MbtDistanceLine¶

class MbtDistanceLine(self)¶

Bases: pybind11_object

Manage the line of a polygon used in the model-based tracker.

Basic constructor

Methods

`__init__`	Basic constructor
`addPolygon`	Add a polygon to the list of polygons the line belongs to.
`buildFrom`	Build a vpMbtDistanceLine thanks to two points corresponding to the extremities.
`closeToImageBorder`	Test wether the line is close to the border of the image (at a given threshold)
`computeInteractionMatrixError`	Compute the interaction matrix and the error vector corresponding to the line.
`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 line.
`getMeanWeight`	Get the mean weight of the 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 line.
`getPolygon`	Get the polygon associated to the line.
`initInteractionMatrixError`	Initialize the size of the interaction matrix and the error vector.
`isTracked`	Return if the line is used for tracking.
`isVisible`	Check if the line is visible in the image or not.
`setCameraParameters`	Set the camera parameters.
`setIndex`	Set the index of the line.
`setMeanWeight`	Set the mean weight of the line.
`setName`	Overloaded function.
`setTracked`	Set if the line has to considered during tracking phase.
`setVisible`	Set a boolean parameter to indicates if the line is visible in the image or not.
`trackMovingEdge`	Track the moving edges in the image.
`updateMovingEdge`	Update the moving edges internal parameters.
`updateTracked`	Update the boolean specifying if the line has to be tracked.

Inherited Methods

Operators

`__doc__`
`__init__`	Basic constructor
`__module__`

Attributes

`L`
`Lindex_polygon`
`Lindex_polygon_tracked`
`Reinit`
`__annotations__`
`eline`
`error`
`isvisible`
`nbFeature`
`nbFeatureTotal`
`useScanLine`

__init__(self)¶: Basic constructor

addPolygon(self, index: int) → None¶: Add a polygon to the list of polygons the line belongs to.

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

Build a vpMbtDistanceLine thanks to two points corresponding to the extremities.

Parameters:

_p1: visp._visp.core.Point¶: The first extremity.
_p2: visp._visp.core.Point¶: The second extremity.
rand_gen: visp._visp.core.UniRand¶: Random number generator.

closeToImageBorder(self, I: visp._visp.core.ImageGray, threshold: int) → bool¶

Test wether the line is close to the border of the image (at a given threshold)

Parameters:

I: visp._visp.core.ImageGray¶: the input image (to know its size)
threshold: int¶: the threshold in pixel

Returns:

true if the line is near the border of the image

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

display(*args, **kwargs)¶

Overloaded function.

display(self: visp._visp.mbt.MbtDistanceLine, 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 line. The 3D line 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 line.
displayFullModel: If true, the line is displayed even if it is not visible.

display(self: visp._visp.mbt.MbtDistanceLine, 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 line. The 3D line 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 line.
displayFullModel: If true, the line is displayed even if it is not visible.

displayMovingEdges(*args, **kwargs)¶

Overloaded function.

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

Enable to display the points along the line 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.MbtDistanceLine, 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 line.

Returns:: Return the index of the line.

getMeanWeight(self) → float¶

Get the mean weight of the 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 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 width.
height: int¶: Image height.
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 line.

Returns:: Return the name of the line

getPolygon(self) → visp._visp.mbt.MbtPolygon¶

Get the polygon associated to the line.

Returns:: poly.

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

isTracked(self) → bool¶

Return if the line is used for tracking.

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

isVisible(self) → bool¶

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

Returns:: Return true if the line 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 line.

Parameters:

i: int¶: The index number

setMeanWeight(self, w_mean: float) → None¶

Set the mean weight of the line.

Parameters:

w_mean: float¶: The mean weight of the line.

setName(*args, **kwargs)¶

Overloaded function.

setName(self: visp._visp.mbt.MbtDistanceLine, line_name: str) -> None

Set the name of the line.

Parameters:

line_name: The name of the line.

setName(self: visp._visp.mbt.MbtDistanceLine, line_name: str) -> None

Set the name of the line.

Parameters:

line_name: The name of the line.

setTracked(self, name: str, track: bool) → None¶

Set if the line has to considered during tracking phase. The line will not be taken into account if all its polygons are disabled.

Parameters:

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

setVisible(self, _isvisible: bool) → None¶

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

Parameters:

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

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

Track the moving edges in the image.

Parameters:

I: visp._visp.core.ImageGray¶: the image.

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.

updateTracked(self) → None¶: Update the boolean specifying if the line has to be tracked. It takes into account deactivated polygons and the visibility of other polygons.