vpMbtDistanceLine.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 the line of a polygon used in the model-based tracker.
 *
 * Authors:
 * Romain Tallonneau
 */

 
#ifndef vpMbtDistanceLine_HH
#define vpMbtDistanceLine_HH
 
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpLine.h>
#include <visp3/core/vpPoint.h>
#include <visp3/core/vpUniRand.h>
#include <visp3/mbt/vpMbHiddenFaces.h>
#include <visp3/mbt/vpMbtMeLine.h>
#include <visp3/visual_features/vpFeatureLine.h>
 
#include <list>
 
BEGIN_VISP_NAMESPACE
class VISP_EXPORT vpMbtDistanceLine
{
private:
  std::string name;
  unsigned int index;
  vpCameraParameters cam;
  vpMe *me;
  bool isTrackedLine;
  bool isTrackedLineWithVisibility;
  double wmean;
  vpFeatureLine featureline;
  vpMbtPolygon poly;
 
public:
  bool useScanLine;
  // vpMbtMeLine *meline;
  std::vector<vpMbtMeLine *> meline;
  vpLine *line;
  vpPoint *p1;
  vpPoint *p2;
  vpMatrix L;
  vpColVector error;
  // unsigned int nbFeature;
  std::vector<unsigned int> nbFeature;
  unsigned int nbFeatureTotal;
  bool Reinit;
  vpMbHiddenFaces<vpMbtPolygon> *hiddenface;
  std::list<int> Lindex_polygon;
  std::vector<bool> Lindex_polygon_tracked;
  bool isvisible;
 
  // private:
  //#ifndef DOXYGEN_SHOULD_SKIP_THIS
  //    vpMbtDistanceLine(const vpMbtDistanceLine &)
  //      : name(), index(0), cam(), me(nullptr), isTrackedLine(true),
  //      isTrackedLineWithVisibility(true),
  //        wmean(1), featureline(), poly(), useScanLine(false), meline(),
  //        line(nullptr), p1(nullptr), p2(nullptr), L(), error(), nbFeature(),
  //        nbFeatureTotal(0), Reinit(false), hiddenface(nullptr),
  //        Lindex_polygon(), Lindex_polygon_tracked(), isvisible(false)
  //    {
  //      throw vpException(vpException::functionNotImplementedError, "Not
  //      implemented!");
  //    }
  //    vpMbtDistanceLine &operator=(const vpMbtDistanceLine &){
  //      throw vpException(vpException::functionNotImplementedError, "Not
  //      implemented!"); return *this;
  //    }
  //#endif
 
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
  vpMbtDistanceLine(const vpMbtDistanceLine &) = delete; // non construction-copyable
  vpMbtDistanceLine &operator=(const vpMbtDistanceLine &) = delete; // non copyable
#endif
 
public:
  vpMbtDistanceLine();
  virtual ~vpMbtDistanceLine();
 
  void addPolygon(const int &index);
 
  void buildFrom(vpPoint &_p1, vpPoint &_p2, vpUniRand &rand_gen);
 
  bool closeToImageBorder(const vpImage<unsigned char> &I, const unsigned int threshold);
  void computeInteractionMatrixError(const vpHomogeneousMatrix &cMo);
 
  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) const { camera = this->cam; }

  inline unsigned int getIndex() const { return index; }

  inline double getMeanWeight() const { return wmean; }
 
  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; }

  inline vpMbtPolygon &getPolygon() { return poly; }
 
  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 isTrackedLineWithVisibility; }

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

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

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

  inline void setName(const char *line_name) { this->name = std::string(line_name); }
 
  void setTracked(const std::string &name, const bool &track);

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