Visual Servoing Platform  version 3.5.1 under development (2022-12-01)
vpMbtDistanceCylinder.h
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30  *
31  * Description:
32  * Manage a cylinder used in the model-based tracker.
33  *
34  * Authors:
35  * Nicolas Melchior
36  * Romain Tallonneau
37  * Eric Marchand
38  * Bertrand Delabarre
39  *
40  *****************************************************************************/
41 
47 #ifndef vpMbtDistanceCylinder_HH
48 #define vpMbtDistanceCylinder_HH
49 
50 #include <visp3/core/vpCircle.h>
51 #include <visp3/core/vpCylinder.h>
52 #include <visp3/core/vpHomogeneousMatrix.h>
53 #include <visp3/core/vpLine.h>
54 #include <visp3/core/vpPoint.h>
55 #include <visp3/mbt/vpMbHiddenFaces.h>
56 #include <visp3/mbt/vpMbtMeLine.h>
57 #include <visp3/visual_features/vpFeatureLine.h>
58 
66 class VISP_EXPORT vpMbtDistanceCylinder
67 {
68 private:
69  std::string name;
70  unsigned int index;
72  vpMe *me;
73  double wmean1;
74  double wmean2;
75  vpFeatureLine featureline1;
76  vpFeatureLine featureline2;
77  bool isTrackedCylinder;
78 
79 public:
81  vpMbtMeLine *meline1;
83  vpMbtMeLine *meline2;
84 
89 
91  double radius;
92 
97 
103  unsigned int nbFeature;
105  unsigned int nbFeaturel1;
107  unsigned int nbFeaturel2;
109  bool Reinit;
112 
118  bool isvisible;
119 
120  // private:
121  //#ifndef DOXYGEN_SHOULD_SKIP_THIS
122  // vpMbtDistanceCylinder(const vpMbtDistanceCylinder &)
123  // : name(), index(0), cam(), me(NULL), wmean1(1), wmean2(1),
124  // featureline1(), featureline2(), isTrackedCylinder(true),
125  // meline1(NULL), meline2(NULL), cercle1(NULL), cercle2(NULL),
126  // radius(0), p1(NULL), p2(NULL), L(), error(), nbFeature(0),
127  // nbFeaturel1(0), nbFeaturel2(0), Reinit(false), c(NULL),
128  // hiddenface(NULL), index_polygon(-1), isvisible(false)
129  // {
130  // throw vpException(vpException::functionNotImplementedError, "Not
131  // implemented!");
132  // }
133  // vpMbtDistanceCylinder &operator=(const vpMbtDistanceCylinder &){
134  // throw vpException(vpException::functionNotImplementedError, "Not
135  // implemented!"); return *this;
136  // }
137  //#endif
138 
139 public:
141  virtual ~vpMbtDistanceCylinder();
142 
143  void buildFrom(const vpPoint &_p1, const vpPoint &_p2, double r);
144 
145  void computeInteractionMatrixError(const vpHomogeneousMatrix &cMo, const vpImage<unsigned char> &I);
146 
147  void display(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
148  const vpColor &col, unsigned int thickness = 1, bool displayFullModel = false);
149  void display(const vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
150  const vpColor &col, unsigned int thickness = 1, bool displayFullModel = false);
151  void displayMovingEdges(const vpImage<unsigned char> &I);
152  void displayMovingEdges(const vpImage<vpRGBa> &I);
153 
159  inline void getCameraParameters(vpCameraParameters &camera) { camera = this->cam; }
160 
166  inline unsigned int getIndex() { return index; }
167 
175  inline double getMeanWeight1() const { return wmean1; }
176 
184  inline double getMeanWeight2() const { return wmean2; }
185 
186  std::vector<std::vector<double> > getFeaturesForDisplay();
187 
188  std::vector<std::vector<double> > getModelForDisplay(unsigned int width, unsigned int height,
189  const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
190  bool displayFullModel = false);
191 
197  inline std::string getName() const { return name; }
198 
199  void initInteractionMatrixError();
200 
201  bool initMovingEdge(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, bool doNotTrack,
202  const vpImage<bool> *mask = NULL);
203 
209  inline bool isTracked() const { return isTrackedCylinder; }
210 
216  inline bool isVisible() const { return isvisible; }
217 
218  void reinitMovingEdge(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo,
219  const vpImage<bool> *mask = NULL);
220 
225  inline void setCameraParameters(const vpCameraParameters &camera) { this->cam = camera; }
226 
232  inline void setTracked(const bool &track) { this->isTrackedCylinder = track; }
233 
239  inline void setIndex(unsigned int i) { index = i; }
240 
246  inline void setMeanWeight1(double wmean) { this->wmean1 = wmean; }
247 
253  inline void setMeanWeight2(double wmean) { this->wmean2 = wmean; }
254 
255  void setMovingEdge(vpMe *Me);
256 
262  inline void setName(const std::string &cyl_name) { this->name = cyl_name; }
263 
269  inline void setName(const char *cyl_name) { this->name = std::string(cyl_name); }
270 
277  inline void setVisible(bool _isvisible) { isvisible = _isvisible; }
278 
279  void trackMovingEdge(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo);
280 
281  void updateMovingEdge(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo);
282 
283 private:
284  void project(const vpHomogeneousMatrix &cMo);
285 };
286 
287 #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 a 3D cylinder in the object frame and allows forward projection of a 3D cylinder i...
Definition: vpCylinder.h:103
Class that defines a 2D line visual feature which is composed by two parameters that are and ,...
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 cylinder used in the model-based tracker.
void setMeanWeight1(double wmean)
void setCameraParameters(const vpCameraParameters &camera)
void setName(const std::string &cyl_name)
vpMbtMeLine * meline2
The moving edge containers (second line of the cylinder)
void setVisible(bool _isvisible)
void getCameraParameters(vpCameraParameters &camera)
vpCylinder * c
The cylinder.
vpMatrix L
The interaction matrix.
unsigned int nbFeaturel2
The number of moving edges on line 2.
bool Reinit
Indicates if the line has to be reinitialized.
vpPoint * p2
The second extremity on the axe.
vpCircle * cercle1
The upper circle limiting the cylinder.
vpMbHiddenFaces< vpMbtPolygon > * hiddenface
Pointer to the list of faces.
void setMeanWeight2(double wmean)
double radius
The radius of the cylinder.
unsigned int nbFeaturel1
The number of moving edges on line 1.
vpColVector error
The error vector.
void setTracked(const bool &track)
std::string getName() const
void setName(const char *cyl_name)
unsigned int nbFeature
The number of moving edges.
int index_polygon
Index of the face which contains the cylinder.
vpCircle * cercle2
The lower circle limiting the cylinder.
bool isvisible
Indicates if the cylinder is visible or not.
void setIndex(unsigned int i)
vpPoint * p1
The first extremity on the axe.
vpMbtMeLine * meline1
The moving edge containers (first line of the cylinder)
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