Visual Servoing Platform  version 3.6.1 under development (2024-06-15)
vpMbtDistanceCircle.h
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30  *
31  * Description:
32  * Manage a circle used in the model-based tracker.
33  *
34 *****************************************************************************/
35 
41 #ifndef vpMbtDistanceCircle_HH
42 #define vpMbtDistanceCircle_HH
43 
44 #include <visp3/core/vpConfig.h>
45 #include <visp3/core/vpCircle.h>
46 #include <visp3/core/vpHomogeneousMatrix.h>
47 #include <visp3/core/vpPoint.h>
48 #include <visp3/mbt/vpMbHiddenFaces.h>
49 #include <visp3/mbt/vpMbtMeEllipse.h>
50 #include <visp3/visual_features/vpFeatureEllipse.h>
51 
60 class VISP_EXPORT vpMbtDistanceCircle
61 {
62 private:
63  std::string name;
64  unsigned int index;
66  vpMe *me;
67  // double alpha;
68  double wmean;
69  vpFeatureEllipse featureEllipse;
71  // vpMbtPolygon poly;
72  bool isTrackedCircle;
73 
74 public:
76  vpMbtMeEllipse *meEllipse;
77 
80 
82  double radius;
83 
90 
96  unsigned int nbFeature;
98  bool Reinit;
104  bool isvisible;
105 
106  // private:
107  //#ifndef DOXYGEN_SHOULD_SKIP_THIS
108  // vpMbtDistanceCircle(const vpMbtDistanceCircle &)
109  // : name(), index(0), cam(), me(nullptr), wmean(1),
110  // featureEllipse(), isTrackedCircle(true), meEllipse(nullptr),
111  // circle(nullptr), radius(0.), p1(nullptr), p2(nullptr), p3(nullptr),
112  // L(), error(), nbFeature(0), Reinit(false),
113  // hiddenface(nullptr), index_polygon(-1), isvisible(false)
114  // {
115  // throw vpException(vpException::functionNotImplementedError, "Not
116  // implemented!");
117  // }
118  // vpMbtDistanceCircle &operator=(const vpMbtDistanceCircle &){
119  // throw vpException(vpException::functionNotImplementedError, "Not
120  // implemented!"); return *this;
121  // }
122  //#endif
123 
124 public:
126  virtual ~vpMbtDistanceCircle();
127 
128  void buildFrom(const vpPoint &_p1, const vpPoint &_p2, const vpPoint &_p3, double r);
129 
130  void computeInteractionMatrixError(const vpHomogeneousMatrix &cMo);
131 
132  void display(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
133  const vpColor &col, unsigned int thickness = 1, bool displayFullModel = false);
134  void display(const vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
135  const vpColor &col, unsigned int thickness = 1, bool displayFullModel = false);
136  void displayMovingEdges(const vpImage<unsigned char> &I);
137  void displayMovingEdges(const vpImage<vpRGBa> &I);
138 
144  inline void getCameraParameters(vpCameraParameters &camera) { camera = this->cam; }
145 
151  inline unsigned int getIndex() { return index; }
152 
160  inline double getMeanWeight() const { return wmean; }
161 
162  std::vector<std::vector<double> > getFeaturesForDisplay();
163 
164  std::vector<double> getModelForDisplay(const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
165  bool displayFullModel = false);
166 
172  inline std::string getName() const { return name; }
173 
174  void initInteractionMatrixError();
175 
176  bool initMovingEdge(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, bool doNotTrack,
177  const vpImage<bool> *mask = nullptr);
178 
184  inline bool isTracked() const { return isTrackedCircle; }
185 
191  inline bool isVisible() const { return isvisible; }
192 
193  void reinitMovingEdge(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo,
194  const vpImage<bool> *mask = nullptr);
195 
200  inline void setCameraParameters(const vpCameraParameters &camera) { this->cam = camera; }
201 
207  inline void setTracked(const bool &track) { this->isTrackedCircle = track; }
208 
214  inline void setIndex(unsigned int i) { index = i; }
215 
221  inline void setMeanWeight(double _wmean) { this->wmean = _wmean; }
222 
223  void setMovingEdge(vpMe *Me);
224 
230  inline void setName(const std::string &circle_name) { this->name = circle_name; }
231 
237  inline void setName(const char *circle_name) { this->name = std::string(circle_name); }
238 
245  inline void setVisible(bool _isvisible) { isvisible = _isvisible; }
246 
247  void trackMovingEdge(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo);
248 
249  void updateMovingEdge(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo);
250 
251 private:
252  void project(const vpHomogeneousMatrix &cMo);
253 };
255 #endif
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...
Definition: vpCircle.h:88
Implementation of column vector and the associated operations.
Definition: vpColVector.h:171
Class to define RGB colors available for display functionalities.
Definition: vpColor.h:153
Class that defines 2D ellipse visual feature.
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:151
Manage a circle used in the model-based tracker.
void setVisible(bool _isvisible)
void setName(const char *circle_name)
void setCameraParameters(const vpCameraParameters &camera)
vpColVector error
The error vector.
vpMbHiddenFaces< vpMbtPolygon > * hiddenface
Pointer to the list of faces.
vpPoint * p1
The center of the circle.
double getMeanWeight() const
unsigned int nbFeature
The number of moving edges.
vpMatrix L
The interaction matrix.
void getCameraParameters(vpCameraParameters &camera)
void setIndex(unsigned int i)
std::string getName() const
vpCircle * circle
The circle to track.
vpPoint * p2
A point on the plane containing the circle.
void setMeanWeight(double _wmean)
bool isvisible
Indicates if the circle is visible or not.
bool Reinit
Indicates if the circle has to be reinitialized.
double radius
The radius of the circle.
int index_polygon
Index of the faces which contain the line.
vpPoint * p3
An other point on the plane containing the circle.
vpMbtMeEllipse * meEllipse
The moving edge containers.
void setName(const std::string &circle_name)
void setTracked(const bool &track)
Definition: vpMe.h:130
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition: vpPoint.h:79