vpMbtDistanceCylinder Class Reference

#include <visp3/mbt/vpMbtDistanceCylinder.h>

Public Member Functions
	vpMbtDistanceCylinder ()
virtual	~vpMbtDistanceCylinder ()
void	buildFrom (const vpPoint &_p1, const vpPoint &_p2, double r)
void	computeInteractionMatrixError (const vpHomogeneousMatrix &cMo, const vpImage< unsigned char > &I)
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	getMeanWeight1 () const
double	getMeanWeight2 () const
std::vector< std::vector< double > >	getFeaturesForDisplay ()
std::vector< std::vector< double > >	getModelForDisplay (unsigned int width, unsigned int height, 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	setMeanWeight1 (double wmean)
void	setMeanWeight2 (double wmean)
void	setMovingEdge (vpMe *Me)
void	setName (const std::string &cyl_name)
void	setName (const char *cyl_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
vpMbtMeLine *	meline1
vpMbtMeLine *	meline2
vpCircle *	cercle1
vpCircle *	cercle2
double	radius
vpPoint *	p1
vpPoint *	p2
vpMatrix	L
vpColVector	error
unsigned int	nbFeature
unsigned int	nbFeaturel1
unsigned int	nbFeaturel2
bool	Reinit
vpCylinder *	c
vpMbHiddenFaces< vpMbtPolygon > *	hiddenface
int	index_polygon
bool	isvisible

Detailed Description

Manage a cylinder used in the model-based tracker.

Definition at line 66 of file vpMbtDistanceCylinder.h.

Constructor & Destructor Documentation

vpMbtDistanceCylinder()

vpMbtDistanceCylinder::vpMbtDistanceCylinder

(

)

Basic constructor

Definition at line 64 of file vpMbtDistanceCylinder.cpp.

~vpMbtDistanceCylinder()

vpMbtDistanceCylinder::~vpMbtDistanceCylinder ( )

virtual

Basic destructor useful to deallocate the memory.

Definition at line 75 of file vpMbtDistanceCylinder.cpp.

References c, cercle1, cercle2, meline1, meline2, p1, p2, and vpForwardProjection::project().

Member Function Documentation

buildFrom()

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

Build a vpMbtDistanceCylinder thanks to two points corresponding to the extremities of its axis and its radius.

Parameters

_p1	: The first extremity on the axis.
_p2	: The second extremity on the axis.
r	: Radius of the cylinder.

Definition at line 119 of file vpMbtDistanceCylinder.cpp.

References c, cercle1, cercle2, vpPoint::get_oX(), vpPoint::get_oY(), vpPoint::get_oZ(), p1, p2, radius, vpCircle::setWorldCoordinates(), and vpCylinder::setWorldCoordinates().

Referenced by vpMbEdgeTracker::addCylinder(), and vpMbTracker::addProjectionErrorCylinder().

computeInteractionMatrixError()

void vpMbtDistanceCylinder::computeInteractionMatrixError	(	const vpHomogeneousMatrix &	cMo,
		const vpImage< unsigned char > &	I
	)

Compute the interaction matrix and the error vector corresponding to the cylinder.

Definition at line 757 of file vpMbtDistanceCylinder.cpp.

References c, cercle1, cercle2, vpCircle::changeFrame(), vpCylinder::changeFrame(), vpFeatureBuilder::create(), vpDisplay::displayCross(), error, vpDisplay::flush(), vpCameraParameters::get_px(), vpCameraParameters::get_py(), vpCameraParameters::get_u0(), vpCameraParameters::get_v0(), vpFeatureLine::getRho(), vpFeatureLine::getTheta(), vpFeatureLine::interaction(), isvisible, vpMeSite::j, L, vpCylinder::line1, vpCylinder::line2, meline1, meline2, vpColor::orange, vpCircle::projection(), vpCylinder::projection(), and vpColor::red.

Referenced by vpMbEdgeTracker::computeVVSFirstPhase(), vpMbEdgeTracker::computeVVSFirstPhaseFactor(), vpMbEdgeTracker::computeVVSInteractionMatrixAndResidu(), vpMbEdgeKltTracker::trackFirstLoop(), and vpMbEdgeKltTracker::trackSecondLoop().

display() [1/2]

void vpMbtDistanceCylinder::display	(	const vpImage< unsigned char > &	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.

Definition at line 516 of file vpMbtDistanceCylinder.cpp.

References vpDisplay::displayLine(), vpImage< Type >::getHeight(), getModelForDisplay(), and vpImage< Type >::getWidth().

display() [2/2]

void vpMbtDistanceCylinder::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.

Definition at line 541 of file vpMbtDistanceCylinder.cpp.

References vpDisplay::displayLine(), vpImage< Type >::getHeight(), getModelForDisplay(), and vpImage< Type >::getWidth().

displayMovingEdges() [1/2]

void vpMbtDistanceCylinder::displayMovingEdges

(

const vpImage< unsigned char > &

I

)

Enable to display the points along the lines 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 715 of file vpMbtDistanceCylinder.cpp.

References meline1, and meline2.

Referenced by vpMbEdgeKltTracker::postTracking().

displayMovingEdges() [2/2]

void vpMbtDistanceCylinder::displayMovingEdges

(

const vpImage< vpRGBa > &

I

)

Definition at line 725 of file vpMbtDistanceCylinder.cpp.

References meline1, and meline2.

getCameraParameters()

void vpMbtDistanceCylinder::getCameraParameters ( vpCameraParameters &  camera )

inline

Get the camera paramters.

Parameters

camera

: The vpCameraParameters used to store the camera parameters.

Definition at line 159 of file vpMbtDistanceCylinder.h.

getFeaturesForDisplay()

std::vector< std::vector< double > > vpMbtDistanceCylinder::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 560 of file vpMbtDistanceCylinder.cpp.

References vpMeSite::get_ifloat(), vpMeSite::get_jfloat(), vpMeSite::getState(), meline1, and meline2.

Referenced by vpMbEdgeTracker::getFeaturesForDisplayEdge().

getIndex()

unsigned int vpMbtDistanceCylinder::getIndex ( )

inline

Get the index of the cylinder.

Returns

Return the index of the line.

Definition at line 166 of file vpMbtDistanceCylinder.h.

getMeanWeight1()

double vpMbtDistanceCylinder::getMeanWeight1 ( ) const

inline

Get the mean weight of the first line. 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 first line.

Definition at line 175 of file vpMbtDistanceCylinder.h.

getMeanWeight2()

double vpMbtDistanceCylinder::getMeanWeight2 ( ) const

inline

Get the mean weight of the second line. 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 second line.

Definition at line 184 of file vpMbtDistanceCylinder.h.

getModelForDisplay()

std::vector< std::vector< double > > vpMbtDistanceCylinder::getModelForDisplay	(	unsigned int	width,
		unsigned int	height,
		const vpHomogeneousMatrix &	cMo,
		const vpCameraParameters &	camera,
		bool	displayFullModel = false
	)

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

• Parameters are: <primitive id (here 0 for line)>, <pt_start.i()>, <pt_start.j()>, <pt_end.i()>, <pt_end.j()>

Parameters

width,height	Image size (unused 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 615 of file vpMbtDistanceCylinder.cpp.

References c, cercle1, cercle2, vpPoint::changeFrame(), vpCircle::changeFrame(), vpCylinder::changeFrame(), vpCircle::computeIntersectionPoint(), vpMeterPixelConversion::convertLine(), vpImagePoint::get_i(), vpImagePoint::get_j(), vpCylinder::getRho1(), vpCylinder::getRho2(), vpCylinder::getTheta1(), vpCylinder::getTheta2(), isvisible, p1, p2, vpCircle::projection(), vpPoint::projection(), vpCylinder::projection(), and vpImagePoint::set_ij().

Referenced by display().

getName()

std::string vpMbtDistanceCylinder::getName ( ) const

inline

Get the name of the cylinder.

Returns

Return the name of the cylinder

Definition at line 198 of file vpMbtDistanceCylinder.h.

Referenced by vpMbEdgeTracker::removeCylinder().

initInteractionMatrixError()

void vpMbtDistanceCylinder::initInteractionMatrixError

(

)

Initialize the size of the interaction matrix and the error vector.

Definition at line 738 of file vpMbtDistanceCylinder.cpp.

References error, isvisible, L, meline1, meline2, nbFeature, nbFeaturel1, nbFeaturel2, vpArray2D< Type >::resize(), and vpColVector::resize().

Referenced by vpMbEdgeKltTracker::initMbtTracking(), and vpMbEdgeTracker::initMbtTracking().

initMovingEdge()

bool vpMbtDistanceCylinder::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 lines.

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 184 of file vpMbtDistanceCylinder.cpp.

References c, cercle1, cercle2, vpPoint::changeFrame(), vpCircle::changeFrame(), vpCylinder::changeFrame(), vpCircle::computeIntersectionPoint(), vpMeterPixelConversion::convertLine(), vpImagePoint::get_i(), vpImagePoint::get_j(), vpCylinder::getRho1(), vpCylinder::getRho2(), vpCylinder::getTheta1(), vpCylinder::getTheta2(), isvisible, meline1, meline2, p1, p2, vpCircle::projection(), vpPoint::projection(), vpCylinder::projection(), and vpImagePoint::set_ij().

Referenced by vpMbEdgeTracker::initMovingEdge(), vpMbTracker::projectionErrorInitMovingEdge(), reinitMovingEdge(), and vpMbEdgeTracker::trackMovingEdge().

isTracked()

bool vpMbtDistanceCylinder::isTracked ( ) const

inline

Return if the cylinder is used for tracking.

Returns

True if it is used, False otherwise.

Definition at line 210 of file vpMbtDistanceCylinder.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().

isVisible()

bool vpMbtDistanceCylinder::isVisible ( ) const

inline

Check if the cylinder is visible in the image or not.

Returns

Return true if the cylinder is visible

Definition at line 217 of file vpMbtDistanceCylinder.h.

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

reinitMovingEdge()

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

Reinitialize the cylinder if it is required.

A line is reinitialized if the 2D lines do not match enough with the projected 3D lines.

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 489 of file vpMbtDistanceCylinder.cpp.

References initMovingEdge(), meline1, meline2, and Reinit.

Referenced by vpMbEdgeTracker::reInitLevel(), and vpMbEdgeTracker::reinitMovingEdge().

setCameraParameters()

void vpMbtDistanceCylinder::setCameraParameters ( const vpCameraParameters &  camera )

inline

Set the camera paramters.

Parameters

camera

: The camera parameters.

Definition at line 226 of file vpMbtDistanceCylinder.h.

Referenced by vpMbEdgeTracker::addCylinder(), vpMbTracker::addProjectionErrorCylinder(), and vpMbTracker::computeProjectionErrorImpl().

setIndex()

void vpMbtDistanceCylinder::setIndex ( unsigned int  i )

inline

Set the index of the cylinder.

Parameters

i	: The index number

Definition at line 240 of file vpMbtDistanceCylinder.h.

Referenced by vpMbEdgeTracker::addCylinder(), and vpMbTracker::addProjectionErrorCylinder().

setMeanWeight1()

void vpMbtDistanceCylinder::setMeanWeight1 ( double  wmean )

inline

Set the mean weight of the first line.

Parameters

wmean

: The mean weight of the first line.

Definition at line 247 of file vpMbtDistanceCylinder.h.

Referenced by vpMbEdgeKltTracker::postTrackingMbt(), and vpMbEdgeTracker::updateMovingEdgeWeights().

setMeanWeight2()

void vpMbtDistanceCylinder::setMeanWeight2 ( double  wmean )

inline

Set the mean weight of the second line.

Parameters

wmean

: The mean weight of the second line.

Definition at line 254 of file vpMbtDistanceCylinder.h.

Referenced by vpMbEdgeKltTracker::postTrackingMbt(), and vpMbEdgeTracker::updateMovingEdgeWeights().

setMovingEdge()

void vpMbtDistanceCylinder::setMovingEdge

(

vpMe *

_me

)

Set the moving edge parameters.

Parameters

_me	: an instance of vpMe containing all the desired parameters

Definition at line 162 of file vpMbtDistanceCylinder.cpp.

References meline1, and meline2.

Referenced by vpMbEdgeTracker::addCylinder(), vpMbTracker::addProjectionErrorCylinder(), vpMbEdgeTracker::setMovingEdge(), and vpMbTracker::setProjectionErrorMovingEdge().

setName() [1/2]

void vpMbtDistanceCylinder::setName ( const std::string &  cyl_name )

inline

Set the name of the cylinder.

Parameters

cyl_name

: The name of the cylinder.

Definition at line 263 of file vpMbtDistanceCylinder.h.

Referenced by vpMbEdgeTracker::addCylinder(), and vpMbTracker::addProjectionErrorCylinder().

setName() [2/2]

void vpMbtDistanceCylinder::setName ( const char *  cyl_name )

inline

Set the name of the cylinder.

Parameters

cyl_name

: The name of the cylinder

Definition at line 270 of file vpMbtDistanceCylinder.h.

setTracked()

void vpMbtDistanceCylinder::setTracked ( const bool &  track )

inline

Set if the cylinder has to considered during tracking phase.

Parameters

track

: True if the cylinder has to be tracked, False otherwise.

Definition at line 233 of file vpMbtDistanceCylinder.h.

setVisible()

void vpMbtDistanceCylinder::setVisible ( bool  _isvisible )

inline

Set a boolean parameter to indicates if the cylinder is visible in the image or not.

Parameters

_isvisible

: Set to true if the cylinder is visible

Definition at line 278 of file vpMbtDistanceCylinder.h.

Referenced by vpMbEdgeTracker::initMovingEdge(), and vpMbTracker::projectionErrorInitMovingEdge().

trackMovingEdge()

void vpMbtDistanceCylinder::trackMovingEdge	(	const vpImage< unsigned char > &	I,
		const vpHomogeneousMatrix &	cMo
	)

Track the moving edges in the image.

Parameters

I	: the image.
cMo	: The pose of the camera.

Definition at line 323 of file vpMbtDistanceCylinder.cpp.

References isvisible, meline1, meline2, nbFeature, nbFeaturel1, nbFeaturel2, and Reinit.

Referenced by vpMbEdgeTracker::trackMovingEdge().

updateMovingEdge()

void vpMbtDistanceCylinder::updateMovingEdge	(	const vpImage< unsigned char > &	I,
		const vpHomogeneousMatrix &	cMo
	)

Update the moving edges internal parameters.

Parameters

I	: the image.
cMo	: The pose of the camera.

Definition at line 354 of file vpMbtDistanceCylinder.cpp.

References c, cercle1, cercle2, vpPoint::changeFrame(), vpCircle::changeFrame(), vpCylinder::changeFrame(), vpCircle::computeIntersectionPoint(), vpMeterPixelConversion::convertLine(), vpImagePoint::get_i(), vpImagePoint::get_j(), vpCylinder::getRho1(), vpCylinder::getRho2(), vpCylinder::getTheta1(), vpCylinder::getTheta2(), isvisible, meline1, meline2, nbFeature, nbFeaturel1, nbFeaturel2, p1, p2, vpCircle::projection(), vpPoint::projection(), vpCylinder::projection(), Reinit, and vpImagePoint::set_ij().

Referenced by vpMbEdgeTracker::updateMovingEdge().

Member Data Documentation

c

vpCylinder* vpMbtDistanceCylinder::c

The cylinder.

Definition at line 111 of file vpMbtDistanceCylinder.h.

Referenced by buildFrom(), computeInteractionMatrixError(), getModelForDisplay(), initMovingEdge(), updateMovingEdge(), and ~vpMbtDistanceCylinder().

cercle1

vpCircle* vpMbtDistanceCylinder::cercle1

The upper circle limiting the cylinder.

Definition at line 86 of file vpMbtDistanceCylinder.h.

Referenced by buildFrom(), computeInteractionMatrixError(), getModelForDisplay(), initMovingEdge(), updateMovingEdge(), and ~vpMbtDistanceCylinder().

cercle2

vpCircle* vpMbtDistanceCylinder::cercle2

The lower circle limiting the cylinder.

Definition at line 88 of file vpMbtDistanceCylinder.h.

Referenced by buildFrom(), computeInteractionMatrixError(), getModelForDisplay(), initMovingEdge(), updateMovingEdge(), and ~vpMbtDistanceCylinder().

error

vpColVector vpMbtDistanceCylinder::error

The error vector.

Definition at line 101 of file vpMbtDistanceCylinder.h.

Referenced by computeInteractionMatrixError(), vpMbEdgeTracker::computeVVSFirstPhase(), vpMbEdgeTracker::computeVVSInteractionMatrixAndResidu(), initInteractionMatrixError(), and vpMbEdgeKltTracker::trackSecondLoop().

hiddenface

vpMbHiddenFaces<vpMbtPolygon>* vpMbtDistanceCylinder::hiddenface

Pointer to the list of faces.

Definition at line 114 of file vpMbtDistanceCylinder.h.

Referenced by vpMbEdgeTracker::addCylinder(), vpMbTracker::addProjectionErrorCylinder(), vpMbEdgeTracker::initMovingEdge(), and vpMbTracker::projectionErrorInitMovingEdge().

index_polygon

int vpMbtDistanceCylinder::index_polygon

Index of the face which contains the cylinder.

Definition at line 116 of file vpMbtDistanceCylinder.h.

Referenced by vpMbEdgeTracker::addCylinder(), vpMbTracker::addProjectionErrorCylinder(), vpMbEdgeTracker::initMovingEdge(), and vpMbTracker::projectionErrorInitMovingEdge().

isvisible

bool vpMbtDistanceCylinder::isvisible

Indicates if the cylinder is visible or not.

Definition at line 118 of file vpMbtDistanceCylinder.h.

Referenced by computeInteractionMatrixError(), getModelForDisplay(), initInteractionMatrixError(), initMovingEdge(), trackMovingEdge(), and updateMovingEdge().

L

vpMatrix vpMbtDistanceCylinder::L

The interaction matrix.

Definition at line 99 of file vpMbtDistanceCylinder.h.

Referenced by computeInteractionMatrixError(), vpMbEdgeTracker::computeVVSFirstPhase(), vpMbEdgeTracker::computeVVSInteractionMatrixAndResidu(), initInteractionMatrixError(), and vpMbEdgeKltTracker::trackSecondLoop().

meline1

vpMbtMeLine* vpMbtDistanceCylinder::meline1

The moving edge containers (first line of the cylinder)

Definition at line 81 of file vpMbtDistanceCylinder.h.

Referenced by computeInteractionMatrixError(), vpMbEdgeTracker::computeProjectionError(), vpMbTracker::computeProjectionErrorImpl(), vpMbEdgeTracker::computeVVSFirstPhase(), vpMbEdgeTracker::computeVVSFirstPhaseFactor(), displayMovingEdges(), getFeaturesForDisplay(), vpMbEdgeTracker::getNbPoints(), initInteractionMatrixError(), initMovingEdge(), vpMbEdgeTracker::initMovingEdge(), vpMbEdgeKltTracker::postTrackingMbt(), vpMbTracker::projectionErrorInitMovingEdge(), reinitMovingEdge(), setMovingEdge(), vpMbEdgeTracker::testTracking(), vpMbEdgeKltTracker::trackFirstLoop(), trackMovingEdge(), vpMbEdgeTracker::trackMovingEdge(), updateMovingEdge(), vpMbEdgeTracker::updateMovingEdgeWeights(), and ~vpMbtDistanceCylinder().

meline2

vpMbtMeLine* vpMbtDistanceCylinder::meline2

The moving edge containers (second line of the cylinder)

Definition at line 83 of file vpMbtDistanceCylinder.h.

Referenced by computeInteractionMatrixError(), vpMbEdgeTracker::computeProjectionError(), vpMbTracker::computeProjectionErrorImpl(), vpMbEdgeTracker::computeVVSFirstPhase(), vpMbEdgeTracker::computeVVSFirstPhaseFactor(), displayMovingEdges(), getFeaturesForDisplay(), vpMbEdgeTracker::getNbPoints(), initInteractionMatrixError(), initMovingEdge(), vpMbEdgeTracker::initMovingEdge(), vpMbEdgeKltTracker::postTrackingMbt(), vpMbTracker::projectionErrorInitMovingEdge(), reinitMovingEdge(), setMovingEdge(), vpMbEdgeTracker::testTracking(), vpMbEdgeKltTracker::trackFirstLoop(), trackMovingEdge(), vpMbEdgeTracker::trackMovingEdge(), updateMovingEdge(), vpMbEdgeTracker::updateMovingEdgeWeights(), and ~vpMbtDistanceCylinder().

nbFeature

unsigned int vpMbtDistanceCylinder::nbFeature

The number of moving edges.

Definition at line 103 of file vpMbtDistanceCylinder.h.

Referenced by vpMbEdgeTracker::computeVVSFirstPhase(), vpMbEdgeTracker::computeVVSFirstPhaseFactor(), vpMbEdgeTracker::computeVVSInteractionMatrixAndResidu(), initInteractionMatrixError(), vpMbEdgeKltTracker::initMbtTracking(), vpMbEdgeTracker::initMbtTracking(), vpMbEdgeTracker::initMovingEdge(), vpMbEdgeKltTracker::postTrackingMbt(), vpMbTracker::projectionErrorInitMovingEdge(), vpMbEdgeKltTracker::trackFirstLoop(), trackMovingEdge(), vpMbEdgeKltTracker::trackSecondLoop(), updateMovingEdge(), and vpMbEdgeTracker::updateMovingEdgeWeights().

nbFeaturel1

unsigned int vpMbtDistanceCylinder::nbFeaturel1

The number of moving edges on line 1.

Definition at line 105 of file vpMbtDistanceCylinder.h.

Referenced by vpMbEdgeTracker::computeVVSFirstPhase(), initInteractionMatrixError(), vpMbEdgeTracker::initMovingEdge(), vpMbEdgeKltTracker::postTrackingMbt(), vpMbTracker::projectionErrorInitMovingEdge(), trackMovingEdge(), updateMovingEdge(), vpMbEdgeTracker::updateMovingEdge(), and vpMbEdgeTracker::updateMovingEdgeWeights().

nbFeaturel2

unsigned int vpMbtDistanceCylinder::nbFeaturel2

The number of moving edges on line 2.

Definition at line 107 of file vpMbtDistanceCylinder.h.

Referenced by vpMbEdgeTracker::computeVVSFirstPhase(), initInteractionMatrixError(), vpMbEdgeTracker::initMovingEdge(), vpMbEdgeKltTracker::postTrackingMbt(), vpMbTracker::projectionErrorInitMovingEdge(), trackMovingEdge(), updateMovingEdge(), vpMbEdgeTracker::updateMovingEdge(), and vpMbEdgeTracker::updateMovingEdgeWeights().

p1

vpPoint* vpMbtDistanceCylinder::p1

The first extremity on the axe.

Definition at line 94 of file vpMbtDistanceCylinder.h.

Referenced by vpMbEdgeTracker::addCylinder(), vpMbTracker::addProjectionErrorCylinder(), buildFrom(), getModelForDisplay(), initMovingEdge(), updateMovingEdge(), and ~vpMbtDistanceCylinder().

p2

vpPoint* vpMbtDistanceCylinder::p2

The second extremity on the axe.

Definition at line 96 of file vpMbtDistanceCylinder.h.

Referenced by vpMbEdgeTracker::addCylinder(), vpMbTracker::addProjectionErrorCylinder(), buildFrom(), getModelForDisplay(), initMovingEdge(), updateMovingEdge(), and ~vpMbtDistanceCylinder().

radius

double vpMbtDistanceCylinder::radius

The radius of the cylinder.

Definition at line 91 of file vpMbtDistanceCylinder.h.

Referenced by vpMbEdgeTracker::addCylinder(), vpMbTracker::addProjectionErrorCylinder(), and buildFrom().

Reinit

bool vpMbtDistanceCylinder::Reinit

Indicates if the line has to be reinitialized.

Definition at line 109 of file vpMbtDistanceCylinder.h.

Referenced by vpMbEdgeKltTracker::postTrackingMbt(), reinitMovingEdge(), vpMbEdgeTracker::reinitMovingEdge(), trackMovingEdge(), updateMovingEdge(), vpMbEdgeTracker::updateMovingEdge(), and vpMbEdgeTracker::updateMovingEdgeWeights().