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vpMeTracker Class Referenceabstract

#include <visp3/me/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)
 
vpMeTrackeroperator= (vpMeTracker &f)
 
int outOfImage (int i, int j, int half, int rows, int cols)
 
int outOfImage (vpImagePoint iP, int half, int rows, int cols)
 
void reset ()
 
virtual void sample (const vpImage< unsigned char > &image)=0
 
void setInitRange (const unsigned int &r)
 
unsigned int getInitRange ()
 
void setMe (vpMe *p_me)
 
vpMegetMe ()
 
void setMeList (const std::list< vpMeSite > &l)
 
std::list< vpMeSite > & getMeList ()
 
std::list< vpMeSitegetMeList () const
 
int getNbPoints () const
 

Public Attributes

std::list< vpMeSitelist
 
vpMeme
 
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 64 of file vpMeTracker.h.

Constructor & Destructor Documentation

vpMeTracker::vpMeTracker ( )

Definition at line 64 of file vpMeTracker.cpp.

References init().

vpMeTracker::vpMeTracker ( const vpMeTracker meTracker)

Definition at line 73 of file vpMeTracker.cpp.

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

vpMeTracker::~vpMeTracker ( )
virtual

Definition at line 103 of file vpMeTracker.cpp.

References reset().

Member Function Documentation

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

Definition at line 331 of file vpMeTracker.cpp.

References vpMeSite::display(), and list.

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 352 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 128 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 142 of file vpMeTracker.h.

std::list<vpMeSite>& vpMeTracker::getMeList ( )
inline

Return the list of moving edges

Returns
List of Moving Edges.

Definition at line 156 of file vpMeTracker.h.

std::list<vpMeSite> vpMeTracker::getMeList ( ) const
inline

Definition at line 157 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 164 of file vpMeTracker.h.

void vpMeTracker::init ( void  )

Definition at line 57 of file vpMeTracker.cpp.

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

Referenced by vpMeTracker().

unsigned int vpMeTracker::numberOfSignal ( )
vpMeTracker & vpMeTracker::operator= ( vpMeTracker f)

Definition at line 109 of file vpMeTracker.cpp.

References list, me, and selectDisplay.

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

Definition at line 149 of file vpMeTracker.cpp.

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

void vpMeTracker::reset ( )

Reset the tracker by removing all the moving edges.

Definition at line 97 of file vpMeTracker.cpp.

References list, and nGoodElement.

Referenced by ~vpMeTracker().

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

Sample pixels at a given interval.

Implemented in vpMeNurbs, and vpMeLine.

void vpMeTracker::setInitRange ( const unsigned int &  r)
inline

Set the initial range.

Parameters
r: initial range.

Definition at line 121 of file vpMeTracker.h.

void vpMeTracker::setMeList ( const std::list< vpMeSite > &  l)
inline

Set the list of moving edges

Parameters
l: list of Moving Edges.

Definition at line 149 of file vpMeTracker.h.

unsigned int vpMeTracker::totalNumberOfSignal ( )

Definition at line 133 of file vpMeTracker.cpp.

References list.

Member Data Documentation

bool vpTracker::cPAvailable
inherited

Flag used to indicate if the feature parameters cP expressed in the camera frame are available.

Definition at line 83 of file vpTracker.h.

Referenced by vpTracker::init(), vpTracker::operator=(), and vpPoint::operator=().

bool vpMeTracker::display_point

Definition at line 169 of file vpMeTracker.h.

Referenced by vpMeTracker().

unsigned int vpMeTracker::init_range

Definition at line 76 of file vpMeTracker.h.

Referenced by initTracking(), and vpMeTracker().

vpMe* vpMeTracker::me

Moving edges initialisation parameters.

Definition at line 75 of file vpMeTracker.h.

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

int vpMeTracker::nGoodElement

Definition at line 77 of file vpMeTracker.h.

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

int vpMeTracker::query_range

Definition at line 168 of file vpMeTracker.h.

Referenced by vpMeTracker().