Visual Servoing Platform  version 3.0.0
Public Member Functions | Public Attributes | List of all members
vpMe Class Reference
tracker: ViSP trackers » me: Moving-edges tracker module

#include <visp3/me/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
 

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
 

Detailed Description

This class defines 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, testKeyPoint-2.cpp, testKeyPoint-4.cpp, trackMeCircle.cpp, trackMeEllipse.cpp, trackMeLine.cpp, trackMeNurbs.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, tutorial-mb-edge-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, tutorial-mb-tracker-full.cpp, tutorial-mb-tracker.cpp, tutorial-me-ellipse-tracker.cpp, and tutorial-me-line-tracker.cpp.

Definition at line 59 of file vpMe.h.

Constructor & Destructor Documentation

vpMe::vpMe ( )

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

Definition at line 404 of file vpMe.cpp.

References anglestep, initMask(), and n_mask.

vpMe::vpMe ( const vpMe &  me)

Definition at line 416 of file vpMe.cpp.

vpMe::~vpMe ( )
virtual

Definition at line 449 of file vpMe.cpp.

References mask.

Member Function Documentation

void vpMe::checkSamplestep ( double &  a)
inline

Definition at line 97 of file vpMe.h.

unsigned int vpMe::getAngleStep ( ) const
inline

Return the angle step.

Returns
Value of anglestep.

Definition at line 239 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 105 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 123 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 137 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 153 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 253 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 167 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 181 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 195 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 211 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 225 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 267 of file vpMe.h.

Referenced by vpMeEllipse::initTracking(), vpMeNurbs::localReSample(), vpMbtXmlParser::read_ecm(), vpMbtXmlParser::read_sample(), vpMbtXmlParser::read_sample_deprecated(), vpMbtEdgeKltXmlParser::readMainClass(), vpMbtXmlParser::readMainClass(), vpMeLine::reSample(), vpMeNurbs::reSample(), vpMeLine::sample(), vpMeNurbs::sample(), vpMeNurbs::seekExtremities(), vpMeLine::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 281 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 295 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 364 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 425 of file vpMe.cpp.

References anglestep, 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 388 of file vpMe.cpp.

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

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

Set the angle step.

Parameters
a: new angle step.

Definition at line 232 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, testKeyPoint-2.cpp, testKeyPoint-4.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, tutorial-mb-edge-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, tutorial-mb-tracker-full.cpp, and tutorial-mb-tracker.cpp.

Definition at line 460 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 130 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, testKeyPoint-2.cpp, testKeyPoint-4.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, tutorial-mb-edge-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, tutorial-mb-tracker-full.cpp, and tutorial-mb-tracker.cpp.

Definition at line 468 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 246 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, testKeyPoint-2.cpp, testKeyPoint-4.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, tutorial-mb-edge-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, tutorial-mb-tracker-full.cpp, and tutorial-mb-tracker.cpp.

Definition at line 160 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, testKeyPoint-2.cpp, testKeyPoint-4.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, tutorial-mb-edge-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, tutorial-mb-tracker-full.cpp, and tutorial-mb-tracker.cpp.

Definition at line 174 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:
testKeyPoint-2.cpp, testKeyPoint-4.cpp, tutorial-detection-object-mbt.cpp, and tutorial-detection-object-mbt2.cpp.

Definition at line 188 of file vpMe.h.

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 204 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, testKeyPoint-2.cpp, testKeyPoint-4.cpp, trackMeCircle.cpp, trackMeEllipse.cpp, trackMeLine.cpp, trackMeNurbs.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, tutorial-mb-edge-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, tutorial-mb-tracker-full.cpp, tutorial-mb-tracker.cpp, tutorial-me-ellipse-tracker.cpp, and tutorial-me-line-tracker.cpp.

Definition at line 218 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, testKeyPoint-2.cpp, testKeyPoint-4.cpp, trackMeCircle.cpp, trackMeEllipse.cpp, trackMeNurbs.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, tutorial-mb-edge-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, tutorial-mb-tracker-full.cpp, tutorial-mb-tracker.cpp, tutorial-me-ellipse-tracker.cpp, and tutorial-me-line-tracker.cpp.

Definition at line 260 of file vpMe.h.

Referenced by vpMbtXmlParser::read_sample(), and vpMbtXmlParser::read_sample_deprecated().

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 274 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, testKeyPoint-2.cpp, testKeyPoint-4.cpp, trackMeCircle.cpp, trackMeEllipse.cpp, trackMeLine.cpp, trackMeNurbs.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, tutorial-mb-edge-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, tutorial-mb-tracker-full.cpp, tutorial-mb-tracker.cpp, tutorial-me-ellipse-tracker.cpp, and tutorial-me-line-tracker.cpp.

Definition at line 288 of file vpMe.h.

Referenced by vpMbtXmlParser::read_contrast().

Member Data Documentation

unsigned int vpMe::anglestep

Definition at line 70 of file vpMe.h.

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

vpMatrix* vpMe::mask

Definition at line 86 of file vpMe.h.

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

int vpMe::mask_sign

Definition at line 71 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 77 of file vpMe.h.

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

double vpMe::min_samplestep

Contrast continuity parameter (right boundary)

Definition at line 69 of file vpMe.h.

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

double vpMe::mu1

Likelihood ratio threshold.

Definition at line 67 of file vpMe.h.

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

double vpMe::mu2

Contrast continuity parameter (left boundary)

Definition at line 68 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 79 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 74 of file vpMe.h.

Referenced by operator=().

int vpMe::points_to_track

Definition at line 75 of file vpMe.h.

Referenced by operator=().

unsigned int vpMe::range

Definition at line 72 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 73 of file vpMe.h.

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

int vpMe::strip

Definition at line 84 of file vpMe.h.

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

double vpMe::threshold

Definition at line 66 of file vpMe.h.

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