#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, const bool doNotTrack=false)=0

void	setInitRange (const unsigned int &r)

unsigned int	getInitRange ()

virtual void	setMask (const vpImage< bool > &mask)

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

Static Public Member Functions
static bool	inMask (const vpImage< bool > *mask, const unsigned int i, const unsigned int j)

Public Attributes
std::list< vpMeSite >	list

vpMe *	me

unsigned int	init_range

int	nGoodElement

const vpImage< bool > *	m_mask

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::vpMeTracker ( )

Definition at line 62 of file vpMeTracker.cpp.

References init().

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 ( )

virtual

Definition at line 102 of file vpMeTracker.cpp.

References reset().

Member Function Documentation

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().

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 326 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 346 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 130 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 151 of file vpMeTracker.h.

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

inline

Return the list of moving edges

Returns: List of Moving Edges.

Definition at line 165 of file vpMeTracker.h.

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

inline

Definition at line 166 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 173 of file vpMeTracker.h.

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().

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 169 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().

bool vpMeTracker::inMask	(	const vpImage< bool > *	mask,
		const unsigned int	i,
		const unsigned int	j
	)

static

Test whether the pixel is inside the mask. Mask values that are set to true are considered in the tracking.

Parameters

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.
i	: Pixel coordinate along the rows.
j	: Pixel coordinate along the columns.

Definition at line 140 of file vpMeTracker.cpp.

References vpImage< Type >::getValue().

Referenced by vpMbtFaceDepthDense::computeDesiredFeatures(), vpMbtFaceDepthNormal::computeDesiredFeatures(), vpMbtDistanceKltPoints::computeNbDetectedCurrent(), vpMbtDistanceKltPoints::init(), and track().

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().

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.