vpMbtDistanceCircle.h

/****************************************************************************
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2017 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://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * 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 circle used in the model-based tracker.
 *
 * Authors:
 * Fabien Spindler
 *
 *****************************************************************************/

#ifndef vpMbtDistanceCircle_HH
#define vpMbtDistanceCircle_HH

#include <visp3/core/vpPoint.h>
#include <visp3/mbt/vpMbtMeEllipse.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/visual_features/vpFeatureEllipse.h>
#include <visp3/core/vpCircle.h>
#include <visp3/mbt/vpMbHiddenFaces.h>

class VISP_EXPORT vpMbtDistanceCircle
{
  private :
    std::string name;
    unsigned int index;
    vpCameraParameters cam;
    vpMe *me;
    //double alpha;
    double wmean;
    vpFeatureEllipse featureEllipse ;
//    vpMbtPolygon poly;
    bool isTrackedCircle;
    
  public: 
    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;
    
//private:
//#ifndef DOXYGEN_SHOULD_SKIP_THIS
//    vpMbtDistanceCircle(const vpMbtDistanceCircle &)
//      : name(), index(0), cam(), me(NULL), wmean(1),
//        featureEllipse(), isTrackedCircle(true), meEllipse(NULL),
//        circle(NULL), radius(0.), p1(NULL), p2(NULL), p3(NULL),
//        L(), error(), nbFeature(0), Reinit(false),
//        hiddenface(NULL), index_polygon(-1), isvisible(false)
//    {
//      throw vpException(vpException::functionNotImplementedError, "Not implemented!");
//    }
//    vpMbtDistanceCircle &operator=(const vpMbtDistanceCircle &){
//      throw vpException(vpException::functionNotImplementedError, "Not implemented!");
//      return *this;
//    }
//#endif

  public:
    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);
    
    inline void getCameraParameters(vpCameraParameters& camera) {camera = this->cam;}
    
    inline unsigned int getIndex() {return index ;}
    
    inline double getMeanWeight() const {return wmean;}
        
    inline std::string getName() const {return name;}

//    inline vpMbtPolygon& getPolygon() {return poly;}
    
    void initInteractionMatrixError();
    
    bool initMovingEdge(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo);
    inline bool isTracked() const {return isTrackedCircle;}

    inline bool isVisible() const {return isvisible; }

    void reinitMovingEdge(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo);
    
    inline void setCameraParameters(const vpCameraParameters& camera) {this->cam = camera;}

    inline void setTracked(const bool& track) {this->isTrackedCircle = track;}
    
    inline void setIndex(const unsigned int i) {index = i;}

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

    inline void setVisible(bool _isvisible) {isvisible = _isvisible ;}


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

  private:
    void project(const vpHomogeneousMatrix &cMo);
} ;

#endif