Visual Servoing Platform  version 3.1.0
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 row, int cols)
int outOfImage (const 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
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 65 of file vpMeTracker.h.

Constructor & Destructor Documentation

◆ vpMeTracker() [1/2]

vpMeTracker::vpMeTracker ( )

Definition at line 62 of file vpMeTracker.cpp.

References init().

◆ vpMeTracker() [2/2]

vpMeTracker::vpMeTracker ( const vpMeTracker meTracker)

Definition at line 72 of file vpMeTracker.cpp.

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

◆ ~vpMeTracker()

vpMeTracker::~vpMeTracker ( )

Definition at line 102 of file vpMeTracker.cpp.

References reset().

Member Function Documentation

◆ display() [1/3]

◆ display() [2/3]

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

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
I: The image.

Reimplemented in vpMeEllipse.

Definition at line 301 of file vpMeTracker.cpp.

References vpMeSite::display(), and list.

◆ display() [3/3]

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

Displays the status of moving edge sites

I: The image.
w: vector
index_w: index

Definition at line 321 of file vpMeTracker.cpp.

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

◆ getInitRange()

unsigned int vpMeTracker::getInitRange ( )

Return the initial range.

Value of init_range.

Definition at line 126 of file vpMeTracker.h.

◆ getMe()

vpMe* vpMeTracker::getMe ( )

Return the moving edges initialisation parameters

Moving Edges.
trackMeCircle.cpp, and trackMeEllipse.cpp.

Definition at line 140 of file vpMeTracker.h.

◆ getMeList() [1/2]

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

Return the list of moving edges

List of Moving Edges.

Definition at line 154 of file vpMeTracker.h.

◆ getMeList() [2/2]

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

Definition at line 155 of file vpMeTracker.h.

◆ getNbPoints()

int vpMeTracker::getNbPoints ( ) const

Return the number of points that has not been suppressed.

Number of good points.

Definition at line 162 of file vpMeTracker.h.

◆ init()

void vpMeTracker::init ( void  )

Definition at line 55 of file vpMeTracker.cpp.

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

Referenced by vpMeTracker().

◆ initTracking()

◆ numberOfSignal()

unsigned int vpMeTracker::numberOfSignal ( )

◆ operator=()

vpMeTracker & vpMeTracker::operator= ( vpMeTracker f)

◆ outOfImage() [1/2]

int vpMeTracker::outOfImage ( int  i,
int  j,
int  half,
int  row,
int  cols 

◆ outOfImage() [2/2]

int vpMeTracker::outOfImage ( const vpImagePoint iP,
int  half,
int  rows,
int  cols 

Definition at line 136 of file vpMeTracker.cpp.

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

◆ reset()

void vpMeTracker::reset ( )

Reset the tracker by removing all the moving edges.

Definition at line 96 of file vpMeTracker.cpp.

References list, and nGoodElement.

Referenced by ~vpMeTracker().

◆ sample()

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

Sample pixels at a given interval.

Implemented in vpMeNurbs, and vpMeLine.

Referenced by vpMeNurbs::setCannyThreshold().

◆ setDisplay()

◆ setInitRange()

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

Set the initial range.

r: initial range.

Definition at line 119 of file vpMeTracker.h.

◆ setMe()

◆ setMeList()

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

Set the list of moving edges

l: list of Moving Edges.

Definition at line 147 of file vpMeTracker.h.

◆ totalNumberOfSignal()

unsigned int vpMeTracker::totalNumberOfSignal ( )

Definition at line 129 of file vpMeTracker.cpp.

References list.

◆ track()

Member Data Documentation

◆ cP

◆ cPAvailable

bool vpTracker::cPAvailable

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

Definition at line 81 of file vpTracker.h.

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

◆ display_point

bool vpMeTracker::display_point

Definition at line 167 of file vpMeTracker.h.

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

◆ init_range

unsigned int vpMeTracker::init_range

Definition at line 77 of file vpMeTracker.h.

Referenced by initTracking(), operator=(), and vpMeTracker().

◆ list

◆ me

◆ nGoodElement

int vpMeTracker::nGoodElement

Definition at line 78 of file vpMeTracker.h.

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

◆ p

◆ query_range

int vpMeTracker::query_range

Definition at line 166 of file vpMeTracker.h.

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

◆ selectDisplay