vpTemplateTrackerZone Class Reference

#include <visp3/tt/vpTemplateTrackerZone.h>

Public Member Functions
	vpTemplateTrackerZone ()
	vpTemplateTrackerZone (const vpTemplateTrackerZone &z)
virtual	~vpTemplateTrackerZone ()
void	add (const vpTemplateTrackerTriangle &t)
void	clear ()
void	copy (const vpTemplateTrackerZone &z)
void	display (const vpImage< unsigned char > &I, const vpColor &col=vpColor::green, const unsigned int thickness=3)
void	display (const vpImage< vpRGBa > &I, const vpColor &col=vpColor::green, const unsigned int thickness=3)
void	fillTriangle (vpImage< unsigned char > &I, unsigned int id, unsigned char gray_level)
double	getArea () const
vpImagePoint	getCenter () const
vpImagePoint	getCenter (int borne_x, int borne_y) const
int	getMaxx () const
int	getMaxy () const
int	getMinx () const
int	getMiny () const
vpRect	getBoundingBox () const
unsigned int	getNbTriangle () const
vpTemplateTrackerZone	getPyramidDown () const
void	getTriangle (unsigned int i, vpTemplateTrackerTriangle &T) const
vpTemplateTrackerTriangle	getTriangle (unsigned int i) const
void	initClick (const vpImage< unsigned char > &I, bool delaunay=false)
void	initFromPoints (const vpImage< unsigned char > &I, const std::vector< vpImagePoint > &ip, bool delaunay=false)
bool	inZone (const int &i, const int &j) const
bool	inZone (const double &i, const double &j) const
bool	inZone (const int &i, const int &j, unsigned int &id_triangle) const
bool	inZone (const double &i, const double &j, unsigned int &id_triangle) const
vpTemplateTrackerZone &	operator= (const vpTemplateTrackerZone &z)

Protected Attributes
std::vector< vpTemplateTrackerTriangle >	Zone
int	min_x
int	min_y
int	max_x
int	max_y

Detailed Description

A zone is defined by a set of triangles defined as vpTemplateTrackerTriangle.

A zone can be initialized either by user interaction using mouse click in a display device throw initClick(), or by a list of points throw initFromPoints().

Examples:

templateTracker.cpp.

Definition at line 62 of file vpTemplateTrackerZone.h.

Constructor & Destructor Documentation

vpTemplateTrackerZone::vpTemplateTrackerZone

(

)

Default constructor.

Definition at line 54 of file vpTemplateTrackerZone.cpp.

vpTemplateTrackerZone::vpTemplateTrackerZone

(

const vpTemplateTrackerZone &

z

)

Copy constructor.

Definition at line 59 of file vpTemplateTrackerZone.cpp.

vpTemplateTrackerZone::~vpTemplateTrackerZone ( )

virtual

Destructor.

Definition at line 478 of file vpTemplateTrackerZone.cpp.

References clear().

Member Function Documentation

void vpTemplateTrackerZone::add

(

const vpTemplateTrackerTriangle &

t

)

Add a triangle to the zone and update the bounding box.

Parameters

t	: Triangle to introduce in the zone.

Definition at line 249 of file vpTemplateTrackerZone.cpp.

References vpTemplateTrackerTriangle::getMaxx(), vpTemplateTrackerTriangle::getMaxy(), vpTemplateTrackerTriangle::getMinx(), vpTemplateTrackerTriangle::getMiny(), max_x, max_y, min_x, min_y, and Zone.

Referenced by copy(), getPyramidDown(), initFromPoints(), and vpTemplateTrackerWarp::warpZone().

void vpTemplateTrackerZone::clear

(

)

Remove all the triangles that define the zone.

Definition at line 68 of file vpTemplateTrackerZone.cpp.

References max_x, max_y, min_x, min_y, and Zone.

Referenced by operator=(), vpTemplateTrackerWarp::warpZone(), and ~vpTemplateTrackerZone().

void vpTemplateTrackerZone::copy

(

const vpTemplateTrackerZone &

z

)

Copy all the triangles that define zone Z in the current zone (*this) and update the zone bounding box.

Parameters

z	: Zone with a set of triangles provided as input.

Definition at line 522 of file vpTemplateTrackerZone.cpp.

References add(), vpTemplateTrackerTriangle::getMaxx(), vpTemplateTrackerTriangle::getMaxy(), vpTemplateTrackerTriangle::getMinx(), vpTemplateTrackerTriangle::getMiny(), getNbTriangle(), getTriangle(), max_x, max_y, min_x, and min_y.

Referenced by vpTemplateTracker::initTrackingPyr(), and operator=().

void vpTemplateTrackerZone::display	(	const vpImage< unsigned char > &	I,
		const vpColor &	col = vpColor::green,
		const unsigned int	thickness = 3
	)

If a display device is associated to image I, display in overlay the triangles that define the zone.

Parameters

I	: Image.
col	: Color used to display the triangles.
thickness	: Thickness of the triangle lines.

Examples:

templateTracker.cpp.

Definition at line 446 of file vpTemplateTrackerZone.cpp.

References vpDisplay::displayLine(), and Zone.

Referenced by vpTemplateTracker::display().

void vpTemplateTrackerZone::display	(	const vpImage< vpRGBa > &	I,
		const vpColor &	col = vpColor::green,
		const unsigned int	thickness = 3
	)

If a display device is associated to image I, display in overlay the triangles that define the zone.

Parameters

I	: Image.
col	: Color used to display the triangles.
thickness	: Thickness of the triangle lines.

Definition at line 463 of file vpTemplateTrackerZone.cpp.

References vpDisplay::displayLine(), and Zone.

void vpTemplateTrackerZone::fillTriangle	(	vpImage< unsigned char > &	I,
		unsigned int	id,
		unsigned char	gray_level
	)

Modify all the pixels inside a triangle with a given gray level.

Parameters

I	Output image.
id	Triangle id. This value should be less than the number of triangles used to define the zone and available using getNbTriangle().
gray_level	Color used to fill the triangle with.

Definition at line 487 of file vpTemplateTrackerZone.cpp.

References vpImage< Type >::getHeight(), getNbTriangle(), getTriangle(), vpImage< Type >::getWidth(), and vpTemplateTrackerTriangle::inTriangle().

double vpTemplateTrackerZone::getArea

(

)

const

Return the area of the template zone.

Definition at line 573 of file vpTemplateTrackerZone.cpp.

References vpTemplateTrackerTriangle::getArea(), getNbTriangle(), and getTriangle().

vpRect vpTemplateTrackerZone::getBoundingBox

(

)

const

Return a rectangle that defines the bounding box of the zone.

See also

getMinx(), getMiny(), getMaxx(), getMaxy()

Definition at line 433 of file vpTemplateTrackerZone.cpp.

References max_x, max_y, min_x, min_y, vpRect::setBottomRight(), and vpRect::setTopLeft().

vpImagePoint vpTemplateTrackerZone::getCenter

(

)

const

Return the position of the center of gravity of the zone.

Exceptions

vpException::divideByZeroError

The size of the zone is null.

Definition at line 386 of file vpTemplateTrackerZone.cpp.

References vpException::divideByZeroError, inZone(), max_x, max_y, min_x, min_y, and vpImagePoint::set_uv().

vpImagePoint vpTemplateTrackerZone::getCenter	(	int	borne_x,
		int	borne_y
	)		const

Return the position of the center of gravity in a given area.

Parameters

borne_x	: Right coordinate of the area to consider.
borne_y	: Bottom coordinate of the area to consider.

Exceptions

vpException::divideByZeroError

The size of the zone is null.

Definition at line 547 of file vpTemplateTrackerZone.cpp.

References vpException::divideByZeroError, inZone(), and vpImagePoint::set_uv().

int vpTemplateTrackerZone::getMaxx

(

)

const

Returns

The maximal x coordinate (along the columns of the image) of the points that are in the zone.

See also

getMinx(), getBoundingBox()

Definition at line 412 of file vpTemplateTrackerZone.cpp.

References max_x.

int vpTemplateTrackerZone::getMaxy

(

)

const

Returns

The maximal y coordinate (along the rows of the image) of the points that are in the zone.

See also

getMiny(), getBoundingBox()

Definition at line 417 of file vpTemplateTrackerZone.cpp.

References max_y.

int vpTemplateTrackerZone::getMinx

(

)

const

Returns

The minimal x coordinate (along the columns of the image) of the points that are in the zone.

See also

getMaxx(), getBoundingBox()

Definition at line 422 of file vpTemplateTrackerZone.cpp.

References min_x.

int vpTemplateTrackerZone::getMiny

(

)

const

Returns

The minimal y coordinate (along the rows of the image) of the points that are in the zone.

See also

getMaxy(), getBoundingBox()

Definition at line 427 of file vpTemplateTrackerZone.cpp.

References min_y.

unsigned int vpTemplateTrackerZone::getNbTriangle ( ) const

inline

Return the number of triangles that define the zone.

See also

getTriangle()

Definition at line 100 of file vpTemplateTrackerZone.h.

Referenced by vpTemplateTrackerZNCCInverseCompositional::computeEvalRMS(), vpTemplateTrackerSSDInverseCompositional::computeEvalRMS(), vpTemplateTrackerMIForwardAdditional::computeEvalRMS(), vpTemplateTrackerMIInverseCompositional::computeEvalRMS(), copy(), fillTriangle(), getArea(), vpTemplateTrackerWarp::getDistanceBetweenZoneAndWarpedZone(), getPyramidDown(), getTriangle(), vpTemplateTrackerZNCCInverseCompositional::initPosEvalRMS(), vpTemplateTrackerSSDInverseCompositional::initPosEvalRMS(), vpTemplateTrackerMIForwardAdditional::initPosEvalRMS(), vpTemplateTrackerMIInverseCompositional::initPosEvalRMS(), and vpTemplateTrackerWarp::warpZone().

vpTemplateTrackerZone vpTemplateTrackerZone::getPyramidDown

(

)

const

Return a zone with triangles that are down scaled by a factor 2.

Definition at line 504 of file vpTemplateTrackerZone.cpp.

References add(), getNbTriangle(), vpTemplateTrackerTriangle::getPyramidDown(), and getTriangle().

Referenced by vpTemplateTracker::initTrackingPyr().

void vpTemplateTrackerZone::getTriangle	(	unsigned int	i,
		vpTemplateTrackerTriangle &	T
	)		const

A zone is defined by a set of triangles. This function returns the ith triangle.

Parameters

i	: Index of the triangle to return.
T	: The triangle corresponding to index i.

Returns

true if the triangle with index i was found, false otherwise.

The following sample code shows how to use this function:

vpTemplateTrackerZone zone;
...
for (unsigned int i=0; i < zone.getNbTriangle(); i++) {
  vpTemplateTrackerTriangle triangle;
  zone.getTriangle(i, triangle);
}

Definition at line 354 of file vpTemplateTrackerZone.cpp.

References vpException::badValue, getNbTriangle(), and Zone.

Referenced by vpTemplateTrackerZNCCInverseCompositional::computeEvalRMS(), vpTemplateTrackerSSDInverseCompositional::computeEvalRMS(), vpTemplateTrackerMIForwardAdditional::computeEvalRMS(), vpTemplateTrackerMIInverseCompositional::computeEvalRMS(), copy(), fillTriangle(), getArea(), vpTemplateTrackerWarp::getDistanceBetweenZoneAndWarpedZone(), getPyramidDown(), vpTemplateTrackerZNCCInverseCompositional::initPosEvalRMS(), vpTemplateTrackerSSDInverseCompositional::initPosEvalRMS(), vpTemplateTrackerMIForwardAdditional::initPosEvalRMS(), vpTemplateTrackerMIInverseCompositional::initPosEvalRMS(), and vpTemplateTrackerWarp::warpZone().

vpTemplateTrackerTriangle vpTemplateTrackerZone::getTriangle

(

unsigned int

i

)

const

A zone is defined by a set of triangles. This function returns the ith triangle.

Parameters

i	: Index of the triangle to return.

Returns

The triangle corresponding to index i.

The following sample code shows how to use this function:

vpTemplateTrackerZone zone;
...
for (unsigned int i=0; i < zone.getNbTriangle(); i++) {
  vpTemplateTrackerTriangle triangle = zone.getTriangle(i);
}

Definition at line 375 of file vpTemplateTrackerZone.cpp.

References vpException::badValue, getNbTriangle(), and Zone.

void vpTemplateTrackerZone::initClick	(	const vpImage< unsigned char > &	I,
		bool	delaunay = false
	)

Initialize a zone in image I using mouse click.

Parameters

I

: Image used to select the zone.

delaunay

: Flag used to enable Delaunay triangulation. If true, from the image points selected by the user, a Delaunay triangulation is performed to initialize the zone. A left click select a image point; A right click select the last image point and ends the initialisation stage. In that case at least 3 points need to be selected by the user. If false, the user select directly points as successive triangle corners. Three successive points define a triangle. It is not mandatory that triangles have one edge in common; they can define a discontinued area. A left click select a triangle corner; A right click select the last triangle corner and ends the initialisation stage. The number of points that are selected by the user should be a multiple of 3. For example, to select a zone as two triangles, the user has to left click five times and finish the selection on the sixth corner with a right click.

Definition at line 111 of file vpTemplateTrackerZone.cpp.

References vpColor::blue, vpMouseButton::button3, vpDisplay::displayCross(), vpDisplay::displayLine(), vpDisplay::flush(), vpDisplay::getClick(), initFromPoints(), vpColor::red, vpTime::wait(), and Zone.

Referenced by vpTemplateTracker::initClick().

void vpTemplateTrackerZone::initFromPoints	(	const vpImage< unsigned char > &	I,
		const std::vector< vpImagePoint > &	vip,
		bool	delaunay = false
	)

Initialize the zone using a vector of image points.

Parameters

I	: Image to process.
vip	: Vector of image points used as initialization.
delaunay	: If true, a Delaunay triangulation is perfomed on the vector of image points. This functionality is only available if ViSP is build with OpenCV >2.3 third-party. If false, the vector of image points describe triangles. Its size is then a multiple of 3.

Definition at line 168 of file vpTemplateTrackerZone.cpp.

References add(), vpException::functionNotImplementedError, vpImage< Type >::getHeight(), vpTemplateTrackerTriangle::getMaxx(), vpTemplateTrackerTriangle::getMaxy(), vpTemplateTrackerTriangle::getMinx(), vpTemplateTrackerTriangle::getMiny(), vpImage< Type >::getWidth(), max_x, max_y, min_x, min_y, and Zone.

Referenced by initClick(), and vpTemplateTracker::initFromPoints().

bool vpTemplateTrackerZone::inZone	(	const int &	i,
		const int &	j
	)		const

Test if a pixel with coordinates (i,j) is in the zone..

Parameters

i,j	: Coordinates of the pixel to test.

Returns

true if the pixel with coordinates (i,j) is in the zone defined by a set of triangles, false otherwise.

Definition at line 270 of file vpTemplateTrackerZone.cpp.

References Zone.

Referenced by getCenter(), and vpTemplateTracker::initTracking().

bool vpTemplateTrackerZone::inZone	(	const double &	i,
		const double &	j
	)		const

Test if a pixel with coordinates (i,j) is in the zone..

Parameters

i,j	: Coordinates of the pixel to test.

Returns

true if the pixel with coordinates (i,j) is in the zone defined by a set of triangles, false otherwise.

Definition at line 286 of file vpTemplateTrackerZone.cpp.

References Zone.

bool vpTemplateTrackerZone::inZone	(	const int &	i,
		const int &	j,
		unsigned int &	id_triangle
	)		const

Test if a pixel with coordinates (i,j) is in the zone and returns also the index of the triangle that contains the pixel.

Parameters

i,j	: Coordinates of the pixel to test.
id_triangle	: Index of the triangle that contains the pixel (i,j).

Returns

true if the pixel with coordinates (i,j) is in the zone defined by a set of triangles, false otherwise.

Definition at line 303 of file vpTemplateTrackerZone.cpp.

References Zone.

bool vpTemplateTrackerZone::inZone	(	const double &	i,
		const double &	j,
		unsigned int &	id_triangle
	)		const

Test if a pixel with coordinates (i,j) is in the zone and returns also the index of the triangle that contains the pixel.

Parameters

i,j	: Coordinates of the pixel to test.
id_triangle	: Index of the triangle that contains the pixel (i,j).

Returns

true if the pixel with coordinates (i,j) is in the zone defined by a set of triangles, false otherwise.

Definition at line 324 of file vpTemplateTrackerZone.cpp.

References Zone.

vpTemplateTrackerZone & vpTemplateTrackerZone::operator=

(

const vpTemplateTrackerZone &

z

)

Copy operator.

Definition at line 81 of file vpTemplateTrackerZone.cpp.

References clear(), and copy().

Member Data Documentation

int vpTemplateTrackerZone::max_x

protected

Bounding box parameter.

Definition at line 68 of file vpTemplateTrackerZone.h.

Referenced by add(), clear(), copy(), getBoundingBox(), getCenter(), getMaxx(), and initFromPoints().

int vpTemplateTrackerZone::max_y

protected

Bounding box parameter.

Definition at line 69 of file vpTemplateTrackerZone.h.

Referenced by add(), clear(), copy(), getBoundingBox(), getCenter(), getMaxy(), and initFromPoints().

int vpTemplateTrackerZone::min_x

protected

Bounding box parameter.

Definition at line 66 of file vpTemplateTrackerZone.h.

Referenced by add(), clear(), copy(), getBoundingBox(), getCenter(), getMinx(), and initFromPoints().

int vpTemplateTrackerZone::min_y

protected

Bounding box parameter.

Definition at line 67 of file vpTemplateTrackerZone.h.

Referenced by add(), clear(), copy(), getBoundingBox(), getCenter(), getMiny(), and initFromPoints().

std::vector<vpTemplateTrackerTriangle> vpTemplateTrackerZone::Zone

protected

Vector of triangles that defines the zone.

Definition at line 65 of file vpTemplateTrackerZone.h.

Referenced by add(), clear(), display(), getTriangle(), initClick(), initFromPoints(), and inZone().