#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

Detailed Description

Manage a circle used in the model-based tracker.

Definition at line 58 of file vpMbtDistanceCircle.h.

Constructor & Destructor Documentation

◆ vpMbtDistanceCircle()

vpMbtDistanceCircle::vpMbtDistanceCircle ( )

Basic constructor

Definition at line 58 of file vpMbtDistanceCircle.cpp.

◆ ~vpMbtDistanceCircle()

vpMbtDistanceCircle::~vpMbtDistanceCircle ( )

virtual

Basic destructor useful to deallocate the memory.

Definition at line 68 of file vpMbtDistanceCircle.cpp.

References circle, meEllipse, p1, p2, and p3.

Member Function Documentation

◆ buildFrom()

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 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().

◆ computeInteractionMatrixError()

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().

◆ display() [1/2]

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 271 of file vpMbtDistanceCircle.cpp.

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

◆ display() [2/2]

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 295 of file vpMbtDistanceCircle.cpp.

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

◆ displayMovingEdges() [1/2]

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 (contrast 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 388 of file vpMbtDistanceCircle.cpp.

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

Referenced by vpMbEdgeKltTracker::postTracking().

◆ displayMovingEdges() [2/2]

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

Definition at line 397 of file vpMbtDistanceCircle.cpp.

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

◆ getCameraParameters()

void vpMbtDistanceCircle::getCameraParameters ( vpCameraParameters & camera )

inline

Get the camera parameters.

Parameters

camera : The vpCameraParameters used to store the camera parameters.

Definition at line 142 of file vpMbtDistanceCircle.h.

◆ getFeaturesForDisplay()

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 312 of file vpMbtDistanceCircle.cpp.

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

Referenced by vpMbEdgeTracker::getFeaturesForDisplayEdge().

◆ getIndex()

unsigned int vpMbtDistanceCircle::getIndex ( )

inline

Get the index of the circle.

Returns: Return the index of the line.

Definition at line 149 of file vpMbtDistanceCircle.h.

◆ getMeanWeight()

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 158 of file vpMbtDistanceCircle.h.

◆ getModelForDisplay()

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 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().

◆ getName()

std::string vpMbtDistanceCircle::getName ( ) const

inline

Get the name of the circle.

Returns: Return the name of the circle.

Definition at line 170 of file vpMbtDistanceCircle.h.

Referenced by vpMbEdgeTracker::removeCircle().

◆ initInteractionMatrixError()

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().

◆ initMovingEdge()

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 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().

◆ isTracked()

bool vpMbtDistanceCircle::isTracked ( ) const

inline

Return if the circle is used for tracking.

Returns: True if it is used, False otherwise.

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().

◆ isVisible()

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 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().

◆ reinitMovingEdge()

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 246 of file vpMbtDistanceCircle.cpp.

References initMovingEdge(), meEllipse, and Reinit.

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

◆ setCameraParameters()

void vpMbtDistanceCircle::setCameraParameters ( const vpCameraParameters & camera )

inline

Set the camera parameters.

Parameters

camera : The camera parameters.

Definition at line 198 of file vpMbtDistanceCircle.h.

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

◆ setIndex()

void vpMbtDistanceCircle::setIndex ( unsigned int i )

inline

Set the index of the circle.

Parameters

i	: The index number

Definition at line 212 of file vpMbtDistanceCircle.h.

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

◆ setMeanWeight()

void vpMbtDistanceCircle::setMeanWeight ( double _wmean )

inline

Set the mean weight of the circle.

Parameters

_wmean : The mean weight of the circle.

Definition at line 219 of file vpMbtDistanceCircle.h.

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

◆ setMovingEdge()

void vpMbtDistanceCircle::setMovingEdge ( vpMe * _me )

Set the moving edge parameters.

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().

◆ setName() [1/2]

void vpMbtDistanceCircle::setName ( const char * circle_name )

inline

Set the name of the circle.

Parameters

circle_name : The name of the circle.

Definition at line 235 of file vpMbtDistanceCircle.h.

◆ setName() [2/2]

void vpMbtDistanceCircle::setName ( const std::string & circle_name )

inline

Set the name of the circle.

Parameters

circle_name : The name of the circle.

Definition at line 228 of file vpMbtDistanceCircle.h.

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

◆ setTracked()

void vpMbtDistanceCircle::setTracked ( const bool & track )

inline

Set if the circle has to considered during tracking phase.

Parameters

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

Definition at line 205 of file vpMbtDistanceCircle.h.

◆ setVisible()

void vpMbtDistanceCircle::setVisible ( bool _isvisible )

inline

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

Parameters

_isvisible : Set to true if the circle is visible

Definition at line 243 of file vpMbtDistanceCircle.h.

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

◆ trackMovingEdge()

void vpMbtDistanceCircle::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 186 of file vpMbtDistanceCircle.cpp.

References isvisible, meEllipse, nbFeature, and Reinit.

Referenced by vpMbEdgeTracker::trackMovingEdge().

◆ updateMovingEdge()

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

Update the moving edges internal parameters.

Warning: : Not implemented.

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().

Member Data Documentation

◆ circle

vpCircle* vpMbtDistanceCircle::circle

The circle to track.

Definition at line 77 of file vpMbtDistanceCircle.h.

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

◆ error

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().

◆ hiddenface

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().

◆ index_polygon

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().

◆ isvisible

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().

◆ L

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().

◆ meEllipse

vpMbtMeEllipse* vpMbtDistanceCircle::meEllipse

◆ nbFeature

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().

◆ p1

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().

◆ p2

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().

◆ p3

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().

◆ radius

double vpMbtDistanceCircle::radius

The radius of the circle.

Definition at line 80 of file vpMbtDistanceCircle.h.

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

◆ Reinit

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().

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ vpMbtDistanceCircle()

◆ ~vpMbtDistanceCircle()

Member Function Documentation

◆ buildFrom()

◆ computeInteractionMatrixError()

◆ display() [1/2]

◆ display() [2/2]

◆ displayMovingEdges() [1/2]

◆ displayMovingEdges() [2/2]

◆ getCameraParameters()

◆ getFeaturesForDisplay()

◆ getIndex()

◆ getMeanWeight()

◆ getModelForDisplay()

◆ getName()

◆ initInteractionMatrixError()

◆ initMovingEdge()

◆ isTracked()

◆ isVisible()

◆ reinitMovingEdge()

◆ setCameraParameters()

◆ setIndex()

◆ setMeanWeight()

◆ setMovingEdge()

◆ setName() [1/2]

◆ setName() [2/2]

◆ setTracked()

◆ setVisible()

◆ trackMovingEdge()

◆ updateMovingEdge()

Member Data Documentation

◆ circle

◆ error

◆ hiddenface

◆ index_polygon

◆ isvisible

◆ L

◆ meEllipse

◆ nbFeature

◆ p1

◆ p2

◆ p3

◆ radius

◆ Reinit