MbtDistanceCircle¶

class MbtDistanceCircle(self)¶

Bases: pybind11_object

Manage a circle used in the model-based tracker.

Basic constructor

Methods

`__init__`	Basic constructor
`buildFrom`	Build a vpMbtDistanceCircle thanks to its center, 3 points (including the center) with coordinates expressed in the object frame and defining the plane that contain the circle and its radius.
`computeInteractionMatrixError`	Compute the interaction matrix and the error vector corresponding to the point to ellipse algebraic distance.
`display`	Overloaded function.
`displayMovingEdges`	Overloaded function.
`getCameraParameters`	Get the camera parameters.
`getFeaturesForDisplay`	Return a list of features parameters for display.
`getIndex`	Get the index of the circle.
`getMeanWeight`	Get the mean weight of the circle.
`getModelForDisplay`	Return a list of ellipse parameters to display the primitive at a given pose and camera parameters.
`getName`	Get the name of the circle.
`initInteractionMatrixError`	Initialize the size of the interaction matrix and the error vector.
`isTracked`	Return if the circle is used for tracking.
`isVisible`	Check if the circle is visible in the image or not.
`setCameraParameters`	Set the camera parameters.
`setIndex`	Set the index of the circle.
`setMeanWeight`	Set the mean weight of the circle.
`setName`	Overloaded function.
`setTracked`	Set if the circle has to considered during tracking phase.
`setVisible`	Set a boolean parameter to indicates if the circle is visible in the image or not.
`trackMovingEdge`	Track the moving edges in the image.
`updateMovingEdge`	Update the moving edges internal parameters.

Inherited Methods

Operators

`__doc__`
`__init__`	Basic constructor
`__module__`

Attributes

`L`
`Reinit`
`__annotations__`
`error`
`index_polygon`
`isvisible`
`nbFeature`
`radius`

__init__(self)¶: Basic constructor

buildFrom(self, _p1: visp._visp.core.Point, _p2: visp._visp.core.Point, _p3: visp._visp.core.Point, r: float) → None¶

Build a vpMbtDistanceCircle thanks to its center, 3 points (including the center) with coordinates expressed in the object frame and defining the plane that contain the circle and its radius.

Parameters:

_p1: visp._visp.core.Point¶: Center of the circle.
_p2: visp._visp.core.Point¶: Two points on the plane containing the circle. With the center of the circle we have 3 points defining the plane that contains the circle.
_p3: visp._visp.core.Point¶: Two points on the plane containing the circle. With the center of the circle we have 3 points defining the plane that contains the circle.
r: float¶: Radius of the circle.

computeInteractionMatrixError(self, cMo: visp._visp.core.HomogeneousMatrix) → None¶: Compute the interaction matrix and the error vector corresponding to the point to ellipse algebraic distance.

display(*args, **kwargs)¶

Overloaded function.

display(self: visp._visp.mbt.MbtDistanceCircle, I: visp._visp.core.ImageGray, cMo: visp._visp.core.HomogeneousMatrix, cam: visp._visp.core.CameraParameters, col: visp._visp.core.Color, thickness: int = 1, displayFullModel: bool = false) -> None

Display the circle. The 3D circle is projected into the image as an ellipse.

Parameters:

I: The image.
cMo: Pose used to project the 3D model into the image.
col: The desired color.
thickness: The thickness of the lines.
displayFullModel: When true, display the circle even if non visible. If false, display the circle only if visible.

display(self: visp._visp.mbt.MbtDistanceCircle, I: visp._visp.core.ImageRGBa, cMo: visp._visp.core.HomogeneousMatrix, cam: visp._visp.core.CameraParameters, col: visp._visp.core.Color, thickness: int = 1, displayFullModel: bool = false) -> None

Display the cylinder. The 3D cylinder is projected into the image.

Parameters:

I: The image.
cMo: Pose used to project the 3D model into the image.
col: The desired color.
thickness: The thickness of the lines.
displayFullModel: When true, display the circle even if non visible. If false, display the circle only if visible.

displayMovingEdges(*args, **kwargs)¶

Overloaded function.

displayMovingEdges(self: visp._visp.mbt.MbtDistanceCircle, I: visp._visp.core.ImageGray) -> None

Enable to display the points along the ellipse with a color corresponding to their state.

If green : The vpMeSite is a good point.
If blue : The point is removed because of the vpMeSite tracking phase (contrast problem).
If purple : The point is removed because of the vpMeSite tracking phase (threshold problem).
If blue : The point is removed because of the robust method in the virtual visual servoing.

Parameters:

I: The image.

displayMovingEdges(self: visp._visp.mbt.MbtDistanceCircle, I: visp._visp.core.ImageRGBa) -> None

getCameraParameters(self, camera: visp._visp.core.CameraParameters) → None¶

Get the camera parameters.

Parameters:

camera: visp._visp.core.CameraParameters¶: The vpCameraParameters used to store the camera parameters.

getFeaturesForDisplay(self) → list[list[float]]¶

Return a list of features parameters for display.

Parameters are: <feature id (here 0 for ME)> , <pt.i()> , <pt.j()> , <state>

getIndex(self) → int¶

Get the index of the circle.

Returns:: Return the index of the line.

getMeanWeight(self) → float¶

Get the mean weight of the circle. The mean weight is computed thanks to the weight of each moving edge. Those weights are computed by the robust estimation method used during the virtual visual servoing.

Returns:: The mean weight of the circle.

getModelForDisplay(self, cMo: visp._visp.core.HomogeneousMatrix, cam: visp._visp.core.CameraParameters, displayFullModel: bool = false) → list[float]¶

Return a list of ellipse parameters to display the primitive at a given pose and camera parameters.

Parameters are: <primitive id (here 1 for ellipse)> , <pt_center.i()> , <pt_center.j()> , <n20> , <n11> , <n02> which are respectively the ellipse centroid coordinates and second order centered moments of the ellipse normalized by its area (i.e., such that \(n_{ij} = \mu_{ij}/a\) where \(\mu_{ij}\) are the centered moments and a the area).

Parameters:

cMo: visp._visp.core.HomogeneousMatrix¶: Pose used to project the 3D model into the image.
displayFullModel: bool = false¶: If true, the line is displayed even if it is not

getName(self) → str¶

Get the name of the circle.

Returns:: Return the name of the circle.

initInteractionMatrixError(self) → None¶: Initialize the size of the interaction matrix and the error vector.

isTracked(self) → bool¶

Return if the circle is used for tracking.

Returns:: True if it is used, False otherwise.

isVisible(self) → bool¶

Check if the circle is visible in the image or not.

Returns:: Return true if the circle is visible

setCameraParameters(self, camera: visp._visp.core.CameraParameters) → None¶

Set the camera parameters.

Parameters:

camera: visp._visp.core.CameraParameters¶: The camera parameters.

setIndex(self, i: int) → None¶

Set the index of the circle.

Parameters:

i: int¶: The index number

setMeanWeight(self, _wmean: float) → None¶

Set the mean weight of the circle.

Parameters:

_wmean: float¶: The mean weight of the circle.

setName(*args, **kwargs)¶

Overloaded function.

setName(self: visp._visp.mbt.MbtDistanceCircle, circle_name: str) -> None

Set the name of the circle.

Parameters:

circle_name: The name of the circle.

setName(self: visp._visp.mbt.MbtDistanceCircle, circle_name: str) -> None

Set the name of the circle.

Parameters:

circle_name: The name of the circle.

setTracked(self, track: bool) → None¶

Set if the circle has to considered during tracking phase.

Parameters:

track: bool¶: True if the circle has to be tracked, False otherwise.

setVisible(self, _isvisible: bool) → None¶

Set a boolean parameter to indicates if the circle is visible in the image or not.

Parameters:

_isvisible: bool¶: Set to true if the circle is visible

trackMovingEdge(self, I: visp._visp.core.ImageGray, cMo: visp._visp.core.HomogeneousMatrix) → None¶

Track the moving edges in the image.

Parameters:

I: visp._visp.core.ImageGray¶: the image.
cMo: visp._visp.core.HomogeneousMatrix¶: The pose of the camera.

updateMovingEdge(self, I: visp._visp.core.ImageGray, cMo: visp._visp.core.HomogeneousMatrix) → None¶

Update the moving edges internal parameters.

Warning

: Not implemented.

Parameters:

I: visp._visp.core.ImageGray¶: the image.
cMo: visp._visp.core.HomogeneousMatrix¶: The pose of the camera.