40 #include <visp3/core/vpConfig.h>
50 #include <visp3/core/vpMeterPixelConversion.h>
51 #include <visp3/core/vpPixelMeterConversion.h>
52 #include <visp3/core/vpPlane.h>
53 #include <visp3/mbt/vpMbtDistanceCircle.h>
54 #include <visp3/vision/vpPose.h>
55 #include <visp3/visual_features/vpFeatureBuilder.h>
56 #include <visp3/visual_features/vpFeatureEllipse.h>
62 : name(), index(0), cam(), me(NULL), wmean(1), featureEllipse(), isTrackedCircle(true), meEllipse(NULL), circle(NULL),
63 radius(0.), p1(NULL), p2(NULL), p3(NULL), L(), error(), nbFeature(0), Reinit(false), hiddenface(NULL),
64 index_polygon(-1), isvisible(false)
158 std::cout <<
"Problem when projecting circle\n";
172 double n20_p, n11_p, n02_p;
174 meEllipse->initTracking(I, ic, n20_p, n11_p, n02_p, doNotTrack);
222 std::cout <<
"Problem when projecting circle\n";
228 double n20_p, n11_p, n02_p;
230 meEllipse->updateParameters(I, ic, n20_p, n11_p, n02_p);
276 bool displayFullModel)
281 double n20_p = params[2];
282 double n11_p = params[3];
283 double n02_p = params[4];
300 bool displayFullModel)
305 double n20_p = params[3];
306 double n11_p = params[4];
307 double n02_p = params[5];
317 std::vector<std::vector<double> > features;
320 for (std::list<vpMeSite>::const_iterator it =
meEllipse->getMeList().begin(); it !=
meEllipse->getMeList().end();
323 #if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
324 std::vector<double> params = {0,
327 std::vector<double> params;
331 params.push_back(
static_cast<double>(p_me.
getState()));
333 features.push_back(params);
354 std::vector<double> params;
356 if ((
isvisible && isTrackedCircle) || displayFullModel) {
363 std::cout <<
"Cannot project the circle";
367 double n20_p, n11_p, n02_p;
370 params.push_back(center.
get_i());
371 params.push_back(center.
get_j());
372 params.push_back(n20_p);
373 params.push_back(n11_p);
374 params.push_back(n02_p);
434 std::cout <<
"Problem projection circle\n";
453 for (std::list<vpMeSite>::const_iterator it =
meEllipse->getMeList().begin(); it !=
meEllipse->getMeList().end();
456 H[0] = 2 * (n11 * (y - yg) + n02 * (xg - x));
457 H[1] = 2 * (n20 * (yg - y) + n11 * (x - xg));
459 H[3] = 2 * (yg * (x - xg) + y * xg + n11 - x * y);
462 for (
unsigned int k = 0; k < 6; k++)
463 L[j][k] = H[0] * H1[0][k] + H[1] * H1[1][k] + H[2] * H1[2][k] + H[3] * H1[3][k] + H[4] * H1[4][k];
void resize(unsigned int nrows, unsigned int ncols, bool flagNullify=true, bool recopy_=true)
Generic class defining intrinsic camera parameters.
Class that defines a 3D circle in the object frame and allows forward projection of a 3D circle in th...
void changeFrame(const vpHomogeneousMatrix &noMo, vpColVector &noP) const
void setWorldCoordinates(const vpColVector &oP)
void resize(unsigned int i, bool flagNullify=true)
Class to define RGB colors available for display functionnalities.
static void displayEllipse(const vpImage< unsigned char > &I, const vpImagePoint ¢er, const double &coef1, const double &coef2, const double &coef3, bool use_normalized_centered_moments, const vpColor &color, unsigned int thickness=1, bool display_center=false, bool display_arc=false)
static void flush(const vpImage< unsigned char > &I)
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
vpMatrix interaction(unsigned int select=FEATURE_ALL)
compute the interaction matrix from a subset a the possible features
Implementation of an homogeneous matrix and operations on such kind of matrices.
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
static double sqr(double x)
Implementation of a matrix and operations on matrices.
void setMovingEdge(vpMe *Me)
void updateMovingEdge(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo)
std::vector< std::vector< double > > getFeaturesForDisplay()
vpColVector error
The error vector.
vpPoint * p1
The center of the circle.
unsigned int nbFeature
The number of moving edges.
virtual ~vpMbtDistanceCircle()
vpMatrix L
The interaction matrix.
void trackMovingEdge(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo)
void computeInteractionMatrixError(const vpHomogeneousMatrix &cMo)
void reinitMovingEdge(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpImage< bool > *mask=NULL)
vpCircle * circle
The circle to track.
void buildFrom(const vpPoint &_p1, const vpPoint &_p2, const vpPoint &_p3, double r)
vpPoint * p2
A point on the plane containing the circle.
bool isvisible
Indicates if the circle is visible or not.
void displayMovingEdges(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)
bool Reinit
Indicates if the circle has to be reinitialized.
double radius
The radius of the circle.
void initInteractionMatrixError()
vpPoint * p3
An other point on the plane containing the circle.
std::vector< double > getModelForDisplay(const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, bool displayFullModel=false)
vpMbtMeEllipse * meEllipse
The moving edge containers.
bool initMovingEdge(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, bool doNotTrack, const vpImage< bool > *mask=NULL)
Performs search in a given direction(normal) for a given distance(pixels) for a given 'site'....
vpMeSiteState getState() const
double get_ifloat() const
double get_jfloat() const
unsigned int getRange() const
static void convertEllipse(const vpCameraParameters &cam, const vpSphere &sphere, vpImagePoint ¢er_p, double &n20_p, double &n11_p, double &n02_p)
static void convertPoint(const vpCameraParameters &cam, const double &u, const double &v, double &x, double &y)
This class defines the container for a plane geometrical structure.
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
double get_oX() const
Get the point oX coordinate in the object frame.
double get_oZ() const
Get the point oZ coordinate in the object frame.
double get_oY() const
Get the point oY coordinate in the object frame.
Implementation of row vector and the associated operations.
#define vpDEBUG_ENABLE(level)