Visual Servoing Platform  version 3.5.1 under development (2022-12-01)
vpMbtDistanceCircle.h
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30  *
31  * Description:
32  * Manage a circle used in the model-based tracker.
33  *
34  * Authors:
35  * Fabien Spindler
36  *
37  *****************************************************************************/
38 
44 #ifndef vpMbtDistanceCircle_HH
45 #define vpMbtDistanceCircle_HH
46 
47 #include <visp3/core/vpCircle.h>
48 #include <visp3/core/vpHomogeneousMatrix.h>
49 #include <visp3/core/vpPoint.h>
50 #include <visp3/mbt/vpMbHiddenFaces.h>
51 #include <visp3/mbt/vpMbtMeEllipse.h>
52 #include <visp3/visual_features/vpFeatureEllipse.h>
53 
61 class VISP_EXPORT vpMbtDistanceCircle
62 {
63 private:
64  std::string name;
65  unsigned int index;
67  vpMe *me;
68  // double alpha;
69  double wmean;
70  vpFeatureEllipse featureEllipse;
72  // vpMbtPolygon poly;
73  bool isTrackedCircle;
74 
75 public:
77  vpMbtMeEllipse *meEllipse;
78 
81 
83  double radius;
84 
91 
97  unsigned int nbFeature;
99  bool Reinit;
105  bool isvisible;
106 
107  // private:
108  //#ifndef DOXYGEN_SHOULD_SKIP_THIS
109  // vpMbtDistanceCircle(const vpMbtDistanceCircle &)
110  // : name(), index(0), cam(), me(NULL), wmean(1),
111  // featureEllipse(), isTrackedCircle(true), meEllipse(NULL),
112  // circle(NULL), radius(0.), p1(NULL), p2(NULL), p3(NULL),
113  // L(), error(), nbFeature(0), Reinit(false),
114  // hiddenface(NULL), index_polygon(-1), isvisible(false)
115  // {
116  // throw vpException(vpException::functionNotImplementedError, "Not
117  // implemented!");
118  // }
119  // vpMbtDistanceCircle &operator=(const vpMbtDistanceCircle &){
120  // throw vpException(vpException::functionNotImplementedError, "Not
121  // implemented!"); return *this;
122  // }
123  //#endif
124 
125 public:
127  virtual ~vpMbtDistanceCircle();
128 
129  void buildFrom(const vpPoint &_p1, const vpPoint &_p2, const vpPoint &_p3, double r);
130 
131  void computeInteractionMatrixError(const vpHomogeneousMatrix &cMo);
132 
133  void display(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
134  const vpColor &col, unsigned int thickness = 1, bool displayFullModel = false);
135  void display(const vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
136  const vpColor &col, unsigned int thickness = 1, bool displayFullModel = false);
137  void displayMovingEdges(const vpImage<unsigned char> &I);
138  void displayMovingEdges(const vpImage<vpRGBa> &I);
139 
145  inline void getCameraParameters(vpCameraParameters &camera) { camera = this->cam; }
146 
152  inline unsigned int getIndex() { return index; }
153 
161  inline double getMeanWeight() const { return wmean; }
162 
163  std::vector<std::vector<double> > getFeaturesForDisplay();
164 
165  std::vector<double> getModelForDisplay(const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
166  bool displayFullModel = false);
167 
173  inline std::string getName() const { return name; }
174 
175  void initInteractionMatrixError();
176 
177  bool initMovingEdge(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, bool doNotTrack,
178  const vpImage<bool> *mask = NULL);
179 
185  inline bool isTracked() const { return isTrackedCircle; }
186 
192  inline bool isVisible() const { return isvisible; }
193 
194  void reinitMovingEdge(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo,
195  const vpImage<bool> *mask = NULL);
196 
201  inline void setCameraParameters(const vpCameraParameters &camera) { this->cam = camera; }
202 
208  inline void setTracked(const bool &track) { this->isTrackedCircle = track; }
209 
215  inline void setIndex(unsigned int i) { index = i; }
216 
222  inline void setMeanWeight(double _wmean) { this->wmean = _wmean; }
223 
224  void setMovingEdge(vpMe *Me);
225 
231  inline void setName(const std::string &circle_name) { this->name = circle_name; }
232 
238  inline void setName(const char *circle_name) { this->name = std::string(circle_name); }
239 
246  inline void setVisible(bool _isvisible) { isvisible = _isvisible; }
247 
248  void trackMovingEdge(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo);
249 
250  void updateMovingEdge(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo);
251 
252 private:
253  void project(const vpHomogeneousMatrix &cMo);
254 };
255 
256 #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:92
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
Class to define RGB colors available for display functionnalities.
Definition: vpColor.h:158
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:154
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:61
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition: vpPoint.h:82