ViSP  2.9.0

#include <vpMbtMeLine.h>

+ Inheritance diagram for vpMbtMeLine:

Public Member Functions

 vpMbtMeLine ()
 
 ~vpMbtMeLine ()
 
void display (const vpImage< unsigned char > &, vpColor)
 
void display (const vpImage< unsigned char > &I)
 
double get_a () const
 
double get_b () const
 
double get_c () const
 
void initTracking (const vpImage< unsigned char > &I, const vpImagePoint &ip1, const vpImagePoint &ip2, double rho, double theta)
 
void track (const vpImage< unsigned char > &I)
 
void updateParameters (const vpImage< unsigned char > &I, double rho, double theta)
 
void updateParameters (const vpImage< unsigned char > &I, vpImagePoint ip1, vpImagePoint ip2, double rho, double theta)
 
void init ()
 
void initTracking (const vpImage< unsigned char > &I)
 
unsigned int numberOfSignal ()
 
unsigned int totalNumberOfSignal ()
 
void display (const vpImage< unsigned char > &I, vpColVector &w, unsigned int &index_w)
 
void setDisplay (vpMeSite::vpMeSiteDisplayType select)
 
int outOfImage (int i, int j, int half, int rows, int cols)
 
int outOfImage (vpImagePoint iP, int half, int rows, int cols)
 
void setInitRange (const unsigned int &r)
 
unsigned int getInitRange ()
 
void setMe (vpMe *p_me)
 
vpMegetMe ()
 
void setMeList (const std::list< vpMeSite > &l)
 
std::list< vpMeSite > & getMeList ()
 
std::list< vpMeSitegetMeList () const
 
int getNbPoints () const
 

Public Attributes

int imin
 
int imax
 
int jmin
 
int jmax
 
double expecteddensity
 
std::list< vpMeSitelist
 
vpMeme
 
unsigned int init_range
 
int nGoodElement
 
int query_range
 
bool display_point
 
vpColVector p
 
vpColVector cP
 
bool cPAvailable
 

Protected Attributes

vpMeSite::vpMeSiteDisplayType selectDisplay
 

Detailed Description

Implementation of a line used by the model-based tracker.

Definition at line 62 of file vpMbtMeLine.h.

Constructor & Destructor Documentation

vpMbtMeLine::vpMbtMeLine ( )
vpMbtMeLine::~vpMbtMeLine ( )

Member Function Documentation

void vpMbtMeLine::display ( const vpImage< unsigned char > &  ,
vpColor   
)
inlinevirtual
void vpMbtMeLine::display ( const vpImage< unsigned char > &  I)
inlinevirtual

Display the moving edge sites 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 red : The point is removed because of the robust method in the virtual visual servoing (M-Estimator problem).
  • If cyan : The point is removed because it's too close to another.
  • Yellow otherwise
Parameters
I: The image.

Reimplemented from vpMeTracker.

Definition at line 81 of file vpMbtMeLine.h.

References vpMeTracker::display().

void vpMeTracker::display ( const vpImage< unsigned char > &  I,
vpColVector w,
unsigned int &  index_w 
)
inherited

Displays the status of moving edge sites

Parameters
I: The image.
w: vector
index_w: index

Definition at line 347 of file vpMeTracker.cpp.

References vpMeTracker::display(), vpMeSite::getState(), vpMeTracker::list, vpMeSite::NO_SUPPRESSION, and vpMeSite::weight.

double vpMbtMeLine::get_a ( ) const
inline

Get the a coefficient of the line corresponding to $ i \; cos(\theta) + j \; sin(\theta) - \rho = 0 $

Returns
: The a coefficient of the moving edge

Definition at line 88 of file vpMbtMeLine.h.

double vpMbtMeLine::get_b ( ) const
inline

Get the a coefficient of the line corresponding to $ i \; cos(\theta) + j \; sin(\theta) - \rho = 0 $

Returns
: The b coefficient of the moving edge

Definition at line 95 of file vpMbtMeLine.h.

double vpMbtMeLine::get_c ( ) const
inline

Get the a coefficient of the line corresponding to $ i \; cos(\theta) + j \; sin(\theta) - \rho = 0 $

Returns
: The c coefficient of the moving edge

Definition at line 102 of file vpMbtMeLine.h.

unsigned int vpMeTracker::getInitRange ( )
inlineinherited

Return the initial range.

Returns
Value of init_range.

Definition at line 133 of file vpMeTracker.h.

vpMe* vpMeTracker::getMe ( )
inlineinherited

Return the moving edges initialisation parameters

Returns
Moving Edges.
Examples:
trackMeCircle.cpp, and trackMeEllipse.cpp.

Definition at line 147 of file vpMeTracker.h.

std::list<vpMeSite> vpMeTracker::getMeList ( ) const
inlineinherited

Definition at line 162 of file vpMeTracker.h.

int vpMeTracker::getNbPoints ( ) const
inlineinherited

Return the number of points that has not been suppressed.

Returns
Number of good points.

Definition at line 169 of file vpMeTracker.h.

void vpMeTracker::init ( void  )
inherited
void vpMbtMeLine::initTracking ( const vpImage< unsigned char > &  I,
const vpImagePoint ip1,
const vpImagePoint ip2,
double  rho,
double  theta 
)
unsigned int vpMeTracker::numberOfSignal ( )
inherited
int vpMeTracker::outOfImage ( int  i,
int  j,
int  half,
int  rows,
int  cols 
)
inherited
int vpMeTracker::outOfImage ( vpImagePoint  iP,
int  half,
int  rows,
int  cols 
)
inherited

Definition at line 144 of file vpMeTracker.cpp.

References vpImagePoint::get_i(), vpImagePoint::get_j(), and vpMath::round().

void vpMeTracker::setInitRange ( const unsigned int &  r)
inlineinherited

Set the initial range.

Parameters
r: initial range.

Definition at line 126 of file vpMeTracker.h.

Referenced by vpMbtDistanceLine::initMovingEdge(), and vpMbtDistanceCylinder::initMovingEdge().

void vpMeTracker::setMeList ( const std::list< vpMeSite > &  l)
inlineinherited

Set the list of moving edges

Parameters
l: list of Moving Edges.

Definition at line 154 of file vpMeTracker.h.

unsigned int vpMeTracker::totalNumberOfSignal ( )
inherited

Definition at line 128 of file vpMeTracker.cpp.

References vpMeTracker::list.

void vpMbtMeLine::track ( const vpImage< unsigned char > &  I)
void vpMbtMeLine::updateParameters ( const vpImage< unsigned char > &  I,
double  rho,
double  theta 
)
void vpMbtMeLine::updateParameters ( const vpImage< unsigned char > &  I,
vpImagePoint  ip1,
vpImagePoint  ip2,
double  rho,
double  theta 
)

Member Data Documentation

bool vpTracker::cPAvailable
inherited

Flag used to indicate if the feature parameters cP expressed in the camera frame are available.

Definition at line 88 of file vpTracker.h.

Referenced by vpTracker::init(), vpTracker::operator=(), and vpPoint::operator=().

bool vpMeTracker::display_point
inherited

Definition at line 174 of file vpMeTracker.h.

Referenced by vpMeTracker::vpMeTracker().

double vpMbtMeLine::expecteddensity

Definition at line 74 of file vpMbtMeLine.h.

Referenced by vpMbEdgeTracker::testTracking().

unsigned int vpMeTracker::init_range
inherited

Definition at line 83 of file vpMeTracker.h.

Referenced by vpMeTracker::initTracking(), and vpMeTracker::vpMeTracker().

vpMe* vpMeTracker::me
inherited
int vpMeTracker::nGoodElement
inherited
int vpMeTracker::query_range
inherited

Definition at line 173 of file vpMeTracker.h.

Referenced by vpMeTracker::vpMeTracker().