#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)

vpMeTracker &	operator= (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)

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 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 ( )

virtual

Definition at line 102 of file vpMeTracker.cpp.

References reset().

Member Function Documentation

◆ display() [1/3]

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

pure virtual

Implemented in vpMeNurbs, vpMeLine, and vpMeEllipse.

Referenced by vpMeLine::computeRhoSignFromIntensity(), display(), vpMeEllipse::display(), vpMeEllipse::getExpectedDensity(), vpMeNurbs::getNurbs(), vpMeEllipse::initTracking(), vpMeEllipse::track(), and vpMeLine::track().

◆ display() [2/3]

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 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

Parameters

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 ( )

inline

Return the initial range.

Returns: Value of init_range.

Definition at line 126 of file vpMeTracker.h.

◆ getMe()

vpMe* vpMeTracker::getMe ( )

inline

Return the moving edges initialisation parameters

Returns: Moving Edges.

Examples:: trackMeCircle.cpp, and trackMeEllipse.cpp.

Definition at line 140 of file vpMeTracker.h.

◆ getMeList() [1/2]

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

inline

Return the list of moving edges

Returns: List of Moving Edges.

Definition at line 154 of file vpMeTracker.h.

◆ getMeList() [2/2]

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

inline

Definition at line 155 of file vpMeTracker.h.

◆ getNbPoints()

int vpMeTracker::getNbPoints ( ) const

inline

Return the number of points that has not been suppressed.

Returns: 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()

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

Virtual function that is called by lower classes vpMeEllipse, vpMeLine and vpMeNurbs.

Exceptions

vpTrackingException::initializationError : Moving edges not initialized.

Definition at line 150 of file vpMeTracker.cpp.

References vpDisplay::displayArrow(), vpMe::getRange(), vpMeSite::getState(), vpColor::green, vpMeSite::i, vpMeSite::i_1, init_range, vpTrackingException::initializationError, vpMeSite::j, vpMeSite::j_1, list, me, nGoodElement, vpMeSite::NO_SUPPRESSION, vpImagePoint::set_i(), vpImagePoint::set_j(), vpMe::setRange(), vpMeSite::track(), vpDERROR_TRACE, and vpERROR_TRACE.

Referenced by vpMeEllipse::display(), vpMeEllipse::getExpectedDensity(), vpMeEllipse::initTracking(), vpMeNurbs::initTracking(), vpMeLine::initTracking(), vpMeLine::reSample(), vpMeNurbs::reSample(), vpMeNurbs::setCannyThreshold(), and vpMeEllipse::~vpMeEllipse().

◆ numberOfSignal()

unsigned int vpMeTracker::numberOfSignal ( )

Definition at line 120 of file vpMeTracker.cpp.

References list.

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

◆ operator=()

vpMeTracker & vpMeTracker::operator= ( vpMeTracker & f )

Definition at line 104 of file vpMeTracker.cpp.

References display_point, vpMeSite::getState(), init_range, list, me, nGoodElement, vpMeSite::NO_SUPPRESSION, query_range, and selectDisplay.

◆ outOfImage() [1/2]

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

Definition at line 131 of file vpMeTracker.cpp.

Referenced by vpMeNurbs::localReSample(), vpMeEllipse::printParameters(), vpMeLine::sample(), vpMeNurbs::sample(), vpMeLine::seekExtremities(), vpMeNurbs::seekExtremities(), and vpMeEllipse::~vpMeEllipse().

◆ 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()

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

inline

Examples:: servoAfma6Cylinder2DCamVelocity.cpp, servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp, servoAfma6Line2DCamVelocity.cpp, servoAfma6SquareLines2DCamVelocity.cpp, servoAfma6TwoLines2DCamVelocity.cpp, trackMeCircle.cpp, trackMeEllipse.cpp, trackMeLine.cpp, trackMeNurbs.cpp, tutorial-me-ellipse-tracker.cpp, and tutorial-me-line-tracker.cpp.

Definition at line 102 of file vpMeTracker.h.

References vpTracker::operator=().

◆ setInitRange()

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

inline

Set the initial range.

Parameters

r	: initial range.

Definition at line 119 of file vpMeTracker.h.

◆ setMe()

void vpMeTracker::setMe ( vpMe * p_me )

inline

Set the moving edges initialisation parameters

Parameters

p_me	: Moving Edges.

Examples:: servoAfma62DhalfCamVelocity.cpp, servoAfma6Cylinder2DCamVelocity.cpp, servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp, servoAfma6Line2DCamVelocity.cpp, servoAfma6SquareLines2DCamVelocity.cpp, servoAfma6TwoLines2DCamVelocity.cpp, trackMeCircle.cpp, trackMeEllipse.cpp, trackMeLine.cpp, trackMeNurbs.cpp, tutorial-me-ellipse-tracker.cpp, and tutorial-me-line-tracker.cpp.

Definition at line 133 of file vpMeTracker.h.

◆ setMeList()

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

inline

Set the list of moving edges

Parameters

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()

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

Track sampled pixels.

Track moving-edges.

Parameters

I : Image.

Exceptions

vpTrackingException::initializationError : Moving edges not initialized.

Definition at line 231 of file vpMeTracker.cpp.

References vpDisplay::displayArrow(), vpMeSite::getState(), vpColor::green, vpMeSite::i, vpMeSite::i_1, vpTrackingException::initializationError, 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::getExpectedDensity(), vpMeNurbs::setCannyThreshold(), vpMeEllipse::track(), vpMeLine::track(), vpMeNurbs::track(), and vpMeEllipse::~vpMeEllipse().

Member Data Documentation

◆ cP

vpColVector vpTracker::cP

inherited

Feature coordinates expressed in the camera frame cP.

Definition at line 75 of file vpTracker.h.

Referenced by vpFeaturePoint3D::buildFrom(), vpPoint::changeFrame(), vpCircle::changeFrame(), vpSphere::changeFrame(), vpCylinder::changeFrame(), vpLine::changeFrame(), vpFeatureBuilder::create(), vpPoint::get_W(), vpPoint::get_X(), vpPoint::get_Y(), vpPoint::get_Z(), vpCircle::init(), vpSphere::init(), vpPoint::init(), vpLine::init(), vpCylinder::init(), vpMbtPolygon::isVisible(), vpTracker::operator=(), vpPoint::operator=(), vpForwardProjection::print(), vpPose::printPoint(), vpForwardProjection::project(), vpCircle::projection(), vpSphere::projection(), vpPoint::projection(), vpLine::projection(), vpCylinder::projection(), vpPoint::set_W(), vpPoint::set_X(), vpPoint::set_Y(), and vpPoint::set_Z().

◆ cPAvailable

bool vpTracker::cPAvailable

inherited

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

std::list<vpMeSite> vpMeTracker::list

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

Definition at line 74 of file vpMeTracker.h.

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

◆ me

vpMe* vpMeTracker::me

Moving edges initialisation parameters.

Definition at line 76 of file vpMeTracker.h.

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

◆ nGoodElement

int vpMeTracker::nGoodElement

Definition at line 78 of file vpMeTracker.h.

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

◆ p

vpColVector vpTracker::p

inherited

Feature coordinates expressed in the image plane p. They correspond to 2D normalized coordinates expressed in meters.

Definition at line 71 of file vpTracker.h.

Referenced by vpMbtDistanceCircle::computeInteractionMatrixError(), vpCircle::computeIntersectionPoint(), vpMeterPixelConversion::convertEllipse(), vpFeatureBuilder::create(), vpPoint::display(), vpCircle::display(), vpSphere::display(), vpCylinder::display(), vpProjectionDisplay::display(), vpLine::display(), vpProjectionDisplay::displayCamera(), vpPose::displayModel(), vpPoint::get_w(), vpPoint::get_x(), vpPoint::get_y(), vpCircle::init(), vpSphere::init(), init(), vpPoint::init(), vpLine::init(), vpCylinder::init(), vpTracker::operator=(), vpPoint::operator=(), vpForwardProjection::print(), vpPose::printPoint(), vpForwardProjection::project(), vpCircle::projection(), vpSphere::projection(), vpPoint::projection(), vpLine::projection(), vpCylinder::projection(), vpPoint::set_w(), vpPoint::set_x(), and vpPoint::set_y().

◆ query_range

int vpMeTracker::query_range

Definition at line 166 of file vpMeTracker.h.

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

◆ selectDisplay

vpMeSite::vpMeSiteDisplayType vpMeTracker::selectDisplay

protected

Definition at line 81 of file vpMeTracker.h.

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

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ vpMeTracker() [1/2]

◆ vpMeTracker() [2/2]

◆ ~vpMeTracker()

Member Function Documentation

◆ display() [1/3]

◆ display() [2/3]

◆ display() [3/3]

◆ getInitRange()

◆ getMe()

◆ getMeList() [1/2]

◆ getMeList() [2/2]

◆ getNbPoints()

◆ init()

◆ initTracking()

◆ numberOfSignal()

◆ operator=()

◆ outOfImage() [1/2]

◆ outOfImage() [2/2]

◆ reset()

◆ sample()

◆ setDisplay()

◆ setInitRange()

◆ setMe()

◆ setMeList()

◆ totalNumberOfSignal()

◆ track()

Member Data Documentation

◆ cP

◆ cPAvailable

◆ display_point

◆ init_range

◆ list

◆ me

◆ nGoodElement

◆ p

◆ query_range

◆ selectDisplay