#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 &mu1)

double	getMu1 () const

void	setMu2 (const double &mu2)

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)

vp_deprecated 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

vp_deprecated void	setAberration (const double &a)

vp_deprecated void	setInitAberration (const double &a)

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

double	aberration

double	init_aberration

Detailed Description

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

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 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 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.

vpMe::vpMe ( const vpMe & me )

Definition at line 438 of file vpMe.cpp.

References mask.

vpMe::~vpMe ( )

virtual

Definition at line 475 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.

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().

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 270 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 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 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.

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 vpMeTracker::initTracking(), vpMeNurbs::localReSample(), vpMeLine::seekExtremities(), vpMeNurbs::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 284 of file vpMe.h.

Referenced by vpMeNurbs::localReSample(), 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 298 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 312 of file vpMe.h.

Referenced by 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 446 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 335 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.

Definition at line 486 of file vpMe.cpp.

References anglestep, initMask(), and n_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