ViSP  2.7.0
Public Member Functions | Public Attributes | Protected Attributes | List of all members
vpMbtMeLine Class Reference
Tracking » Tracking in image sequences » Model based tracker

#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 *me)
 
vpMe * getMe ()
 
void setMeList (const std::list< vpMeSite > &l)
 
std::list< vpMeSite > & getMeList ()
 
std::list< vpMeSite > getMeList () const
 
int getNbPoints () const
 

Public Attributes

int imin
 
int imax
 
int jmin
 
int jmax
 
double expecteddensity
 
std::list< vpMeSite > list
 
vpMe * me
 
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

Implements vpMeTracker.

Definition at line 80 of file vpMbtMeLine.h.

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

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 326 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 ( )
inlineinherited

Return the list of moving edges

Returns
List of Moving Edges.

Definition at line 161 of file vpMeTracker.h.

Referenced by vpMbtDistanceLine::closeToImageBorder(), vpMbtDistanceLine::computeInteractionMatrixError(), vpMbtDistanceCylinder::computeInteractionMatrixError(), vpMbEdgeTracker::computeVVS(), vpMbEdgeTracker::getNbPoints(), vpMbtDistanceLine::initInteractionMatrixError(), vpMbtDistanceCylinder::initInteractionMatrixError(), vpMbEdgeKltTracker::postTrackingMbt(), vpMbEdgeTracker::testTracking(), vpMbEdgeKltTracker::trackFirstLoop(), vpMbtDistanceLine::trackMovingEdge(), vpMbtDistanceCylinder::trackMovingEdge(), vpMbtDistanceLine::updateMovingEdge(), and vpMbtDistanceCylinder::updateMovingEdge().

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

Definition at line 61 of file vpMeTracker.cpp.

References vpTracker::init(), vpMeSite::NONE, vpTracker::p, vpColVector::resize(), and vpMeTracker::selectDisplay.

Referenced by vpMeTracker::vpMeTracker().

void vpMeTracker::initTracking ( const vpImage< unsigned char > &  I)
inherited

Virtual function that is called by lower classes vpMeEllipse, vpMeLine and vpMeNurbs.

Definition at line 161 of file vpMeTracker.cpp.

References vpDisplay::displayArrow(), vpMe::getRange(), vpMeSite::getState(), vpColor::green, vpMeSite::i, vpMeSite::i_1, vpMeTracker::init_range, vpMeSite::j, vpMeSite::j_1, vpMeTracker::list, vpMeTracker::me, vpMeTracker::nGoodElement, vpMeSite::NO_SUPPRESSION, vpImagePoint::set_i(), vpImagePoint::set_j(), vpMe::setRange(), vpMeSite::track(), and vpERROR_TRACE.

Referenced by vpMeEllipse::initTracking(), vpMeLine::initTracking(), vpMeNurbs::initTracking(), vpMeLine::reSample(), and vpMeNurbs::reSample().

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

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

unsigned int vpMeTracker::numberOfSignal ( )
inherited

Definition at line 117 of file vpMeTracker.cpp.

References vpMeTracker::list.

Referenced by vpMeLine::leastSquare(), vpMeNurbs::localReSample(), vpMeLine::reSample(), and vpMeNurbs::reSample().

int vpMeTracker::outOfImage ( int  i,
int  j,
int  half,
int  rows,
int  cols 
)
inherited

Definition at line 134 of file vpMeTracker.cpp.

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

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::setDisplay ( vpMeSite::vpMeSiteDisplayType  select)
inlineinherited
Examples:
servoAfma6Cylinder2DCamVelocity.cpp, servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp, servoAfma6Line2DCamVelocity.cpp, servoAfma6SquareLines2DCamVelocity.cpp, servoAfma6TwoLines2DCamVelocity.cpp, trackMeCircle.cpp, trackMeEllipse.cpp, trackMeLine.cpp, and trackMeNurbs.cpp.

Definition at line 108 of file vpMeTracker.h.

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::setMe ( vpMe *  me)
inlineinherited

Set the moving edges initialisation parameters

Parameters
me: Moving Edges.
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 140 of file vpMeTracker.h.

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

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 127 of file vpMeTracker.cpp.

References vpMeTracker::list.

void vpMbtMeLine::track ( const vpImage< unsigned char > &  I)

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

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

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

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

Member Data Documentation

vpColVector vpTracker::cP
inherited

Feature coordinates expressed in the camera frame cP.

Examples:
servoSimuPoint3DCamVelocity.cpp.

Definition at line 82 of file vpTracker.h.

Referenced by vpFeaturePoint3D::buildFrom(), vpSphere::changeFrame(), vpCircle::changeFrame(), vpCylinder::changeFrame(), vpLine::changeFrame(), vpFeatureBuilder::create(), vpCircle::init(), vpSphere::init(), vpLine::init(), vpPoint::init(), vpCylinder::init(), vpTracker::operator=(), vpPoint::operator=(), vpForwardProjection::print(), vpPose::printPoint(), vpForwardProjection::project(), vpSphere::projection(), vpCircle::projection(), vpCylinder::projection(), and vpLine::projection().

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().

int vpMbtMeLine::imax

Definition at line 72 of file vpMbtMeLine.h.

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

int vpMbtMeLine::imin

Definition at line 72 of file vpMbtMeLine.h.

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

unsigned int vpMeTracker::init_range
inherited

Definition at line 83 of file vpMeTracker.h.

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

int vpMbtMeLine::jmax

Definition at line 73 of file vpMbtMeLine.h.

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

int vpMbtMeLine::jmin

Definition at line 73 of file vpMbtMeLine.h.

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

std::list<vpMeSite> vpMeTracker::list
inherited

Tracking dependent variables/functions List of tracked moving edges points.

Definition at line 80 of file vpMeTracker.h.

Referenced by vpMeTracker::display(), vpMeLine::display(), vpMeTracker::initTracking(), vpMeLine::leastSquare(), vpMeNurbs::localReSample(), vpMeTracker::numberOfSignal(), vpMeTracker::operator=(), vpMeLine::sample(), vpMeNurbs::sample(), vpMeLine::seekExtremities(), vpMeNurbs::seekExtremities(), vpMeLine::setExtremities(), vpMeLine::suppressPoints(), vpMeNurbs::suppressPoints(), vpMeNurbs::supressNearPoints(), vpMeTracker::totalNumberOfSignal(), vpMeTracker::track(), vpMeNurbs::track(), vpMeLine::updateDelta(), vpMeNurbs::updateDelta(), vpMeTracker::vpMeTracker(), vpMeEllipse::~vpMeEllipse(), vpMeLine::~vpMeLine(), and vpMeTracker::~vpMeTracker().

vpMe* vpMeTracker::me
inherited

Moving edges initialisation parameters.

Definition at line 82 of file vpMeTracker.h.

Referenced by vpMeTracker::initTracking(), vpMeTracker::operator=(), vpMeLine::reSample(), vpMeLine::sample(), vpMeLine::seekExtremities(), vpMeTracker::track(), and vpMeTracker::vpMeTracker().

int vpMeTracker::nGoodElement
inherited

Definition at line 84 of file vpMeTracker.h.

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

vpColVector vpTracker::p
inherited

Feature coordinates expressed in the image plane p. They correspond to 2D normalized coordinates expressed in meters.

Definition at line 78 of file vpTracker.h.

Referenced by vpFeatureBuilder::create(), vpPoint::display(), vpSphere::display(), vpMeTracker::display(), vpProjectionDisplay::display(), vpCircle::display(), vpCylinder::display(), vpLine::display(), vpProjectionDisplay::displayCamera(), vpDisplay::displayFrame(), vpPose::displayModel(), vpCircle::init(), vpSphere::init(), vpMeTracker::init(), vpLine::init(), vpPoint::init(), vpCylinder::init(), vpMeLine::leastSquare(), vpTracker::operator=(), vpPoint::operator=(), vpForwardProjection::print(), vpPose::printPoint(), vpForwardProjection::project(), vpSphere::projection(), vpCircle::projection(), vpCylinder::projection(), vpLine::projection(), and vpMeLine::updateDelta().

int vpMeTracker::query_range
inherited

Definition at line 173 of file vpMeTracker.h.

Referenced by vpMeTracker::vpMeTracker().

vpMeSite::vpMeSiteDisplayType vpMeTracker::selectDisplay
protectedinherited

Definition at line 87 of file vpMeTracker.h.

Referenced by vpMeTracker::init(), vpMeNurbs::localReSample(), vpMeTracker::operator=(), vpMeLine::sample(), vpMeNurbs::sample(), vpMeLine::seekExtremities(), vpMeNurbs::seekExtremities(), and vpMeTracker::vpMeTracker().