vpMbtDistanceLine.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 the line of a polygon used in the model-based tracker.
 *
 * Authors:
 * Nicolas Melchior
 * Romain Tallonneau
 * Eric Marchand
 *
 *****************************************************************************/

#ifndef vpMbtDistanceLine_HH
#define vpMbtDistanceLine_HH

#include <visp3/core/vpPoint.h>
#include <visp3/mbt/vpMbtMeLine.h>
#include <visp3/core/vpLine.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/visual_features/vpFeatureLine.h>
#include <visp3/mbt/vpMbHiddenFaces.h>

#include <list>

class VISP_EXPORT vpMbtDistanceLine
{
  private :
    std::string name;
    unsigned int index;
    vpCameraParameters cam;
    vpMe *me;
    bool isTrackedLine;
    bool isTrackedLineWithVisibility;
    double wmean;
    vpFeatureLine featureline ;
    vpMbtPolygon poly;
    
  public: 
    bool useScanLine;
    //vpMbtMeLine *meline;
    std::vector<vpMbtMeLine*> meline;
    vpLine *line;
    vpPoint *p1;
    vpPoint *p2;
    vpMatrix L;
    vpColVector error;
    //unsigned int nbFeature;
    std::vector<unsigned int> nbFeature;
    unsigned int nbFeatureTotal;
    bool Reinit;
    vpMbHiddenFaces<vpMbtPolygon> *hiddenface;
    std::list<int> Lindex_polygon;
    std::vector<bool> Lindex_polygon_tracked;
    bool isvisible;
    
//private:
//#ifndef DOXYGEN_SHOULD_SKIP_THIS
//    vpMbtDistanceLine(const vpMbtDistanceLine &)
//      : name(), index(0), cam(), me(NULL), isTrackedLine(true), isTrackedLineWithVisibility(true),
//        wmean(1), featureline(), poly(), useScanLine(false), meline(), line(NULL), p1(NULL), p2(NULL), L(),
//        error(), nbFeature(), nbFeatureTotal(0), Reinit(false), hiddenface(NULL), Lindex_polygon(),
//        Lindex_polygon_tracked(), isvisible(false)
//    {
//      throw vpException(vpException::functionNotImplementedError, "Not implemented!");
//    }
//    vpMbtDistanceLine &operator=(const vpMbtDistanceLine &){
//      throw vpException(vpException::functionNotImplementedError, "Not implemented!");
//      return *this;
//    }
//#endif

  public:
    vpMbtDistanceLine() ;
    ~vpMbtDistanceLine() ;

    void addPolygon(const int &index);

    void buildFrom(vpPoint &_p1, vpPoint &_p2);
    
    bool closeToImageBorder(const vpImage<unsigned char>& I, const unsigned int threshold);
    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) const {camera = this->cam;}
    
    inline unsigned int getIndex() const {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 isTrackedLineWithVisibility;}
    
    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 setIndex(const unsigned int i) {index = i;} 
    
    inline void setMeanWeight(const double w_mean) {this->wmean = w_mean;}
    
    void setMovingEdge(vpMe *Me);
    
    inline void setName(const std::string line_name) {this->name = line_name;}
    
    inline void setName(const char* line_name) {this->name = std::string(line_name);}

    void setTracked(const std::string &name, const bool &track);

    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);

    void updateTracked();

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

#endif