Visual Servoing Platform  version 3.2.1 under development (2019-10-23) under development (2019-10-23)
vpMbtDistanceCircle.cpp
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30  *
31  * Description:
32  * Make the complete tracking of an object by using its CAD model. Circle
33  * tracking.
34  *
35  * Authors:
36  * Fabien Spindler
37  *
38  *****************************************************************************/
39 
40 #include <visp3/core/vpConfig.h>
41 
47 #include <algorithm>
48 #include <stdlib.h>
49 
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>
57 
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)
65 {
66 }
67 
72 {
73  if (meEllipse != NULL)
74  delete meEllipse;
75  if (circle != NULL)
76  delete circle;
77  if (p1 != NULL)
78  delete p1;
79  if (p2 != NULL)
80  delete p2;
81  if (p3 != NULL)
82  delete p3;
83 }
84 
91 void vpMbtDistanceCircle::project(const vpHomogeneousMatrix &cMo) { circle->project(cMo); }
92 
103 void vpMbtDistanceCircle::buildFrom(const vpPoint &_p1, const vpPoint &_p2, const vpPoint &_p3, const double r)
104 {
105  circle = new vpCircle;
106  p1 = new vpPoint;
107  p2 = new vpPoint;
108  p3 = new vpPoint;
109 
110  // Get the points
111  *p1 = _p1;
112  *p2 = _p2;
113  *p3 = _p3;
114 
115  // Get the radius
116  radius = r;
117 
118  vpPlane plane(*p1, *p2, *p3, vpPlane::object_frame);
119 
120  // Build our circle
121  circle->setWorldCoordinates(plane.getA(), plane.getB(), plane.getC(), _p1.get_oX(), _p1.get_oY(), _p1.get_oZ(), r);
122 }
123 
130 {
131  me = _me;
132  if (meEllipse != NULL) {
133  meEllipse->setMe(me);
134  }
135 }
136 
148 bool vpMbtDistanceCircle::initMovingEdge(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const bool doNotTrack,
149  const vpImage<bool> *mask)
150 {
151  if (isvisible) {
152  // Perspective projection
153  circle->changeFrame(cMo);
154 
155  try {
156  circle->projection();
157  } catch (...) {
158  std::cout << "Problem when projecting circle\n";
159  return false;
160  }
161 
162  // Create the moving edges containers
163  meEllipse = new vpMbtMeEllipse;
164  meEllipse->setMask(*mask);
165  meEllipse->setMe(me);
166 
167  // meEllipse->setDisplay(vpMeSite::RANGE_RESULT) ; // TODO only for debug
168  meEllipse->setInitRange(me->getRange()); // TODO: check because set to zero for lines
169 
170  try {
171  vpImagePoint ic;
172  double mu20_p, mu11_p, mu02_p;
173  vpMeterPixelConversion::convertEllipse(cam, *circle, ic, mu20_p, mu11_p, mu02_p);
174  meEllipse->initTracking(I, ic, mu20_p, mu11_p, mu02_p, doNotTrack);
175  } catch (...) {
176  // vpTRACE("the circle can't be initialized");
177  return false;
178  }
179  }
180  return true;
181 }
182 
190 {
191  if (isvisible) {
192  try {
193  meEllipse->track(I);
194  } catch (...) {
195  // std::cout << "Track meEllipse failed" << std::endl;
196  meEllipse->reset();
197  Reinit = true;
198  }
199 
200  // Update the number of features
201  nbFeature = (unsigned int)meEllipse->getMeList().size();
202  }
203 }
204 
214 {
215  if (isvisible) {
216  // Perspective projection
217  circle->changeFrame(cMo);
218 
219  try {
220  circle->projection();
221  } catch (...) {
222  std::cout << "Problem when projecting circle\n";
223  }
224 
225  try {
226 
227  vpImagePoint ic;
228  double mu20_p, mu11_p, mu02_p;
229  vpMeterPixelConversion::convertEllipse(cam, *circle, ic, mu20_p, mu11_p, mu02_p);
230  meEllipse->updateParameters(I, ic, mu20_p, mu11_p, mu02_p);
231  } catch (...) {
232  Reinit = true;
233  }
234  nbFeature = (unsigned int)meEllipse->getMeList().size();
235  }
236 }
237 
249 {
250  if (meEllipse != NULL)
251  delete meEllipse;
252 
253  meEllipse = NULL;
254 
255  if (!initMovingEdge(I, cMo, false, mask))
256  Reinit = true;
257 
258  Reinit = false;
259 }
260 
273  const vpCameraParameters &camera, const vpColor &col, const unsigned int thickness,
274  const bool displayFullModel)
275 {
276  std::vector<double> params = getModelForDisplay(cMo, camera, displayFullModel);
277 
278  vpImagePoint center(params[0], params[1]);
279  double mu20_p = params[2];
280  double mu11_p = params[3];
281  double mu02_p = params[4];
282  vpDisplay::displayEllipse(I, center, mu20_p, mu11_p, mu02_p, true, col, thickness);
283 }
284 
297  const vpCameraParameters &camera, const vpColor &col, const unsigned int thickness,
298  const bool displayFullModel)
299 {
300  std::vector<double> params = getModelForDisplay(cMo, camera, displayFullModel);
301 
302  vpImagePoint center(params[1], params[2]);
303  double mu20_p = params[3];
304  double mu11_p = params[4];
305  double mu02_p = params[5];
306  vpDisplay::displayEllipse(I, center, mu20_p, mu11_p, mu02_p, true, col, thickness);
307 }
308 
313 std::vector<std::vector<double> > vpMbtDistanceCircle::getFeaturesForDisplay()
314 {
315  std::vector<std::vector<double> > features;
316 
317  if (meEllipse != NULL) {
318  for (std::list<vpMeSite>::const_iterator it = meEllipse->getMeList().begin(); it != meEllipse->getMeList().end(); ++it) {
319  vpMeSite p_me = *it;
320 #if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
321  std::vector<double> params = {0, //ME
322  p_me.get_ifloat(),
323  p_me.get_jfloat(),
324  static_cast<double>(p_me.getState())};
325 #else
326  std::vector<double> params;
327  params.push_back(0); //ME
328  params.push_back(p_me.get_ifloat());
329  params.push_back(p_me.get_jfloat());
330  params.push_back(static_cast<double>(p_me.getState()));
331 #endif
332  features.push_back(params);
333  }
334  }
335 
336  return features;
337 }
338 
349  const vpCameraParameters &camera,
350  const bool displayFullModel)
351 {
352  std::vector<double> params;
353 
354  if ((isvisible && isTrackedCircle) || displayFullModel) {
355  // Perspective projection
356  circle->changeFrame(cMo);
357 
358  try {
359  circle->projection();
360  } catch (...) {
361  std::cout << "Cannot project the circle";
362  }
363 
364  vpImagePoint center;
365  double mu20_p, mu11_p, mu02_p;
366  vpMeterPixelConversion::convertEllipse(camera, *circle, center, mu20_p, mu11_p, mu02_p);
367  params.push_back(1); //1 for ellipse parameters
368  params.push_back(center.get_i());
369  params.push_back(center.get_j());
370  params.push_back(mu20_p);
371  params.push_back(mu11_p);
372  params.push_back(mu02_p);
373  }
374 
375  return params;
376 }
377 
393 {
394  if (meEllipse != NULL) {
395  meEllipse->display(I); // display the me
396  if (vpDEBUG_ENABLE(3))
397  vpDisplay::flush(I);
398  }
399 }
400 
402 {
403  if (meEllipse != NULL) {
404  meEllipse->display(I); // display the me
405  if (vpDEBUG_ENABLE(3))
406  vpDisplay::flush(I);
407  }
408 }
409 
414 {
415  if (isvisible) {
416  nbFeature = (unsigned int)meEllipse->getMeList().size();
417  L.resize(nbFeature, 6);
419  } else
420  nbFeature = 0;
421 }
422 
428 {
429  if (isvisible) {
430  // Perspective projection
431  circle->changeFrame(cMo);
432  try {
433  circle->projection();
434  } catch (...) {
435  std::cout << "Problem projection circle\n";
436  }
437 
438  vpFeatureBuilder::create(featureEllipse, *circle);
439 
440  vpMatrix H1 = featureEllipse.interaction();
441 
442  vpRowVector H(5);
443  double x = 0, y = 0;
444 
445  // Get the parameters of the ellipse in the image plane
446  double xg = circle->p[0];
447  double yg = circle->p[1];
448  double mu20 = circle->p[2];
449  double mu11 = circle->p[3];
450  double mu02 = circle->p[4];
451 
452  unsigned int j = 0;
453 
454  for (std::list<vpMeSite>::const_iterator it = meEllipse->getMeList().begin(); it != meEllipse->getMeList().end();
455  ++it) {
456  vpPixelMeterConversion::convertPoint(cam, it->j, it->i, x, y);
457  H[0] = 2 * (mu11 * (y - yg) + mu02 * (xg - x));
458  H[1] = 2 * (mu20 * (yg - y) + mu11 * (x - xg));
459  H[2] = vpMath::sqr(y - yg) - mu02;
460  H[3] = 2 * (yg * (x - xg) + y * xg + mu11 - x * y);
461  H[4] = vpMath::sqr(x - xg) - mu20;
462 
463  for (unsigned int k = 0; k < 6; k++)
464  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];
465 
466  error[j] = mu02 * vpMath::sqr(x) + mu20 * vpMath::sqr(y) - 2 * mu11 * x * y + 2 * (mu11 * yg - mu02 * xg) * x +
467  2 * (mu11 * xg - mu20 * yg) * y + mu02 * vpMath::sqr(xg) + mu20 * vpMath::sqr(yg) -
468  2 * mu11 * xg * yg + vpMath::sqr(mu11) - mu20 * mu02;
469 
470  j++;
471  }
472  }
473 }
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:164
double get_i() const
Definition: vpImagePoint.h:204
static void displayEllipse(const vpImage< unsigned char > &I, const vpImagePoint &center, const double &coef1, const double &coef2, const double &coef3, bool use_centered_moments, const vpColor &color, unsigned int thickness=1)
double get_oY() const
Get the point Y coordinate in the object frame.
Definition: vpPoint.cpp:424
vpMeSiteState getState() const
Definition: vpMeSite.h:189
unsigned int nbFeature
The number of moving edges.
static void convertEllipse(const vpCameraParameters &cam, const vpSphere &sphere, vpImagePoint &center, double &mu20_p, double &mu11_p, double &mu02_p)
vpPoint * p3
An other point on the plane containing the circle.
void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP)
perspective projection of the circle
Definition: vpCircle.cpp:239
#define vpDEBUG_ENABLE(level)
Definition: vpDebug.h:538
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of row vector and the associated operations.
Definition: vpRowVector.h:115
vpMatrix L
The interaction matrix.
Performs search in a given direction(normal) for a given distance(pixels) for a given &#39;site&#39;...
Definition: vpMeSite.h:71
void resize(const unsigned int nrows, const unsigned int ncols, const bool flagNullify=true, const bool recopy_=true)
Definition: vpArray2D.h:305
Class to define colors available for display functionnalities.
Definition: vpColor.h:120
vpColVector error
The error vector.
void buildFrom(const vpPoint &_p1, const vpPoint &_p2, const vpPoint &_p3, const double r)
vpMbtMeEllipse * meEllipse
The moving edge containers.
Definition: vpMe.h:60
static void convertPoint(const vpCameraParameters &cam, const double &u, const double &v, double &x, double &y)
vpPoint * p2
A point on the plane containing the circle.
std::vector< double > getModelForDisplay(const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const bool displayFullModel=false)
static void flush(const vpImage< unsigned char > &I)
double get_oX() const
Get the point X coordinate in the object frame.
Definition: vpPoint.cpp:422
Class that defines what is a point.
Definition: vpPoint.h:58
void projection()
Definition: vpCircle.cpp:138
bool Reinit
Indicates if the circle has to be reinitialized.
bool isvisible
Indicates if the circle is visible or not.
static double sqr(double x)
Definition: vpMath.h:114
bool initMovingEdge(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const bool doNotTrack, const vpImage< bool > *mask=NULL)
void trackMovingEdge(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo)
double getB() const
Definition: vpPlane.h:104
double get_j() const
Definition: vpImagePoint.h:215
Generic class defining intrinsic camera parameters.
std::vector< std::vector< double > > getFeaturesForDisplay()
void computeInteractionMatrixError(const vpHomogeneousMatrix &cMo)
double get_jfloat() const
Definition: vpMeSite.h:166
void updateMovingEdge(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo)
double get_oZ() const
Get the point Z coordinate in the object frame.
Definition: vpPoint.cpp:426
vpCircle * circle
The circle to track.
void displayMovingEdges(const vpImage< unsigned char > &I)
double getA() const
Definition: vpPlane.h:102
vpMatrix interaction(const unsigned int select=FEATURE_ALL)
compute the interaction matrix from a subset a the possible features
double getC() const
Definition: vpPlane.h:106
double get_ifloat() const
Definition: vpMeSite.h:159
void reinitMovingEdge(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpImage< bool > *mask=NULL)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:88
This class defines the container for a plane geometrical structure.
Definition: vpPlane.h:58
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
double radius
The radius of the circle.
Class that defines what is a circle.
Definition: vpCircle.h:58
void display(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, const unsigned int thickness=1, const bool displayFullModel=false)
unsigned int getRange() const
Definition: vpMe.h:179
vpPoint * p1
The center of the circle.
vpColVector p
Definition: vpTracker.h:71
void setWorldCoordinates(const vpColVector &oP)
Definition: vpCircle.cpp:61
void resize(const unsigned int i, const bool flagNullify=true)
Definition: vpColVector.h:310