Visual Servoing Platform  version 3.1.0
vpMbtDistanceCircle.h
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29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Manage a circle used in the model-based tracker.
33  *
34  * Authors:
35  * Fabien Spindler
36  *
37  *****************************************************************************/
38 
44 #ifndef vpMbtDistanceCircle_HH
45 #define vpMbtDistanceCircle_HH
46 
47 #include <visp3/core/vpCircle.h>
48 #include <visp3/core/vpHomogeneousMatrix.h>
49 #include <visp3/core/vpPoint.h>
50 #include <visp3/mbt/vpMbHiddenFaces.h>
51 #include <visp3/mbt/vpMbtMeEllipse.h>
52 #include <visp3/visual_features/vpFeatureEllipse.h>
53 
61 class VISP_EXPORT vpMbtDistanceCircle
62 {
63 private:
64  std::string name;
65  unsigned int index;
67  vpMe *me;
68  // double alpha;
69  double wmean;
70  vpFeatureEllipse featureEllipse;
72  // vpMbtPolygon poly;
73  bool isTrackedCircle;
74 
75 public:
77  vpMbtMeEllipse *meEllipse;
78 
81 
83  double radius;
84 
91 
97  unsigned int nbFeature;
99  bool Reinit;
105  bool isvisible;
106 
107  // private:
108  //#ifndef DOXYGEN_SHOULD_SKIP_THIS
109  // vpMbtDistanceCircle(const vpMbtDistanceCircle &)
110  // : name(), index(0), cam(), me(NULL), wmean(1),
111  // featureEllipse(), isTrackedCircle(true), meEllipse(NULL),
112  // circle(NULL), radius(0.), p1(NULL), p2(NULL), p3(NULL),
113  // L(), error(), nbFeature(0), Reinit(false),
114  // hiddenface(NULL), index_polygon(-1), isvisible(false)
115  // {
116  // throw vpException(vpException::functionNotImplementedError, "Not
117  // implemented!");
118  // }
119  // vpMbtDistanceCircle &operator=(const vpMbtDistanceCircle &){
120  // throw vpException(vpException::functionNotImplementedError, "Not
121  // implemented!"); return *this;
122  // }
123  //#endif
124 
125 public:
128 
129  void buildFrom(const vpPoint &_p1, const vpPoint &_p2, const vpPoint &_p3, const double r);
130 
131  void computeInteractionMatrixError(const vpHomogeneousMatrix &cMo);
132 
133  void display(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
134  const vpColor &col, const unsigned int thickness = 1, const bool displayFullModel = false);
135  void display(const vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
136  const vpColor &col, const unsigned int thickness = 1, const bool displayFullModel = false);
137  void displayMovingEdges(const vpImage<unsigned char> &I);
138 
144  inline void getCameraParameters(vpCameraParameters &camera) { camera = this->cam; }
145 
151  inline unsigned int getIndex() { return index; }
152 
160  inline double getMeanWeight() const { return wmean; }
161 
167  inline std::string getName() const { return name; }
168 
174  // inline vpMbtPolygon& getPolygon() {return poly;}
175 
176  void initInteractionMatrixError();
177 
178  bool initMovingEdge(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo);
184  inline bool isTracked() const { return isTrackedCircle; }
185 
191  inline bool isVisible() const { return isvisible; }
192 
193  void reinitMovingEdge(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo);
194 
199  inline void setCameraParameters(const vpCameraParameters &camera) { this->cam = camera; }
200 
206  inline void setTracked(const bool &track) { this->isTrackedCircle = track; }
207 
213  inline void setIndex(const unsigned int i) { index = i; }
214 
220  inline void setMeanWeight(const double _wmean) { this->wmean = _wmean; }
221 
222  void setMovingEdge(vpMe *Me);
223 
229  inline void setName(const std::string &circle_name) { this->name = circle_name; }
230 
236  inline void setName(const char *circle_name) { this->name = std::string(circle_name); }
237 
244  inline void setVisible(bool _isvisible) { isvisible = _isvisible; }
245 
246  void trackMovingEdge(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo);
247 
248  void updateMovingEdge(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo);
249 
250 private:
251  void project(const vpHomogeneousMatrix &cMo);
252 };
253 
254 #endif
std::string getName() const
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:104
unsigned int nbFeature
The number of moving edges.
void setCameraParameters(const vpCameraParameters &camera)
vpPoint * p3
An other point on the plane containing the circle.
vpMbHiddenFaces< vpMbtPolygon > * hiddenface
Pointer to the list of faces.
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpMatrix L
The interaction matrix.
Class to define colors available for display functionnalities.
Definition: vpColor.h:120
vpColVector error
The error vector.
vpMbtMeEllipse * meEllipse
The moving edge containers.
Definition: vpMe.h:60
void getCameraParameters(vpCameraParameters &camera)
int index_polygon
Index of the faces which contain the line.
vpPoint * p2
A point on the plane containing the circle.
void setTracked(const bool &track)
Class that defines what is a point.
Definition: vpPoint.h:58
Manage a circle used in the model-based tracker.
bool Reinit
Indicates if the circle has to be reinitialized.
void setName(const char *circle_name)
void setName(const std::string &circle_name)
bool isvisible
Indicates if the circle is visible or not.
Generic class defining intrinsic camera parameters.
void setVisible(bool _isvisible)
vpCircle * circle
The circle to track.
void setIndex(const unsigned int i)
Implementation of column vector and the associated operations.
Definition: vpColVector.h:72
void setMeanWeight(const double _wmean)
Class that defines 2D ellipse visual feature.
double radius
The radius of the circle.
Class that defines what is a circle.
Definition: vpCircle.h:58
double getMeanWeight() const
vpPoint * p1
The center of the circle.