Visual Servoing Platform
version 3.5.1 under development (2023-09-22)
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#include <visp3/mbt/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 |
Manage a circle used in the model-based tracker.
Definition at line 58 of file vpMbtDistanceCircle.h.
vpMbtDistanceCircle::vpMbtDistanceCircle | ( | ) |
Basic constructor
Definition at line 58 of file vpMbtDistanceCircle.cpp.
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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.
_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 100 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 423 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 , |
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bool | displayFullModel = false |
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Display the circle. The 3D circle is projected into the image as an ellipse.
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 271 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 , |
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bool | displayFullModel = false |
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Display the cylinder. The 3D cylinder is projected into the image.
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 295 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.
I | : The image. |
Definition at line 388 of file vpMbtDistanceCircle.cpp.
References vpDisplay::flush(), meEllipse, and vpDEBUG_ENABLE.
Referenced by vpMbEdgeKltTracker::postTracking().
Definition at line 397 of file vpMbtDistanceCircle.cpp.
References vpDisplay::flush(), meEllipse, and vpDEBUG_ENABLE.
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Get the camera parameters.
camera | : The vpCameraParameters used to store the camera parameters. |
Definition at line 142 of file vpMbtDistanceCircle.h.
std::vector< std::vector< double > > vpMbtDistanceCircle::getFeaturesForDisplay | ( | ) |
Return a list of features parameters for display.
<feature id (here 0 for ME)>
, <pt.i()>
, <pt.j()>
, <state>
Definition at line 312 of file vpMbtDistanceCircle.cpp.
References vpMeSite::get_ifloat(), vpMeSite::get_jfloat(), vpMeSite::getState(), and meEllipse.
Referenced by vpMbEdgeTracker::getFeaturesForDisplayEdge().
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Get the index of the circle.
Definition at line 149 of file vpMbtDistanceCircle.h.
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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.
Definition at line 158 of file vpMbtDistanceCircle.h.
std::vector< double > vpMbtDistanceCircle::getModelForDisplay | ( | const vpHomogeneousMatrix & | cMo, |
const vpCameraParameters & | camera, | ||
bool | displayFullModel = false |
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) |
Return a list of ellipse parameters to display the primitive at a given pose and camera parameters.
<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 where are the centered moments and a the area).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 348 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().
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Get the name of the circle.
Definition at line 170 of file vpMbtDistanceCircle.h.
Referenced by vpMbEdgeTracker::removeCircle().
void vpMbtDistanceCircle::initInteractionMatrixError | ( | ) |
Initialize the size of the interaction matrix and the error vector.
Definition at line 409 of file vpMbtDistanceCircle.cpp.
References error, isvisible, L, meEllipse, nbFeature, vpColVector::resize(), and vpArray2D< Type >::resize().
Referenced by vpMbEdgeTracker::initMbtTracking(), and vpMbEdgeKltTracker::initMbtTracking().
bool vpMbtDistanceCircle::initMovingEdge | ( | const vpImage< unsigned char > & | I, |
const vpHomogeneousMatrix & | cMo, | ||
bool | doNotTrack, | ||
const vpImage< bool > * | mask = NULL |
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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.
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. |
Definition at line 145 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().
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Return if the circle is used for tracking.
Definition at line 182 of file vpMbtDistanceCircle.h.
Referenced by vpMbEdgeTracker::computeProjectionError(), vpMbTracker::computeProjectionErrorImpl(), vpMbEdgeTracker::getFeaturesForDisplayEdge(), vpMbEdgeTracker::getNbPoints(), vpMbEdgeTracker::initMbtTracking(), vpMbEdgeKltTracker::initMbtTracking(), vpMbEdgeTracker::initMovingEdge(), vpMbEdgeKltTracker::postTracking(), vpMbTracker::projectionErrorInitMovingEdge(), vpMbEdgeTracker::testTracking(), and vpMbEdgeTracker::trackMovingEdge().
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Check if the circle is visible in the image or not.
Definition at line 189 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 |
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Reinitialize the circle if it is required.
A circle is reinitialized if the ellipse do not match enough with the projected 3D circle.
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 246 of file vpMbtDistanceCircle.cpp.
References initMovingEdge(), meEllipse, and Reinit.
Referenced by vpMbEdgeTracker::reInitLevel(), and vpMbEdgeTracker::reinitMovingEdge().
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Set the camera parameters.
camera | : The camera parameters. |
Definition at line 198 of file vpMbtDistanceCircle.h.
Referenced by vpMbKltTracker::addCircle(), vpMbEdgeTracker::addCircle(), vpMbTracker::addProjectionErrorCircle(), and vpMbTracker::computeProjectionErrorImpl().
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Set the index of the circle.
i | : The index number |
Definition at line 212 of file vpMbtDistanceCircle.h.
Referenced by vpMbEdgeTracker::addCircle(), and vpMbTracker::addProjectionErrorCircle().
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Set the mean weight of the circle.
_wmean | : The mean weight of the circle. |
Definition at line 219 of file vpMbtDistanceCircle.h.
Referenced by vpMbEdgeKltTracker::postTrackingMbt(), and vpMbEdgeTracker::updateMovingEdgeWeights().
void vpMbtDistanceCircle::setMovingEdge | ( | vpMe * | _me | ) |
Set the moving edge parameters.
_me | : an instance of vpMe containing all the desired parameters |
Definition at line 126 of file vpMbtDistanceCircle.cpp.
References meEllipse.
Referenced by vpMbEdgeTracker::addCircle(), vpMbTracker::addProjectionErrorCircle(), vpMbEdgeTracker::setMovingEdge(), and vpMbTracker::setProjectionErrorMovingEdge().
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Set the name of the circle.
circle_name | : The name of the circle. |
Definition at line 235 of file vpMbtDistanceCircle.h.
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Set the name of the circle.
circle_name | : The name of the circle. |
Definition at line 228 of file vpMbtDistanceCircle.h.
Referenced by vpMbKltTracker::addCircle(), vpMbEdgeTracker::addCircle(), and vpMbTracker::addProjectionErrorCircle().
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Set if the circle has to considered during tracking phase.
track | : True if the circle has to be tracked, False otherwise. |
Definition at line 205 of file vpMbtDistanceCircle.h.
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Set a boolean parameter to indicates if the circle is visible in the image or not.
_isvisible | : Set to true if the circle is visible |
Definition at line 243 of file vpMbtDistanceCircle.h.
Referenced by vpMbEdgeTracker::initMovingEdge(), and vpMbTracker::projectionErrorInitMovingEdge().
void vpMbtDistanceCircle::trackMovingEdge | ( | const vpImage< unsigned char > & | I, |
const vpHomogeneousMatrix & | cMo | ||
) |
Track the moving edges in the image.
I | : the image. |
cMo | : The pose of the camera. |
Definition at line 186 of file vpMbtDistanceCircle.cpp.
References isvisible, meEllipse, nbFeature, and Reinit.
Referenced by vpMbEdgeTracker::trackMovingEdge().
void vpMbtDistanceCircle::updateMovingEdge | ( | const vpImage< unsigned char > & | I, |
const vpHomogeneousMatrix & | cMo | ||
) |
Update the moving edges internal parameters.
I | : the image. |
cMo | : The pose of the camera. |
Definition at line 210 of file vpMbtDistanceCircle.cpp.
References vpCircle::changeFrame(), circle, vpMeterPixelConversion::convertEllipse(), isvisible, meEllipse, nbFeature, vpCircle::projection(), and Reinit.
Referenced by vpMbEdgeTracker::updateMovingEdge().
vpCircle* vpMbtDistanceCircle::circle |
The circle to track.
Definition at line 77 of file vpMbtDistanceCircle.h.
Referenced by buildFrom(), computeInteractionMatrixError(), getModelForDisplay(), initMovingEdge(), updateMovingEdge(), and ~vpMbtDistanceCircle().
vpColVector vpMbtDistanceCircle::error |
The error vector.
Definition at line 92 of file vpMbtDistanceCircle.h.
Referenced by computeInteractionMatrixError(), vpMbEdgeTracker::computeVVSFirstPhase(), vpMbEdgeTracker::computeVVSInteractionMatrixAndResidu(), initInteractionMatrixError(), and vpMbEdgeKltTracker::trackSecondLoop().
vpMbHiddenFaces<vpMbtPolygon>* vpMbtDistanceCircle::hiddenface |
Pointer to the list of faces.
Definition at line 98 of file vpMbtDistanceCircle.h.
Referenced by vpMbEdgeTracker::addCircle(), vpMbTracker::addProjectionErrorCircle(), vpMbEdgeTracker::initMovingEdge(), and vpMbTracker::projectionErrorInitMovingEdge().
int vpMbtDistanceCircle::index_polygon |
Index of the faces which contain the line.
Definition at line 100 of file vpMbtDistanceCircle.h.
Referenced by vpMbEdgeTracker::addCircle(), vpMbTracker::addProjectionErrorCircle(), vpMbEdgeTracker::initMovingEdge(), and vpMbTracker::projectionErrorInitMovingEdge().
bool vpMbtDistanceCircle::isvisible |
Indicates if the circle is visible or not.
Definition at line 102 of file vpMbtDistanceCircle.h.
Referenced by computeInteractionMatrixError(), getModelForDisplay(), initInteractionMatrixError(), initMovingEdge(), trackMovingEdge(), and updateMovingEdge().
vpMatrix vpMbtDistanceCircle::L |
The interaction matrix.
Definition at line 90 of file vpMbtDistanceCircle.h.
Referenced by computeInteractionMatrixError(), vpMbEdgeTracker::computeVVSFirstPhase(), vpMbEdgeTracker::computeVVSInteractionMatrixAndResidu(), initInteractionMatrixError(), and vpMbEdgeKltTracker::trackSecondLoop().
vpMbtMeEllipse* vpMbtDistanceCircle::meEllipse |
The moving edge containers.
Definition at line 74 of file vpMbtDistanceCircle.h.
Referenced by computeInteractionMatrixError(), vpMbEdgeTracker::computeProjectionError(), vpMbTracker::computeProjectionErrorImpl(), vpMbEdgeTracker::computeVVSFirstPhase(), vpMbEdgeTracker::computeVVSFirstPhaseFactor(), displayMovingEdges(), getFeaturesForDisplay(), vpMbEdgeTracker::getNbPoints(), initInteractionMatrixError(), vpMbEdgeTracker::initMovingEdge(), initMovingEdge(), vpMbEdgeKltTracker::postTrackingMbt(), vpMbTracker::projectionErrorInitMovingEdge(), reinitMovingEdge(), setMovingEdge(), vpMbEdgeTracker::testTracking(), vpMbEdgeKltTracker::trackFirstLoop(), vpMbEdgeTracker::trackMovingEdge(), trackMovingEdge(), updateMovingEdge(), vpMbEdgeTracker::updateMovingEdgeWeights(), and ~vpMbtDistanceCircle().
unsigned int vpMbtDistanceCircle::nbFeature |
The number of moving edges.
Definition at line 94 of file vpMbtDistanceCircle.h.
Referenced by vpMbEdgeTracker::computeVVSFirstPhase(), vpMbEdgeTracker::computeVVSFirstPhaseFactor(), vpMbEdgeTracker::computeVVSInteractionMatrixAndResidu(), initInteractionMatrixError(), vpMbEdgeTracker::initMbtTracking(), vpMbEdgeKltTracker::initMbtTracking(), vpMbEdgeTracker::initMovingEdge(), vpMbEdgeKltTracker::postTrackingMbt(), vpMbTracker::projectionErrorInitMovingEdge(), vpMbEdgeKltTracker::trackFirstLoop(), trackMovingEdge(), vpMbEdgeKltTracker::trackSecondLoop(), vpMbEdgeTracker::updateMovingEdge(), updateMovingEdge(), and vpMbEdgeTracker::updateMovingEdgeWeights().
vpPoint* vpMbtDistanceCircle::p1 |
The center of the circle.
Definition at line 83 of file vpMbtDistanceCircle.h.
Referenced by vpMbEdgeTracker::addCircle(), vpMbTracker::addProjectionErrorCircle(), buildFrom(), and ~vpMbtDistanceCircle().
vpPoint* vpMbtDistanceCircle::p2 |
A point on the plane containing the circle.
Definition at line 85 of file vpMbtDistanceCircle.h.
Referenced by vpMbEdgeTracker::addCircle(), vpMbTracker::addProjectionErrorCircle(), buildFrom(), and ~vpMbtDistanceCircle().
vpPoint* vpMbtDistanceCircle::p3 |
An other point on the plane containing the circle.
Definition at line 87 of file vpMbtDistanceCircle.h.
Referenced by vpMbEdgeTracker::addCircle(), vpMbTracker::addProjectionErrorCircle(), buildFrom(), and ~vpMbtDistanceCircle().
double vpMbtDistanceCircle::radius |
The radius of the circle.
Definition at line 80 of file vpMbtDistanceCircle.h.
Referenced by vpMbEdgeTracker::addCircle(), vpMbTracker::addProjectionErrorCircle(), and buildFrom().
bool vpMbtDistanceCircle::Reinit |
Indicates if the circle has to be reinitialized.
Definition at line 96 of file vpMbtDistanceCircle.h.
Referenced by vpMbEdgeKltTracker::postTrackingMbt(), vpMbEdgeTracker::reinitMovingEdge(), reinitMovingEdge(), trackMovingEdge(), vpMbEdgeTracker::updateMovingEdge(), updateMovingEdge(), and vpMbEdgeTracker::updateMovingEdgeWeights().