vpMeTracker Class Reference

#include <vpMeTracker.h>

Inheritance diagram for vpMeTracker:

Public Member Functions
	vpMeTracker ()
	vpMeTracker (const vpMeTracker &meTracker)
virtual	~vpMeTracker ()
void	init ()
void	initTracking (const vpImage< unsigned char > &I)
void	track (const vpImage< unsigned char > &I)
unsigned int	numberOfSignal ()
unsigned int	totalNumberOfSignal ()
virtual void	display (const vpImage< unsigned char > &I, vpColor col)=0
virtual void	display (const vpImage< unsigned char > &I)
void	display (const vpImage< unsigned char > &I, vpColVector &w, unsigned int &index_w)
void	setDisplay (vpMeSite::vpMeSiteDisplayType select)
vpMeTracker &	operator= (vpMeTracker &f)
int	outOfImage (int i, int j, int half, int rows, int cols)
int	outOfImage (vpImagePoint iP, int half, int rows, int cols)
virtual void	sample (const vpImage< unsigned char > &image)=0
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
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

Contains abstract elements for a Distance to Feature type feature.

2D state = list of points, 3D state = feature

Definition at line 71 of file vpMeTracker.h.

Constructor & Destructor Documentation

vpMeTracker::vpMeTracker

(

)

Definition at line 68 of file vpMeTracker.cpp.

References display_point, init(), init_range, me, nGoodElement, and query_range.

vpMeTracker::vpMeTracker

(

const vpMeTracker &

meTracker

)

Definition at line 81 of file vpMeTracker.cpp.

References display_point, init(), init_range, list, me, nGoodElement, query_range, and selectDisplay.

vpMeTracker::~vpMeTracker ( )

virtual

Definition at line 97 of file vpMeTracker.cpp.

References list.

Member Function Documentation

virtual void vpMeTracker::display ( const vpImage< unsigned char > &  I, vpColor  col  )

pure virtual

Implemented in vpMeNurbs, vpMeLine, vpMeEllipse, and vpMbtMeLine.

Referenced by vpMbtMeLine::display(), display(), vpMeEllipse::initTracking(), vpMeEllipse::track(), and vpMeLine::track().

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

virtual

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 in vpMbtMeLine.

Definition at line 305 of file vpMeTracker.cpp.

References vpMeSite::display(), list, and vpTracker::p.

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

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

unsigned int vpMeTracker::getInitRange ( )

inline

Return the initial range.

Returns

Value of init_range.

Definition at line 133 of file vpMeTracker.h.

vpMe* vpMeTracker::getMe ( )

inline

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 ( )

inline

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

inline

Definition at line 162 of file vpMeTracker.h.

int vpMeTracker::getNbPoints ( ) const

inline

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

)

Definition at line 61 of file vpMeTracker.cpp.

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

Referenced by vpMeTracker().

void vpMeTracker::initTracking

(

const vpImage< unsigned char > &

I

)

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, init_range, vpMeSite::j, vpMeSite::j_1, list, me, 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().

unsigned int vpMeTracker::numberOfSignal

(

)

Definition at line 117 of file vpMeTracker.cpp.

References list.

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

vpMeTracker & vpMeTracker::operator=

(

vpMeTracker &

f

)

Definition at line 103 of file vpMeTracker.cpp.

References list, me, and selectDisplay.

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

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
	)

Definition at line 144 of file vpMeTracker.cpp.

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

virtual void vpMeTracker::sample ( const vpImage< unsigned char > &  image )

pure virtual

Sample pixels at a given interval.

Implemented in vpMeNurbs, and vpMeLine.

void vpMeTracker::setDisplay ( vpMeSite::vpMeSiteDisplayType  select )

inline

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 )

inline

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 )

inline

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 )

inline

Set the list of moving edges

Parameters

l	: list of Moving Edges.

Definition at line 154 of file vpMeTracker.h.

unsigned int vpMeTracker::totalNumberOfSignal

(

)

Definition at line 127 of file vpMeTracker.cpp.

References list.

void vpMeTracker::track

(

const vpImage< unsigned char > &

I

)

Track sampled pixels.

Definition at line 234 of file vpMeTracker.cpp.

References vpDisplay::displayArrow(), vpMeSite::getState(), vpColor::green, vpMeSite::i, vpMeSite::i_1, vpMeSite::j, vpMeSite::j_1, list, me, nGoodElement, vpMeSite::NO_SUPPRESSION, vpTrackingException::notEnoughPointError, vpImagePoint::set_i(), vpImagePoint::set_j(), vpMeSite::setState(), vpMeSite::THRESHOLD, vpMeSite::track(), vpDERROR_TRACE, and vpERROR_TRACE.

Referenced by vpMeEllipse::track(), vpMeLine::track(), and vpMeNurbs::track().

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

Definition at line 174 of file vpMeTracker.h.

Referenced by vpMeTracker().

unsigned int vpMeTracker::init_range

Definition at line 83 of file vpMeTracker.h.

Referenced by initTracking(), and vpMeTracker().

std::list<vpMeSite> vpMeTracker::list

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

Definition at line 80 of file vpMeTracker.h.

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

vpMe* vpMeTracker::me

Moving edges initialisation parameters.

Definition at line 82 of file vpMeTracker.h.

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

int vpMeTracker::nGoodElement

Definition at line 84 of file vpMeTracker.h.

Referenced by initTracking(), track(), and 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(), display(), vpProjectionDisplay::display(), vpCircle::display(), vpCylinder::display(), vpLine::display(), vpProjectionDisplay::displayCamera(), vpDisplay::displayFrame(), vpPose::displayModel(), vpCircle::init(), vpSphere::init(), 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

Definition at line 173 of file vpMeTracker.h.

Referenced by vpMeTracker().

vpMeSite::vpMeSiteDisplayType vpMeTracker::selectDisplay

protected

Definition at line 87 of file vpMeTracker.h.

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