#include <visp3/me/vpMeSite.h>

Public Types
enum	vpMeSiteDisplayType { NONE, RANGE, RESULT, RANGE_RESULT }

enum	vpMeSiteState { NO_SUPPRESSION = 0, CONSTRAST = 1, THRESHOLD = 2, M_ESTIMATOR = 3, TOO_NEAR = 4, UNKNOW = 5 }

Public Member Functions
void	init ()

void	init (double ip, double jp, double alphap)

void	init (double ip, double jp, double alphap, double convltp)

void	init (double ip, double jp, double alphap, double convltp, int sign)

	vpMeSite ()

	vpMeSite (double ip, double jp)

	vpMeSite (const vpMeSite &mesite)

virtual	~vpMeSite ()

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

void	display (const vpImage< vpRGBa > &I)

double	convolution (const vpImage< unsigned char > &ima, const vpMe *me)

vpMeSite *	getQueryList (const vpImage< unsigned char > &I, const int range)

void	track (const vpImage< unsigned char > &im, const vpMe *me, bool test_contraste=true)

void	setAlpha (const double &a)

double	getAlpha () const

void	setDisplay (vpMeSiteDisplayType select)

int	get_i () const

int	get_j () const

double	get_ifloat () const

double	get_jfloat () const

void	setState (const vpMeSiteState &flag)

vpMeSiteState	getState () const

void	setWeight (const double &w)

double	getWeight () const

vpMeSite &	operator= (const vpMeSite &m)

int	operator!= (const vpMeSite &m)

vp_deprecated void	getSign (const vpImage< unsigned char > &I, const int range)

Static Public Member Functions
static double	distance (const vpMeSite &S1, const vpMeSite &S2)

static double	sqrDistance (const vpMeSite &S1, const vpMeSite &S2)

static void	display (const vpImage< unsigned char > &I, const double &i, const double &j, const vpMeSiteState &state=NO_SUPPRESSION)

static void	display (const vpImage< vpRGBa > &I, const double &i, const double &j, const vpMeSiteState &state=NO_SUPPRESSION)

Public Attributes
int	i

int	j

int	i_1

int	j_1

double	ifloat

double	jfloat

unsigned char	v

int	mask_sign

double	alpha

double	convlt

double	normGradient

double	weight

int	suppress

Friends
VISP_EXPORT std::ostream &	operator<< (std::ostream &os, vpMeSite &vpMeS)

Detailed Description

Performs search in a given direction(normal) for a given distance(pixels) for a given 'site'. Gives the most likely site given the probablility from an ME mask.

Bug fix: rewrote application of masks to use the temporal information instead of applying both temporal masks to the same image. ie: spatial -> spatio/temporal
Added new tracking function to choose the most similar edge amongst all edges found.
sample step.

Definition at line 71 of file vpMeSite.h.

Member Enumeration Documentation

◆ vpMeSiteDisplayType

enum vpMeSite::vpMeSiteDisplayType

Enumerator
NONE
RANGE
RESULT
RANGE_RESULT

Definition at line 74 of file vpMeSite.h.

◆ vpMeSiteState

enum vpMeSite::vpMeSiteState

Moving-edge site state.

Enumerator
NO_SUPPRESSION	Point used by the tracker.
CONSTRAST	Point removed due to a contrast problem.
THRESHOLD	Point removed due to a threshold problem.
M_ESTIMATOR	Point removed during virtual visual-servoing because considered as an outlier.
TOO_NEAR	Point removed because too near image borders.
UNKNOW	Reserved.

Definition at line 77 of file vpMeSite.h.

Constructor & Destructor Documentation

◆ vpMeSite() [1/3]

vpMeSite::vpMeSite ( )

Definition at line 95 of file vpMeSite.cpp.

◆ vpMeSite() [2/3]

vpMeSite::vpMeSite	(	double	ip,
		double	jp
	)

Definition at line 105 of file vpMeSite.cpp.

References ifloat, jfloat, and vpMath::round().

◆ vpMeSite() [3/3]

vpMeSite::vpMeSite ( const vpMeSite & mesite )

Copy constructor.

Definition at line 122 of file vpMeSite.cpp.

◆ ~vpMeSite()

virtual vpMeSite::~vpMeSite ( )

inlinevirtual

Definition at line 114 of file vpMeSite.h.

Member Function Documentation

◆ convolution()

double vpMeSite::convolution	(	const vpImage< unsigned char > &	ima,
		const vpMe *	me
	)

Definition at line 294 of file vpMeSite.cpp.

References alpha, vpMe::getAngleStep(), vpImage< Type >::getHeight(), vpMe::getMask(), vpMe::getMaskSize(), vpMe::getStrip(), vpImage< Type >::getWidth(), i, j, mask_sign, and vpMath::round().

Referenced by track().

◆ display() [1/4]

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

Definition at line 601 of file vpMeSite.cpp.

References ifloat, and jfloat.

Referenced by vpMeTracker::display(), and display().

◆ display() [2/4]

void vpMeSite::display ( const vpImage< vpRGBa > & I )

Definition at line 606 of file vpMeSite.cpp.

References display(), ifloat, and jfloat.

◆ display() [3/4]

void vpMeSite::display	(	const vpImage< unsigned char > &	I,
		const double &	i,
		const double &	j,
		const vpMeSiteState &	state = `NO_SUPPRESSION`
	)

static

Display the moving edge site 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.
i	: Pixel i of the site
j	: Pixel j of the site
state	: state of the site

Definition at line 631 of file vpMeSite.cpp.

References vpColor::blue, CONSTRAST, vpColor::cyan, vpDisplay::displayCross(), vpColor::green, M_ESTIMATOR, NO_SUPPRESSION, vpColor::purple, vpColor::red, THRESHOLD, TOO_NEAR, and vpColor::yellow.

◆ display() [4/4]

void vpMeSite::display	(	const vpImage< vpRGBa > &	I,
		const double &	i,
		const double &	j,
		const vpMeSiteState &	state = `NO_SUPPRESSION`
	)

static

Display the moving edge site 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.
i	: Pixel i of the site
j	: Pixel j of the site
state	: state of the site

Definition at line 677 of file vpMeSite.cpp.

References vpColor::blue, CONSTRAST, vpColor::cyan, vpDisplay::displayCross(), vpColor::green, M_ESTIMATOR, NO_SUPPRESSION, vpColor::purple, vpColor::red, THRESHOLD, TOO_NEAR, and vpColor::yellow.

◆ distance()

static double vpMeSite::distance	(	const vpMeSite &	S1,
		const vpMeSite &	S2
	)

inlinestatic

Compute the distance $|S1 - S2| = \sqrt{(i_1-i_2)^2+(j_1-j_2)^2}$

Parameters

S1	: First site
S2	: Second site

Returns: the distance between the two sites.

Definition at line 221 of file vpMeSite.h.

References ifloat, jfloat, and vpMath::sqr().

◆ get_i()

int vpMeSite::get_i ( ) const

inline

Get the i coordinate (integer)

Returns: value of i

Definition at line 146 of file vpMeSite.h.

◆ get_ifloat()

double vpMeSite::get_ifloat ( ) const

inline

Get the i coordinate (double)

Returns: value of i

Definition at line 160 of file vpMeSite.h.

Referenced by vpMbtDistanceCircle::getFeaturesForDisplay(), vpMbtDistanceLine::getFeaturesForDisplay(), and vpMbtDistanceCylinder::getFeaturesForDisplay().

◆ get_j()

int vpMeSite::get_j ( ) const

inline

Get the j coordinate (f)

Returns: value of j

Definition at line 153 of file vpMeSite.h.

◆ get_jfloat()

double vpMeSite::get_jfloat ( ) const

inline

Get the j coordinate (double)

Returns: value of j

Definition at line 167 of file vpMeSite.h.

Referenced by vpMbtDistanceCircle::getFeaturesForDisplay(), vpMbtDistanceLine::getFeaturesForDisplay(), and vpMbtDistanceCylinder::getFeaturesForDisplay().

◆ getAlpha()

double vpMeSite::getAlpha ( ) const

inline

Get the angle of tangent at site

Returns: value of alpha

Definition at line 137 of file vpMeSite.h.

◆ getQueryList()

vpMeSite * vpMeSite::getQueryList	(	const vpImage< unsigned char > &	I,
		const int	range
	)

Construct and return the list of vpMeSite along the normal to the contour, in the given range.

Precondition: : ifloat, jfloat, and the direction of the normal (alpha) have to be set.

Parameters

I	: Image in which the display is performed.
range	: +/- the range within which the pixel's correspondent will be sought

Returns: Pointer to the list of query sites

Definition at line 219 of file vpMeSite.cpp.

References alpha, convlt, vpDisplay::displayCross(), ifloat, init(), jfloat, mask_sign, RANGE, RANGE_RESULT, vpImagePoint::set_i(), vpImagePoint::set_j(), setDisplay(), and vpColor::yellow.

Referenced by track().

◆ getSign()

void vpMeSite::getSign	(	const vpImage< unsigned char > &	I,
		const int	range
	)

get the sign (according to the difference of values of the intensities of the extremities).

Precondition: : ifloat, jfloat, and the direction of the normal (alpha) have to be set.

Parameters

I	: Image in which the sign is computed.
range	: +/- the range within which the pixel's correspondent is sought

Postcondition: : mask_sign is computed

Definition at line 267 of file vpMeSite.cpp.

References alpha, ifloat, jfloat, mask_sign, and vpMath::round().

◆ getState()

vpMeSiteState vpMeSite::getState ( ) const

inline

Get the state of the site

Returns: flag corresponding to vpMeSiteState

Definition at line 190 of file vpMeSite.h.

Referenced by vpMbEdgeTracker::computeVVSFirstPhase(), vpMbEdgeTracker::computeVVSFirstPhaseFactor(), vpMeTracker::display(), vpMeLine::display(), vpMbtDistanceCircle::getFeaturesForDisplay(), vpMbtDistanceLine::getFeaturesForDisplay(), vpMbtDistanceCylinder::getFeaturesForDisplay(), vpMeTracker::initTracking(), vpMeLine::leastSquare(), vpMeNurbs::localReSample(), vpMeTracker::operator=(), vpMeEllipse::printParameters(), vpMeLine::seekExtremities(), vpMeNurbs::seekExtremities(), vpMeLine::suppressPoints(), vpMeNurbs::suppressPoints(), vpMbEdgeTracker::testTracking(), vpMeTracker::track(), and vpMbEdgeKltTracker::trackFirstLoop().

◆ getWeight()

double vpMeSite::getWeight ( ) const

inline

Get the weight of the site

Returns: value of weight

Definition at line 204 of file vpMeSite.h.

◆ init() [1/4]

void vpMeSite::init ( void )

Definition at line 66 of file vpMeSite.cpp.

References alpha, convlt, i, i_1, ifloat, j, j_1, jfloat, mask_sign, NO_SUPPRESSION, NONE, normGradient, suppress, v, and weight.

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

◆ init() [2/4]

void vpMeSite::init	(	double	ip,
		double	jp,
		double	alphap
	)

Definition at line 135 of file vpMeSite.cpp.

References alpha, i_1, ifloat, j_1, jfloat, mask_sign, NONE, vpMath::round(), and v.

◆ init() [3/4]

void vpMeSite::init	(	double	ip,
		double	jp,
		double	alphap,
		double	convltp
	)

Definition at line 153 of file vpMeSite.cpp.

References alpha, convlt, i_1, ifloat, j_1, jfloat, mask_sign, NONE, and v.

◆ init() [4/4]

void vpMeSite::init	(	double	ip,
		double	jp,
		double	alphap,
		double	convltp,
		int	sign
	)

Definition at line 169 of file vpMeSite.cpp.

References alpha, convlt, i_1, ifloat, j_1, jfloat, mask_sign, NONE, and v.

◆ operator!=()

int vpMeSite::operator!= ( const vpMeSite & m )

Definition at line 589 of file vpMeSite.cpp.

References i, and j.

◆ operator=()

vpMeSite & vpMeSite::operator= ( const vpMeSite & m )

Definition at line 185 of file vpMeSite.cpp.

References alpha, convlt, i, i_1, ifloat, j, j_1, jfloat, mask_sign, normGradient, suppress, v, and weight.

◆ setAlpha()

void vpMeSite::setAlpha ( const double & a )

inline

Set the angle of tangent at site

Parameters

a	: new value of alpha

Definition at line 130 of file vpMeSite.h.

◆ setDisplay()

void vpMeSite::setDisplay ( vpMeSiteDisplayType select )

inline

Definition at line 139 of file vpMeSite.h.

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

◆ setState()

void vpMeSite::setState ( const vpMeSiteState & flag )

inline

Set the state of the site

Parameters

flag	: flag corresponding to vpMeSiteState

See also: vpMeSiteState

Definition at line 176 of file vpMeSite.h.

Referenced by vpMeLine::leastSquare(), vpMbEdgeKltTracker::postTrackingMbt(), vpMeEllipse::printParameters(), vpMeNurbs::supressNearPoints(), vpMeTracker::track(), vpMbEdgeTracker::updateMovingEdgeWeights(), and vpMeEllipse::~vpMeEllipse().

◆ setWeight()

void vpMeSite::setWeight ( const double & w )

inline

Set the weight of the site

Parameters

w	: new value of weight

Definition at line 197 of file vpMeSite.h.

◆ sqrDistance()

static double vpMeSite::sqrDistance	(	const vpMeSite &	S1,
		const vpMeSite &	S2
	)

inlinestatic

Compute the distance $ |S1 - S2| = (i_1-i_2)^2+(j_1-j_2)^2 $

Parameters

S1	: First site
S2	: Second site

Returns: the distance between the two sites.

Definition at line 234 of file vpMeSite.h.

References ifloat, jfloat, and vpMath::sqr().

Referenced by vpMeNurbs::localReSample(), vpMeNurbs::seekExtremitiesCanny(), and vpMeNurbs::supressNearPoints().

◆ track()

void vpMeSite::track	(	const vpImage< unsigned char > &	I,
		const vpMe *	me,
		bool	test_contraste = `true`
	)

Specific function for ME.

Warning: To display the moving edges graphics a call to vpDisplay::flush() is needed.

Definition at line 355 of file vpMeSite.cpp.

References CONSTRAST, convlt, convolution(), vpDisplay::displayPoint(), vpMe::getMu1(), vpMe::getMu2(), getQueryList(), vpMe::getRange(), vpMe::getThreshold(), vpColor::green, i, i_1, j, j_1, normGradient, RANGE_RESULT, vpColor::red, RESULT, vpImagePoint::set_i(), vpImagePoint::set_j(), vpMath::sqr(), and THRESHOLD.

Referenced by vpMeTracker::initTracking(), vpMeNurbs::localReSample(), vpMeEllipse::printParameters(), vpMeLine::seekExtremities(), vpMeNurbs::seekExtremities(), vpMeNurbs::seekExtremitiesCanny(), and vpMeTracker::track().

Friends And Related Function Documentation

◆ operator<<

VISP_EXPORT std::ostream& operator<<	(	std::ostream &	os,
		vpMeSite &	vpMeS
	)

friend

Definition at line 591 of file vpMeSite.cpp.

Member Data Documentation

◆ alpha

double vpMeSite::alpha

Definition at line 93 of file vpMeSite.h.

Referenced by convolution(), getQueryList(), getSign(), init(), operator=(), vpMeEllipse::printParameters(), vpMeLine::updateDelta(), and vpMeNurbs::updateDelta().

◆ convlt

double vpMeSite::convlt

Definition at line 95 of file vpMeSite.h.

Referenced by getQueryList(), init(), operator=(), and track().

◆ i

int vpMeSite::i

Definition at line 87 of file vpMeSite.h.

Referenced by convolution(), init(), vpMeTracker::initTracking(), operator!=(), operator=(), vpMeEllipse::printParameters(), vpMeLine::seekExtremities(), vpMeNurbs::seekExtremities(), vpMeTracker::track(), track(), and vpMeNurbs::updateDelta().

◆ i_1

int vpMeSite::i_1

Definition at line 88 of file vpMeSite.h.

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

◆ ifloat

double vpMeSite::ifloat

◆ j

int vpMeSite::j

Definition at line 87 of file vpMeSite.h.

Referenced by vpMbtDistanceCylinder::computeInteractionMatrixError(), convolution(), init(), vpMeTracker::initTracking(), operator!=(), operator=(), vpMeEllipse::printParameters(), vpMeLine::seekExtremities(), vpMeNurbs::seekExtremities(), vpMeTracker::track(), track(), and vpMeNurbs::updateDelta().

◆ j_1

int vpMeSite::j_1

Definition at line 88 of file vpMeSite.h.

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

◆ jfloat

double vpMeSite::jfloat

◆ mask_sign

int vpMeSite::mask_sign

Definition at line 91 of file vpMeSite.h.

Referenced by convolution(), getQueryList(), getSign(), init(), operator=(), and vpMeLine::updateDelta().

◆ normGradient

double vpMeSite::normGradient

Definition at line 97 of file vpMeSite.h.

Referenced by init(), operator=(), and track().

◆ suppress

int vpMeSite::suppress

Flag to indicate whether point is rejected or not 1 = contrast, 2 = threshold, 3 = M-estimator, 0 = nosupp

Definition at line 249 of file vpMeSite.h.

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

◆ v

unsigned char vpMeSite::v

Definition at line 90 of file vpMeSite.h.

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

◆ weight

double vpMeSite::weight

Definition at line 99 of file vpMeSite.h.

Referenced by vpMeTracker::display(), init(), and operator=().

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Friends

Detailed Description

Member Enumeration Documentation

◆ vpMeSiteDisplayType

◆ vpMeSiteState

Constructor & Destructor Documentation

◆ vpMeSite() [1/3]

◆ vpMeSite() [2/3]

◆ vpMeSite() [3/3]

◆ ~vpMeSite()

Member Function Documentation

◆ convolution()

◆ display() [1/4]

◆ display() [2/4]

◆ display() [3/4]

◆ display() [4/4]

◆ distance()

◆ get_i()

◆ get_ifloat()

◆ get_j()

◆ get_jfloat()

◆ getAlpha()

◆ getQueryList()

◆ getSign()

◆ getState()

◆ getWeight()

◆ init() [1/4]

◆ init() [2/4]

◆ init() [3/4]

◆ init() [4/4]

◆ operator!=()

◆ operator=()

◆ setAlpha()

◆ setDisplay()

◆ setState()

◆ setWeight()

◆ sqrDistance()

◆ track()

Friends And Related Function Documentation

◆ operator<<

Member Data Documentation

◆ alpha

◆ convlt

◆ i

◆ i_1

◆ ifloat

◆ j

◆ j_1

◆ jfloat

◆ mask_sign

◆ normGradient

◆ suppress

◆ v

◆ weight