vpMbtDistanceCylinder.h

/****************************************************************************
 *
 * $Id: vpMbtDistanceCylinder.h 4649 2014-02-07 14:57:11Z fspindle $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2014 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:
 * Manage a cylinder used in the model-based tracker.
 *
 * Authors:
 * Nicolas Melchior
 * Romain Tallonneau
 * Eric Marchand
 * Bertrand Delabarre
 *
 *****************************************************************************/

#ifndef vpMbtDistanceCylinder_HH
#define vpMbtDistanceCylinder_HH

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

class VISP_EXPORT vpMbtDistanceCylinder
{
  private :
    std::string name;
    unsigned int index;
    vpCameraParameters cam;
    vpMe *me;
    double alpha;
    double wmean1;
    double wmean2;
    vpFeatureLine featureline1 ;
    vpFeatureLine featureline2 ;
    
  public: 
    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;
    
  public:
    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);
    
    inline void getCameraParameters(vpCameraParameters& camera) {camera = this->cam;}
    
    inline unsigned int getIndex() {return index ;}
    
    inline double getMeanWeight1() const {return wmean1;}
    
    inline double getMeanWeight2() const {return wmean2;}
    
    inline std::string getName() const {return name;}
    
    void initInteractionMatrixError();
    
    void initMovingEdge(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo);
    
    void reinitMovingEdge(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo);
    
    inline void setCameraParameters(const vpCameraParameters& camera) {this->cam = camera;}
    
    inline void setIndex(const unsigned int i) {index = i;}

    inline void setMeanWeight1(const double wmean) {this->wmean1 = wmean;}

    inline void setMeanWeight2(const double wmean) {this->wmean2 = wmean;}
    
    void setMovingEdge(vpMe *Me);
    
    inline void setName(const std::string& cyl_name) {this->name = cyl_name;}
    
    inline void setName(const char* cyl_name) {this->name = std::string(cyl_name);}

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

  private:
    void getCylinderLineExtremity(double &i, double &j,double rho, double theta, vpCircle *circle);
    void project(const vpHomogeneousMatrix &cMo);
} ;

#endif