Visual Servoing Platform  version 3.3.0
vpMbtDistanceCylinder Class Reference

#include <vpMbtDistanceCylinder.h>

Public Member Functions

 vpMbtDistanceCylinder ()
 
virtual ~vpMbtDistanceCylinder ()
 
void buildFrom (const vpPoint &_p1, const vpPoint &_p2, double r)
 
void computeInteractionMatrixError (const vpHomogeneousMatrix &cMo, const vpImage< unsigned char > &I)
 
void display (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, unsigned int thickness=1, bool displayFullModel=false)
 
void display (const vpImage< vpRGBa > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, unsigned int thickness=1, bool displayFullModel=false)
 
void displayMovingEdges (const vpImage< unsigned char > &I)
 
void displayMovingEdges (const vpImage< vpRGBa > &I)
 
void getCameraParameters (vpCameraParameters &camera)
 
unsigned int getIndex ()
 
double getMeanWeight1 () const
 
double getMeanWeight2 () const
 
std::vector< std::vector< double > > getFeaturesForDisplay ()
 
std::vector< std::vector< double > > getModelForDisplay (unsigned int width, unsigned int height, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, bool displayFullModel=false)
 
std::string getName () const
 
void initInteractionMatrixError ()
 
bool initMovingEdge (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, bool doNotTrack, const vpImage< bool > *mask=NULL)
 
bool isTracked () const
 
bool isVisible () const
 
void reinitMovingEdge (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpImage< bool > *mask=NULL)
 
void setCameraParameters (const vpCameraParameters &camera)
 
void setTracked (const bool &track)
 
void setIndex (unsigned int i)
 
void setMeanWeight1 (double wmean)
 
void setMeanWeight2 (double wmean)
 
void setMovingEdge (vpMe *Me)
 
void setName (const std::string &cyl_name)
 
void setName (const char *cyl_name)
 
void setVisible (bool _isvisible)
 
void trackMovingEdge (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo)
 
void updateMovingEdge (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo)
 

Public Attributes

vpMbtMeLine * meline1
 
vpMbtMeLine * meline2
 
vpCirclecercle1
 
vpCirclecercle2
 
double radius
 
vpPointp1
 
vpPointp2
 
vpMatrix L
 
vpColVector error
 
unsigned int nbFeature
 
unsigned int nbFeaturel1
 
unsigned int nbFeaturel2
 
bool Reinit
 
vpCylinderc
 
vpMbHiddenFaces< vpMbtPolygon > * hiddenface
 
int index_polygon
 
bool isvisible
 

Detailed Description

Manage a cylinder used in the model-based tracker.

Definition at line 65 of file vpMbtDistanceCylinder.h.

Constructor & Destructor Documentation

◆ vpMbtDistanceCylinder()

vpMbtDistanceCylinder::vpMbtDistanceCylinder ( )

Basic constructor

Definition at line 63 of file vpMbtDistanceCylinder.cpp.

◆ ~vpMbtDistanceCylinder()

vpMbtDistanceCylinder::~vpMbtDistanceCylinder ( )
virtual

Basic destructor useful to deallocate the memory.

Definition at line 74 of file vpMbtDistanceCylinder.cpp.

Member Function Documentation

◆ buildFrom()

void vpMbtDistanceCylinder::buildFrom ( const vpPoint _p1,
const vpPoint _p2,
double  r 
)

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

Parameters
_p1: The first extremity on the axis.
_p2: The second extremity on the axis.
r: Radius of the cylinder.

Definition at line 118 of file vpMbtDistanceCylinder.cpp.

Referenced by vpMbTracker::addProjectionErrorCylinder().

◆ computeInteractionMatrixError()

void vpMbtDistanceCylinder::computeInteractionMatrixError ( const vpHomogeneousMatrix cMo,
const vpImage< unsigned char > &  I 
)

◆ display() [1/2]

void vpMbtDistanceCylinder::display ( const vpImage< unsigned char > &  I,
const vpHomogeneousMatrix cMo,
const vpCameraParameters camera,
const vpColor col,
unsigned int  thickness = 1,
bool  displayFullModel = false 
)

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.
camera: The camera parameters.
col: The desired color.
thickness: The thickness of the lines.
displayFullModel: When true, display the circle even if non visible.

Definition at line 515 of file vpMbtDistanceCylinder.cpp.

◆ display() [2/2]

void vpMbtDistanceCylinder::display ( const vpImage< vpRGBa > &  I,
const vpHomogeneousMatrix cMo,
const vpCameraParameters camera,
const vpColor col,
unsigned int  thickness = 1,
bool  displayFullModel = false 
)

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.
camera: The camera parameters.
col: The desired color.
thickness: The thickness of the lines.
displayFullModel: When true, display the circle even if non visible.

Definition at line 540 of file vpMbtDistanceCylinder.cpp.

◆ displayMovingEdges() [1/2]

void vpMbtDistanceCylinder::displayMovingEdges ( const vpImage< unsigned char > &  I)

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 (constrast 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.

Definition at line 714 of file vpMbtDistanceCylinder.cpp.

◆ displayMovingEdges() [2/2]

void vpMbtDistanceCylinder::displayMovingEdges ( const vpImage< vpRGBa > &  I)

Definition at line 724 of file vpMbtDistanceCylinder.cpp.

References meline1, and meline2.

◆ getCameraParameters()

void vpMbtDistanceCylinder::getCameraParameters ( vpCameraParameters camera)
inline

Get the camera paramters.

Parameters
camera: The vpCameraParameters used to store the camera parameters.

Definition at line 158 of file vpMbtDistanceCylinder.h.

◆ getFeaturesForDisplay()

std::vector< std::vector< double > > vpMbtDistanceCylinder::getFeaturesForDisplay ( )

Return a list of features parameters for display.

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

Definition at line 559 of file vpMbtDistanceCylinder.cpp.

Referenced by vpMbEdgeTracker::getFeaturesForDisplayEdge().

◆ getIndex()

unsigned int vpMbtDistanceCylinder::getIndex ( )
inline

Get the index of the cylinder.

Returns
Return the index of the line.

Definition at line 165 of file vpMbtDistanceCylinder.h.

◆ getMeanWeight1()

double vpMbtDistanceCylinder::getMeanWeight1 ( ) const
inline

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.

Definition at line 174 of file vpMbtDistanceCylinder.h.

◆ getMeanWeight2()

double vpMbtDistanceCylinder::getMeanWeight2 ( ) const
inline

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.

Definition at line 183 of file vpMbtDistanceCylinder.h.

◆ getModelForDisplay()

std::vector< std::vector< double > > vpMbtDistanceCylinder::getModelForDisplay ( unsigned int  width,
unsigned int  height,
const vpHomogeneousMatrix cMo,
const vpCameraParameters camera,
bool  displayFullModel = false 
)

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,heightImage size (unused parameters).
cMo: Pose used to project the 3D model into the image.
camera: The camera parameters.
displayFullModel: If true, the line is displayed even if it is not

Definition at line 614 of file vpMbtDistanceCylinder.cpp.

◆ getName()

std::string vpMbtDistanceCylinder::getName ( ) const
inline

Get the name of the cylinder.

Returns
Return the name of the cylinder

Definition at line 197 of file vpMbtDistanceCylinder.h.

◆ initInteractionMatrixError()

void vpMbtDistanceCylinder::initInteractionMatrixError ( )

Initialize the size of the interaction matrix and the error vector.

Definition at line 737 of file vpMbtDistanceCylinder.cpp.

Referenced by vpMbEdgeKltTracker::initMbtTracking(), and vpMbEdgeTracker::initMbtTracking().

◆ initMovingEdge()

bool vpMbtDistanceCylinder::initMovingEdge ( const vpImage< unsigned char > &  I,
const vpHomogeneousMatrix cMo,
bool  doNotTrack,
const vpImage< bool > *  mask = NULL 
)

Initialize the moving edge thanks to a given pose of the camera. The 3D model is projected into the image to create moving edges along the lines.

Parameters
I: The image.
cMo: The pose of the camera used to initialize the moving edges.
doNotTrack: If true, ME are not tracked.
maskMask image or NULL if not wanted. Mask values that are set to true are considered in the tracking. To disable a pixel, set false.
Returns
false if an error occur, true otherwise.

Definition at line 183 of file vpMbtDistanceCylinder.cpp.

Referenced by vpMbTracker::projectionErrorInitMovingEdge().

◆ isTracked()

bool vpMbtDistanceCylinder::isTracked ( ) const
inline

◆ isVisible()

bool vpMbtDistanceCylinder::isVisible ( ) const
inline

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

Returns
Return true if the cylinder is visible

Definition at line 216 of file vpMbtDistanceCylinder.h.

Referenced by vpMbTracker::computeProjectionErrorImpl(), and vpMbEdgeTracker::getFeaturesForDisplayEdge().

◆ reinitMovingEdge()

void vpMbtDistanceCylinder::reinitMovingEdge ( const vpImage< unsigned char > &  I,
const vpHomogeneousMatrix cMo,
const vpImage< bool > *  mask = NULL 
)

Reinitialize the cylinder if it is required.

A line is reinitialized if the 2D lines do not match enough with the projected 3D lines.

Parameters
I: the image.
cMo: The pose of the camera.
maskMask image or NULL if not wanted. Mask values that are set to true are considered in the tracking. To disable a pixel, set false.

Definition at line 488 of file vpMbtDistanceCylinder.cpp.

◆ setCameraParameters()

void vpMbtDistanceCylinder::setCameraParameters ( const vpCameraParameters camera)
inline

Set the camera paramters.

Parameters
camera: The camera parameters.

Definition at line 225 of file vpMbtDistanceCylinder.h.

Referenced by vpMbTracker::addProjectionErrorCylinder(), and vpMbTracker::computeProjectionErrorImpl().

◆ setIndex()

void vpMbtDistanceCylinder::setIndex ( unsigned int  i)
inline

Set the index of the cylinder.

Parameters
i: The index number

Definition at line 239 of file vpMbtDistanceCylinder.h.

Referenced by vpMbTracker::addProjectionErrorCylinder().

◆ setMeanWeight1()

void vpMbtDistanceCylinder::setMeanWeight1 ( double  wmean)
inline

Set the mean weight of the first line.

Parameters
wmean: The mean weight of the first line.

Definition at line 246 of file vpMbtDistanceCylinder.h.

Referenced by vpMbEdgeTracker::updateMovingEdgeWeights().

◆ setMeanWeight2()

void vpMbtDistanceCylinder::setMeanWeight2 ( double  wmean)
inline

Set the mean weight of the second line.

Parameters
wmean: The mean weight of the second line.

Definition at line 253 of file vpMbtDistanceCylinder.h.

Referenced by vpMbEdgeTracker::updateMovingEdgeWeights().

◆ setMovingEdge()

void vpMbtDistanceCylinder::setMovingEdge ( vpMe _me)

Set the moving edge parameters.

Parameters
_me: an instance of vpMe containing all the desired parameters

Definition at line 161 of file vpMbtDistanceCylinder.cpp.

Referenced by vpMbTracker::addProjectionErrorCylinder().

◆ setName() [1/2]

void vpMbtDistanceCylinder::setName ( const char *  cyl_name)
inline

Set the name of the cylinder.

Parameters
cyl_name: The name of the cylinder

Definition at line 269 of file vpMbtDistanceCylinder.h.

◆ setName() [2/2]

void vpMbtDistanceCylinder::setName ( const std::string &  cyl_name)
inline

Set the name of the cylinder.

Parameters
cyl_name: The name of the cylinder.

Definition at line 262 of file vpMbtDistanceCylinder.h.

Referenced by vpMbTracker::addProjectionErrorCylinder().

◆ setTracked()

void vpMbtDistanceCylinder::setTracked ( const bool &  track)
inline

Set if the cylinder has to considered during tracking phase.

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

Definition at line 232 of file vpMbtDistanceCylinder.h.

◆ setVisible()

void vpMbtDistanceCylinder::setVisible ( bool  _isvisible)
inline

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

Parameters
_isvisible: Set to true if the cylinder is visible

Definition at line 277 of file vpMbtDistanceCylinder.h.

Referenced by vpMbTracker::projectionErrorInitMovingEdge().

◆ trackMovingEdge()

void vpMbtDistanceCylinder::trackMovingEdge ( const vpImage< unsigned char > &  I,
const vpHomogeneousMatrix cMo 
)

Track the moving edges in the image.

Parameters
I: the image.
cMo: The pose of the camera.

Definition at line 322 of file vpMbtDistanceCylinder.cpp.

◆ updateMovingEdge()

void vpMbtDistanceCylinder::updateMovingEdge ( const vpImage< unsigned char > &  I,
const vpHomogeneousMatrix cMo 
)

Update the moving edges internal parameters.

Parameters
I: the image.
cMo: The pose of the camera.

Definition at line 353 of file vpMbtDistanceCylinder.cpp.

Member Data Documentation

◆ c

vpCylinder* vpMbtDistanceCylinder::c

The cylinder.

Definition at line 110 of file vpMbtDistanceCylinder.h.

◆ cercle1

vpCircle* vpMbtDistanceCylinder::cercle1

The upper circle limiting the cylinder.

Definition at line 85 of file vpMbtDistanceCylinder.h.

◆ cercle2

vpCircle* vpMbtDistanceCylinder::cercle2

The lower circle limiting the cylinder.

Definition at line 87 of file vpMbtDistanceCylinder.h.

◆ error

◆ hiddenface

vpMbHiddenFaces<vpMbtPolygon>* vpMbtDistanceCylinder::hiddenface

Pointer to the list of faces.

Definition at line 113 of file vpMbtDistanceCylinder.h.

Referenced by vpMbTracker::addProjectionErrorCylinder(), and vpMbTracker::projectionErrorInitMovingEdge().

◆ index_polygon

int vpMbtDistanceCylinder::index_polygon

Index of the face which contains the cylinder.

Definition at line 115 of file vpMbtDistanceCylinder.h.

Referenced by vpMbTracker::addProjectionErrorCylinder(), and vpMbTracker::projectionErrorInitMovingEdge().

◆ isvisible

bool vpMbtDistanceCylinder::isvisible

Indicates if the cylinder is visible or not.

Definition at line 117 of file vpMbtDistanceCylinder.h.

◆ L

◆ meline1

◆ meline2

◆ nbFeature

◆ nbFeaturel1

unsigned int vpMbtDistanceCylinder::nbFeaturel1

◆ nbFeaturel2

unsigned int vpMbtDistanceCylinder::nbFeaturel2

◆ p1

vpPoint* vpMbtDistanceCylinder::p1

The first extremity on the axe.

Definition at line 93 of file vpMbtDistanceCylinder.h.

Referenced by vpMbTracker::addProjectionErrorCylinder().

◆ p2

vpPoint* vpMbtDistanceCylinder::p2

The second extremity on the axe.

Definition at line 95 of file vpMbtDistanceCylinder.h.

Referenced by vpMbTracker::addProjectionErrorCylinder().

◆ radius

double vpMbtDistanceCylinder::radius

The radius of the cylinder.

Definition at line 90 of file vpMbtDistanceCylinder.h.

Referenced by vpMbTracker::addProjectionErrorCylinder().

◆ Reinit

bool vpMbtDistanceCylinder::Reinit

Indicates if the line has to be reinitialized.

Definition at line 108 of file vpMbtDistanceCylinder.h.

Referenced by vpMbEdgeTracker::updateMovingEdgeWeights().