vpMbtDistanceCylinder.h

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2025 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Manage a cylinder used in the model-based tracker.
 *
 * Authors:
 * Romain Tallonneau
 * Bertrand Delabarre
 */

 
#ifndef vpMbtDistanceCylinder_HH
#define vpMbtDistanceCylinder_HH
 
#include <visp3/core/vpCircle.h>
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpCylinder.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpLine.h>
#include <visp3/core/vpPoint.h>
#include <visp3/mbt/vpMbHiddenFaces.h>
#include <visp3/mbt/vpMbtMeLine.h>
#include <visp3/visual_features/vpFeatureLine.h>
 
BEGIN_VISP_NAMESPACE
class VISP_EXPORT vpMbtDistanceCylinder
{
private:
  std::string name;
  unsigned int index;
  vpCameraParameters cam;
  vpMe *me;
  double wmean1;
  double wmean2;
  vpFeatureLine featureline1;
  vpFeatureLine featureline2;
  bool isTrackedCylinder;
 
public:
  vpMbtMeLine *meline1;
  vpMbtMeLine *meline2;

  vpCircle *cercle1;
  vpCircle *cercle2;

  double radius;

  vpPoint *p1;
  vpPoint *p2;

  vpMatrix L;
  vpColVector error;
  unsigned int nbFeature;
  unsigned int nbFeaturel1;
  unsigned int nbFeaturel2;
  bool Reinit;
  vpCylinder *c;

  vpMbHiddenFaces<vpMbtPolygon> *hiddenface;
  int index_polygon;
  bool isvisible;
 
  // private:
  //#ifndef DOXYGEN_SHOULD_SKIP_THIS
  //    vpMbtDistanceCylinder(const vpMbtDistanceCylinder &)
  //      : name(), index(0), cam(), me(nullptr), wmean1(1), wmean2(1),
  //        featureline1(), featureline2(), isTrackedCylinder(true),
  //        meline1(nullptr), meline2(nullptr), cercle1(nullptr), cercle2(nullptr),
  //        radius(0), p1(nullptr), p2(nullptr), L(), error(), nbFeature(0),
  //        nbFeaturel1(0), nbFeaturel2(0), Reinit(false), c(nullptr),
  //        hiddenface(nullptr), index_polygon(-1), isvisible(false)
  //    {
  //      throw vpException(vpException::functionNotImplementedError, "Not
  //      implemented!");
  //    }
  //    vpMbtDistanceCylinder &operator=(const vpMbtDistanceCylinder &){
  //      throw vpException(vpException::functionNotImplementedError, "Not
  //      implemented!"); return *this;
  //    }
  //#endif
 
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
  vpMbtDistanceCylinder(const vpMbtDistanceCylinder &) = delete; // non construction-copyable
  vpMbtDistanceCylinder &operator=(const vpMbtDistanceCylinder &) = delete; // non copyable
#endif
 
public:
  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);

  inline void getCameraParameters(vpCameraParameters &camera) { camera = this->cam; }

  inline unsigned int getIndex() { return index; }

  inline double getMeanWeight1() const { return wmean1; }

  inline double getMeanWeight2() const { return wmean2; }
 
  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);

  inline std::string getName() const { return name; }
 
  void initInteractionMatrixError();
 
  bool initMovingEdge(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, bool doNotTrack,
                      const vpImage<bool> *mask = nullptr, const int &initRange = 0);

  inline bool isTracked() const { return isTrackedCylinder; }

  inline bool isVisible() const { return isvisible; }
 
  void reinitMovingEdge(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo,
                        const vpImage<bool> *mask = nullptr);

  inline void setCameraParameters(const vpCameraParameters &camera) { this->cam = camera; }

  inline void setTracked(const bool &track) { this->isTrackedCylinder = track; }

  inline void setIndex(unsigned int i) { index = i; }

  inline void setMeanWeight1(double wmean) { this->wmean1 = wmean; }

  inline void setMeanWeight2(double wmean) { this->wmean2 = wmean; }
 
  void setMovingEdge(vpMe *Me);

  inline void setName(const std::string &cyl_name) { this->name = cyl_name; }

  inline void setName(const char *cyl_name) { this->name = std::string(cyl_name); }

  inline void setVisible(bool _isvisible) { isvisible = _isvisible; }
 
  void trackMovingEdge(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo);
 
  void updateMovingEdge(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo);
 
private:
  void project(const vpHomogeneousMatrix &cMo);
};
END_VISP_NAMESPACE
#endif