#include <vpMeNurbs.h>

Inheritance diagram for vpMeNurbs:

Public Member Functions
	vpMeNurbs ()

	vpMeNurbs (const vpMeNurbs &menurbs)

virtual	~vpMeNurbs ()

void	setNbControlPoints (unsigned int nb_point)

void	setEnableCannyDetection (const bool enable_canny)

void	setCannyThreshold (double th1, double th2)

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

void	initTracking (const vpImage< unsigned char > &I, const std::list< vpImagePoint > &ptList)

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

virtual void	sample (const vpImage< unsigned char > &image, bool doNotTrack=false)

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

void	updateDelta ()

void	setExtremities ()

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

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

void	suppressPoints ()

void	supressNearPoints ()

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

vpNurbs	getNurbs () const

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

Public Member Functions Inherited from vpTracker
vpColVector	get_p () const

vpColVector	get_cP () const

Static Public Member Functions
static void	display (const vpImage< unsigned char > &I, vpNurbs &n, vpColor color=vpColor::green)

static void	display (const vpImage< vpRGBa > &I, vpNurbs &n, vpColor color=vpColor::green)

Public Attributes
vpNurbs	nurbs

Public Attributes Inherited from vpMeTracker
std::list< vpMeSite >	list

vpMe *	me

unsigned int	init_range

int	nGoodElement

const vpImage< bool > *	m_mask

int	query_range

bool	display_point

Public Attributes Inherited from vpTracker
vpColVector	p

vpColVector	cP

bool	cPAvailable

Protected Attributes
Protected Attributes Inherited from vpMeTracker
vpMeSite::vpMeSiteDisplayType	selectDisplay

Public Member Functions Inherited from vpMeTracker
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)

unsigned int	getInitRange ()

vpMe *	getMe ()

std::list< vpMeSite > &	getMeList ()

std::list< vpMeSite >	getMeList () const

int	getNbPoints () const

void	init ()

unsigned int	numberOfSignal ()

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 ()

void	setDisplay (vpMeSite::vpMeSiteDisplayType select)

void	setInitRange (const unsigned int &r)

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

void	setMe (vpMe *p_me)

void	setMeList (const std::list< vpMeSite > &l)

unsigned int	totalNumberOfSignal ()

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

Detailed Description

Class that tracks in an image a edge defined by a Nurbs.

The advantage of this class is that it enables to track an edge whose equation is not known in advance. At each iteration, the Nurbs corresponding to the edge is computed.

It is possible to have a direct access to the nurbs. It is indeed a public parameter.

The code below shows how to use this class.

#include <visp3/core/vpImage.h>
#include <visp3/core/vpImagePoint.h>
#include <visp3/me/vpMeNurbs.h>
int main()
{
  vpImage<unsigned char> I(240, 320);
  // Fill the image with a black rectangle
  I = 0;
  for (int i = 100; i < 180; i ++) {
    for (int j = 0; j < 320; j ++) {
      I[i][j] = 255;
    }
  }
  // Set the moving-edges tracker parameters
  vpMe me;
  me.setRange(25);
  me.setPointsToTrack(20);
  me.setThreshold(15000);
  me.setSampleStep(10);
  // Initialize the moving-edges tracker parameters
  vpMeNurbs meNurbs;
  meNurbs.setNbControlPoints(4);
  meNurbs.setMe(&me);
  // Initialize the location of the edge to track (here a horizontal line
  std::list<vpImagePoint> ipList; //List of points belonginig to the edge
  ipList.push_back(vpImagePoint(110,119));
  ipList.push_back(vpImagePoint(140,119));
  ipList.push_back(vpImagePoint(160,119));
  ipList.push_back(vpImagePoint(170,119));
  meNurbs.initTracking(I, ipList);
  while ( 1 )
  {
    // ... Here the code to read or grab the next image.
    // Track the line.
    meNurbs.track(I);
  }
  return 0;
}

Note: It is possible to display the nurbs as an overlay. For that you must use the display function of the class vpMeNurbs.; In case of an edge which is not smooth, it can be interesting to use the canny detection to find the extremities. In this case, use the method setEnableCannyDetection to enable it. Warning : This function requires OpenCV.

Examples:: trackMeNurbs.cpp.

Definition at line 130 of file vpMeNurbs.h.

Constructor & Destructor Documentation

vpMeNurbs::vpMeNurbs ( )

Basic constructor that calls the constructor of the class vpMeTracker.

Definition at line 215 of file vpMeNurbs.cpp.

vpMeNurbs::vpMeNurbs ( const vpMeNurbs & menurbs )

Copy constructor.

Definition at line 224 of file vpMeNurbs.cpp.

vpMeNurbs::~vpMeNurbs ( )

virtual

Basic destructor.

Definition at line 240 of file vpMeNurbs.cpp.

Member Function Documentation

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

virtualinherited

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.

Definition at line 326 of file vpMeTracker.cpp.

References vpMeSite::display(), and vpMeTracker::list.

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

virtualinherited

Definition at line 340 of file vpMeTracker.cpp.

References vpMeSite::display(), and vpMeTracker::list.

void vpMeTracker::display	(	const vpImage< unsigned char > &	I,
		vpColVector &	w,
		unsigned int &	index_w
	)

inherited

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 vpMeTracker::display(), vpMeSite::getState(), vpMeTracker::list, vpMeSite::NO_SUPPRESSION, and vpMeSite::weight.

void vpMeNurbs::display	(	const vpImage< unsigned char > &	I,
		vpColor	col
	)

virtual

Display edge.

Warning: To effectively display the edge a call to vpDisplay::flush() is needed.

Parameters

I	: Image in which the edge appears.
col	: Color of the displayed line.

Implements vpMeTracker.

Examples:: trackMeNurbs.cpp.

Definition at line 1028 of file vpMeNurbs.cpp.

References vpImagePoint::get_i(), vpImagePoint::get_j(), vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), nurbs, vpMath::round(), and vpImagePoint::set_ij().

void vpMeNurbs::display	(	const vpImage< unsigned char > &	I,
		vpNurbs &	n,
		vpColor	color = `vpColor::green`
	)

static

Display of a moving nurbs.

Parameters

I	: The image used as background.
n	: Nurbs to display
color	: Color used to display the nurbs.

Definition at line 1244 of file vpMeNurbs.cpp.

References vpNurbs::computeCurvePoint(), and vpDisplay::displayCross().

void vpMeNurbs::display	(	const vpImage< vpRGBa > &	I,
		vpNurbs &	n,
		vpColor	color = `vpColor::green`
	)

static

Display of a moving nurbs.

Parameters

I	: The image used as background.
n	: Nurbs to display
color	: Color used to display the nurbs.

Definition at line 1265 of file vpMeNurbs.cpp.

References vpNurbs::computeCurvePoint(), and vpDisplay::displayCross().

vpColVector vpTracker::get_cP ( ) const

inlineinherited

Return object parameters expressed in the 3D camera frame.

Definition at line 99 of file vpTracker.h.

vpColVector vpTracker::get_p ( ) const

inlineinherited

Return object parameters expressed in the 2D image plane computed by perspective projection.

Definition at line 97 of file vpTracker.h.

unsigned int vpMeTracker::getInitRange ( )

inlineinherited

Return the initial range.

Returns: Value of init_range.

Definition at line 113 of file vpMeTracker.h.

vpMe* vpMeTracker::getMe ( )

inlineinherited

Return the moving edges initialisation parameters

Returns: Moving Edges.

Examples:: trackMeCircle.cpp, and trackMeEllipse.cpp.

Definition at line 120 of file vpMeTracker.h.

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

inlineinherited

Return the list of moving edges

Returns: List of Moving Edges.

Definition at line 127 of file vpMeTracker.h.

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

inlineinherited

Definition at line 128 of file vpMeTracker.h.

int vpMeTracker::getNbPoints ( ) const

inlineinherited

Return the number of points that has not been suppressed.

Returns: Number of good points.

Definition at line 135 of file vpMeTracker.h.

References vpTracker::init(), and vpTracker::operator=().

vpNurbs vpMeNurbs::getNurbs ( ) const

inline

Gets the nurbs;

Definition at line 210 of file vpMeNurbs.h.

References vpMeTracker::display(), and vpColor::green.

void vpMeTracker::init ( void )

inherited

Definition at line 55 of file vpMeTracker.cpp.

References vpTracker::init(), vpMeSite::NONE, vpTracker::p, vpColVector::resize(), and vpMeTracker::selectDisplay.

Referenced by vpMeTracker::vpMeTracker().

void vpMeNurbs::initTracking ( const vpImage< unsigned char > & I )

Initialization of the tracking. Ask the user to click left on several points along the edge to track and click right at the end.

Parameters

I	: Image in which the edge appears.

Examples:: trackMeNurbs.cpp.

Definition at line 248 of file vpMeNurbs.cpp.

References vpMouseButton::button1, vpMouseButton::button3, vpDisplay::displayCross(), vpDisplay::flush(), vpDisplay::getClick(), vpColor::green, and vpException::notInitialized.

void vpMeNurbs::initTracking	(	const vpImage< unsigned char > &	I,
		const std::list< vpImagePoint > &	ptList
	)

Initialization of the tracking. The Nurbs is initialized thanks to the list of vpImagePoint.

Parameters

I	: Image in which the edge appears.
ptList	: List of point to initialize the Nurbs.

Definition at line 277 of file vpMeNurbs.cpp.

References vpNurbs::globalCurveInterp(), vpMeTracker::initTracking(), nurbs, sample(), and track().

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

staticinherited

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 vpMeTracker::track().

void vpMeNurbs::localReSample ( const vpImage< unsigned char > & I )

Resample a part of the edge if two vpMeSite are too far from eachother. In this case the method try to initialize any vpMeSite between the two points.

Parameters

I	: Image in which the edge appears.

Definition at line 831 of file vpMeNurbs.cpp.

References vpNurbs::computeCurveDersPoint(), vpNurbs::computeCurvePoint(), vpImage< Type >::getHeight(), vpMe::getPointsToTrack(), vpMe::getRange(), vpMe::getSampleStep(), vpMeSite::getState(), vpImage< Type >::getWidth(), vpMeSite::ifloat, vpMeSite::init(), vpMeSite::jfloat, vpMeTracker::list, vpMath::maximum(), vpMeSite::NO_SUPPRESSION, vpMeTracker::numberOfSignal(), nurbs, vpMeTracker::outOfImage(), vpMeTracker::selectDisplay, vpMeSite::setDisplay(), vpMe::setRange(), vpMath::sqr(), vpMeSite::sqrDistance(), vpImagePoint::sqrDistance(), and vpMeSite::track().

Referenced by track().

unsigned int vpMeTracker::numberOfSignal ( )

inherited

Definition at line 120 of file vpMeTracker.cpp.

References vpMeTracker::list.

Referenced by vpMeLine::leastSquare(), vpMeEllipse::leastSquareRobust(), localReSample(), vpMeLine::reSample(), and reSample().

int vpMeTracker::outOfImage	(	int	i,
		int	j,
		int	half,
		int	row,
		int	cols
	)

inherited

Definition at line 150 of file vpMeTracker.cpp.

Referenced by localReSample(), vpMeEllipse::plugHoles(), vpMeLine::sample(), sample(), vpMeEllipse::sample(), vpMeLine::seekExtremities(), and seekExtremities().

int vpMeTracker::outOfImage	(	const vpImagePoint &	iP,
		int	half,
		int	rows,
		int	cols
	)

inherited

Definition at line 155 of file vpMeTracker.cpp.

References vpImagePoint::get_i(), vpImagePoint::get_j(), and vpMath::round().

void vpMeNurbs::reSample ( const vpImage< unsigned char > & I )

Resample the edge if the number of sample is less than 70% of the expected value.

Note: The expected value is computed thanks to the length of the nurbs and the parameter which indicates the number of pixel between two points (vpMe::sample_step).

Parameters

I	: Image in which the edge appears.

Definition at line 813 of file vpMeNurbs.cpp.

References vpMe::getSampleStep(), vpMeTracker::initTracking(), vpMeTracker::numberOfSignal(), and sample().

Referenced by track().

void vpMeTracker::reset ( )

inherited

Reset the tracker by removing all the moving edges.

Definition at line 96 of file vpMeTracker.cpp.

References vpMeTracker::list, and vpMeTracker::nGoodElement.

Referenced by vpMeTracker::~vpMeTracker().

void vpMeNurbs::sample	(	const vpImage< unsigned char > &	I,
		bool	doNotTrack = `false`
	)

virtual

Construct a list of vpMeSite moving edges at a particular sampling step between the two extremities of the nurbs.

Parameters

I	: Image in which the edge appears.
doNotTrack	: Inherited parameter, not used.

Implements vpMeTracker.

Definition at line 294 of file vpMeNurbs.cpp.

References vpNurbs::computeCurveDersPoint(), vpImage< Type >::getHeight(), vpMe::getPointsToTrack(), vpMe::getSampleStep(), vpImage< Type >::getWidth(), vpMeSite::init(), vpMeTracker::list, nurbs, vpMeTracker::outOfImage(), vpMeTracker::selectDisplay, vpMeSite::setDisplay(), vpMath::sqr(), and vpImagePoint::sqrDistance().

Referenced by initTracking(), and reSample().

void vpMeNurbs::seekExtremities ( const vpImage< unsigned char > & I )

Seek along the edge defined by the nurbs, the two extremities of the edge. This function is useful in case of translation of the edge.

Parameters

I	: Image in which the edge appears.

Definition at line 395 of file vpMeNurbs.cpp.

References vpMath::abs(), vpColor::blue, vpNurbs::computeCurveDersPoint(), vpDisplay::displayCross(), vpImagePoint::distance(), vpImage< Type >::getHeight(), vpMe::getRange(), vpMe::getSampleStep(), vpMeSite::getState(), vpImage< Type >::getWidth(), vpMeSite::i, vpMeSite::ifloat, vpMeSite::init(), vpMeSite::j, vpMeSite::jfloat, vpMeTracker::list, vpMeSite::NO_SUPPRESSION, nurbs, vpMeTracker::outOfImage(), seekExtremitiesCanny(), vpMeTracker::selectDisplay, vpImagePoint::set_ij(), vpMeSite::setDisplay(), vpMe::setRange(), vpMath::sign(), vpMeSite::track(), and vpDEBUG_ENABLE.

Referenced by track().

void vpMeNurbs::seekExtremitiesCanny ( const vpImage< unsigned char > & I )

Seek the extremities of the edge thanks to a canny edge detection. The edge detection enable to find the points belonging to the edge. The any vpMesite are initialize at this points.

This method is practicle when the edge is not smooth.

Note: To use the canny detection, OpenCV has to be installed.

Parameters

I	: Image in which the edge appears.

Definition at line 516 of file vpMeNurbs.cpp.

References vpImageFilter::canny(), vpNurbs::computeCurveDersPoint(), vpNurbs::computeCurvePoint(), vpImageConvert::convert(), vpImageTools::crop(), vpDisplay::displayPoint(), vpDisplay::displayRectangle(), vpImagePoint::get_i(), vpImagePoint::get_j(), vpImage< Type >::getHeight(), vpMe::getRange(), vpMe::getSampleStep(), vpImage< Type >::getWidth(), vpColor::green, vpMeSite::ifloat, vpMeSite::init(), vpMeSite::jfloat, vpMeTracker::list, vpMath::maximum(), nurbs, vpColor::orange, vpMeTracker::selectDisplay, vpMeSite::setDisplay(), vpMe::setRange(), vpMath::sqr(), vpMeSite::sqrDistance(), vpMeSite::track(), and vpTRACE.

Referenced by seekExtremities(), and track().

void vpMeNurbs::setCannyThreshold	(	double	th1,
		double	th2
	)

inline

Enables to set the two thresholds use by the canny detection.

Parameters

th1	: The first threshold;
th2	: The second threshold;

Definition at line 185 of file vpMeNurbs.h.

References vpMeTracker::initTracking(), vpMeTracker::sample(), and vpMeTracker::track().

void vpMeTracker::setDisplay ( vpMeSite::vpMeSiteDisplayType select )

inlineinherited

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 152 of file vpMeTracker.h.

void vpMeNurbs::setEnableCannyDetection ( const bool enable_canny )

inline

Enables or disables the canny detection used during the extremities search.

Parameters

enable_canny : if true it enables the canny detection.

Definition at line 177 of file vpMeNurbs.h.

void vpMeNurbs::setExtremities ( )

void vpMeTracker::setInitRange ( const unsigned int & r )

inlineinherited

Set the initial range.

Parameters

r	: initial range.

Definition at line 159 of file vpMeTracker.h.

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

inlinevirtualinherited

Set the mask

Parameters

mask : Mask.

Definition at line 166 of file vpMeTracker.h.

void vpMeTracker::setMe ( vpMe * p_me )

inlineinherited

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 173 of file vpMeTracker.h.

void vpMeTracker::setMeList ( const std::list< vpMeSite > & l )

inlineinherited

Set the list of moving edges

Parameters

l	: list of Moving Edges.

Definition at line 180 of file vpMeTracker.h.

void vpMeNurbs::setNbControlPoints ( unsigned int nb_point )

inline

Sets the number of control points used to compute the Nurbs.

Parameters

nb_point : The number of control points used to compute the Nurbs.

Examples:: trackMeNurbs.cpp.

Definition at line 169 of file vpMeNurbs.h.

void vpMeNurbs::suppressPoints ( )

Suppression of the points which:

belong no more to the edge.
which are to closed to another point.

Definition at line 335 of file vpMeNurbs.cpp.

References vpMeSite::getState(), vpMeTracker::list, and vpMeSite::NO_SUPPRESSION.

Referenced by track().

void vpMeNurbs::supressNearPoints ( )

Suppress vpMeSites if they are too close to each other.

The goal is to keep the order of the vpMeSites in the list.

Definition at line 921 of file vpMeNurbs.cpp.

References vpMe::getSampleStep(), vpMeTracker::list, vpMeSite::setState(), vpMath::sqr(), vpMeSite::sqrDistance(), and vpMeSite::TOO_NEAR.

Referenced by track().

unsigned int vpMeTracker::totalNumberOfSignal ( )

inherited

Definition at line 129 of file vpMeTracker.cpp.

References vpMeTracker::list.

void vpMeNurbs::track ( const vpImage< unsigned char > & I )

Track the edge in the image I.

Parameters

I	: Image in which the edge appears.

Examples:: trackMeNurbs.cpp.

Definition at line 972 of file vpMeNurbs.cpp.

References vpNurbs::computeCurvePoint(), vpImagePoint::distance(), vpNurbs::globalCurveApprox(), vpMeTracker::list, localReSample(), vpTrackingException::notEnoughPointError, nurbs, reSample(), seekExtremities(), seekExtremitiesCanny(), suppressPoints(), supressNearPoints(), vpMeTracker::track(), and updateDelta().

Referenced by initTracking().

void vpMeNurbs::updateDelta ( )

Set the alpha value (normal to the edge at this point) of the different vpMeSite to a value computed thanks to the nurbs.

Definition at line 351 of file vpMeNurbs.cpp.

References vpMeSite::alpha, vpNurbs::computeCurveDersPoint(), vpNurbs::computeCurvePoint(), vpImagePoint::distance(), vpMeSite::i, vpMeSite::j, vpMeTracker::list, and nurbs.

Referenced by track().

Member Data Documentation

vpColVector vpTracker::cP

inherited

Feature coordinates expressed in the camera frame cP.

Definition at line 77 of file vpTracker.h.

Referenced by vpFeaturePoint3D::buildFrom(), vpSphere::changeFrame(), vpPoint::changeFrame(), vpCircle::changeFrame(), vpLine::changeFrame(), vpCylinder::changeFrame(), vpFeatureBuilder::create(), vpPoint::get_W(), vpPoint::get_X(), vpPoint::get_Y(), vpPoint::get_Z(), vpSphere::init(), vpCircle::init(), vpPoint::init(), vpLine::init(), vpCylinder::init(), vpMbtPolygon::isVisible(), vpTracker::operator=(), vpForwardProjection::print(), vpPose::printPoint(), vpForwardProjection::project(), vpSphere::projection(), vpCircle::projection(), vpPoint::projection(), vpLine::projection(), vpCylinder::projection(), vpPoint::set_W(), vpPoint::set_X(), vpPoint::set_Y(), and vpPoint::set_Z().

bool vpTracker::cPAvailable

inherited

Flag used to indicate if the feature parameters cP expressed in the camera frame are available.

Definition at line 83 of file vpTracker.h.

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

bool vpMeTracker::display_point

inherited

Definition at line 193 of file vpMeTracker.h.

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

unsigned int vpMeTracker::init_range

inherited

Definition at line 81 of file vpMeTracker.h.

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

std::list<vpMeSite> vpMeTracker::list

inherited

Tracking dependent variables/functions List of tracked moving edges points.

Definition at line 78 of file vpMeTracker.h.

Referenced by vpMeTracker::display(), vpMeLine::display(), vpMeTracker::initTracking(), vpMeLine::leastSquare(), vpMeEllipse::leastSquareRobust(), localReSample(), vpMeTracker::numberOfSignal(), vpMeTracker::operator=(), vpMeEllipse::plugHoles(), vpMeTracker::reset(), vpMeLine::sample(), sample(), vpMeEllipse::sample(), vpMeLine::seekExtremities(), seekExtremities(), seekExtremitiesCanny(), vpMeLine::setExtremities(), vpMeLine::suppressPoints(), suppressPoints(), supressNearPoints(), vpMeTracker::totalNumberOfSignal(), vpMeTracker::track(), track(), vpMeLine::updateDelta(), updateDelta(), vpMeEllipse::updateTheta(), vpMeTracker::vpMeTracker(), vpMeEllipse::~vpMeEllipse(), and vpMeLine::~vpMeLine().

const vpImage<bool>* vpMeTracker::m_mask

inherited

Mask used to disable tracking on a part of image.

Definition at line 84 of file vpMeTracker.h.

Referenced by vpMeTracker::track().

vpMe* vpMeTracker::me

inherited

Moving edges initialisation parameters.

Definition at line 80 of file vpMeTracker.h.

Referenced by vpMeTracker::initTracking(), vpMeEllipse::leastSquareRobust(), vpMeTracker::operator=(), vpMeEllipse::plugHoles(), vpMeLine::reSample(), vpMeLine::sample(), vpMeEllipse::sample(), vpMeLine::seekExtremities(), vpMeTracker::track(), and vpMeTracker::vpMeTracker().

int vpMeTracker::nGoodElement

inherited

Definition at line 82 of file vpMeTracker.h.

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

vpNurbs vpMeNurbs::nurbs

The Nurbs which represents the tracked edge.

Definition at line 138 of file vpMeNurbs.h.

Referenced by display(), initTracking(), localReSample(), sample(), seekExtremities(), seekExtremitiesCanny(), track(), and updateDelta().

vpColVector vpTracker::p

inherited

Feature coordinates expressed in the image plane p. They correspond to 2D normalized coordinates expressed in meters.

Definition at line 73 of file vpTracker.h.

Referenced by vpMbtDistanceCircle::computeInteractionMatrixError(), vpCircle::computeIntersectionPoint(), vpMeterPixelConversion::convertEllipse(), vpFeatureBuilder::create(), vpSphere::display(), vpPoint::display(), vpCircle::display(), vpLine::display(), vpProjectionDisplay::display(), vpCylinder::display(), vpProjectionDisplay::displayCamera(), vpFeatureDisplay::displayEllipse(), vpPose::displayModel(), vpImageDraw::drawFrame(), vpPoint::get_w(), vpPoint::get_x(), vpPoint::get_y(), vpSphere::init(), vpMeTracker::init(), vpCircle::init(), vpPoint::init(), vpLine::init(), vpCylinder::init(), vpTracker::operator=(), vpForwardProjection::print(), vpPose::printPoint(), vpForwardProjection::project(), vpSphere::projection(), vpCircle::projection(), vpPoint::projection(), vpLine::projection(), vpCylinder::projection(), vpPoint::set_w(), vpPoint::set_x(), and vpPoint::set_y().

int vpMeTracker::query_range

inherited

Definition at line 192 of file vpMeTracker.h.

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

vpMeSite::vpMeSiteDisplayType vpMeTracker::selectDisplay

protectedinherited

Definition at line 90 of file vpMeTracker.h.

Referenced by vpMeTracker::init(), localReSample(), vpMeTracker::operator=(), vpMeEllipse::plugHoles(), vpMeLine::sample(), sample(), vpMeEllipse::sample(), vpMeLine::seekExtremities(), seekExtremities(), seekExtremitiesCanny(), and vpMeTracker::vpMeTracker().

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Attributes

Public Member Functions Inherited from vpMeTracker

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Constructor & Destructor Documentation

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