MbtDistanceCylinder¶

class MbtDistanceCylinder(self)¶

Bases: pybind11_object

Manage a cylinder used in the model-based tracker.

Basic constructor

Methods

`__init__`	Basic constructor
`buildFrom`	Build a vpMbtDistanceCylinder thanks to two points corresponding to the extremities of its axis and its radius.
`computeInteractionMatrixError`	Compute the interaction matrix and the error vector corresponding to the cylinder.
`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 cylinder.
`getMeanWeight1`	Get the mean weight of the first line.
`getMeanWeight2`	Get the mean weight of the second line.
`getModelForDisplay`	Return a list of line parameters to display the primitive at a given pose and camera parameters.
`getName`	Get the name of the cylinder.
`initInteractionMatrixError`	Initialize the size of the interaction matrix and the error vector.
`isTracked`	Return if the cylinder is used for tracking.
`isVisible`	Check if the cylinder is visible in the image or not.
`setCameraParameters`	Set the camera parameters.
`setIndex`	Set the index of the cylinder.
`setMeanWeight1`	Set the mean weight of the first line.
`setMeanWeight2`	Set the mean weight of the second line.
`setName`	Overloaded function.
`setTracked`	Set if the cylinder has to considered during tracking phase.
`setVisible`	Set a boolean parameter to indicates if the cylinder 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`
`nbFeaturel1`
`nbFeaturel2`
`radius`

__init__(self)¶: Basic constructor

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

Build a vpMbtDistanceCylinder thanks to two points corresponding to the extremities of its axis and its radius.

Parameters:

_p1: visp._visp.core.Point¶: The first extremity on the axis.
_p2: visp._visp.core.Point¶: The second extremity on the axis.
r: float¶: Radius of the cylinder.

computeInteractionMatrixError(self, cMo: visp._visp.core.HomogeneousMatrix, I: visp._visp.core.ImageGray) → None¶: Compute the interaction matrix and the error vector corresponding to the cylinder.

display(*args, **kwargs)¶

Overloaded function.

display(self: visp._visp.mbt.MbtDistanceCylinder, 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 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.

display(self: visp._visp.mbt.MbtDistanceCylinder, 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.

displayMovingEdges(*args, **kwargs)¶

Overloaded function.

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

Enable to display the points along the lines 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.MbtDistanceCylinder, 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 cylinder.

Returns:: Return the index of the line.

getMeanWeight1(self) → float¶

Get the mean weight of the first line. 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 first line.

getMeanWeight2(self) → float¶

Get the mean weight of the second line. 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 second line.

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

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

Parameters are: <primitive id (here 0 for line)> , <pt_start.i()> , <pt_start.j()> , <pt_end.i()> , <pt_end.j()>

Parameters:

width: int¶: Image size (unused parameters).
height: int¶: Image size (unused 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 cylinder.

Returns:: Return the name of the cylinder

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

isTracked(self) → bool¶

Return if the cylinder is used for tracking.

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

isVisible(self) → bool¶

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

Returns:: Return true if the cylinder 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 cylinder.

Parameters:

i: int¶: The index number

setMeanWeight1(self, wmean: float) → None¶

Set the mean weight of the first line.

Parameters:

wmean: float¶: The mean weight of the first line.

setMeanWeight2(self, wmean: float) → None¶

Set the mean weight of the second line.

Parameters:

wmean: float¶: The mean weight of the second line.

setName(*args, **kwargs)¶

Overloaded function.

setName(self: visp._visp.mbt.MbtDistanceCylinder, cyl_name: str) -> None

Set the name of the cylinder.

Parameters:

cyl_name: The name of the cylinder.

setName(self: visp._visp.mbt.MbtDistanceCylinder, cyl_name: str) -> None

Set the name of the cylinder.

Parameters:

cyl_name: The name of the cylinder

setTracked(self, track: bool) → None¶

Set if the cylinder has to considered during tracking phase.

Parameters:

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

setVisible(self, _isvisible: bool) → None¶

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

Parameters:

_isvisible: bool¶: Set to true if the cylinder 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.

Parameters:

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