#include <visp3/mbt/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, 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)

void	getCameraParameters (vpCameraParameters &camera)

unsigned int	getIndex ()

double	getMeanWeight1 () const

double	getMeanWeight2 () const

std::string	getName () const

void	initInteractionMatrixError ()

bool	initMovingEdge (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo)

bool	isTracked () const

bool	isVisible () const

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

void	setCameraParameters (const vpCameraParameters &camera)

void	setTracked (const bool &track)

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	setVisible (bool _isvisible)

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

vpMbHiddenFaces< vpMbtPolygon > *	hiddenface

int	index_polygon

bool	isvisible

Detailed Description

Manage a cylinder used in the model-based tracker.

Definition at line 65 of file vpMbtDistanceCylinder.h.

Constructor & Destructor Documentation

vpMbtDistanceCylinder::vpMbtDistanceCylinder ( )

Basic constructor

Definition at line 63 of file vpMbtDistanceCylinder.cpp.

vpMbtDistanceCylinder::~vpMbtDistanceCylinder ( )

Basic destructor useful to deallocate the memory.

Definition at line 75 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 112 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 624 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(), vpFeatureLine::getRho(), vpFeatureLine::getTheta(), vpFeatureLine::interaction(), isvisible, 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`,
		const bool	displayFullModel = `false`
	)

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.
displayFullModel	: When true, display the circle even if non visible.

Definition at line 459 of file vpMbtDistanceCylinder.cpp.

References c, cercle1, cercle2, vpPoint::changeFrame(), vpCircle::changeFrame(), vpCylinder::changeFrame(), vpCircle::computeIntersectionPoint(), vpMeterPixelConversion::convertLine(), vpDisplay::displayLine(), vpCylinder::getRho1(), vpCylinder::getRho2(), vpCylinder::getTheta1(), vpCylinder::getTheta2(), isvisible, 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`,
		const bool	displayFullModel = `false`
	)

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.
displayFullModel	: When true, display the circle even if non visible.

Definition at line 523 of file vpMbtDistanceCylinder.cpp.

References c, cercle1, cercle2, vpPoint::changeFrame(), vpCircle::changeFrame(), vpCylinder::changeFrame(), vpCircle::computeIntersectionPoint(), vpMeterPixelConversion::convertLine(), vpDisplay::displayLine(), vpCylinder::getRho1(), vpCylinder::getRho2(), vpCylinder::getTheta1(), vpCylinder::getTheta2(), isvisible, 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 588 of file vpMbtDistanceCylinder.cpp.

References 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 153 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 160 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 168 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 176 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 183 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 604 of file vpMbtDistanceCylinder.cpp.

References error, isvisible, L, meline1, meline2, nbFeature, nbFeaturel1, nbFeaturel2, vpArray2D< Type >::resize(), and vpColVector::resize().

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

bool 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.

Returns: false if an error occur, true otherwise.

Definition at line 178 of file vpMbtDistanceCylinder.cpp.

References c, cercle1, cercle2, vpPoint::changeFrame(), vpCircle::changeFrame(), vpCylinder::changeFrame(), vpCircle::computeIntersectionPoint(), vpMeterPixelConversion::convertLine(), vpImagePoint::get_i(), vpImagePoint::get_j(), vpCylinder::getRho1(), vpCylinder::getRho2(), vpCylinder::getTheta1(), vpCylinder::getTheta2(), isvisible, meline1, meline2, p1, p2, vpCircle::projection(), vpPoint::projection(), vpCylinder::projection(), and vpImagePoint::set_ij().

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

bool vpMbtDistanceCylinder::isTracked ( ) const

inline

Return if the cylinder is used for tracking.

Returns: True if it is used, False otherwise.

Definition at line 194 of file vpMbtDistanceCylinder.h.

Referenced by vpMbEdgeTracker::computeProjectionError(), vpMbEdgeTracker::computeVVS(), vpMbEdgeTracker::getNbPoints(), vpMbEdgeKltTracker::initMbtTracking(), vpMbEdgeTracker::initMovingEdge(), vpMbEdgeKltTracker::postTracking(), vpMbEdgeTracker::testTracking(), vpMbEdgeTracker::track(), and vpMbEdgeTracker::trackMovingEdge().

bool vpMbtDistanceCylinder::isVisible ( ) const

inline

Check if the cylinder is visible in the image or not.

Returns: Return true if the cylinder is visible

Definition at line 201 of file vpMbtDistanceCylinder.h.

Referenced by vpMbEdgeTracker::computeProjectionError(), vpMbEdgeTracker::computeVVS(), vpMbEdgeTracker::getNbPoints(), vpMbEdgeKltTracker::initMbtTracking(), vpMbEdgeTracker::reinitMovingEdge(), vpMbEdgeTracker::testTracking(), vpMbEdgeTracker::track(), vpMbEdgeTracker::trackMovingEdge(), and vpMbEdgeTracker::updateMovingEdge().

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 431 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 209 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 223 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 230 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 237 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 156 of file vpMbtDistanceCylinder.cpp.

References meline1, and meline2.

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 246 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 253 of file vpMbtDistanceCylinder.h.

void vpMbtDistanceCylinder::setTracked ( const bool & track )

inline

Set if the cylinder has to considered during tracking phase.

Parameters

track : True if the cylinder has to be tracked, False otherwise.

Definition at line 216 of file vpMbtDistanceCylinder.h.

void vpMbtDistanceCylinder::setVisible ( bool _isvisible )

inline

Set a boolean parameter to indicates if the cylinder is visible in the image or not.

Parameters

_isvisible : Set to true if the cylinder is visible

Definition at line 260 of file vpMbtDistanceCylinder.h.

Referenced by vpMbEdgeTracker::initMovingEdge().

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 289 of file vpMbtDistanceCylinder.cpp.

References isvisible, meline1, meline2, nbFeature, nbFeaturel1, nbFeaturel2, and Reinit.

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 328 of file vpMbtDistanceCylinder.cpp.

References c, cercle1, cercle2, vpPoint::changeFrame(), vpCircle::changeFrame(), vpCylinder::changeFrame(), vpCircle::computeIntersectionPoint(), vpMeterPixelConversion::convertLine(), vpImagePoint::get_i(), vpImagePoint::get_j(), vpCylinder::getRho1(), vpCylinder::getRho2(), vpCylinder::getTheta1(), vpCylinder::getTheta2(), isvisible, meline1, meline2, nbFeature, nbFeaturel1, nbFeaturel2, p1, p2, vpCircle::projection(), vpPoint::projection(), vpCylinder::projection(), Reinit, and vpImagePoint::set_ij().

Referenced by vpMbEdgeTracker::updateMovingEdge().

Member Data Documentation

vpCylinder* vpMbtDistanceCylinder::c

The cylinder.

Definition at line 110 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 85 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 87 of file vpMbtDistanceCylinder.h.

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

vpColVector vpMbtDistanceCylinder::error

The error vector.

Definition at line 100 of file vpMbtDistanceCylinder.h.

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

vpMbHiddenFaces<vpMbtPolygon>* vpMbtDistanceCylinder::hiddenface

Pointer to the list of faces.

Definition at line 113 of file vpMbtDistanceCylinder.h.

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

int vpMbtDistanceCylinder::index_polygon

Index of the face which contains the cylinder.

Definition at line 115 of file vpMbtDistanceCylinder.h.

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

bool vpMbtDistanceCylinder::isvisible

Indicates if the cylinder is visible or not.

Definition at line 117 of file vpMbtDistanceCylinder.h.

Referenced by computeInteractionMatrixError(), display(), initInteractionMatrixError(), initMovingEdge(), trackMovingEdge(), and updateMovingEdge().

vpMatrix vpMbtDistanceCylinder::L

The interaction matrix.

Definition at line 98 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 80 of file vpMbtDistanceCylinder.h.

Referenced by computeInteractionMatrixError(), vpMbEdgeTracker::computeProjectionError(), 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 82 of file vpMbtDistanceCylinder.h.

Referenced by computeInteractionMatrixError(), vpMbEdgeTracker::computeProjectionError(), 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 102 of file vpMbtDistanceCylinder.h.

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

unsigned int vpMbtDistanceCylinder::nbFeaturel1

The number of moving edges on line 1.

Definition at line 104 of file vpMbtDistanceCylinder.h.

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

unsigned int vpMbtDistanceCylinder::nbFeaturel2

The number of moving edges on line 2.

Definition at line 106 of file vpMbtDistanceCylinder.h.

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

vpPoint* vpMbtDistanceCylinder::p1

The first extremity on the axe.

Definition at line 93 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 95 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 90 of file vpMbtDistanceCylinder.h.

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

bool vpMbtDistanceCylinder::Reinit

Indicates if the line has to be reinitialized.

Definition at line 108 of file vpMbtDistanceCylinder.h.

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

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation