#include <visp3/mbt/vpMbtDistanceLine.h>

Public Member Functions
	vpMbtDistanceLine ()

virtual	~vpMbtDistanceLine ()

void	addPolygon (const int &index)

void	buildFrom (vpPoint &_p1, vpPoint &_p2, vpUniRand &rand_gen)

bool	closeToImageBorder (const vpImage< unsigned char > &I, const unsigned int threshold)

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) const

unsigned int	getIndex () const

double	getMeanWeight () 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

vpMbtPolygon &	getPolygon ()

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	setIndex (unsigned int i)

void	setMeanWeight (double w_mean)

void	setMovingEdge (vpMe *Me)

void	setName (const std::string &line_name)

void	setName (const char *line_name)

void	setTracked (const std::string &name, const bool &track)

void	setVisible (bool _isvisible)

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

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

void	updateTracked ()

Public Attributes
bool	useScanLine

std::vector< vpMbtMeLine * >	meline

vpLine *	line

vpPoint *	p1

vpPoint *	p2

vpMatrix	L

vpColVector	error

std::vector< unsigned int >	nbFeature

unsigned int	nbFeatureTotal

bool	Reinit

vpMbHiddenFaces< vpMbtPolygon > *	hiddenface

std::list< int >	Lindex_polygon

std::vector< bool >	Lindex_polygon_tracked

bool	isvisible

Detailed Description

Manage the line of a polygon used in the model-based tracker.

Definition at line 65 of file vpMbtDistanceLine.h.

Constructor & Destructor Documentation

◆ vpMbtDistanceLine()

vpMbtDistanceLine::vpMbtDistanceLine ( )

Basic constructor

Definition at line 57 of file vpMbtDistanceLine.cpp.

◆ ~vpMbtDistanceLine()

vpMbtDistanceLine::~vpMbtDistanceLine ( )

virtual

Basic destructor useful to deallocate the memory.

Definition at line 67 of file vpMbtDistanceLine.cpp.

References line, and meline.

Member Function Documentation

◆ addPolygon()

void vpMbtDistanceLine::addPolygon ( const int & idx )

Add a polygon to the list of polygons the line belongs to.

Parameters

idx	: Index of the polygon

Definition at line 214 of file vpMbtDistanceLine.cpp.

References Lindex_polygon, and Lindex_polygon_tracked.

Referenced by vpMbEdgeTracker::addLine(), vpMbtFaceDepthDense::addLine(), vpMbtFaceDepthNormal::addLine(), and vpMbTracker::addProjectionErrorLine().

◆ buildFrom()

void vpMbtDistanceLine::buildFrom	(	vpPoint &	_p1,
		vpPoint &	_p2,
		vpUniRand &	rand_gen
	)

Build a vpMbtDistanceLine thanks to two points corresponding to the extremities.

Parameters

_p1	: The first extremity.
_p2	: The second extremity.
rand_gen	: Random number generator.

Definition at line 164 of file vpMbtDistanceLine.cpp.

References vpPolygon3D::addPoint(), vpColVector::cross(), vpPoint::get_oX(), vpPoint::get_oY(), vpPoint::get_oZ(), line, vpUniRand::next(), vpPolygon3D::p, p1, p2, and vpPolygon3D::setNbPoint().

Referenced by vpMbEdgeTracker::addLine(), vpMbtFaceDepthDense::addLine(), vpMbtFaceDepthNormal::addLine(), and vpMbTracker::addProjectionErrorLine().

◆ closeToImageBorder()

bool vpMbtDistanceLine::closeToImageBorder	(	const vpImage< unsigned char > &	I,
		const unsigned int	threshold
	)

Test wether the line is close to the border of the image (at a given threshold)

Parameters

I	: the input image (to know its size)
threshold	: the threshold in pixel

Returns: true if the line is near the border of the image

Definition at line 880 of file vpMbtDistanceLine.cpp.

References vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), isvisible, and meline.

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

◆ computeInteractionMatrixError()

void vpMbtDistanceLine::computeInteractionMatrixError ( const vpHomogeneousMatrix & cMo )

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

Definition at line 805 of file vpMbtDistanceLine.cpp.

References vpLine::changeFrame(), vpFeatureBuilder::create(), error, vpCameraParameters::get_px(), vpCameraParameters::get_py(), vpCameraParameters::get_u0(), vpCameraParameters::get_v0(), vpFeatureLine::getRho(), vpFeatureLine::getTheta(), vpFeatureLine::interaction(), isvisible, L, line, meline, and vpLine::projection().

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

◆ display() [1/2]

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

Display the line. The 3D line 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 line.
displayFullModel	: If true, the line is displayed even if it is not visible.

Definition at line 610 of file vpMbtDistanceLine.cpp.

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

◆ display() [2/2]

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

Display the line. The 3D line 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 line.
displayFullModel	: If true, the line is displayed even if it is not visible.

Definition at line 635 of file vpMbtDistanceLine.cpp.

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

◆ displayMovingEdges() [1/2]

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

Enable to display the points along the line 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 663 of file vpMbtDistanceLine.cpp.

References meline.

Referenced by vpMbEdgeKltTracker::postTracking().

◆ displayMovingEdges() [2/2]

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

Definition at line 672 of file vpMbtDistanceLine.cpp.

References meline.

◆ getCameraParameters()

void vpMbtDistanceLine::getCameraParameters ( vpCameraParameters & camera ) const

inline

Get the camera parameters.

Parameters

camera : The vpCameraParameters used to store the camera parameters.

Definition at line 154 of file vpMbtDistanceLine.h.

◆ getFeaturesForDisplay()

std::vector< std::vector< double > > vpMbtDistanceLine::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 685 of file vpMbtDistanceLine.cpp.

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

Referenced by vpMbEdgeTracker::getFeaturesForDisplayEdge().

◆ getIndex()

unsigned int vpMbtDistanceLine::getIndex ( ) const

inline

Get the index of the line.

Returns: Return the index of the line.

Definition at line 161 of file vpMbtDistanceLine.h.

◆ getMeanWeight()

double vpMbtDistanceLine::getMeanWeight ( ) const

inline

Get the mean weight of the 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 line.

Definition at line 170 of file vpMbtDistanceLine.h.

◆ getModelForDisplay()

std::vector< std::vector< double > > vpMbtDistanceLine::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	: Image width.
height	: Image height.
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 723 of file vpMbtDistanceLine.cpp.

References vpPoint::changeFrame(), vpCameraParameters::computeFov(), vpPolygon3D::computePolygonClipped(), vpMbHiddenFaces< PolygonType >::computeScanLineQuery(), vpMeterPixelConversion::convertPoint(), vpPolygon3D::DOWN_CLIPPING, vpPolygon3D::FAR_CLIPPING, vpImagePoint::get_i(), vpImagePoint::get_j(), vpPolygon3D::getClipping(), hiddenface, isvisible, vpPolygon3D::LEFT_CLIPPING, vpPolygon3D::NEAR_CLIPPING, p1, p2, vpPolygon3D::polyClipped, vpPolygon3D::RIGHT_CLIPPING, vpPolygon3D::UP_CLIPPING, and useScanLine.

Referenced by display(), vpMbtFaceDepthDense::getModelForDisplay(), and vpMbtFaceDepthNormal::getModelForDisplay().

◆ getName()

std::string vpMbtDistanceLine::getName ( ) const

inline

Get the name of the line.

Returns: Return the name of the line

Definition at line 183 of file vpMbtDistanceLine.h.

Referenced by vpMbEdgeTracker::removeLine(), and setTracked().

◆ getPolygon()

vpMbtPolygon& vpMbtDistanceLine::getPolygon ( )

inline

Get the polygon associated to the line.

Returns: poly.

Definition at line 190 of file vpMbtDistanceLine.h.

Referenced by vpMbEdgeTracker::addLine(), vpMbtFaceDepthDense::addLine(), vpMbtFaceDepthNormal::addLine(), vpMbTracker::addProjectionErrorLine(), vpMbEdgeTracker::setClipping(), vpMbEdgeTracker::setFarClippingDistance(), and vpMbEdgeTracker::setNearClippingDistance().

◆ initInteractionMatrixError()

void vpMbtDistanceLine::initInteractionMatrixError ( )

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

Definition at line 785 of file vpMbtDistanceLine.cpp.

References error, isvisible, L, meline, nbFeature, nbFeatureTotal, vpColVector::resize(), and vpArray2D< Type >::resize().

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

◆ initMovingEdge()

bool vpMbtDistanceLine::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 line.

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 304 of file vpMbtDistanceLine.cpp.

References vpLine::changeFrame(), vpPoint::changeFrame(), vpCameraParameters::computeFov(), vpPolygon3D::computePolygonClipped(), vpMbHiddenFaces< PolygonType >::computeScanLineQuery(), vpMeterPixelConversion::convertLine(), vpMeterPixelConversion::convertPoint(), vpImagePoint::get_i(), vpImagePoint::get_j(), vpPolygon3D::getClipping(), vpImage< Type >::getHeight(), vpLine::getRho(), vpLine::getTheta(), vpImage< Type >::getWidth(), hiddenface, isvisible, line, meline, nbFeature, nbFeatureTotal, p1, p2, vpPolygon3D::polyClipped, vpLine::projection(), and useScanLine.

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

◆ isTracked()

bool vpMbtDistanceLine::isTracked ( ) const

inline

Return if the line is used for tracking.

Returns: True if it is used, False otherwise.

Definition at line 202 of file vpMbtDistanceLine.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 vpMbtDistanceLine::isVisible ( ) const

inline

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

Returns: Return true if the line is visible

Definition at line 209 of file vpMbtDistanceLine.h.

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

◆ reinitMovingEdge()

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

Reinitialize the line if it is required.

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

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 581 of file vpMbtDistanceLine.cpp.

References initMovingEdge(), meline, nbFeature, nbFeatureTotal, and Reinit.

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

◆ setCameraParameters()

void vpMbtDistanceLine::setCameraParameters ( const vpCameraParameters & camera )

inline

Set the camera parameters.

Parameters

camera : The camera parameters.

Definition at line 218 of file vpMbtDistanceLine.h.

Referenced by vpMbEdgeTracker::addLine(), vpMbtFaceDepthDense::addLine(), vpMbtFaceDepthNormal::addLine(), vpMbTracker::addProjectionErrorLine(), and vpMbTracker::computeProjectionErrorImpl().

◆ setIndex()

void vpMbtDistanceLine::setIndex ( unsigned int i )

inline

Set the index of the line.

Parameters

i	: The index number

Definition at line 225 of file vpMbtDistanceLine.h.

Referenced by vpMbEdgeTracker::addLine(), vpMbtFaceDepthDense::addLine(), vpMbtFaceDepthNormal::addLine(), and vpMbTracker::addProjectionErrorLine().

◆ setMeanWeight()

void vpMbtDistanceLine::setMeanWeight ( double w_mean )

inline

Set the mean weight of the line.

Parameters

w_mean : The mean weight of the line.

Definition at line 232 of file vpMbtDistanceLine.h.

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

◆ setMovingEdge()

void vpMbtDistanceLine::setMovingEdge ( vpMe * _me )

Set the moving edge parameters.

Parameters

_me	: an instance of vpMe containing all the desired parameters

Definition at line 279 of file vpMbtDistanceLine.cpp.

References meline.

Referenced by vpMbEdgeTracker::addLine(), vpMbTracker::addProjectionErrorLine(), vpMbEdgeTracker::setMovingEdge(), and vpMbTracker::setProjectionErrorMovingEdge().

◆ setName() [1/2]

void vpMbtDistanceLine::setName ( const char * line_name )

inline

Set the name of the line.

Parameters

line_name : The name of the line.

Definition at line 248 of file vpMbtDistanceLine.h.

◆ setName() [2/2]

void vpMbtDistanceLine::setName ( const std::string & line_name )

inline

Set the name of the line.

Parameters

line_name : The name of the line.

Definition at line 241 of file vpMbtDistanceLine.h.

Referenced by vpMbEdgeTracker::addLine(), vpMbtFaceDepthDense::addLine(), vpMbtFaceDepthNormal::addLine(), and vpMbTracker::addProjectionErrorLine().

◆ setTracked()

void vpMbtDistanceLine::setTracked	(	const std::string &	polyname,
		const bool &	track
	)

Set if the line has to considered during tracking phase. The line will not be taken into account if all its polygons are disabled.

Parameters

polyname	: name of the polygons that have to be modified.
track	: True if the polygon has to be tracked, False otherwise.

Definition at line 227 of file vpMbtDistanceLine.cpp.

References getName(), hiddenface, Lindex_polygon, Lindex_polygon_tracked, and updateTracked().

◆ setVisible()

void vpMbtDistanceLine::setVisible ( bool _isvisible )

inline

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

Parameters

_isvisible : Set to true if the line is visible

Definition at line 258 of file vpMbtDistanceLine.h.

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

◆ trackMovingEdge()

void vpMbtDistanceLine::trackMovingEdge ( const vpImage< unsigned char > & I )

Track the moving edges in the image.

Parameters

I	: the image.

Definition at line 417 of file vpMbtDistanceLine.cpp.

References isvisible, meline, nbFeature, nbFeatureTotal, and Reinit.

Referenced by vpMbEdgeTracker::trackMovingEdge().

◆ updateMovingEdge()

void vpMbtDistanceLine::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 449 of file vpMbtDistanceLine.cpp.

References vpLine::changeFrame(), vpPoint::changeFrame(), vpCameraParameters::computeFov(), vpPolygon3D::computePolygonClipped(), vpMbHiddenFaces< PolygonType >::computeScanLineQuery(), vpMeterPixelConversion::convertLine(), vpMeterPixelConversion::convertPoint(), vpImagePoint::get_i(), vpImagePoint::get_j(), vpPolygon3D::getClipping(), vpImage< Type >::getHeight(), vpLine::getRho(), vpLine::getTheta(), vpImage< Type >::getWidth(), hiddenface, isvisible, line, meline, nbFeature, nbFeatureTotal, p1, p2, vpPolygon3D::polyClipped, vpLine::projection(), Reinit, and useScanLine.

Referenced by vpMbEdgeTracker::updateMovingEdge().

◆ updateTracked()

void vpMbtDistanceLine::updateTracked ( )

Update the boolean specifying if the line has to be tracked. It takes into account deactivated polygons and the visibility of other polygons.

Definition at line 256 of file vpMbtDistanceLine.cpp.

References hiddenface, isVisible(), Lindex_polygon, and Lindex_polygon_tracked.

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

Member Data Documentation

◆ error

vpColVector vpMbtDistanceLine::error

The error vector.

Definition at line 94 of file vpMbtDistanceLine.h.

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

◆ hiddenface

vpMbHiddenFaces<vpMbtPolygon>* vpMbtDistanceLine::hiddenface

Pointer to the list of faces.

Definition at line 103 of file vpMbtDistanceLine.h.

Referenced by vpMbEdgeTracker::addLine(), vpMbtFaceDepthDense::addLine(), vpMbtFaceDepthNormal::addLine(), vpMbTracker::addProjectionErrorLine(), vpMbtFaceDepthDense::computeVisibilityDisplay(), vpMbtFaceDepthNormal::computeVisibilityDisplay(), vpMbEdgeTracker::computeVVSFirstPhase(), vpMbEdgeTracker::computeVVSFirstPhaseFactor(), getModelForDisplay(), vpMbEdgeTracker::initMovingEdge(), initMovingEdge(), vpMbTracker::projectionErrorInitMovingEdge(), setTracked(), vpMbEdgeKltTracker::trackFirstLoop(), updateMovingEdge(), and updateTracked().

◆ isvisible

bool vpMbtDistanceLine::isvisible

Indicates if the line is visible or not.

Definition at line 110 of file vpMbtDistanceLine.h.

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

◆ L

vpMatrix vpMbtDistanceLine::L

The interaction matrix.

Definition at line 92 of file vpMbtDistanceLine.h.

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

◆ Lindex_polygon

std::list<int> vpMbtDistanceLine::Lindex_polygon

Index of the faces which contain the line.

Definition at line 105 of file vpMbtDistanceLine.h.

Referenced by addPolygon(), vpMbtFaceDepthDense::computeVisibilityDisplay(), vpMbtFaceDepthNormal::computeVisibilityDisplay(), vpMbEdgeTracker::computeVVSFirstPhase(), vpMbEdgeTracker::computeVVSFirstPhaseFactor(), vpMbEdgeTracker::initMovingEdge(), vpMbTracker::projectionErrorInitMovingEdge(), setTracked(), vpMbEdgeKltTracker::trackFirstLoop(), and updateTracked().

◆ Lindex_polygon_tracked

std::vector<bool> vpMbtDistanceLine::Lindex_polygon_tracked

Vector of bool associated with Lindex_polygon to know if Lindex_polygon[i] is tracked

Definition at line 108 of file vpMbtDistanceLine.h.

Referenced by addPolygon(), setTracked(), and updateTracked().

◆ line

vpLine* vpMbtDistanceLine::line

The 3D line.

Definition at line 86 of file vpMbtDistanceLine.h.

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

◆ meline

std::vector<vpMbtMeLine *> vpMbtDistanceLine::meline

◆ nbFeature

std::vector<unsigned int> vpMbtDistanceLine::nbFeature

The number of moving edges.

Definition at line 97 of file vpMbtDistanceLine.h.

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

◆ nbFeatureTotal

unsigned int vpMbtDistanceLine::nbFeatureTotal

The number of moving edges.

Definition at line 99 of file vpMbtDistanceLine.h.

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

◆ p1

vpPoint* vpMbtDistanceLine::p1

The first extremity.

Definition at line 88 of file vpMbtDistanceLine.h.

Referenced by vpMbEdgeTracker::addLine(), vpMbtFaceDepthDense::addLine(), vpMbtFaceDepthNormal::addLine(), vpMbTracker::addProjectionErrorLine(), buildFrom(), getModelForDisplay(), initMovingEdge(), and updateMovingEdge().

◆ p2

vpPoint* vpMbtDistanceLine::p2

The second extremity.

Definition at line 90 of file vpMbtDistanceLine.h.

Referenced by vpMbEdgeTracker::addLine(), vpMbtFaceDepthDense::addLine(), vpMbtFaceDepthNormal::addLine(), vpMbTracker::addProjectionErrorLine(), buildFrom(), getModelForDisplay(), initMovingEdge(), and updateMovingEdge().

◆ Reinit

bool vpMbtDistanceLine::Reinit

Indicates if the line has to be reinitialized.

Definition at line 101 of file vpMbtDistanceLine.h.

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

◆ useScanLine

bool vpMbtDistanceLine::useScanLine

Use scanline rendering.

Definition at line 81 of file vpMbtDistanceLine.h.

Referenced by vpMbEdgeTracker::addLine(), vpMbtFaceDepthDense::addLine(), vpMbtFaceDepthNormal::addLine(), vpMbTracker::addProjectionErrorLine(), getModelForDisplay(), initMovingEdge(), and updateMovingEdge().

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ vpMbtDistanceLine()

◆ ~vpMbtDistanceLine()

Member Function Documentation

◆ addPolygon()

◆ buildFrom()

◆ closeToImageBorder()

◆ computeInteractionMatrixError()

◆ display() [1/2]

◆ display() [2/2]

◆ displayMovingEdges() [1/2]

◆ displayMovingEdges() [2/2]

◆ getCameraParameters()

◆ getFeaturesForDisplay()

◆ getIndex()

◆ getMeanWeight()

◆ getModelForDisplay()

◆ getName()

◆ getPolygon()

◆ initInteractionMatrixError()

◆ initMovingEdge()

◆ isTracked()

◆ isVisible()

◆ reinitMovingEdge()

◆ setCameraParameters()

◆ setIndex()

◆ setMeanWeight()

◆ setMovingEdge()

◆ setName() [1/2]

◆ setName() [2/2]

◆ setTracked()

◆ setVisible()

◆ trackMovingEdge()

◆ updateMovingEdge()

◆ updateTracked()

Member Data Documentation

◆ error

◆ hiddenface

◆ isvisible

◆ L

◆ Lindex_polygon

◆ Lindex_polygon_tracked

◆ line

◆ meline

◆ nbFeature

◆ nbFeatureTotal

◆ p1

◆ p2

◆ Reinit

◆ useScanLine