Visual Servoing Platform  version 3.1.0
vpMbtDistanceCylinder.h
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29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Manage a cylinder used in the model-based tracker.
33  *
34  * Authors:
35  * Nicolas Melchior
36  * Romain Tallonneau
37  * Eric Marchand
38  * Bertrand Delabarre
39  *
40  *****************************************************************************/
41 
47 #ifndef vpMbtDistanceCylinder_HH
48 #define vpMbtDistanceCylinder_HH
49 
50 #include <visp3/core/vpCircle.h>
51 #include <visp3/core/vpCylinder.h>
52 #include <visp3/core/vpHomogeneousMatrix.h>
53 #include <visp3/core/vpLine.h>
54 #include <visp3/core/vpPoint.h>
55 #include <visp3/mbt/vpMbHiddenFaces.h>
56 #include <visp3/mbt/vpMbtMeLine.h>
57 #include <visp3/visual_features/vpFeatureLine.h>
58 
66 class VISP_EXPORT vpMbtDistanceCylinder
67 {
68 private:
69  std::string name;
70  unsigned int index;
72  vpMe *me;
73  double wmean1;
74  double wmean2;
75  vpFeatureLine featureline1;
76  vpFeatureLine featureline2;
77  bool isTrackedCylinder;
78 
79 public:
81  vpMbtMeLine *meline1;
83  vpMbtMeLine *meline2;
84 
89 
91  double radius;
92 
97 
103  unsigned int nbFeature;
105  unsigned int nbFeaturel1;
107  unsigned int nbFeaturel2;
109  bool Reinit;
112 
118  bool isvisible;
119 
120  // private:
121  //#ifndef DOXYGEN_SHOULD_SKIP_THIS
122  // vpMbtDistanceCylinder(const vpMbtDistanceCylinder &)
123  // : name(), index(0), cam(), me(NULL), wmean1(1), wmean2(1),
124  // featureline1(), featureline2(), isTrackedCylinder(true),
125  // meline1(NULL), meline2(NULL), cercle1(NULL), cercle2(NULL),
126  // radius(0), p1(NULL), p2(NULL), L(), error(), nbFeature(0),
127  // nbFeaturel1(0), nbFeaturel2(0), Reinit(false), c(NULL),
128  // hiddenface(NULL), index_polygon(-1), isvisible(false)
129  // {
130  // throw vpException(vpException::functionNotImplementedError, "Not
131  // implemented!");
132  // }
133  // vpMbtDistanceCylinder &operator=(const vpMbtDistanceCylinder &){
134  // throw vpException(vpException::functionNotImplementedError, "Not
135  // implemented!"); return *this;
136  // }
137  //#endif
138 
139 public:
142 
143  void buildFrom(const vpPoint &_p1, const vpPoint &_p2, const double r);
144 
145  void computeInteractionMatrixError(const vpHomogeneousMatrix &cMo, const vpImage<unsigned char> &I);
146 
147  void display(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
148  const vpColor &col, const unsigned int thickness = 1, const bool displayFullModel = false);
149  void display(const vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
150  const vpColor &col, const unsigned int thickness = 1, const bool displayFullModel = false);
151  void displayMovingEdges(const vpImage<unsigned char> &I);
152 
158  inline void getCameraParameters(vpCameraParameters &camera) { camera = this->cam; }
159 
165  inline unsigned int getIndex() { return index; }
166 
174  inline double getMeanWeight1() const { return wmean1; }
175 
183  inline double getMeanWeight2() const { return wmean2; }
184 
190  inline std::string getName() const { return name; }
191 
192  void initInteractionMatrixError();
193 
194  bool initMovingEdge(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo);
195 
201  inline bool isTracked() const { return isTrackedCylinder; }
202 
208  inline bool isVisible() const { return isvisible; }
209 
210  void reinitMovingEdge(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo);
211 
216  inline void setCameraParameters(const vpCameraParameters &camera) { this->cam = camera; }
217 
223  inline void setTracked(const bool &track) { this->isTrackedCylinder = track; }
224 
230  inline void setIndex(const unsigned int i) { index = i; }
231 
237  inline void setMeanWeight1(const double wmean) { this->wmean1 = wmean; }
238 
244  inline void setMeanWeight2(const double wmean) { this->wmean2 = wmean; }
245 
246  void setMovingEdge(vpMe *Me);
247 
253  inline void setName(const std::string &cyl_name) { this->name = cyl_name; }
254 
260  inline void setName(const char *cyl_name) { this->name = std::string(cyl_name); }
261 
268  inline void setVisible(bool _isvisible) { isvisible = _isvisible; }
269 
270  void trackMovingEdge(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo);
271 
272  void updateMovingEdge(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo);
273 
274 private:
275  void project(const vpHomogeneousMatrix &cMo);
276 };
277 
278 #endif
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:104
vpCylinder * c
The cylinder.
vpMbHiddenFaces< vpMbtPolygon > * hiddenface
Pointer to the list of faces.
void setName(const char *cyl_name)
bool isvisible
Indicates if the cylinder is visible or not.
void setMeanWeight2(const double wmean)
Implementation of an homogeneous matrix and operations on such kind of matrices.
void setCameraParameters(const vpCameraParameters &camera)
Class to define colors available for display functionnalities.
Definition: vpColor.h:120
Manage a cylinder used in the model-based tracker.
Definition: vpMe.h:60
unsigned int nbFeature
The number of moving edges.
void setIndex(const unsigned int i)
vpPoint * p1
The first extremity on the axe.
Class that defines what is a point.
Definition: vpPoint.h:58
vpMatrix L
The interaction matrix.
unsigned int nbFeaturel1
The number of moving edges on line 1.
int index_polygon
Index of the face which contains the cylinder.
vpCircle * cercle2
The lower circle limiting the cylinder.
Generic class defining intrinsic camera parameters.
Class that defines a 2D line visual feature which is composed by two parameters that are and ...
std::string getName() const
vpMbtMeLine * meline1
The moving edge containers (first line of the cylinder)
void setMeanWeight1(const double wmean)
void setVisible(bool _isvisible)
vpPoint * p2
The second extremity on the axe.
Class that defines what is a cylinder.
Definition: vpCylinder.h:96
Implementation of column vector and the associated operations.
Definition: vpColVector.h:72
vpColVector error
The error vector.
vpCircle * cercle1
The upper circle limiting the cylinder.
bool Reinit
Indicates if the line has to be reinitialized.
double radius
The radius of the cylinder.
unsigned int nbFeaturel2
The number of moving edges on line 2.
void setName(const std::string &cyl_name)
Class that defines what is a circle.
Definition: vpCircle.h:58
vpMbtMeLine * meline2
The moving edge containers (second line of the cylinder)
void getCameraParameters(vpCameraParameters &camera)
void setTracked(const bool &track)