vpMbtDistanceLine Class Reference

#include <visp3/mbt/vpMbtDistanceLine.h>

Public Member Functions
	vpMbtDistanceLine ()
virtual	~vpMbtDistanceLine ()
void	addPolygon (const int &index)
void	buildFrom (vpPoint &_p1, vpPoint &_p2)
bool	closeToImageBorder (const vpImage< unsigned char > &I, const unsigned int threshold)
void	computeInteractionMatrixError (const vpHomogeneousMatrix &cMo)
void	display (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, const unsigned int thickness=1, const bool displayFullModel=false)
void	display (const vpImage< vpRGBa > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, const unsigned int thickness=1, const bool displayFullModel=false)
void	displayMovingEdges (const vpImage< unsigned char > &I)
void	getCameraParameters (vpCameraParameters &camera) const
unsigned int	getIndex () const
double	getMeanWeight () const
std::string	getName () const
vpMbtPolygon &	getPolygon ()
void	initInteractionMatrixError ()
bool	initMovingEdge (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const bool doNotTrack, const vpImage< bool > *mask=NULL)
bool	isTracked () const
bool	isVisible () const
void	reinitMovingEdge (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpImage< bool > *mask=NULL)
void	setCameraParameters (const vpCameraParameters &camera)
void	setIndex (const unsigned int i)
void	setMeanWeight (const double w_mean)
void	setMovingEdge (vpMe *Me)
void	setName (const std::string &line_name)
void	setName (const char *line_name)
void	setTracked (const std::string &name, const bool &track)
void	setVisible (bool _isvisible)
void	trackMovingEdge (const vpImage< unsigned char > &I)
void	updateMovingEdge (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo)
void	updateTracked ()

Public Attributes
bool	useScanLine
std::vector< vpMbtMeLine * >	meline
vpLine *	line
vpPoint *	p1
vpPoint *	p2
vpMatrix	L
vpColVector	error
std::vector< unsigned int >	nbFeature
unsigned int	nbFeatureTotal
bool	Reinit
vpMbHiddenFaces< vpMbtPolygon > *	hiddenface
std::list< int >	Lindex_polygon
std::vector< bool >	Lindex_polygon_tracked
bool	isvisible

Detailed Description

Manage the line of a polygon used in the model-based tracker.

Definition at line 66 of file vpMbtDistanceLine.h.

Constructor & Destructor Documentation

vpMbtDistanceLine::vpMbtDistanceLine

(

)

Basic constructor

Definition at line 59 of file vpMbtDistanceLine.cpp.

vpMbtDistanceLine::~vpMbtDistanceLine ( )

virtual

Basic destructor useful to deallocate the memory.

Definition at line 69 of file vpMbtDistanceLine.cpp.

References vpColVector::cross(), vpPoint::get_oX(), vpPoint::get_oY(), vpPoint::get_oZ(), vpPlane::getA(), vpPlane::getB(), vpPlane::getC(), vpPlane::getD(), L, line, meline, p1, p2, vpForwardProjection::project(), vpPlane::setA(), vpPlane::setB(), vpPlane::setC(), vpPlane::setD(), and vpLine::setWorldCoordinates().

Member Function Documentation

void vpMbtDistanceLine::addPolygon

(

const int &

idx

)

Add a polygon to the list of polygons the line belongs to.

Parameters

idx	: Index of the polygon

Definition at line 216 of file vpMbtDistanceLine.cpp.

References Lindex_polygon, and Lindex_polygon_tracked.

Referenced by vpMbtFaceDepthDense::addLine(), vpMbtFaceDepthNormal::addLine(), vpMbEdgeTracker::addLine(), and vpMbTracker::addProjectionErrorLine().

void vpMbtDistanceLine::buildFrom	(	vpPoint &	_p1,
		vpPoint &	_p2
	)

Build a vpMbtDistanceLine thanks to two points corresponding to the extremities.

Parameters

_p1	: The first extremity.
_p2	: The second extremity.

Definition at line 166 of file vpMbtDistanceLine.cpp.

References vpPolygon3D::addPoint(), vpColVector::cross(), vpPoint::get_oX(), vpPoint::get_oY(), vpPoint::get_oZ(), line, vpPolygon3D::p, p1, p2, and vpPolygon3D::setNbPoint().

Referenced by vpMbtFaceDepthDense::addLine(), vpMbtFaceDepthNormal::addLine(), vpMbEdgeTracker::addLine(), and vpMbTracker::addProjectionErrorLine().

bool vpMbtDistanceLine::closeToImageBorder	(	const vpImage< unsigned char > &	I,
		const unsigned int	threshold
	)

Test wether the line is close to the border of the image (at a given threshold)

Parameters

I	: the input image (to know its size)
threshold	: the threshold in pixel

Returns

true if the line is near the border of the image

Definition at line 830 of file vpMbtDistanceLine.cpp.

References vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), isvisible, and meline.

Referenced by vpMbEdgeTracker::computeVVSFirstPhase(), vpMbEdgeTracker::computeVVSFirstPhaseFactor(), and vpMbEdgeKltTracker::trackFirstLoop().

void vpMbtDistanceLine::computeInteractionMatrixError

(

const vpHomogeneousMatrix &

cMo

)

Compute the interaction matrix and the error vector corresponding to the line.

Definition at line 755 of file vpMbtDistanceLine.cpp.

References vpLine::changeFrame(), vpFeatureBuilder::create(), error, vpCameraParameters::get_px(), vpCameraParameters::get_py(), vpCameraParameters::get_u0(), vpCameraParameters::get_v0(), vpFeatureLine::getRho(), vpFeatureLine::getTheta(), vpFeatureLine::interaction(), isvisible, line, meline, and vpLine::projection().

Referenced by vpMbEdgeTracker::computeVVSFirstPhase(), vpMbEdgeTracker::computeVVSFirstPhaseFactor(), vpMbEdgeTracker::computeVVSInteractionMatrixAndResidu(), vpMbEdgeKltTracker::trackFirstLoop(), and vpMbEdgeKltTracker::trackSecondLoop().

void vpMbtDistanceLine::display	(	const vpImage< unsigned char > &	I,
		const vpHomogeneousMatrix &	cMo,
		const vpCameraParameters &	camera,
		const vpColor &	col,
		const unsigned int	thickness = 1,
		const bool	displayFullModel = false
	)

Display the line. The 3D line is projected into the image.

Parameters

I	: The image.
cMo	: Pose used to project the 3D model into the image.
camera	: The camera parameters.
col	: The desired color.
thickness	: The thickness of the line.
displayFullModel	: If true, the line is displayed even if it is not visible.

Definition at line 613 of file vpMbtDistanceLine.cpp.

References vpPoint::changeFrame(), vpCameraParameters::computeFov(), vpPolygon3D::computePolygonClipped(), vpMbHiddenFaces< PolygonType >::computeScanLineQuery(), vpMeterPixelConversion::convertPoint(), vpDisplay::displayLine(), vpPolygon3D::DOWN_CLIPPING, vpPolygon3D::FAR_CLIPPING, vpPolygon3D::getClipping(), vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), hiddenface, isvisible, vpPolygon3D::LEFT_CLIPPING, vpPolygon3D::NEAR_CLIPPING, p1, p2, vpPolygon3D::polyClipped, vpPolygon3D::RIGHT_CLIPPING, vpPolygon3D::UP_CLIPPING, and useScanLine.

Referenced by vpMbtFaceDepthDense::display(), and vpMbtFaceDepthNormal::display().

void vpMbtDistanceLine::display	(	const vpImage< vpRGBa > &	I,
		const vpHomogeneousMatrix &	cMo,
		const vpCameraParameters &	camera,
		const vpColor &	col,
		const unsigned int	thickness = 1,
		const bool	displayFullModel = false
	)

Display the line. The 3D line is projected into the image.

Parameters

I	: The image.
cMo	: Pose used to project the 3D model into the image.
camera	: The camera parameters.
col	: The desired color.
thickness	: The thickness of the line.
displayFullModel	: If true, the line is displayed even if it is not visible.

Definition at line 667 of file vpMbtDistanceLine.cpp.

References vpPoint::changeFrame(), vpCameraParameters::computeFov(), vpPolygon3D::computePolygonClipped(), vpMbHiddenFaces< PolygonType >::computeScanLineQuery(), vpMeterPixelConversion::convertPoint(), vpDisplay::displayLine(), vpPolygon3D::DOWN_CLIPPING, vpPolygon3D::FAR_CLIPPING, vpPolygon3D::getClipping(), vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), hiddenface, isvisible, vpPolygon3D::LEFT_CLIPPING, vpPolygon3D::NEAR_CLIPPING, p1, p2, vpPolygon3D::polyClipped, vpPolygon3D::RIGHT_CLIPPING, vpPolygon3D::UP_CLIPPING, and useScanLine.

void vpMbtDistanceLine::displayMovingEdges

(

const vpImage< unsigned char > &

I

)

Enable to display the points along the line 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 blue : The point is removed because of the robust method in the virtual visual servoing.

Parameters

I	: The image.

Definition at line 724 of file vpMbtDistanceLine.cpp.

References meline.

Referenced by vpMbEdgeTracker::displayFeaturesOnImage(), and vpMbEdgeKltTracker::postTracking().

void vpMbtDistanceLine::getCameraParameters ( vpCameraParameters &  camera ) const

inline

Get the camera paramters.

Parameters

camera

: The vpCameraParameters used to store the camera parameters.

Definition at line 154 of file vpMbtDistanceLine.h.

unsigned int vpMbtDistanceLine::getIndex ( ) const

inline

Get the index of the line.

Returns

Return the index of the line.

Definition at line 161 of file vpMbtDistanceLine.h.

double vpMbtDistanceLine::getMeanWeight ( ) const

inline

Get the mean weight of the line. The mean weight is computed thanks to the weight of each moving edge. Those weights are computed by the robust estimation method used during the virtual visual servoing.

Returns

The mean weight of the line.

Definition at line 170 of file vpMbtDistanceLine.h.

std::string vpMbtDistanceLine::getName ( ) const

inline

Get the name of the line.

Returns

Return the name of the line

Definition at line 177 of file vpMbtDistanceLine.h.

Referenced by vpMbEdgeTracker::removeLine().

vpMbtPolygon& vpMbtDistanceLine::getPolygon ( )

inline

Get the polygon associated to the line.

Returns

poly.

Definition at line 184 of file vpMbtDistanceLine.h.

Referenced by vpMbtFaceDepthDense::addLine(), vpMbtFaceDepthNormal::addLine(), vpMbEdgeTracker::addLine(), vpMbTracker::addProjectionErrorLine(), vpMbEdgeTracker::setClipping(), vpMbEdgeTracker::setFarClippingDistance(), and vpMbEdgeTracker::setNearClippingDistance().

void vpMbtDistanceLine::initInteractionMatrixError

(

)

Initialize the size of the interaction matrix and the error vector.

Definition at line 735 of file vpMbtDistanceLine.cpp.

References error, isvisible, meline, nbFeature, nbFeatureTotal, and vpColVector::resize().

Referenced by vpMbEdgeKltTracker::initMbtTracking(), and vpMbEdgeTracker::initMbtTracking().

bool vpMbtDistanceLine::initMovingEdge	(	const vpImage< unsigned char > &	I,
		const vpHomogeneousMatrix &	cMo,
		const bool	doNotTrack,
		const vpImage< bool > *	mask = NULL
	)

Initialize the moving edge thanks to a given pose of the camera. The 3D model is projected into the image to create moving edges along the line.

Parameters

I	: The image.
cMo	: The pose of the camera used to initialize the moving edges.
doNotTrack	: If true, ME are not tracked.
mask	Mask image or NULL if not wanted. Mask values that are set to true are considered in the tracking. To disable a pixel, set false.

Returns

false if an error occur, true otherwise.

Definition at line 307 of file vpMbtDistanceLine.cpp.

References vpPoint::changeFrame(), vpLine::changeFrame(), vpCameraParameters::computeFov(), vpPolygon3D::computePolygonClipped(), vpMbHiddenFaces< PolygonType >::computeScanLineQuery(), vpMeterPixelConversion::convertLine(), vpMeterPixelConversion::convertPoint(), vpImagePoint::get_i(), vpImagePoint::get_j(), vpPolygon3D::getClipping(), vpImage< Type >::getHeight(), vpLine::getRho(), vpLine::getTheta(), vpImage< Type >::getWidth(), hiddenface, isvisible, line, meline, nbFeature, nbFeatureTotal, p1, p2, vpPolygon3D::polyClipped, vpLine::projection(), and useScanLine.

Referenced by vpMbEdgeTracker::initMovingEdge(), vpMbTracker::projectionErrorInitMovingEdge(), reinitMovingEdge(), and vpMbEdgeTracker::trackMovingEdge().

bool vpMbtDistanceLine::isTracked ( ) const

inline

Return if the line is used for tracking.

Returns

True if it is used, False otherwise.

Definition at line 196 of file vpMbtDistanceLine.h.

Referenced by vpMbEdgeTracker::computeProjectionError(), vpMbTracker::computeProjectionErrorImpl(), vpMbEdgeTracker::displayFeaturesOnImage(), vpMbEdgeTracker::getNbPoints(), vpMbEdgeKltTracker::initMbtTracking(), vpMbEdgeTracker::initMbtTracking(), vpMbEdgeTracker::initMovingEdge(), vpMbEdgeKltTracker::postTracking(), vpMbTracker::projectionErrorInitMovingEdge(), vpMbEdgeTracker::testTracking(), and vpMbEdgeTracker::trackMovingEdge().

bool vpMbtDistanceLine::isVisible ( ) const

inline

Check if the line is visible in the image or not.

Returns

Return true if the line is visible

Definition at line 203 of file vpMbtDistanceLine.h.

Referenced by vpMbEdgeTracker::computeProjectionError(), vpMbTracker::computeProjectionErrorImpl(), vpMbEdgeTracker::displayFeaturesOnImage(), vpMbEdgeTracker::getNbPoints(), vpMbEdgeKltTracker::postTracking(), vpMbEdgeTracker::reinitMovingEdge(), vpMbEdgeTracker::testTracking(), vpMbEdgeTracker::trackMovingEdge(), and vpMbEdgeTracker::updateMovingEdge().

void vpMbtDistanceLine::reinitMovingEdge	(	const vpImage< unsigned char > &	I,
		const vpHomogeneousMatrix &	cMo,
		const vpImage< bool > *	mask = NULL
	)

Reinitialize the line if it is required.

A line is reinitialized if the 2D line do not match enough with the projected 3D line.

Parameters

I	: the image.
cMo	: The pose of the camera.
mask	Mask image or NULL if not wanted. Mask values that are set to true are considered in the tracking. To disable a pixel, set false.

Definition at line 585 of file vpMbtDistanceLine.cpp.

References initMovingEdge(), meline, nbFeature, nbFeatureTotal, and Reinit.

Referenced by vpMbEdgeTracker::reInitLevel(), and vpMbEdgeTracker::reinitMovingEdge().

void vpMbtDistanceLine::setCameraParameters ( const vpCameraParameters &  camera )

inline

Set the camera paramters.

Parameters

camera

: The camera parameters.

Definition at line 212 of file vpMbtDistanceLine.h.

Referenced by vpMbtFaceDepthDense::addLine(), vpMbtFaceDepthNormal::addLine(), vpMbEdgeTracker::addLine(), vpMbTracker::addProjectionErrorLine(), and vpMbTracker::computeProjectionErrorImpl().

void vpMbtDistanceLine::setIndex ( const unsigned int  i )

inline

Set the index of the line.

Parameters

i	: The index number

Definition at line 219 of file vpMbtDistanceLine.h.

Referenced by vpMbtFaceDepthDense::addLine(), vpMbtFaceDepthNormal::addLine(), vpMbEdgeTracker::addLine(), and vpMbTracker::addProjectionErrorLine().

void vpMbtDistanceLine::setMeanWeight ( const double  w_mean )

inline

Set the mean weight of the line.

Parameters

w_mean

: The mean weight of the line.

Definition at line 226 of file vpMbtDistanceLine.h.

Referenced by vpMbEdgeKltTracker::postTrackingMbt(), and vpMbEdgeTracker::updateMovingEdgeWeights().

void vpMbtDistanceLine::setMovingEdge

(

vpMe *

_me

)

Set the moving edge parameters.

Parameters

_me	: an instance of vpMe containing all the desired parameters

Definition at line 282 of file vpMbtDistanceLine.cpp.

References meline.

Referenced by vpMbEdgeTracker::addLine(), vpMbTracker::addProjectionErrorLine(), vpMbEdgeTracker::setMovingEdge(), and vpMbTracker::setProjectionErrorMovingEdge().

void vpMbtDistanceLine::setName ( const std::string &  line_name )

inline

Set the name of the line.

Parameters

line_name

: The name of the line.

Definition at line 235 of file vpMbtDistanceLine.h.

Referenced by vpMbtFaceDepthDense::addLine(), vpMbtFaceDepthNormal::addLine(), vpMbEdgeTracker::addLine(), and vpMbTracker::addProjectionErrorLine().

void vpMbtDistanceLine::setName ( const char *  line_name )

inline

Set the name of the line.

Parameters

line_name

: The name of the line.

Definition at line 242 of file vpMbtDistanceLine.h.

void vpMbtDistanceLine::setTracked	(	const std::string &	polyname,
		const bool &	track
	)

Set if the line has to considered during tracking phase. Line won't be considered if all of its polygons are desactivated.

Parameters

polyname	: name of the polygons that have to be modified.
track	: True if the polygon has to be tracked, False otherwise.

Definition at line 229 of file vpMbtDistanceLine.cpp.

References hiddenface, Lindex_polygon, Lindex_polygon_tracked, and updateTracked().

void vpMbtDistanceLine::setVisible ( bool  _isvisible )

inline

Set a boolean parameter to indicates if the line is visible in the image or not.

Parameters

_isvisible

: Set to true if the line is visible

Definition at line 252 of file vpMbtDistanceLine.h.

Referenced by vpMbtFaceDepthDense::computeVisibilityDisplay(), vpMbtFaceDepthNormal::computeVisibilityDisplay(), vpMbEdgeTracker::initMovingEdge(), and vpMbTracker::projectionErrorInitMovingEdge().

void vpMbtDistanceLine::trackMovingEdge

(

const vpImage< unsigned char > &

I

)

Track the moving edges in the image.

Parameters

I	: the image.

Definition at line 421 of file vpMbtDistanceLine.cpp.

References isvisible, meline, nbFeature, nbFeatureTotal, and Reinit.

Referenced by vpMbEdgeTracker::trackMovingEdge().

void vpMbtDistanceLine::updateMovingEdge	(	const vpImage< unsigned char > &	I,
		const vpHomogeneousMatrix &	cMo
	)

Update the moving edges internal parameters.

Parameters

I	: the image.
cMo	: The pose of the camera.

Definition at line 453 of file vpMbtDistanceLine.cpp.

References vpPoint::changeFrame(), vpLine::changeFrame(), vpCameraParameters::computeFov(), vpPolygon3D::computePolygonClipped(), vpMbHiddenFaces< PolygonType >::computeScanLineQuery(), vpMeterPixelConversion::convertLine(), vpMeterPixelConversion::convertPoint(), vpImagePoint::get_i(), vpImagePoint::get_j(), vpPolygon3D::getClipping(), vpImage< Type >::getHeight(), vpLine::getRho(), vpLine::getTheta(), vpImage< Type >::getWidth(), hiddenface, isvisible, line, meline, nbFeature, nbFeatureTotal, p1, p2, vpPolygon3D::polyClipped, vpLine::projection(), Reinit, and useScanLine.

Referenced by vpMbEdgeTracker::updateMovingEdge().

void vpMbtDistanceLine::updateTracked

(

)

Update the boolean specifying if the line has to be tracked. It takes into account the desactivated polygons and the visibility of the others.

Definition at line 259 of file vpMbtDistanceLine.cpp.

References hiddenface, Lindex_polygon, and Lindex_polygon_tracked.

Referenced by vpMbEdgeTracker::initMovingEdge(), vpMbTracker::projectionErrorInitMovingEdge(), and setTracked().

Member Data Documentation

vpColVector vpMbtDistanceLine::error

The error vector.

Definition at line 95 of file vpMbtDistanceLine.h.

Referenced by computeInteractionMatrixError(), vpMbEdgeTracker::computeVVSFirstPhase(), vpMbEdgeTracker::computeVVSInteractionMatrixAndResidu(), initInteractionMatrixError(), and vpMbEdgeKltTracker::trackSecondLoop().

vpMbHiddenFaces<vpMbtPolygon>* vpMbtDistanceLine::hiddenface

Pointer to the list of faces.

Definition at line 104 of file vpMbtDistanceLine.h.

Referenced by vpMbtFaceDepthDense::addLine(), vpMbtFaceDepthNormal::addLine(), vpMbEdgeTracker::addLine(), vpMbTracker::addProjectionErrorLine(), vpMbtFaceDepthDense::computeVisibilityDisplay(), vpMbtFaceDepthNormal::computeVisibilityDisplay(), vpMbEdgeTracker::computeVVSFirstPhase(), vpMbEdgeTracker::computeVVSFirstPhaseFactor(), display(), initMovingEdge(), vpMbEdgeTracker::initMovingEdge(), vpMbTracker::projectionErrorInitMovingEdge(), setTracked(), vpMbEdgeKltTracker::trackFirstLoop(), updateMovingEdge(), and updateTracked().

bool vpMbtDistanceLine::isvisible

Indicates if the line is visible or not.

Definition at line 111 of file vpMbtDistanceLine.h.

Referenced by closeToImageBorder(), computeInteractionMatrixError(), display(), initInteractionMatrixError(), initMovingEdge(), trackMovingEdge(), and updateMovingEdge().

vpMatrix vpMbtDistanceLine::L

The interaction matrix.

Definition at line 93 of file vpMbtDistanceLine.h.

Referenced by vpMbEdgeTracker::computeVVSFirstPhase(), vpMbEdgeTracker::computeVVSInteractionMatrixAndResidu(), vpMbEdgeKltTracker::trackSecondLoop(), and ~vpMbtDistanceLine().

std::list<int> vpMbtDistanceLine::Lindex_polygon

Index of the faces which contain the line.

Definition at line 106 of file vpMbtDistanceLine.h.

Referenced by addPolygon(), vpMbtFaceDepthDense::computeVisibilityDisplay(), vpMbtFaceDepthNormal::computeVisibilityDisplay(), vpMbEdgeTracker::computeVVSFirstPhase(), vpMbEdgeTracker::computeVVSFirstPhaseFactor(), vpMbEdgeTracker::initMovingEdge(), vpMbTracker::projectionErrorInitMovingEdge(), setTracked(), vpMbEdgeKltTracker::trackFirstLoop(), and updateTracked().

std::vector<bool> vpMbtDistanceLine::Lindex_polygon_tracked

Vector of bool associated with Lindex_polygon to know if Lindex_polygon[i] is tracked

Definition at line 109 of file vpMbtDistanceLine.h.

Referenced by addPolygon(), setTracked(), and updateTracked().

vpLine* vpMbtDistanceLine::line

The 3D line.

Definition at line 87 of file vpMbtDistanceLine.h.

Referenced by buildFrom(), computeInteractionMatrixError(), initMovingEdge(), updateMovingEdge(), and ~vpMbtDistanceLine().

std::vector<vpMbtMeLine *> vpMbtDistanceLine::meline

The moving edge container.

Definition at line 85 of file vpMbtDistanceLine.h.

Referenced by closeToImageBorder(), computeInteractionMatrixError(), vpMbEdgeTracker::computeProjectionError(), vpMbTracker::computeProjectionErrorImpl(), vpMbEdgeTracker::computeVVSFirstPhase(), vpMbEdgeTracker::computeVVSFirstPhaseFactor(), displayMovingEdges(), vpMbEdgeTracker::getNbPoints(), initInteractionMatrixError(), initMovingEdge(), vpMbEdgeTracker::initMovingEdge(), vpMbEdgeKltTracker::postTrackingMbt(), vpMbTracker::projectionErrorInitMovingEdge(), reinitMovingEdge(), setMovingEdge(), vpMbEdgeTracker::testTracking(), vpMbEdgeKltTracker::trackFirstLoop(), trackMovingEdge(), vpMbEdgeTracker::trackMovingEdge(), updateMovingEdge(), vpMbEdgeTracker::updateMovingEdgeWeights(), and ~vpMbtDistanceLine().

std::vector<unsigned int> vpMbtDistanceLine::nbFeature

The number of moving edges.

Definition at line 98 of file vpMbtDistanceLine.h.

Referenced by vpMbEdgeTracker::computeVVSFirstPhase(), vpMbEdgeTracker::computeVVSFirstPhaseFactor(), vpMbEdgeTracker::getNbPoints(), initInteractionMatrixError(), initMovingEdge(), vpMbEdgeTracker::initMovingEdge(), vpMbEdgeKltTracker::postTrackingMbt(), vpMbTracker::projectionErrorInitMovingEdge(), reinitMovingEdge(), vpMbEdgeKltTracker::trackFirstLoop(), trackMovingEdge(), updateMovingEdge(), and vpMbEdgeTracker::updateMovingEdgeWeights().

unsigned int vpMbtDistanceLine::nbFeatureTotal

The number of moving edges.

Definition at line 100 of file vpMbtDistanceLine.h.

Referenced by vpMbEdgeTracker::computeVVSFirstPhase(), vpMbEdgeTracker::computeVVSInteractionMatrixAndResidu(), initInteractionMatrixError(), vpMbEdgeKltTracker::initMbtTracking(), vpMbEdgeTracker::initMbtTracking(), initMovingEdge(), vpMbEdgeTracker::initMovingEdge(), vpMbEdgeKltTracker::postTrackingMbt(), vpMbTracker::projectionErrorInitMovingEdge(), reinitMovingEdge(), trackMovingEdge(), vpMbEdgeKltTracker::trackSecondLoop(), updateMovingEdge(), vpMbEdgeTracker::updateMovingEdge(), and vpMbEdgeTracker::updateMovingEdgeWeights().

vpPoint* vpMbtDistanceLine::p1

The first extremity.

Definition at line 89 of file vpMbtDistanceLine.h.

Referenced by vpMbtFaceDepthDense::addLine(), vpMbtFaceDepthNormal::addLine(), vpMbEdgeTracker::addLine(), vpMbTracker::addProjectionErrorLine(), buildFrom(), display(), initMovingEdge(), updateMovingEdge(), and ~vpMbtDistanceLine().

vpPoint* vpMbtDistanceLine::p2

The second extremity.

Definition at line 91 of file vpMbtDistanceLine.h.

Referenced by vpMbtFaceDepthDense::addLine(), vpMbtFaceDepthNormal::addLine(), vpMbEdgeTracker::addLine(), vpMbTracker::addProjectionErrorLine(), buildFrom(), display(), initMovingEdge(), updateMovingEdge(), and ~vpMbtDistanceLine().

bool vpMbtDistanceLine::Reinit

Indicates if the line has to be reinitialized.

Definition at line 102 of file vpMbtDistanceLine.h.

Referenced by vpMbEdgeKltTracker::postTrackingMbt(), reinitMovingEdge(), vpMbEdgeTracker::reinitMovingEdge(), trackMovingEdge(), updateMovingEdge(), vpMbEdgeTracker::updateMovingEdge(), and vpMbEdgeTracker::updateMovingEdgeWeights().

bool vpMbtDistanceLine::useScanLine

Use scanline rendering.

Definition at line 82 of file vpMbtDistanceLine.h.

Referenced by vpMbtFaceDepthDense::addLine(), vpMbtFaceDepthNormal::addLine(), vpMbEdgeTracker::addLine(), vpMbTracker::addProjectionErrorLine(), display(), initMovingEdge(), and updateMovingEdge().