#include <vpMbtDistanceCircle.h>

Public Member Functions
	vpMbtDistanceCircle ()

virtual	~vpMbtDistanceCircle ()

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

void	computeInteractionMatrixError (const vpHomogeneousMatrix &cMo)

void	display (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, unsigned int thickness=1, bool displayFullModel=false)

void	display (const vpImage< vpRGBa > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, unsigned int thickness=1, bool displayFullModel=false)

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

void	displayMovingEdges (const vpImage< vpRGBa > &I)

void	getCameraParameters (vpCameraParameters &camera)

unsigned int	getIndex ()

double	getMeanWeight () const

std::vector< std::vector< double > >	getFeaturesForDisplay ()

std::vector< double >	getModelForDisplay (const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, bool displayFullModel=false)

std::string	getName () const

void	initInteractionMatrixError ()

bool	initMovingEdge (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, bool doNotTrack, const vpImage< bool > *mask=NULL)

bool	isTracked () const

bool	isVisible () const

void	reinitMovingEdge (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpImage< bool > *mask=NULL)

void	setCameraParameters (const vpCameraParameters &camera)

void	setTracked (const bool &track)

void	setIndex (unsigned int i)

void	setMeanWeight (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 61 of file vpMbtDistanceCircle.h.

Constructor & Destructor Documentation

vpMbtDistanceCircle::vpMbtDistanceCircle ( )

Basic constructor

Definition at line 61 of file vpMbtDistanceCircle.cpp.

vpMbtDistanceCircle::~vpMbtDistanceCircle ( )

virtual

Basic destructor useful to deallocate the memory.

Definition at line 71 of file vpMbtDistanceCircle.cpp.

References circle, meEllipse, p1, p2, p3, and vpForwardProjection::project().

Member Function Documentation

void vpMbtDistanceCircle::buildFrom	(	const vpPoint &	_p1,
		const vpPoint &	_p2,
		const vpPoint &	_p3,
		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 103 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(), vpMbEdgeTracker::addCircle(), and vpMbTracker::addProjectionErrorCircle().

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 426 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::computeVVSInteractionMatrixAndResidu(), vpMbEdgeKltTracker::trackFirstLoop(), and vpMbEdgeKltTracker::trackSecondLoop().

void vpMbtDistanceCircle::display	(	const vpImage< unsigned char > &	I,
		const vpHomogeneousMatrix &	cMo,
		const vpCameraParameters &	camera,
		const vpColor &	col,
		unsigned int	thickness = `1`,
		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 272 of file vpMbtDistanceCircle.cpp.

References vpDisplay::displayEllipse(), and getModelForDisplay().

void vpMbtDistanceCircle::display	(	const vpImage< vpRGBa > &	I,
		const vpHomogeneousMatrix &	cMo,
		const vpCameraParameters &	camera,
		const vpColor &	col,
		unsigned int	thickness = `1`,
		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 296 of file vpMbtDistanceCircle.cpp.

References vpDisplay::displayEllipse(), and getModelForDisplay().

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 391 of file vpMbtDistanceCircle.cpp.

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

Referenced by vpMbEdgeKltTracker::postTracking().

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

Definition at line 400 of file vpMbtDistanceCircle.cpp.

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

void vpMbtDistanceCircle::getCameraParameters ( vpCameraParameters & camera )

inline

Get the camera paramters.

Parameters

camera : The vpCameraParameters used to store the camera parameters.

Definition at line 145 of file vpMbtDistanceCircle.h.

std::vector< std::vector< double > > vpMbtDistanceCircle::getFeaturesForDisplay ( )

Return a list of features parameters for display.

Parameters are: <feature id (here 0 for ME)>, <pt.i()>, <pt.j()>, <state>

Definition at line 313 of file vpMbtDistanceCircle.cpp.

References vpMeSite::get_ifloat(), vpMeSite::get_jfloat(), vpMeSite::getState(), and meEllipse.

Referenced by vpMbEdgeTracker::getFeaturesForDisplayEdge().

unsigned int vpMbtDistanceCircle::getIndex ( )

inline

Get the index of the circle.

Returns: Return the index of the line.

Definition at line 152 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 161 of file vpMbtDistanceCircle.h.

std::vector< double > vpMbtDistanceCircle::getModelForDisplay	(	const vpHomogeneousMatrix &	cMo,
		const vpCameraParameters &	camera,
		bool	displayFullModel = `false`
	)

Return a list of ellipse parameters to display the primitive at a given pose and camera parameters.

Parameters are: <primitive id (here 1 for ellipse)>, <pt_center.i()>, <pt_center.j()>, <n20>, <n11>, <n02> which are respectively the ellipse centroid coordinates and second order centered moments of the ellipse normalized by its area (i.e., such that $n_{ij} = \mu_{ij}/a$ where $\mu_{ij}$ are the centered moments and a the area).

Parameters

cMo	: Pose used to project the 3D model into the image.
camera	: The camera parameters.
displayFullModel	: If true, the line is displayed even if it is not

Definition at line 350 of file vpMbtDistanceCircle.cpp.

References vpCircle::changeFrame(), circle, vpMeterPixelConversion::convertEllipse(), vpImagePoint::get_i(), vpImagePoint::get_j(), isvisible, and vpCircle::projection().

Referenced by display(), and vpMbKltTracker::getModelForDisplay().

std::string vpMbtDistanceCircle::getName ( ) const

inline

Get the name of the circle.

Returns: Return the name of the circle.

Definition at line 174 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 412 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,
		bool	doNotTrack,
		const vpImage< bool > *	mask = `NULL`
	)

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.
doNotTrack	: If true, ME are not tracked.
mask	Mask image or NULL if not wanted. Mask values that are set to true are considered in the tracking. To disable a pixel, set false.

Returns: false if an error occur, true otherwise.

Definition at line 148 of file vpMbtDistanceCircle.cpp.

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

Referenced by vpMbEdgeTracker::initMovingEdge(), vpMbTracker::projectionErrorInitMovingEdge(), 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 193 of file vpMbtDistanceCircle.h.

Referenced by vpMbEdgeTracker::computeProjectionError(), vpMbTracker::computeProjectionErrorImpl(), vpMbEdgeTracker::getFeaturesForDisplayEdge(), vpMbEdgeTracker::getNbPoints(), vpMbEdgeKltTracker::initMbtTracking(), vpMbEdgeTracker::initMbtTracking(), vpMbEdgeTracker::initMovingEdge(), vpMbEdgeKltTracker::postTracking(), vpMbTracker::projectionErrorInitMovingEdge(), 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 200 of file vpMbtDistanceCircle.h.

Referenced by vpMbEdgeTracker::computeProjectionError(), vpMbTracker::computeProjectionErrorImpl(), vpMbEdgeTracker::getFeaturesForDisplayEdge(), vpMbEdgeTracker::getNbPoints(), vpMbEdgeKltTracker::postTracking(), vpMbEdgeTracker::reinitMovingEdge(), vpMbEdgeTracker::testTracking(), vpMbEdgeTracker::trackMovingEdge(), and vpMbEdgeTracker::updateMovingEdge().

void vpMbtDistanceCircle::reinitMovingEdge	(	const vpImage< unsigned char > &	I,
		const vpHomogeneousMatrix &	cMo,
		const vpImage< bool > *	mask = `NULL`
	)

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.
mask	Mask image or NULL if not wanted. Mask values that are set to true are considered in the tracking. To disable a pixel, set false.

Definition at line 248 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 209 of file vpMbtDistanceCircle.h.

Referenced by vpMbKltTracker::addCircle(), vpMbEdgeTracker::addCircle(), vpMbTracker::addProjectionErrorCircle(), and vpMbTracker::computeProjectionErrorImpl().

void vpMbtDistanceCircle::setIndex ( unsigned int i )

inline