#include <vpMe.h>

Public Member Functions
	vpMe ()

	vpMe (const vpMe &me)

virtual	~vpMe ()

const vpMe &	operator= (const vpMe &me)

void	initMask ()

void	checkSamplestep (double &a)

void	print ()

vpMatrix *	getMask () const

void	setMaskNumber (const unsigned int &a)

unsigned int	getMaskNumber () const

void	setMaskSign (const int &a)

int	getMaskSign () const

void	setMaskSize (const unsigned int &a)

unsigned int	getMaskSize () const

void	setMu1 (const double &mu_1)

double	getMu1 () const

void	setMu2 (const double &mu_2)

double	getMu2 () const

void	setNbTotalSample (const int &nb)

int	getNbTotalSample () const

void	setPointsToTrack (const int &n)

int	getPointsToTrack () const

void	setRange (const unsigned int &r)

unsigned int	getRange () const

void	setAngleStep (const unsigned int &a)

unsigned int	getAngleStep () const

void	setMinSampleStep (const double &min)

double	getMinSampleStep () const

void	setSampleStep (const double &s)

double	getSampleStep () const

void	setStrip (const int &a)

int	getStrip () const

void	setThreshold (const double &t)

double	getThreshold () const

Deprecated Functions
vp_deprecated void	setAberration (const double &a)

vp_deprecated void	setInitAberration (const double &a)

vp_deprecated void	setMinSamplestep (const double &min)

Public Attributes
double	threshold

double	mu1

double	mu2

double	min_samplestep

unsigned int	anglestep

int	mask_sign

unsigned int	range

double	sample_step

int	ntotal_sample

int	points_to_track

unsigned int	mask_size

unsigned int	n_mask

int	strip

vpMatrix *	mask

Deprecated Attributes
double	aberration

double	init_aberration

Detailed Description

Contains predetermined masks for sites and holds moving edges tracking parameters.

Examples:: mbtEdgeKltTracking.cpp, mbtEdgeTracking.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6Cylinder2DCamVelocity.cpp, servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp, servoAfma6Line2DCamVelocity.cpp, servoAfma6SquareLines2DCamVelocity.cpp, servoAfma6TwoLines2DCamVelocity.cpp, trackMeCircle.cpp, trackMeEllipse.cpp, trackMeLine.cpp, trackMeNurbs.cpp, tutorial-detection-object-mbt.cpp, tutorial-mb-edge-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, tutorial-me-ellipse-tracker.cpp, and tutorial-me-line-tracker.cpp.

Definition at line 70 of file vpMe.h.

Constructor & Destructor Documentation

vpMe::vpMe ( )

Array of matrices defining the different masks (one for every angle step).

Definition at line 413 of file vpMe.cpp.

References anglestep, initMask(), and n_mask.

vpMe::vpMe ( const vpMe & me )

Definition at line 428 of file vpMe.cpp.

vpMe::~vpMe ( )

virtual

Definition at line 469 of file vpMe.cpp.

References mask.

Member Function Documentation

void vpMe::checkSamplestep ( double & a )

inline

Definition at line 108 of file vpMe.h.

unsigned int vpMe::getAngleStep ( ) const

inline

Return the angle step.

Returns: Value of anglestep.

Definition at line 250 of file vpMe.h.

Referenced by vpMeSite::convolution().

vpMatrix* vpMe::getMask ( ) const

inline

Get the matrix of the mask.

Returns: the value of mask.

Definition at line 116 of file vpMe.h.

Referenced by vpMeSite::convolution().

unsigned int vpMe::getMaskNumber ( ) const

inline

Return the number of mask applied to determine the object contour. The number of mask determines the precision of the normal of the edge for every sample. If precision is 2deg, then there are 360/2 = 180 masks.

Returns: the current number of mask.

Definition at line 134 of file vpMe.h.

Referenced by vpMbtXmlParser::read_ecm(), vpMbtXmlParser::read_mask(), vpMbtEdgeKltXmlParser::readMainClass(), and vpMbtXmlParser::readMainClass().

int vpMe::getMaskSign ( ) const

inline

Return the mask sign.

Returns: Value of mask_sign.

Definition at line 148 of file vpMe.h.

unsigned int vpMe::getMaskSize ( ) const

inline

Return the actual mask size (in pixel) used to compute the image gradient and determine the object contour. The mask size defines the size of the convolution mask used to detect an edge.

Returns: the current mask size.

Definition at line 164 of file vpMe.h.

Referenced by vpMeSite::convolution(), vpMbtXmlParser::read_ecm(), vpMbtXmlParser::read_mask(), vpMbtEdgeKltXmlParser::readMainClass(), and vpMbtXmlParser::readMainClass().

double vpMe::getMinSampleStep ( ) const

inline

Get the minimum allowed sample step. Useful to specify a lower bound when the sample step is changed.

Returns: Value of min_samplestep.

Definition at line 264 of file vpMe.h.

double vpMe::getMu1 ( ) const

inline

Get the minimum image contrast allowed to detect a contour.

Returns: Value of mu1.

Definition at line 178 of file vpMe.h.

Referenced by vpMbtXmlParser::read_contrast(), vpMbtXmlParser::read_ecm(), vpMbtEdgeKltXmlParser::readMainClass(), vpMbtXmlParser::readMainClass(), and vpMeSite::track().

double vpMe::getMu2 ( ) const

inline

Get the maximum image contrast allowed to detect a contour.

Returns: Value of mu2.

Definition at line 192 of file vpMe.h.

Referenced by vpMbtXmlParser::read_contrast(), vpMbtXmlParser::read_ecm(), vpMbtEdgeKltXmlParser::readMainClass(), vpMbtXmlParser::readMainClass(), and vpMeSite::track().

int vpMe::getNbTotalSample ( ) const

inline

Get how many discretizied points are used to track the feature.

Returns: Value of ntotal_sample.

Definition at line 206 of file vpMe.h.

Referenced by vpMbtXmlParser::read_sample(), vpMbtEdgeKltXmlParser::readMainClass(), and vpMbtXmlParser::readMainClass().

int vpMe::getPointsToTrack ( ) const

inline

Return the number of points to track.

Returns: Value of points_to_track.

Definition at line 222 of file vpMe.h.

Referenced by vpMeNurbs::localReSample(), and vpMeNurbs::sample().

unsigned int vpMe::getRange ( ) const

inline

Return the seek range on both sides of the reference pixel.

Returns: Value of range.

Definition at line 236 of file vpMe.h.

Referenced by vpMbtDistanceCircle::initMovingEdge(), vpMeTracker::initTracking(), vpMeNurbs::localReSample(), vpMbtXmlParser::read_ecm(), vpMbtXmlParser::read_range(), vpMbtEdgeKltXmlParser::readMainClass(), vpMbtXmlParser::readMainClass(), vpMeNurbs::seekExtremities(), vpMeLine::seekExtremities(), vpMeNurbs::seekExtremitiesCanny(), and vpMeSite::track().

double vpMe::getSampleStep ( ) const

inline

Get the minimum distance in pixel between two discretized points.

Returns: Value of sample_step.

Examples:: trackMeCircle.cpp, and trackMeEllipse.cpp.

Definition at line 278 of file vpMe.h.

Referenced by vpMeEllipse::initTracking(), vpMeNurbs::localReSample(), vpMbtXmlParser::read_sample(), vpMbtEdgeKltXmlParser::readMainClass(), vpMbtXmlParser::readMainClass(), vpMeLine::reSample(), vpMeNurbs::reSample(), vpMeLine::sample(), vpMeNurbs::sample(), vpMeLine::seekExtremities(), vpMeNurbs::seekExtremities(), vpMeNurbs::seekExtremitiesCanny(), and vpMeNurbs::supressNearPoints().

int vpMe::getStrip ( ) const

inline

Get the number of pixels that are ignored around the image borders.

Returns: the value of strip.

Definition at line 292 of file vpMe.h.

Referenced by vpMeSite::convolution().

double vpMe::getThreshold ( ) const

inline

Return the likelihood threshold used to determined if the moving edge is valid or not.

Returns: Value of threshold.

Definition at line 306 of file vpMe.h.

Referenced by vpMbtXmlParser::read_contrast(), vpMbtXmlParser::read_ecm(), vpMbtEdgeKltXmlParser::readMainClass(), vpMbtXmlParser::readMainClass(), and vpMeSite::track().

void vpMe::initMask ( )

Initialise the array of matrices with the defined size and the number of matrices to create.

Definition at line 368 of file vpMe.cpp.

References mask, mask_size, and n_mask.

Referenced by operator=(), setMaskNumber(), setMaskSize(), and vpMe().

const vpMe & vpMe::operator= ( const vpMe & me )

Definition at line 440 of file vpMe.cpp.

References aberration, anglestep, init_aberration, initMask(), mask, mask_sign, mask_size, min_samplestep, mu1, mu2, n_mask, ntotal_sample, points_to_track, range, sample_step, strip, and threshold.

void vpMe::print ( )

Definition at line 392 of file vpMe.cpp.

References aberration, init_aberration, mask_size, min_samplestep, mu1, mu2, n_mask, range, sample_step, strip, and threshold.

vp_deprecated void vpMe::setAberration ( const double & a )

inline

Deprecated:: since it wasn't used.

Set aberration value.

Parameters

a	: new value.

Definition at line 326 of file vpMe.h.

void vpMe::setAngleStep ( const unsigned int & a )

inline

Set the angle step.

Parameters

a	: new angle step.

Definition at line 243 of file vpMe.h.

vp_deprecated void vpMe::setInitAberration ( const double & a )

inline

Deprecated:: since it wasn't used.

Set initial aberration value.

Parameters

a	: new value.

Definition at line 334 of file vpMe.h.

void vpMe::setMaskNumber ( const unsigned int & a )

Set the number of mask applied to determine the object contour. The number of mask determines the precision of the normal of the edge for every sample. If precision is 2deg, then there are 360/2 = 180 masks.

Parameters

a	: the number of mask.

Examples:: mbtEdgeKltTracking.cpp, mbtEdgeTracking.cpp, tutorial-detection-object-mbt.cpp, tutorial-mb-edge-tracker.cpp, and tutorial-mb-hybrid-tracker.cpp.

Definition at line 480 of file vpMe.cpp.

References anglestep, initMask(), and n_mask.

Referenced by vpMbtXmlParser::read_mask().

void vpMe::setMaskSign ( const int & a )

inline

Set the mask sign.

Parameters

a	: new mask sign.

Definition at line 141 of file vpMe.h.

void vpMe::setMaskSize ( const unsigned int & a )

Set the mask size (in pixel) used to compute the image gradient and determine the object contour. The mask size defines the size of the convolution mask used to detect an edge.

Parameters

a	: new mask size.

Examples:: mbtEdgeKltTracking.cpp, mbtEdgeTracking.cpp, tutorial-detection-object-mbt.cpp, tutorial-mb-edge-tracker.cpp, and tutorial-mb-hybrid-tracker.cpp.

Definition at line 488 of file vpMe.cpp.

References initMask(), and mask_size.

Referenced by vpMbtXmlParser::read_mask().

void vpMe::setMinSampleStep ( const double & min )

inline

Set the minimum allowed sample step. Useful to specify a lower bound when the sample step is changed.

Parameters

min	: new minimum sample step.

Definition at line 257 of file vpMe.h.

vp_deprecated void vpMe::setMinSamplestep ( const double & min )

inline

Deprecated:: Use setMinSampleStep() instead.

Definition at line 339 of file vpMe.h.

void vpMe::setMu1 ( const double & mu_1 )

inline

Set the minimum image contrast allowed to detect a contour.

Parameters

mu_1	: new mu1.

Examples:: mbtEdgeKltTracking.cpp, mbtEdgeTracking.cpp, tutorial-detection-object-mbt.cpp, tutorial-mb-edge-tracker.cpp, and tutorial-mb-hybrid-tracker.cpp.

Definition at line 171 of file vpMe.h.

Referenced by vpMbtXmlParser::read_contrast().

void vpMe::setMu2 ( const double & mu_2 )

inline

Set the maximum image contrast allowed to detect a contour.

Parameters

mu_2	: new mu2.

Examples:: mbtEdgeKltTracking.cpp, mbtEdgeTracking.cpp, tutorial-detection-object-mbt.cpp, tutorial-mb-edge-tracker.cpp, and tutorial-mb-hybrid-tracker.cpp.

Definition at line 185 of file vpMe.h.

Referenced by vpMbtXmlParser::read_contrast().

void vpMe::setNbTotalSample ( const int & nb )

inline

Set how many discretizied points are used to track the feature.

Parameters

nb	: new total number of sample.

Examples:: mbtEdgeKltTracking.cpp, mbtEdgeTracking.cpp, tutorial-detection-object-mbt.cpp, tutorial-mb-edge-tracker.cpp, and tutorial-mb-hybrid-tracker.cpp.

Definition at line 199 of file vpMe.h.

Referenced by vpMbtXmlParser::read_sample().

void vpMe::setPointsToTrack ( const int & n )

inline

Set the number of points to track.

Parameters

n	: new number of points to track.

Warning: This method is useful only for the vpMeNurbsTracker.

Examples:: servoAfma62DhalfCamVelocity.cpp, servoAfma6Cylinder2DCamVelocity.cpp, servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp, servoAfma6Line2DCamVelocity.cpp, servoAfma6SquareLines2DCamVelocity.cpp, servoAfma6TwoLines2DCamVelocity.cpp, trackMeCircle.cpp, trackMeEllipse.cpp, trackMeLine.cpp, and trackMeNurbs.cpp.

Definition at line 215 of file vpMe.h.

void vpMe::setRange ( const unsigned int & r )

inline

Set the seek range on both sides of the reference pixel.

Parameters

r	: new range.

Examples:: mbtEdgeKltTracking.cpp, mbtEdgeTracking.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6Cylinder2DCamVelocity.cpp, servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp, servoAfma6Line2DCamVelocity.cpp, servoAfma6SquareLines2DCamVelocity.cpp, servoAfma6TwoLines2DCamVelocity.cpp, trackMeCircle.cpp, trackMeEllipse.cpp, trackMeLine.cpp, trackMeNurbs.cpp, tutorial-detection-object-mbt.cpp, tutorial-mb-edge-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, tutorial-me-ellipse-tracker.cpp, and tutorial-me-line-tracker.cpp.

Definition at line 229 of file vpMe.h.

Referenced by vpMeTracker::initTracking(), vpMeNurbs::localReSample(), vpMbtXmlParser::read_range(), vpMeLine::seekExtremities(), vpMeNurbs::seekExtremities(), and vpMeNurbs::seekExtremitiesCanny().

void vpMe::setSampleStep ( const double & s )

inline

Set the minimum distance in pixel between two discretized points.

Parameters

s	: new sample_step.

Examples:: mbtEdgeKltTracking.cpp, mbtEdgeTracking.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6Cylinder2DCamVelocity.cpp, servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp, servoAfma6Line2DCamVelocity.cpp, servoAfma6SquareLines2DCamVelocity.cpp, servoAfma6TwoLines2DCamVelocity.cpp, trackMeCircle.cpp, trackMeEllipse.cpp, trackMeNurbs.cpp, tutorial-detection-object-mbt.cpp, tutorial-mb-edge-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, tutorial-me-ellipse-tracker.cpp, and tutorial-me-line-tracker.cpp.

Definition at line 271 of file vpMe.h.

Referenced by vpMbtXmlParser::read_sample().

void vpMe::setStrip ( const int & a )

inline

Set the number of pixels that are ignored around the image borders.

Parameters

a	: new strip.

Definition at line 285 of file vpMe.h.

void vpMe::setThreshold ( const double & t )

inline

Set the likelihood threshold used to determined if the moving edge is valid or not.

Parameters

t	: new threshold.

Examples:: mbtEdgeKltTracking.cpp, mbtEdgeTracking.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6Cylinder2DCamVelocity.cpp, servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp, servoAfma6Line2DCamVelocity.cpp, servoAfma6SquareLines2DCamVelocity.cpp, servoAfma6TwoLines2DCamVelocity.cpp, trackMeCircle.cpp, trackMeEllipse.cpp, trackMeLine.cpp, trackMeNurbs.cpp, tutorial-detection-object-mbt.cpp, tutorial-mb-edge-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, tutorial-me-ellipse-tracker.cpp, and tutorial-me-line-tracker.cpp.

Definition at line 299 of file vpMe.h.

Referenced by vpMbtXmlParser::read_contrast().

Member Data Documentation

double vpMe::aberration

Definition at line 313 of file vpMe.h.

Referenced by operator=(), and print().

unsigned int vpMe::anglestep

Definition at line 81 of file vpMe.h.

Referenced by operator=(), setMaskNumber(), and vpMe().

double vpMe::init_aberration

Definition at line 314 of file vpMe.h.

Referenced by operator=(), and print().

vpMatrix* vpMe::mask

Definition at line 97 of file vpMe.h.

Referenced by initMask(), operator=(), and ~vpMe().

int vpMe::mask_sign

Definition at line 82 of file vpMe.h.

Referenced by operator=().

unsigned int vpMe::mask_size

convolution masks' size in pixels (masks are square),

Warning: should not be public, use setMaskSize() and getMaskSize() instead (kept public for compatibility reasons).

Definition at line 88 of file vpMe.h.

Referenced by initMask(), operator=(), print(), and setMaskSize().

double vpMe::min_samplestep

Contrast continuity parameter (right boundary)

Definition at line 80 of file vpMe.h.

Referenced by operator=(), and print().

double vpMe::mu1

Likelihood ratio threshold.

Definition at line 78 of file vpMe.h.

Referenced by operator=(), and print().

double vpMe::mu2

Contrast continuity parameter (left boundary)

Definition at line 79 of file vpMe.h.

Referenced by operator=(), and print().

unsigned int vpMe::n_mask

the number of convolution masks available for tracking ; defines resolution.

Warning: Should not be public, use setMaskNumber() and getMaskNumber() instead (kept public for compatibility reasons).

Definition at line 90 of file vpMe.h.

Referenced by initMask(), operator=(), print(), setMaskNumber(), and vpMe().

int vpMe::ntotal_sample

Distance between sampled points (in pixels)

Definition at line 85 of file vpMe.h.

Referenced by operator=().

int vpMe::points_to_track

Definition at line 86 of file vpMe.h.

Referenced by operator=().

unsigned int vpMe::range

Definition at line 83 of file vpMe.h.

Referenced by operator=(), and print().

double vpMe::sample_step

Seek range - on both sides of the reference pixel.

Definition at line 84 of file vpMe.h.

Referenced by operator=(), and print().

int vpMe::strip

Definition at line 95 of file vpMe.h.

Referenced by operator=(), and print().

double vpMe::threshold

Definition at line 77 of file vpMe.h.

Referenced by operator=(), and print().

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation