#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)

virtual void	display (const vpImage< vpRGBa > &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, 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, unsigned int i, 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() [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() [1/4]

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() [2/4]

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.

◆ display() [3/4]

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

virtual

Definition at line 340 of file vpMeTracker.cpp.

References vpMeSite::display(), and list.

◆ display() [4/4]

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 354 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 131 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 152 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 166 of file vpMeTracker.h.

◆ getMeList() [2/2]

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

inline

Definition at line 167 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 174 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 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().

◆ inMask()

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

◆ 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 150 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 155 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,
		bool	doNotTrack = `false`
	)

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 105 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 124 of file vpMeTracker.h.

◆ setMask()

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

inlinevirtual

Set the mask

Parameters

mask : Mask.

Definition at line 138 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 145 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 159 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 250 of file vpMeTracker.cpp.

References vpColor::black, vpDisplay::displayArrow(), vpMeSite::getState(), vpMeSite::i, vpMeSite::i_1, vpTrackingException::initializationError, inMask(), vpMeSite::j, vpMeSite::j_1, list, m_mask, me, nGoodElement, vpMeSite::NO_SUPPRESSION, vpTrackingException::notEnoughPointError, vpMeSite::setState(), vpMeSite::THRESHOLD, vpMeSite::track(), and vpDERROR_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=(), 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(), and vpTracker::operator=().

◆ display_point

bool vpMeTracker::display_point

Definition at line 179 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().

◆ m_mask

const vpImage<bool>* vpMeTracker::m_mask

Mask used to disable tracking on a part of image.

Definition at line 80 of file vpMeTracker.h.

Referenced by track().

◆ 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(), vpFeatureDisplay::displayEllipse(), ImageDisplay(withContext)::displayFrameWithContext:::::, vpPose::displayModel(), vpImageDraw::drawFrame(), vpPoint::get_w(), vpPoint::get_x(), vpPoint::get_y(), vpCircle::init(), vpSphere::init(), init(), vpPoint::init(), vpLine::init(), vpCylinder::init(), vpTracker::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 178 of file vpMeTracker.h.

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

◆ selectDisplay

vpMeSite::vpMeSiteDisplayType vpMeTracker::selectDisplay

protected

Definition at line 83 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

Static Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ vpMeTracker() [1/2]

◆ vpMeTracker() [2/2]

◆ ~vpMeTracker()

Member Function Documentation

◆ display() [1/4]

◆ display() [2/4]

◆ display() [3/4]

◆ display() [4/4]

◆ getInitRange()

◆ getMe()

◆ getMeList() [1/2]

◆ getMeList() [2/2]

◆ getNbPoints()

◆ init()

◆ initTracking()

◆ inMask()

◆ numberOfSignal()

◆ operator=()

◆ outOfImage() [1/2]

◆ outOfImage() [2/2]

◆ reset()

◆ sample()

◆ setDisplay()

◆ setInitRange()

◆ setMask()

◆ setMe()

◆ setMeList()

◆ totalNumberOfSignal()

◆ track()

Member Data Documentation

◆ cP

◆ cPAvailable

◆ display_point

◆ init_range

◆ list

◆ m_mask

◆ me

◆ nGoodElement

◆ p

◆ query_range

◆ selectDisplay