#include <vpTemplateTrackerZone.h>

Public Member Functions
	vpTemplateTrackerZone ()

	vpTemplateTrackerZone (const vpTemplateTrackerZone &z)

	~vpTemplateTrackerZone ()

void	add (const vpTemplateTrackerTriangle &t)

void	clear ()

void	copy (const vpTemplateTrackerZone &z)

void	display (const vpImage< unsigned char > &I, const vpColor &col=vpColor::green, const unsigned int thickness=3)

void	display (const vpImage< vpRGBa > &I, const vpColor &col=vpColor::green, const unsigned int thickness=3)

void	fillTriangle (vpImage< unsigned char > &I, unsigned int id, unsigned char gray_level)

vpImagePoint	getCenter () const

vpImagePoint	getCenter (int borne_x, int borne_y) const

int	getMaxx () const

int	getMaxy () const

int	getMinx () const

int	getMiny () const

vpRect	getBoundingBox () const

unsigned int	getNbTriangle () const

vpTemplateTrackerZone	getPyramidDown () const

void	getTriangle (unsigned int i, vpTemplateTrackerTriangle &T) const

vpTemplateTrackerTriangle	getTriangle (unsigned int i) const

void	initClick (const vpImage< unsigned char > &I, bool delaunay=false)

void	initFromPoints (const vpImage< unsigned char > &I, const std::vector< vpImagePoint > &ip, bool delaunay=false)

bool	inZone (const int &i, const int &j) const

bool	inZone (const double &i, const double &j) const

bool	inZone (const int &i, const int &j, unsigned int &id_triangle) const

bool	inZone (const double &i, const double &j, unsigned int &id_triangle) const

vpTemplateTrackerZone &	operator= (const vpTemplateTrackerZone &z)

Protected Attributes
std::vector< vpTemplateTrackerTriangle >	Zone

int	min_x

int	min_y

int	max_x

int	max_y

Detailed Description

A zone is defined by a set of triangles defined as vpTemplateTrackerTriangle.

A zone can be initialized either by user interaction using mouse click in a display device throw initClick(), or by a list of points throw initFromPoints().

Examples:: templateTracker.cpp.

Definition at line 60 of file vpTemplateTrackerZone.h.

Constructor & Destructor Documentation

vpTemplateTrackerZone::vpTemplateTrackerZone ( )

Default constructor.

Definition at line 57 of file vpTemplateTrackerZone.cpp.

vpTemplateTrackerZone::vpTemplateTrackerZone ( const vpTemplateTrackerZone & z )

Copy constructor.

Definition at line 65 of file vpTemplateTrackerZone.cpp.

vpTemplateTrackerZone::~vpTemplateTrackerZone ( )

Destructor.

Definition at line 489 of file vpTemplateTrackerZone.cpp.

References clear().

Member Function Documentation

void vpTemplateTrackerZone::add ( const vpTemplateTrackerTriangle & t )

Add a triangle to the zone and update the bounding box.

Parameters

t	: Triangle to introduce in the zone.

Definition at line 240 of file vpTemplateTrackerZone.cpp.

References vpTemplateTrackerTriangle::getMaxx(), vpTemplateTrackerTriangle::getMaxy(), vpTemplateTrackerTriangle::getMinx(), vpTemplateTrackerTriangle::getMiny(), max_x, max_y, min_x, min_y, and Zone.

Referenced by copy(), getPyramidDown(), initFromPoints(), and vpTemplateTrackerWarp::warpZone().

void vpTemplateTrackerZone::clear ( )

Remove all the triangles that define the zone.

Definition at line 74 of file vpTemplateTrackerZone.cpp.

References max_x, max_y, min_x, min_y, and Zone.

Referenced by operator=(), vpTemplateTrackerWarp::warpZone(), and ~vpTemplateTrackerZone().

void vpTemplateTrackerZone::copy ( const vpTemplateTrackerZone & z )

Copy all the triangles that define zone Z in the current zone (*this) and update the zone bounding box.

Parameters

z	: Zone with a set of triangles provided as input.

Definition at line 540 of file vpTemplateTrackerZone.cpp.

References add(), vpTemplateTrackerTriangle::getMaxx(), vpTemplateTrackerTriangle::getMaxy(), vpTemplateTrackerTriangle::getMinx(), vpTemplateTrackerTriangle::getMiny(), getNbTriangle(), getTriangle(), max_x, max_y, min_x, and min_y.

Referenced by vpTemplateTracker::initTrackingPyr(), and operator=().

void vpTemplateTrackerZone::display	(	const vpImage< unsigned char > &	I,
		const vpColor &	col = `vpColor::green`,
		const unsigned int	thickness = `3`
	)

If a display device is associated to image I, display in overlay the triangles that define the zone.

Parameters

I	: Image.
col	: Color used to display the triangles.
thickness	: Thickness of the triangle lines.

Examples:: templateTracker.cpp.

Definition at line 456 of file vpTemplateTrackerZone.cpp.

References vpDisplay::displayLine(), and Zone.

Referenced by vpTemplateTracker::display().

void vpTemplateTrackerZone::display	(	const vpImage< vpRGBa > &	I,
		const vpColor &	col = `vpColor::green`,
		const unsigned int	thickness = `3`
	)

If a display device is associated to image I, display in overlay the triangles that define the zone.

Parameters

I	: Image.
col	: Color used to display the triangles.
thickness	: Thickness of the triangle lines.

Definition at line 474 of file vpTemplateTrackerZone.cpp.

References vpDisplay::displayLine(), and Zone.

void vpTemplateTrackerZone::fillTriangle	(	vpImage< unsigned char > &	I,
		unsigned int	id,
		unsigned char	gray_level
	)

Modify all the pixels inside a triangle with a given gray level.

Parameters

I	Output image.
id	Triangle id. This value should be less than the number of triangles used to define the zone and available using getNbTriangle().
gray_level	Color used to fill the triangle with.

Definition at line 501 of file vpTemplateTrackerZone.cpp.

References vpImage< Type >::getHeight(), getNbTriangle(), getTriangle(), vpImage< Type >::getWidth(), and vpTemplateTrackerTriangle::inTriangle().

vpRect vpTemplateTrackerZone::getBoundingBox ( ) const

Return a rectangle that defines the bounding box of the zone.

See also: getMinx(), getMiny(), getMaxx(), getMaxy()

Definition at line 442 of file vpTemplateTrackerZone.cpp.

References max_x, max_y, min_x, min_y, vpRect::setBottomRight(), and vpRect::setTopLeft().

vpImagePoint vpTemplateTrackerZone::getCenter ( ) const

Return the position of the center of gravity of the zone.

Exceptions

vpException::divideByZeroError The size of the zone is null.

Definition at line 381 of file vpTemplateTrackerZone.cpp.

References vpException::divideByZeroError, inZone(), max_x, max_y, min_x, min_y, and vpImagePoint::set_uv().

vpImagePoint vpTemplateTrackerZone::getCenter	(	int	borne_x,
		int	borne_y
	)		const

Return the position of the center of gravity in a given area.

Parameters

borne_x	: Right coordinate of the area to consider.
borne_y	: Bottom coordinate of the area to consider.

Exceptions

vpException::divideByZeroError The size of the zone is null.

Definition at line 566 of file vpTemplateTrackerZone.cpp.

References vpException::divideByZeroError, inZone(), and vpImagePoint::set_uv().

int vpTemplateTrackerZone::getMaxx ( ) const

Returns: The maximal x coordinate (along the columns of the image) of the points that are in the zone.

See also: getMinx(), getBoundingBox()

Definition at line 409 of file vpTemplateTrackerZone.cpp.

References max_x.

int vpTemplateTrackerZone::getMaxy ( ) const

Returns: The maximal y coordinate (along the rows of the image) of the points that are in the zone.

See also: getMiny(), getBoundingBox()

Definition at line 417 of file vpTemplateTrackerZone.cpp.

References max_y.

int vpTemplateTrackerZone::getMinx ( ) const

Returns: The minimal x coordinate (along the columns of the image) of the points that are in the zone.

See also: getMaxx(), getBoundingBox()

Definition at line 425 of file vpTemplateTrackerZone.cpp.

References min_x.

int vpTemplateTrackerZone::getMiny ( ) const

Returns: The minimal y coordinate (along the rows of the image) of the points that are in the zone.

See also: getMaxy(), getBoundingBox()

Definition at line 433 of file vpTemplateTrackerZone.cpp.

References min_y.

unsigned int vpTemplateTrackerZone::getNbTriangle ( ) const

inline

Return the number of triangles that define the zone.

See also: getTriangle()

Definition at line 96 of file vpTemplateTrackerZone.h.

Referenced by vpTemplateTrackerZNCCInverseCompositional::computeEvalRMS(), vpTemplateTrackerSSDInverseCompositional::computeEvalRMS(), copy(), fillTriangle(), vpTemplateTrackerWarp::getDistanceBetweenZoneAndWarpedZone(), getPyramidDown(), getTriangle(), vpTemplateTrackerZNCCInverseCompositional::initPosEvalRMS(), vpTemplateTrackerSSDInverseCompositional::initPosEvalRMS(), and vpTemplateTrackerWarp::warpZone().

vpTemplateTrackerZone vpTemplateTrackerZone::getPyramidDown ( ) const

Return a zone with triangles that are down scaled by a factor 2.

Definition at line 521 of file vpTemplateTrackerZone.cpp.

References add(), getNbTriangle(), vpTemplateTrackerTriangle::getPyramidDown(), and getTriangle().

Referenced by vpTemplateTracker::initTrackingPyr().

void vpTemplateTrackerZone::getTriangle	(	unsigned int	i,
		vpTemplateTrackerTriangle &	T
	)		const

A zone is defined by a set of triangles. This function returns the ith triangle.

Parameters

i	: Index of the triangle to return.
T	: The triangle corresponding to index i.

Returns: true if the triangle with index i was found, false otherwise.

The following sample code shows how to use this function:

vpTemplateTrackerZone zone;
...
for (unsigned int i=0; i < zone.getNbTriangle(); i++) {
  vpTemplateTrackerTriangle triangle;
  zone.getTriangle(i, triangle);
}

Definition at line 349 of file vpTemplateTrackerZone.cpp.

References vpException::badValue, getNbTriangle(), and Zone.

Referenced by vpTemplateTrackerZNCCInverseCompositional::computeEvalRMS(), vpTemplateTrackerSSDInverseCompositional::computeEvalRMS(), copy(), fillTriangle(), vpTemplateTrackerWarp::getDistanceBetweenZoneAndWarpedZone(), getPyramidDown(), vpTemplateTrackerZNCCInverseCompositional::initPosEvalRMS(), vpTemplateTrackerSSDInverseCompositional::initPosEvalRMS(), and vpTemplateTrackerWarp::warpZone().

vpTemplateTrackerTriangle vpTemplateTrackerZone::getTriangle ( unsigned int i ) const

A zone is defined by a set of triangles. This function returns the ith triangle.

Parameters

i	: Index of the triangle to return.

Returns: The triangle corresponding to index i.

The following sample code shows how to use this function:

vpTemplateTrackerZone zone;
...
for (unsigned int i=0; i < zone.getNbTriangle(); i++) {
  vpTemplateTrackerTriangle triangle = zone.getTriangle(i);
}

Definition at line 370 of file vpTemplateTrackerZone.cpp.

References vpException::badValue, getNbTriangle(), and Zone.

void vpTemplateTrackerZone::initClick	(	const vpImage< unsigned char > &	I,
		bool	delaunay = `false`
	)

Initialize a zone in image I using mouse click.

Parameters

I : Image used to select the zone.

delaunay

: Flag used to enable Delaunay triangulation.

If true, from the image points selected by the user, a Delaunay triangulation is performed to initialize the zone.
- A left click select a image point;
- A right click select the last image point and ends the initialisation stage. In that case at least 3 points need to be selected by the user.
If false, the user select directly points as successive triangle corners. Three successive points define a triangle. It is not mandatory that triangles have one edge in common; they can define a discontinued area.
- A left click select a triangle corner;
- A right click select the last triangle corner and ends the initialisation stage. The number of points that are selected by the user should be a multiple of 3. For example, to select a zone as two triangles, the user has to left click five times and finish the selection on the sixth corner with a right click.

Definition at line 115 of file vpTemplateTrackerZone.cpp.

References vpColor::blue, vpMouseButton::button3, vpDisplay::displayCross(), vpDisplay::displayLine(), vpDisplay::flush(), vpDisplay::getClick(), initFromPoints(), vpColor::red, vpTime::wait(), and Zone.

Referenced by vpTemplateTracker::initClick().

void vpTemplateTrackerZone::initFromPoints	(	const vpImage< unsigned char > &	I,
		const std::vector< vpImagePoint > &	vip,
		bool	delaunay = `false`
	)

Initialize the zone using a vector of image points.

Parameters

I	: Image to process.
vip	: Vector of image points used as initialization.
delaunay	: If true, a Delaunay triangulation is perfomed on the vector of image points. This functionality is only available if ViSP is build with OpenCV >2.3 third-party. If false, the vector of image points describe triangles. Its size is then a multiple of 3.

Definition at line 172 of file vpTemplateTrackerZone.cpp.

References add(), vpDisplay::displayLine(), vpDisplay::flush(), vpException::functionNotImplementedError, vpImage< Type >::getHeight(), vpTemplateTrackerTriangle::getMaxx(), vpTemplateTrackerTriangle::getMaxy(), vpTemplateTrackerTriangle::getMinx(), vpTemplateTrackerTriangle::getMiny(), vpImage< Type >::getWidth(), vpColor::green, max_x, max_y, min_x, min_y, and Zone.

Referenced by initClick(), and vpTemplateTracker::initFromPoints().

bool vpTemplateTrackerZone::inZone	(	const int &	i,
		const int &	j
	)		const

Test if a pixel with coordinates (i,j) is in the zone..

Parameters

i,j	: Coordinates of the pixel to test.

Returns: true if the pixel with coordinates (i,j) is in the zone defined by a set of triangles, false otherwise.

Definition at line 260 of file vpTemplateTrackerZone.cpp.

References Zone.

Referenced by getCenter(), and vpTemplateTracker::initTracking().

bool vpTemplateTrackerZone::inZone	(	const double &	i,
		const double &	j
	)		const

Test if a pixel with coordinates (i,j) is in the zone..

Parameters

i,j	: Coordinates of the pixel to test.

Returns: true if the pixel with coordinates (i,j) is in the zone defined by a set of triangles, false otherwise.

Definition at line 276 of file vpTemplateTrackerZone.cpp.

References Zone.

bool vpTemplateTrackerZone::inZone	(	const int &	i,
		const int &	j,
		unsigned int &	id_triangle
	)		const

Test if a pixel with coordinates (i,j) is in the zone and returns also the index of the triangle that contains the pixel.

Parameters

i,j	: Coordinates of the pixel to test.
id_triangle	: Index of the triangle that contains the pixel (i,j).

Returns: true if the pixel with coordinates (i,j) is in the zone defined by a set of triangles, false otherwise.

Definition at line 294 of file vpTemplateTrackerZone.cpp.

References Zone.

bool vpTemplateTrackerZone::inZone	(	const double &	i,
		const double &	j,
		unsigned int &	id_triangle
	)		const

Test if a pixel with coordinates (i,j) is in the zone and returns also the index of the triangle that contains the pixel.

Parameters

i,j	: Coordinates of the pixel to test.
id_triangle	: Index of the triangle that contains the pixel (i,j).

Returns: true if the pixel with coordinates (i,j) is in the zone defined by a set of triangles, false otherwise.

Definition at line 317 of file vpTemplateTrackerZone.cpp.

References Zone.

vpTemplateTrackerZone & vpTemplateTrackerZone::operator= ( const vpTemplateTrackerZone & z )

Copy operator.

Definition at line 87 of file vpTemplateTrackerZone.cpp.

References clear(), and copy().

Member Data Documentation

int vpTemplateTrackerZone::max_x

protected

Bounding box parameter.

Definition at line 66 of file vpTemplateTrackerZone.h.

Referenced by add(), clear(), copy(), getBoundingBox(), getCenter(), getMaxx(), and initFromPoints().

int vpTemplateTrackerZone::max_y

protected

Bounding box parameter.

Definition at line 67 of file vpTemplateTrackerZone.h.

Referenced by add(), clear(), copy(), getBoundingBox(), getCenter(), getMaxy(), and initFromPoints().

int vpTemplateTrackerZone::min_x

protected

Bounding box parameter.

Definition at line 64 of file vpTemplateTrackerZone.h.

Referenced by add(), clear(), copy(), getBoundingBox(), getCenter(), getMinx(), and initFromPoints().

int vpTemplateTrackerZone::min_y

protected

Bounding box parameter.

Definition at line 65 of file vpTemplateTrackerZone.h.

Referenced by add(), clear(), copy(), getBoundingBox(), getCenter(), getMiny(), and initFromPoints().

std::vector<vpTemplateTrackerTriangle> vpTemplateTrackerZone::Zone

protected

Vector of triangles that defines the zone.

Definition at line 63 of file vpTemplateTrackerZone.h.

Referenced by add(), clear(), display(), getTriangle(), initClick(), initFromPoints(), and inZone().

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation