#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 64 of file vpMbtDistanceCylinder.h.

Constructor & Destructor Documentation

◆ vpMbtDistanceCylinder()

vpMbtDistanceCylinder::vpMbtDistanceCylinder ( )

Basic constructor

Definition at line 62 of file vpMbtDistanceCylinder.cpp.

◆ ~vpMbtDistanceCylinder()

vpMbtDistanceCylinder::~vpMbtDistanceCylinder ( )

virtual

Basic destructor useful to deallocate the memory.

Definition at line 73 of file vpMbtDistanceCylinder.cpp.

References c, cercle1, cercle2, meline1, meline2, p1, and p2.

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 115 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 744 of file vpMbtDistanceCylinder.cpp.

References c, cercle1, cercle2, vpCylinder::changeFrame(), vpCircle::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 513 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 538 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 (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 702 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 712 of file vpMbtDistanceCylinder.cpp.

References meline1, and meline2.

◆ getCameraParameters()

void vpMbtDistanceCylinder::getCameraParameters ( vpCameraParameters & camera )

inline

Get the camera parameters.

Parameters

camera : The vpCameraParameters used to store the camera parameters.

Definition at line 157 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 557 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 164 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 173 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 182 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 610 of file vpMbtDistanceCylinder.cpp.

References c, cercle1, cercle2, vpCylinder::changeFrame(), vpPoint::changeFrame(), vpCircle::changeFrame(), vpCircle::computeIntersectionPoint(), vpMeterPixelConversion::convertLine(), vpImagePoint::get_i(), vpImagePoint::get_j(), vpCylinder::getRho1(), vpCylinder::getRho2(), vpCylinder::getTheta1(), vpCylinder::getTheta2(), isvisible, p1, p2, vpCircle::projection(), vpCylinder::projection(), vpPoint::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 195 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 725 of file vpMbtDistanceCylinder.cpp.

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

Referenced by vpMbEdgeTracker::initMbtTracking(), and vpMbEdgeKltTracker::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 180 of file vpMbtDistanceCylinder.cpp.

References c, cercle1, cercle2, vpCylinder::changeFrame(), vpPoint::changeFrame(), vpCircle::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(), vpCylinder::projection(), vpPoint::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 207 of file vpMbtDistanceCylinder.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 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 214 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 486 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 parameters.

Parameters

camera : The camera parameters.

Definition at line 223 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 237 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 244 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 251 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 158 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 char * cyl_name )

inline

Set the name of the cylinder.

Parameters

cyl_name : The name of the cylinder

Definition at line 267 of file vpMbtDistanceCylinder.h.

◆ setName() [2/2]

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 260 of file vpMbtDistanceCylinder.h.

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

◆ 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 230 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 275 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 319 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 350 of file vpMbtDistanceCylinder.cpp.

References c, cercle1, cercle2, vpCylinder::changeFrame(), vpPoint::changeFrame(), vpCircle::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(), vpCylinder::projection(), vpPoint::projection(), Reinit, and vpImagePoint::set_ij().

Referenced by vpMbEdgeTracker::updateMovingEdge().

Member Data Documentation

◆ c

vpCylinder* vpMbtDistanceCylinder::c

The cylinder.

Definition at line 109 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 84 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 86 of file vpMbtDistanceCylinder.h.

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

◆ error

vpColVector vpMbtDistanceCylinder::error

The error vector.

Definition at line 99 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 112 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 114 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 116 of file vpMbtDistanceCylinder.h.

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

◆ L

vpMatrix vpMbtDistanceCylinder::L

The interaction matrix.

Definition at line 97 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 79 of file vpMbtDistanceCylinder.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 ~vpMbtDistanceCylinder().

◆ meline2

vpMbtMeLine* vpMbtDistanceCylinder::meline2

The moving edge containers (second 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(), vpMbEdgeTracker::initMovingEdge(), initMovingEdge(), vpMbEdgeKltTracker::postTrackingMbt(), vpMbTracker::projectionErrorInitMovingEdge(), reinitMovingEdge(), setMovingEdge(), vpMbEdgeTracker::testTracking(), vpMbEdgeKltTracker::trackFirstLoop(), vpMbEdgeTracker::trackMovingEdge(), trackMovingEdge(), updateMovingEdge(), vpMbEdgeTracker::updateMovingEdgeWeights(), and ~vpMbtDistanceCylinder().

◆ nbFeature

unsigned int vpMbtDistanceCylinder::nbFeature

The number of moving edges.

Definition at line 101 of file vpMbtDistanceCylinder.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(), updateMovingEdge(), and vpMbEdgeTracker::updateMovingEdgeWeights().

◆ nbFeaturel1

unsigned int vpMbtDistanceCylinder::nbFeaturel1

The number of moving edges on line 1.

Definition at line 103 of file vpMbtDistanceCylinder.h.

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

◆ nbFeaturel2

unsigned int vpMbtDistanceCylinder::nbFeaturel2

The number of moving edges on line 2.

Definition at line 105 of file vpMbtDistanceCylinder.h.

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

◆ p1

vpPoint* vpMbtDistanceCylinder::p1

The first extremity on the axe.

Definition at line 92 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 94 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 89 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 107 of file vpMbtDistanceCylinder.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

◆ vpMbtDistanceCylinder()

◆ ~vpMbtDistanceCylinder()

Member Function Documentation

◆ buildFrom()

◆ computeInteractionMatrixError()

◆ display() [1/2]

◆ display() [2/2]

◆ displayMovingEdges() [1/2]

◆ displayMovingEdges() [2/2]

◆ getCameraParameters()

◆ getFeaturesForDisplay()

◆ getIndex()

◆ getMeanWeight1()

◆ getMeanWeight2()

◆ getModelForDisplay()

◆ getName()

◆ initInteractionMatrixError()

◆ initMovingEdge()

◆ isTracked()

◆ isVisible()

◆ reinitMovingEdge()

◆ setCameraParameters()

◆ setIndex()

◆ setMeanWeight1()

◆ setMeanWeight2()

◆ setMovingEdge()

◆ setName() [1/2]

◆ setName() [2/2]

◆ setTracked()

◆ setVisible()

◆ trackMovingEdge()

◆ updateMovingEdge()

Member Data Documentation

◆ c

◆ cercle1

◆ cercle2

◆ error

◆ hiddenface

◆ index_polygon

◆ isvisible

◆ L

◆ meline1

◆ meline2

◆ nbFeature

◆ nbFeaturel1

◆ nbFeaturel2

◆ p1

◆ p2

◆ radius

◆ Reinit