#include <visp3/mbt/vpMbtDistanceCircle.h>

Public Member Functions
	vpMbtDistanceCircle ()

	~vpMbtDistanceCircle ()

void	buildFrom (const vpPoint &_p1, const vpPoint &_p2, const vpPoint &_p3, const double r)

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)

void	getCameraParameters (vpCameraParameters &camera)

unsigned int	getIndex ()

double	getMeanWeight () 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	setMeanWeight (const double _wmean)

void	setMovingEdge (vpMe *Me)

void	setName (const std::string &circle_name)

void	setName (const char *circle_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
vpMbtMeEllipse *	meEllipse

vpCircle *	circle

double	radius

vpPoint *	p1

vpPoint *	p2

vpPoint *	p3

vpMatrix	L

vpColVector	error

unsigned int	nbFeature

bool	Reinit

vpMbHiddenFaces< vpMbtPolygon > *	hiddenface

int	index_polygon

bool	isvisible

Detailed Description

Manage a circle used in the model-based tracker.

Definition at line 60 of file vpMbtDistanceCircle.h.

Constructor & Destructor Documentation

vpMbtDistanceCircle::vpMbtDistanceCircle ( )

Basic constructor

Definition at line 60 of file vpMbtDistanceCircle.cpp.

vpMbtDistanceCircle::~vpMbtDistanceCircle ( )

Basic destructor useful to deallocate the memory.

Definition at line 72 of file vpMbtDistanceCircle.cpp.

References circle, meEllipse, p1, p2, and p3.

Member Function Documentation

void vpMbtDistanceCircle::buildFrom	(	const vpPoint &	_p1,
		const vpPoint &	_p2,
		const vpPoint &	_p3,
		const double	r
	)

Build a vpMbtDistanceCircle thanks to its center, 3 points (including the center) with coordinates expressed in the object frame and defining the plane that contain the circle and its radius.

Parameters

_p1	: Center of the circle.
_p2,_p3	: Two points on the plane containing the circle. With the center of the circle we have 3 points defining the plane that contains the circle.
r	: Radius of the circle.

Definition at line 104 of file vpMbtDistanceCircle.cpp.

References circle, vpPoint::get_oX(), vpPoint::get_oY(), vpPoint::get_oZ(), vpPlane::getA(), vpPlane::getB(), vpPlane::getC(), vpPlane::object_frame, p1, p2, p3, radius, and vpCircle::setWorldCoordinates().

Referenced by vpMbKltTracker::addCircle(), and vpMbEdgeTracker::addCircle().

void vpMbtDistanceCircle::computeInteractionMatrixError ( const vpHomogeneousMatrix & cMo )

Compute the interaction matrix and the error vector corresponding to the point to ellipse algebraic distance.

Definition at line 380 of file vpMbtDistanceCircle.cpp.

References vpCircle::changeFrame(), circle, vpPixelMeterConversion::convertPoint(), vpFeatureBuilder::create(), error, vpFeatureEllipse::interaction(), isvisible, L, meEllipse, vpTracker::p, vpCircle::projection(), and vpMath::sqr().

Referenced by vpMbEdgeTracker::computeVVSFirstPhase(), vpMbEdgeTracker::computeVVSFirstPhaseFactor(), vpMbEdgeTracker::computeVVSSecondPhase(), vpMbEdgeKltTracker::trackFirstLoop(), and vpMbEdgeKltTracker::trackSecondLoop().

void vpMbtDistanceCircle::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 circle. The 3D circle is projected into the image as an ellipse.

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. If false, display the circle only if visible.

Definition at line 286 of file vpMbtDistanceCircle.cpp.

References vpCircle::changeFrame(), circle, vpMeterPixelConversion::convertEllipse(), vpDisplay::displayEllipse(), isvisible, and vpCircle::projection().

void vpMbtDistanceCircle::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. If false, display the circle only if visible.

Definition at line 318 of file vpMbtDistanceCircle.cpp.

References vpCircle::changeFrame(), circle, vpMeterPixelConversion::convertEllipse(), vpDisplay::displayEllipse(), isvisible, and vpCircle::projection().

void vpMbtDistanceCircle::displayMovingEdges ( const vpImage< unsigned char > & I )

Enable to display the points along the ellipse 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 350 of file vpMbtDistanceCircle.cpp.

References vpDisplay::flush(), meEllipse, and vpDEBUG_ENABLE.

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

void vpMbtDistanceCircle::getCameraParameters ( vpCameraParameters & camera )

inline

Get the camera paramters.

Parameters

camera : The vpCameraParameters used to store the camera parameters.

Definition at line 140 of file vpMbtDistanceCircle.h.

unsigned int vpMbtDistanceCircle::getIndex ( )

inline

Get the index of the circle.

Returns: Return the index of the line.

Definition at line 147 of file vpMbtDistanceCircle.h.

double vpMbtDistanceCircle::getMeanWeight ( ) const

inline

Get the mean weight of the circle. 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 circle.

Definition at line 155 of file vpMbtDistanceCircle.h.

std::string vpMbtDistanceCircle::getName ( ) const

inline

Get the name of the circle.

Returns: Return the name of the circle.

Definition at line 162 of file vpMbtDistanceCircle.h.

Referenced by vpMbEdgeTracker::removeCircle().

void vpMbtDistanceCircle::initInteractionMatrixError ( )

Get the polygon associated to the circle.

Returns: poly.

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

Definition at line 364 of file vpMbtDistanceCircle.cpp.

References error, isvisible, L, meEllipse, nbFeature, vpArray2D< Type >::resize(), and vpColVector::resize().

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

bool vpMbtDistanceCircle::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 circle.

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 150 of file vpMbtDistanceCircle.cpp.

References vpCircle::changeFrame(), circle, vpMeterPixelConversion::convertEllipse(), vpMe::getRange(), isvisible, meEllipse, and vpCircle::projection().

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

bool vpMbtDistanceCircle::isTracked ( ) const

inline

Return if the circle is used for tracking.

Returns: True if it is used, False otherwise.

Definition at line 179 of file vpMbtDistanceCircle.h.

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

bool vpMbtDistanceCircle::isVisible ( ) const

inline

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

Returns: Return true if the circle is visible

Definition at line 186 of file vpMbtDistanceCircle.h.

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

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

Reinitialize the circle if it is required.

A circle is reinitialized if the ellipse do not match enough with the projected 3D circle.

Parameters

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

Definition at line 260 of file vpMbtDistanceCircle.cpp.

References initMovingEdge(), meEllipse, and Reinit.

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

void vpMbtDistanceCircle::setCameraParameters ( const vpCameraParameters & camera )

inline

Set the camera paramters.

Parameters

camera : The camera parameters.

Definition at line 194 of file vpMbtDistanceCircle.h.

Referenced by vpMbKltTracker::addCircle(), and vpMbEdgeTracker::addCircle().

void vpMbtDistanceCircle::setIndex ( const unsigned int i )

inline

Set the index of the circle.

Parameters

i	: The index number

Definition at line 208 of file vpMbtDistanceCircle.h.

Referenced by vpMbEdgeTracker::addCircle().

void vpMbtDistanceCircle::setMeanWeight ( const double _wmean )

inline

Set the mean weight of the circle.

Parameters

_wmean : The mean weight of the circle.

Definition at line 215 of file vpMbtDistanceCircle.h.

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

void vpMbtDistanceCircle::setMovingEdge ( vpMe * _me )

Set the moving edge parameters.

Parameters

_me	: an instance of vpMe containing all the desired parameters

Definition at line 132 of file vpMbtDistanceCircle.cpp.

References meEllipse.

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

void vpMbtDistanceCircle::setName ( const std::string & circle_name )

inline

Set the name of the circle.

Parameters

circle_name : The name of the circle.

Definition at line 224 of file vpMbtDistanceCircle.h.

Referenced by vpMbKltTracker::addCircle(), and vpMbEdgeTracker::addCircle().

void vpMbtDistanceCircle::setName ( const char * circle_name )

inline

Set the name of the circle.

Parameters

circle_name : The name of the circle.

Definition at line 231 of file vpMbtDistanceCircle.h.

void vpMbtDistanceCircle::setTracked ( const bool & track )

inline

Set if the circle has to considered during tracking phase.

Parameters

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

Definition at line 201 of file vpMbtDistanceCircle.h.

void vpMbtDistanceCircle::setVisible ( bool _isvisible )

inline

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

Parameters

_isvisible : Set to true if the circle is visible

Definition at line 238 of file vpMbtDistanceCircle.h.

Referenced by vpMbEdgeTracker::initMovingEdge().

void vpMbtDistanceCircle::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 194 of file vpMbtDistanceCircle.cpp.

References isvisible, meEllipse, nbFeature, and Reinit.

Referenced by vpMbEdgeTracker::trackMovingEdge().

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

Update the moving edges internal parameters.

Warning: : Not implemented.

Parameters

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

Definition at line 223 of file vpMbtDistanceCircle.cpp.

References vpCircle::changeFrame(), circle, vpMeterPixelConversion::convertEllipse(), isvisible, meEllipse, nbFeature, vpCircle::projection(), and Reinit.

Referenced by vpMbEdgeTracker::updateMovingEdge().

Member Data Documentation

vpCircle* vpMbtDistanceCircle::circle

The circle to track.

Definition at line 79 of file vpMbtDistanceCircle.h.

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

vpColVector vpMbtDistanceCircle::error

The error vector.

Definition at line 94 of file vpMbtDistanceCircle.h.

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

vpMbHiddenFaces<vpMbtPolygon>* vpMbtDistanceCircle::hiddenface

Pointer to the list of faces.

Definition at line 100 of file vpMbtDistanceCircle.h.

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

int vpMbtDistanceCircle::index_polygon

Index of the faces which contain the line.

Definition at line 102 of file vpMbtDistanceCircle.h.

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

bool vpMbtDistanceCircle::isvisible

Indicates if the circle is visible or not.

Definition at line 104 of file vpMbtDistanceCircle.h.

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

vpMatrix vpMbtDistanceCircle::L

The interaction matrix.

Definition at line 92 of file vpMbtDistanceCircle.h.

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

vpMbtMeEllipse* vpMbtDistanceCircle::meEllipse

unsigned int vpMbtDistanceCircle::nbFeature

The number of moving edges.

Definition at line 96 of file vpMbtDistanceCircle.h.

Referenced by vpMbEdgeTracker::computeVVSFirstPhase(), vpMbEdgeTracker::computeVVSFirstPhaseFactor(), vpMbEdgeTracker::computeVVSSecondPhase(), initInteractionMatrixError(), vpMbEdgeKltTracker::initMbtTracking(), vpMbEdgeTracker::initMbtTracking(), vpMbEdgeTracker::initMovingEdge(), vpMbEdgeKltTracker::postTrackingMbt(), vpMbEdgeKltTracker::trackFirstLoop(), trackMovingEdge(), vpMbEdgeKltTracker::trackSecondLoop(), updateMovingEdge(), vpMbEdgeTracker::updateMovingEdge(), and vpMbEdgeTracker::updateMovingEdgeWeights().

vpPoint* vpMbtDistanceCircle::p1

The center of the circle.

Definition at line 85 of file vpMbtDistanceCircle.h.

Referenced by vpMbEdgeTracker::addCircle(), buildFrom(), and ~vpMbtDistanceCircle().

vpPoint* vpMbtDistanceCircle::p2

A point on the plane containing the circle.

Definition at line 87 of file vpMbtDistanceCircle.h.

Referenced by vpMbEdgeTracker::addCircle(), buildFrom(), and ~vpMbtDistanceCircle().

vpPoint* vpMbtDistanceCircle::p3

An other point on the plane containing the circle.

Definition at line 89 of file vpMbtDistanceCircle.h.

Referenced by vpMbEdgeTracker::addCircle(), buildFrom(), and ~vpMbtDistanceCircle().

double vpMbtDistanceCircle::radius

The radius of the circle.

Definition at line 82 of file vpMbtDistanceCircle.h.

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

bool vpMbtDistanceCircle::Reinit

Indicates if the circle has to be reinitialized.

Definition at line 98 of file vpMbtDistanceCircle.h.

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

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation