker::trackMovingEdge().

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

Reinitialize the cylinder if it is required.

A line is reinitialized if the 2D lines do not match enough with the projected 3D lines.

Parameters

I	: the image.
cMo	: The pose of the camera.

Definition at line 469 of file vpMbtDistanceCylinder.cpp.

References initMovingEdge(), meline1, meline2, and Reinit.

Referenced by vpMbEdgeTracker::reInitLevel(), and vpMbEdgeTracker::reinitMovingEdge().

void vpMbtDistanceCylinder::setCameraParameters ( const vpCameraParameters &  camera )

inline

Set the camera paramters.

Parameters

camera

: The camera parameters.

Definition at line 173 of file vpMbtDistanceCylinder.h.

Referenced by vpMbEdgeTracker::addCylinder().

void vpMbtDistanceCylinder::setIndex ( const unsigned int  i )

inline

Set the index of the cylinder.

Parameters

i	: The index number

Definition at line 180 of file vpMbtDistanceCylinder.h.

Referenced by vpMbEdgeTracker::addCylinder().

void vpMbtDistanceCylinder::setMeanWeight1 ( const double  wmean )

inline

Set the mean weight of the first line.

Parameters

wmean

: The mean weight of the first line.

Definition at line 187 of file vpMbtDistanceCylinder.h.

Referenced by vpMbEdgeTracker::computeVVS(), and vpMbEdgeKltTracker::postTrackingMbt().

void vpMbtDistanceCylinder::setMeanWeight2 ( const double  wmean )

inline

Set the mean weight of the second line.

Parameters

wmean

: The mean weight of the second line.

Definition at line 194 of file vpMbtDistanceCylinder.h.

Referenced by vpMbEdgeTracker::computeVVS(), and vpMbEdgeKltTracker::postTrackingMbt().

void vpMbtDistanceCylinder::setMovingEdge

(

vpMe *

_me

)

Set the moving edge parameters.

Parameters

_me	: an instance of vpMe containing all the desired parameters

Definition at line 159 of file vpMbtDistanceCylinder.cpp.

References meline1, meline2, and vpMeTracker::setMe().

Referenced by vpMbEdgeTracker::addCylinder(), and vpMbEdgeTracker::setMovingEdge().

void vpMbtDistanceCylinder::setName ( const std::string &  cyl_name )

inline

Set the name of the cylinder.

Parameters

cyl_name

: The name of the cylinder.

Definition at line 203 of file vpMbtDistanceCylinder.h.

Referenced by vpMbEdgeTracker::addCylinder().

void vpMbtDistanceCylinder::setName ( const char *  cyl_name )

inline

Set the name of the cylinder.

Parameters

cyl_name

: The name of the cylinder

Definition at line 210 of file vpMbtDistanceCylinder.h.

void vpMbtDistanceCylinder::trackMovingEdge	(	const vpImage< unsigned char > &	I,
		const vpHomogeneousMatrix &	cMo
	)

Track the moving edges in the image.

Parameters

I	: the image.
cMo	: The pose of the camera.

Definition at line 333 of file vpMbtDistanceCylinder.cpp.

References vpMeTracker::getMeList(), meline1, meline2, nbFeature, nbFeaturel1, nbFeaturel2, Reinit, and vpMbtMeLine::track().

Referenced by vpMbEdgeTracker::trackMovingEdge().

void vpMbtDistanceCylinder::updateMovingEdge	(	const vpImage< unsigned char > &	I,
		const vpHomogeneousMatrix &	cMo
	)

Update the moving edges internal parameters.

Parameters

I	: the image.
cMo	: The pose of the camera.

Definition at line 368 of file vpMbtDistanceCylinder.cpp.

References c, cercle1, cercle2, vpPoint::changeFrame(), vpCircle::changeFrame(), vpCylinder::changeFrame(), vpMeterPixelConversion::convertLine(), vpImagePoint::get_i(), vpImagePoint::get_j(), vpMeTracker::getMeList(), vpCylinder::getRho1(), vpCylinder::getRho2(), vpCylinder::getTheta1(), vpCylinder::getTheta2(), vpMbtMeLine::imax, vpMbtMeLine::imin, vpMbtMeLine::jmax, vpMbtMeLine::jmin, meline1, meline2, nbFeature, nbFeaturel1, nbFeaturel2, p1, p2, vpCircle::projection(), vpPoint::projection(), vpCylinder::projection(), Reinit, vpImagePoint::set_ij(), and vpMbtMeLine::updateParameters().

Referenced by vpMbEdgeTracker::updateMovingEdge().

Member Data Documentation

vpCylinder* vpMbtDistanceCylinder::c

The cylinder.

Definition at line 112 of file vpMbtDistanceCylinder.h.

Referenced by buildFrom(), computeInteractionMatrixError(), display(), initMovingEdge(), updateMovingEdge(), and ~vpMbtDistanceCylinder().

vpCircle* vpMbtDistanceCylinder::cercle1

The upper circle limiting the cylinder.

Definition at line 87 of file vpMbtDistanceCylinder.h.

Referenced by buildFrom(), computeInteractionMatrixError(), display(), initMovingEdge(), updateMovingEdge(), and ~vpMbtDistanceCylinder().

vpCircle* vpMbtDistanceCylinder::cercle2

The lower circle limiting the cylinder.

Definition at line 89 of file vpMbtDistanceCylinder.h.

Referenced by buildFrom(), computeInteractionMatrixError(), display(), initMovingEdge(), updateMovingEdge(), and ~vpMbtDistanceCylinder().

vpColVector vpMbtDistanceCylinder::error

The error vector.

Definition at line 102 of file vpMbtDistanceCylinder.h.

Referenced by computeInteractionMatrixError(), vpMbEdgeTracker::computeVVS(), initInteractionMatrixError(), and vpMbEdgeKltTracker::trackSecondLoop().

vpMatrix vpMbtDistanceCylinder::L

The interaction matrix.

Definition at line 100 of file vpMbtDistanceCylinder.h.

Referenced by computeInteractionMatrixError(), vpMbEdgeTracker::computeVVS(), initInteractionMatrixError(), and vpMbEdgeKltTracker::trackSecondLoop().

vpMbtMeLine* vpMbtDistanceCylinder::meline1

The moving edge containers (first line of the cylinder)

Definition at line 82 of file vpMbtDistanceCylinder.h.

Referenced by computeInteractionMatrixError(), vpMbEdgeTracker::computeVVS(), displayMovingEdges(), vpMbEdgeTracker::getNbPoints(), initInteractionMatrixError(), initMovingEdge(), vpMbEdgeTracker::initMovingEdge(), vpMbEdgeKltTracker::postTrackingMbt(), reinitMovingEdge(), setMovingEdge(), vpMbEdgeTracker::testTracking(), vpMbEdgeKltTracker::trackFirstLoop(), trackMovingEdge(), vpMbEdgeTracker::trackMovingEdge(), updateMovingEdge(), and ~vpMbtDistanceCylinder().

vpMbtMeLine* vpMbtDistanceCylinder::meline2

The moving edge containers (second line of the cylinder)

Definition at line 84 of file vpMbtDistanceCylinder.h.

Referenced by computeInteractionMatrixError(), vpMbEdgeTracker::computeVVS(), displayMovingEdges(), vpMbEdgeTracker::getNbPoints(), initInteractionMatrixError(), initMovingEdge(), vpMbEdgeTracker::initMovingEdge(), vpMbEdgeKltTracker::postTrackingMbt(), reinitMovingEdge(), setMovingEdge(), vpMbEdgeTracker::testTracking(), vpMbEdgeKltTracker::trackFirstLoop(), trackMovingEdge(), vpMbEdgeTracker::trackMovingEdge(), updateMovingEdge(), and ~vpMbtDistanceCylinder().

unsigned int vpMbtDistanceCylinder::nbFeature

The number of moving edges.

Definition at line 104 of file vpMbtDistanceCylinder.h.

Referenced by vpMbEdgeTracker::computeVVS(), initInteractionMatrixError(), vpMbEdgeKltTracker::initMbtTracking(), vpMbEdgeKltTracker::postTrackingMbt(), vpMbEdgeKltTracker::trackFirstLoop(), trackMovingEdge(), vpMbEdgeKltTracker::trackSecondLoop(), and updateMovingEdge().

unsigned int vpMbtDistanceCylinder::nbFeaturel1

The number of moving edges on line 1.

Definition at line 106 of file vpMbtDistanceCylinder.h.

Referenced by vpMbEdgeTracker::computeVVS(), initInteractionMatrixError(), vpMbEdgeKltTracker::postTrackingMbt(), trackMovingEdge(), updateMovingEdge(), and vpMbEdgeTracker::updateMovingEdge().

unsigned int vpMbtDistanceCylinder::nbFeaturel2

The number of moving edges on line 2.

Definition at line 108 of file vpMbtDistanceCylinder.h.

Referenced by vpMbEdgeTracker::computeVVS(), initInteractionMatrixError(), vpMbEdgeKltTracker::postTrackingMbt(), trackMovingEdge(), updateMovingEdge(), and vpMbEdgeTracker::updateMovingEdge().

vpPoint* vpMbtDistanceCylinder::p1

The first extremity on the axe.

Definition at line 95 of file vpMbtDistanceCylinder.h.

Referenced by vpMbEdgeTracker::addCylinder(), buildFrom(), display(), initMovingEdge(), updateMovingEdge(), and ~vpMbtDistanceCylinder().

vpPoint* vpMbtDistanceCylinder::p2

The second extremity on the axe.

Definition at line 97 of file vpMbtDistanceCylinder.h.

Referenced by vpMbEdgeTracker::addCylinder(), buildFrom(), display(), initMovingEdge(), updateMovingEdge(), and ~vpMbtDistanceCylinder().

double vpMbtDistanceCylinder::radius

The radius of the cylinder.

Definition at line 92 of file vpMbtDistanceCylinder.h.

Referenced by vpMbEdgeTracker::addCylinder(), and buildFrom().

bool vpMbtDistanceCylinder::Reinit

Indicates if the line has to be reinitialized.

Definition at line 110 of file vpMbtDistanceCylinder.h.

Referenced by vpMbEdgeTracker::computeVVS(), vpMbEdgeKltTracker::postTrackingMbt(), reinitMovingEdge(), vpMbEdgeTracker::reinitMovingEdge(), trackMovingEdge(), updateMovingEdge(), and vpMbEdgeTracker::updateMovingEdge().