Visual Servoing Platform  version 3.2.0
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 
86  vpCircle *cercle1;
88  vpCircle *cercle2;
89 
91  double radius;
92 
94  vpPoint *p1;
96  vpPoint *p2;
97 
99  vpMatrix L;
101  vpColVector error;
103  unsigned int nbFeature;
105  unsigned int nbFeaturel1;
107  unsigned int nbFeaturel2;
109  bool Reinit;
111  vpCylinder *c;
112 
114  vpMbHiddenFaces<vpMbtPolygon> *hiddenface;
116  int index_polygon;
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, const 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, const unsigned int thickness = 1, const bool displayFullModel = false);
149  void display(const vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
150  const vpColor &col, const unsigned int thickness = 1, const bool displayFullModel = false);
151  void displayMovingEdges(const vpImage<unsigned char> &I);
152 
158  inline void getCameraParameters(vpCameraParameters &camera) { camera = this->cam; }
159 
165  inline unsigned int getIndex() { return index; }
166 
174  inline double getMeanWeight1() const { return wmean1; }
175 
183  inline double getMeanWeight2() const { return wmean2; }
184 
190  inline std::string getName() const { return name; }
191 
192  void initInteractionMatrixError();
193 
194  bool initMovingEdge(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const bool doNotTrack,
195  const vpImage<bool> *mask = NULL);
196 
202  inline bool isTracked() const { return isTrackedCylinder; }
203 
209  inline bool isVisible() const { return isvisible; }
210 
211  void reinitMovingEdge(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo,
212  const vpImage<bool> *mask = NULL);
213 
218  inline void setCameraParameters(const vpCameraParameters &camera) { this->cam = camera; }
219 
225  inline void setTracked(const bool &track) { this->isTrackedCylinder = track; }
226 
232  inline void setIndex(const unsigned int i) { index = i; }
233 
239  inline void setMeanWeight1(const double wmean) { this->wmean1 = wmean; }
240 
246  inline void setMeanWeight2(const double wmean) { this->wmean2 = wmean; }
247 
248  void setMovingEdge(vpMe *Me);
249 
255  inline void setName(const std::string &cyl_name) { this->name = cyl_name; }
256 
262  inline void setName(const char *cyl_name) { this->name = std::string(cyl_name); }
263 
270  inline void setVisible(bool _isvisible) { isvisible = _isvisible; }
271 
272  void trackMovingEdge(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo);
273 
274  void updateMovingEdge(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo);
275 
276 private:
277  void project(const vpHomogeneousMatrix &cMo);
278 };
279 
280 #endif
vpMbtDistanceCylinder
Manage a cylinder used in the model-based tracker.
Definition: vpMbtDistanceCylinder.h:65
vpCameraParameters
Generic class defining intrinsic camera parameters.
Definition: vpCameraParameters.h:232
vpMbHiddenFaces< vpMbtPolygon >
vpCircle
Class that defines what is a circle.
Definition: vpCircle.h:57
vpMe
Definition: vpMe.h:59
vpColVector
Implementation of column vector and the associated operations.
Definition: vpColVector.h:71
vpMatrix
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:103
vpCylinder
Class that defines what is a cylinder.
Definition: vpCylinder.h:95
vpFeatureLine
Class that defines a 2D line visual feature which is composed by two parameters that are and ,...
Definition: vpFeatureLine.h:194
vpImage< unsigned char >
vpPoint
Class that defines what is a point.
Definition: vpPoint.h:57
vpColor
Class to define colors available for display functionnalities.
Definition: vpColor.h:119
vpHomogeneousMatrix
Implementation of an homogeneous matrix and operations on such kind of matrices.
Definition: vpHomogeneousMatrix.h:91