#include <visp3/me/vpMeEllipse.h>

Inheritance diagram for vpMeEllipse:

Public Member Functions
	vpMeEllipse ()

	vpMeEllipse (const vpMeEllipse &me_ellipse)

virtual	~vpMeEllipse ()

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

vpColVector	get_nij () const

vpColVector	get_ABE () const

double	getArea () const

vpImagePoint	getCenter () const

unsigned int	getExpectedDensity () const

vpImagePoint	getFirstEndpoint () const

double	getHighestAngle () const

vpImagePoint	getSecondEndpoint () const

double	getSmallestAngle () const

void	initTracking (const vpImage< unsigned char > &I, bool trackArc=false)

void	initTracking (const vpImage< unsigned char > &I, const std::vector< vpImagePoint > &iP, bool trackArc=false)

void	initTracking (const vpImage< unsigned char > &I, const vpColVector &param, vpImagePoint pt1=NULL, const vpImagePoint pt2=NULL)

void	printParameters () const

void	setEndpoints (const vpImagePoint &pt1, const vpImagePoint &pt2)

void	setThresholdRobust (double threshold)

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

Deprecated functions
vp_deprecated double	getA () const

vp_deprecated double	getB () const

vp_deprecated double	getE () const

vp_deprecated double	get_m00 () const

vp_deprecated double	get_m10 () const

vp_deprecated double	get_m01 () const

vp_deprecated double	get_m11 () const

vp_deprecated double	get_m20 () const

vp_deprecated double	get_m02 () const

vp_deprecated double	get_mu11 () const

vp_deprecated double	get_mu02 () const

vp_deprecated double	get_mu20 () const

vp_deprecated void	getEquationParam (double &A, double &B, double &E)

vp_deprecated void	initTracking (const vpImage< unsigned char > &I, const vpImagePoint &center_p, double a_p, double b_p, double e_p, double low_alpha, double high_alpha)

vp_deprecated void	initTracking (const vpImage< unsigned char > &I, unsigned int n, vpImagePoint *iP)

vp_deprecated void	initTracking (const vpImage< unsigned char > &I, unsigned int n, unsigned i, unsigned j)

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, const vpImagePoint &center, const double &A, const double &B, const double &E, const double &smallalpha, const double &highalpha, const vpColor &color=vpColor::green, unsigned int thickness=1)

static void	display (const vpImage< vpRGBa > &I, const vpImagePoint &center, const double &A, const double &B, const double &E, const double &smallalpha, const double &highalpha, const vpColor &color=vpColor::green, unsigned int thickness=1)

Public Attributes
vpColVector	K

vpImagePoint	iPc

double	a

double	b

double	e

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 Member Functions
void	computeAbeFromNij ()

double	computeAngleOnEllipse (const vpImagePoint &pt) const

void	computeKiFromNij ()

void	computeNijFromAbe ()

void	computePointOnEllipse (const double ang, vpImagePoint &iP)

double	computeTheta (const vpImagePoint &iP) const

double	computeTheta (double u, double v) const

void	getParameters ()

void	leastSquare (const vpImage< unsigned char > &I, const std::vector< vpImagePoint > &iP)

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

unsigned int	plugHoles (const vpImage< unsigned char > &I)

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

void	updateTheta ()

Protected Attributes
vpImagePoint	iP1

vpImagePoint	iP2

double	alpha1

double	alpha2

double	ce

double	se

std::list< double >	angle

double	m00

double	mu11

double	mu20

double	mu02

double	m10

double	m01

double	m11

double	m02

double	m20

double	thresholdWeight

double	expecteddensity

double	m_alphamin

double	m_alphamax

double	m_uc

double	m_vc

double	m_n20

double	m_n11

double	m_n02

unsigned int	m_expectedDensity

unsigned int	m_numberOfGoodPoints

bool	m_trackArc

double	m_arcEpsilon

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 ()

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

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 an ellipse using moving edges.

In this class, an ellipse is defined as the set of image points $ (u,v) $ (for more information about the image frame see the vpImagePoint documentation) that satisfy the homogeneous equation:

$K_0 u^2 + K_1 v^2 + 2K_2 u v + 2K_3 u + 2K_4 v + K5 = 0$

with $K_0 = n_{02}$ , $K_1 = n_{20}$ , $K_2 = -n_{11}$ , etc. (see Eq. (25) of Chaumette TRO 2004 paper [6])

If $ K_0 = K1 $ and $ K_2 = 0 $ , the ellipse is a circle.

The six parameters are stored in the private attribute K.

An ellipse is also represented thanks to five parameters that are the center $ (uc,vc) $ of the ellipse and either:

three normalized moments $n_{ij}$ of order 2,
or the semimajor axis , the semiminor axis and the ellipse orientation $E \in [-\pi/2;\pi/2]$ defined by the angle between the major axis and the u axis of the image frame. For more details, see [6]. The following figure illustrates these parameters.

The example below available in tutorial-me-ellipse-tracker.cpp and described in Tutorial: Moving-edges tracking, section Ellipse tracking shows how to use this class.

#include <visp3/core/vpConfig.h>
#ifdef VISP_HAVE_MODULE_SENSOR
#include <visp3/sensor/vp1394CMUGrabber.h>
#include <visp3/sensor/vp1394TwoGrabber.h>
#include <visp3/sensor/vpV4l2Grabber.h>
#endif
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/me/vpMeEllipse.h>
int main()
{
#if (defined(VISP_HAVE_DC1394) || defined(VISP_HAVE_CMU1394) || defined(VISP_HAVE_V4L2) ||                             \
     (VISP_HAVE_OPENCV_VERSION >= 0x020100))
  try {
    vpImage<unsigned char> I;
#if defined(VISP_HAVE_DC1394)
    vp1394TwoGrabber g(false);
#elif defined(VISP_HAVE_CMU1394)
    vp1394CMUGrabber g;
#elif defined(VISP_HAVE_V4L2)
    vpV4l2Grabber g;
#elif defined(VISP_HAVE_OPENCV)
    cv::VideoCapture g(0); // open the default camera
    if (!g.isOpened()) {   // check if we succeeded
      std::cout << "Failed to open the camera" << std::endl;
      return -1;
    }
    cv::Mat frame;
#endif
#if defined(VISP_HAVE_DC1394) || defined(VISP_HAVE_V4L2) || defined(VISP_HAVE_CMU1394)
    g.acquire(I);
#elif defined(VISP_HAVE_OPENCV)
    g >> frame; // get a new frame from camera
    vpImageConvert::convert(frame, I);
#endif
#if defined(VISP_HAVE_X11)
    vpDisplayX d(I, 0, 0, "Camera view");
#elif defined(VISP_HAVE_GDI)
    vpDisplayGDI d(I, 0, 0, "Camera view");
#elif defined(VISP_HAVE_OPENCV)
    vpDisplayOpenCV d(I, 0, 0, "Camera view");
#else
    std::cout << "No image viewer is available..." << std::endl;
#endif
    vpDisplay::display(I);
    vpDisplay::flush(I);
    vpMe me;
    me.setRange(25);
    me.setThreshold(15000);
    me.setSampleStep(10);
    vpMeEllipse ellipse;
    ellipse.setMe(&me);
    ellipse.setDisplay(vpMeSite::RANGE_RESULT);
    ellipse.initTracking(I);
    while (1) {
#if defined(VISP_HAVE_DC1394) || defined(VISP_HAVE_V4L2) || defined(VISP_HAVE_CMU1394)
      g.acquire(I);
#elif defined(VISP_HAVE_OPENCV)
      g >> frame;
      vpImageConvert::convert(frame, I);
#endif
      vpDisplay::display(I);
      ellipse.track(I);
      ellipse.display(I, vpColor::red);
      vpDisplay::flush(I);
    }
  } catch (const vpException &e) {
    std::cout << "Catch an exception: " << e << std::endl;
  }
#endif
}

Examples:: trackMeCircle.cpp, trackMeEllipse.cpp, and tutorial-me-ellipse-tracker.cpp.

Definition at line 97 of file vpMeEllipse.h.

Constructor & Destructor Documentation

◆ vpMeEllipse() [1/2]

vpMeEllipse::vpMeEllipse ( )

Basic constructor that calls the constructor of the class vpMeTracker.

Definition at line 54 of file vpMeEllipse.cpp.

References iP1, iP2, K, vpColVector::resize(), and vpImagePoint::set_ij().

◆ vpMeEllipse() [2/2]

vpMeEllipse::vpMeEllipse ( const vpMeEllipse & me_ellipse )

Copy constructor.

Definition at line 80 of file vpMeEllipse.cpp.

◆ ~vpMeEllipse()

vpMeEllipse::~vpMeEllipse ( )

virtual

Basic destructor.

Definition at line 104 of file vpMeEllipse.cpp.

References angle, and vpMeTracker::list.

Member Function Documentation

◆ computeAbeFromNij()

void vpMeEllipse::computeAbeFromNij ( )

protected

Computes the length of the semimajor axis $ a $ , the length of the semiminor axis $ b $ , and $ e $ that is the angle made by the major axis and the u axis of the image frame $ (u,v) $ . They are computed from the normalized moments $ $n_{ij}$ .

Definition at line 253 of file vpMeEllipse.cpp.

References a, b, ce, e, m_n02, m_n11, m_n20, and se.

Referenced by getParameters(), and initTracking().

◆ computeAngleOnEllipse()

double vpMeEllipse::computeAngleOnEllipse ( const vpImagePoint & pt ) const

protected

Compute the angle of a point on the ellipse wrt the ellipse major axis.

Parameters

pt	: Image point on the ellipse.

Returns: The computed angle.

Definition at line 207 of file vpMeEllipse.cpp.

References a, angle, b, ce, vpImagePoint::get_u(), vpImagePoint::get_v(), m_uc, m_vc, and se.

Referenced by initTracking(), leastSquareRobust(), plugHoles(), and track().

◆ computeKiFromNij()

void vpMeEllipse::computeKiFromNij ( )

protected

Computes the parameters $K = {K_0, ..., K_5}$ from the center of the ellipse and the normalized moments $n_{ij}$ . The parameters $ K $ are such that $ K0 = n02, K1 = n20 $ , etc. as in Eq (25) of Chaumette 2004 TRO paper.

Definition at line 281 of file vpMeEllipse.cpp.

References K, m_n02, m_n11, m_n20, m_uc, and m_vc.

Referenced by initTracking().

◆ computeNijFromAbe()

void vpMeEllipse::computeNijFromAbe ( )

protected

Computes the normalized moments $n_{ij}$ from the $ A, B, E $ parameters as in Eq (24) of Chaumette 2004 TRO paper after simplifications to deal with the case cos(e) = 0.0

Definition at line 297 of file vpMeEllipse.cpp.

References a, b, ce, m_n02, m_n11, m_n20, and se.

Referenced by initTracking().

◆ computePointOnEllipse()

void vpMeEllipse::computePointOnEllipse	(	const double	angle,
		vpImagePoint &	iP
	)

protected

Compute the coordinates of a point on an ellipse from its angle with respect to the main orientation of the ellipse.

Parameters

angle	: Angle on the ellipse with respect to its major axis.
iP	: Image point on the ellipse.

Definition at line 169 of file vpMeEllipse.cpp.

References a, b, ce, m_uc, m_vc, se, and vpImagePoint::set_uv().

Referenced by initTracking(), leastSquareRobust(), plugHoles(), sample(), and track().

◆ computeTheta() [1/2]

double vpMeEllipse::computeTheta ( const vpImagePoint & iP ) const

protected

Computes the $\theta$ angle that represents the angle between the tangent to the curve and the u axis. This angle is used for tracking the vpMeSite.

Parameters

iP	: The point belonging to the ellipse where the angle is computed.

Definition at line 117 of file vpMeEllipse.cpp.

References vpImagePoint::get_u(), and vpImagePoint::get_v().

Referenced by plugHoles(), sample(), and updateTheta().

◆ computeTheta() [2/2]

double vpMeEllipse::computeTheta	(	double	u,
		double	v
	)		const

protected

Computes the $\theta$ angle that represents the angle between the tangent to the curve and the u axis. This angle is used for tracking the vpMeSite.

Parameters

u,v	: The point belonging to the ellipse where the angle is computed.

Definition at line 132 of file vpMeEllipse.cpp.

References K.

◆ display() [1/6]

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.

◆ display() [2/6]

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

virtualinherited

Definition at line 340 of file vpMeTracker.cpp.

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

◆ display() [3/6]

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

virtual

Display the ellipse or arc of ellipse

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

Parameters

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

Implements vpMeTracker.

Examples:: trackMeCircle.cpp, trackMeEllipse.cpp, and tutorial-me-ellipse-tracker.cpp.

Definition at line 844 of file vpMeEllipse.cpp.

References a, alpha1, alpha2, b, e, and iPc.

Referenced by track().

◆ display() [4/6]

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.

◆ display() [5/6]

void vpMeEllipse::display	(	const vpImage< unsigned char > &	I,
		const vpImagePoint &	center,
		const double &	A,
		const double &	B,
		const double &	E,
		const double &	smallalpha,
		const double &	highalpha,
		const vpColor &	color = `vpColor::green`,
		unsigned int	thickness = `1`
	)

static

Display the ellipse or the arc of ellipse thanks to the ellipse parameters.

Parameters

I	: The image used as background.
center	: Center of the ellipse.
A	: Semimajor axis of the ellipse.
B	: Semiminor axis of the ellipse.
E	: Angle made by the major axis and the u axis of the image frame (in rad).
smallalpha	: Smallest angle in rad (0 for a complete ellipse).
highalpha	: Highest angle in rad (2 $\Pi$ for a complete ellipse).
color	: Color used to display the ellipse.
thickness	: Thickness of the drawings.

Definition at line 1197 of file vpMeEllipse.cpp.

References vpDisplay::displayEllipse().

◆ display() [6/6]

void vpMeEllipse::display	(	const vpImage< vpRGBa > &	I,
		const vpImagePoint &	center,
		const double &	A,
		const double &	B,
		const double &	E,
		const double &	smallalpha,
		const double &	highalpha,
		const vpColor &	color = `vpColor::green`,
		unsigned int	thickness = `1`
	)

static

Display the ellipse or the arc of ellipse thanks to the ellipse parameters.

Parameters

I	: The image used as background.
center	: Center of the ellipse
A	: Semimajor axis of the ellipse.
B	: Semiminor axis of the ellipse.
E	: Angle made by the major axis and the u axis of the image frame (in rad)
smallalpha	: Smallest angle in rad (0 for a complete ellipse)
highalpha	: Highest angle in rad ( $2 \Pi$ for a complete ellipse)
color	: Color used to display th lines.
thickness	: Thickness of the drawings.

Definition at line 1228 of file vpMeEllipse.cpp.

References vpDisplay::displayEllipse().

◆ get_ABE()

vpColVector vpMeEllipse::get_ABE ( ) const

inline

Gets the ellipse parameters as a 3-dim vector containing $ A, B, E $ .

Returns: The 3-dim vector containing corresponding respectively to the semimajor axis, the semiminor axis and the angle in rad made by the major axis and the u axis of the image frame , $e \in [-\pi/2;pi/2]$ .

See also: getCenter(), get_nij(), getArea()

Definition at line 134 of file vpMeEllipse.h.

◆ get_cP()

vpColVector vpTracker::get_cP ( ) const

inlineinherited

Return object parameters expressed in the 3D camera frame.

Definition at line 99 of file vpTracker.h.

◆ get_m00()

vp_deprecated double vpMeEllipse::get_m00 ( ) const

inline

Deprecated:: Call rather getArea().

Gets the zero order moment $m_{00}$ which represents the area of the ellipse.

Returns: The value of $m_{00}$ .

See also: getArea()

Definition at line 274 of file vpMeEllipse.h.

◆ get_m01()

vp_deprecated double vpMeEllipse::get_m01 ( ) const

inline

Deprecated:: Gets the first order raw moment $m_{01}$ with $m_{nm} = \sum_{i,j}i^n j^m$ .

Returns: the value of $m_{01}$ .

Definition at line 290 of file vpMeEllipse.h.

◆ get_m02()

vp_deprecated double vpMeEllipse::get_m02 ( ) const

inline

Deprecated:: Gets the second order raw moment $m_{02}$ with $m_{nm} = \sum_{i,j}i^n j^m$ .

Returns: the value of $m_{11}$ .

Definition at line 314 of file vpMeEllipse.h.

◆ get_m10()

vp_deprecated double vpMeEllipse::get_m10 ( ) const

inline

Deprecated:: Gets the first order raw moment $m_{10}$ with $m_{nm} = \sum_{i,j}i^n j^m$ .

Returns: the value of $m_{10}$ .

Definition at line 282 of file vpMeEllipse.h.

◆ get_m11()

vp_deprecated double vpMeEllipse::get_m11 ( ) const

inline

Deprecated:: Gets the second order raw moment $m_{11}$ with $m_{nm} = \sum_{i,j}i^n j^m$ .

Returns: the value of $m_{11}$ .

Definition at line 298 of file vpMeEllipse.h.

◆ get_m20()

vp_deprecated double vpMeEllipse::get_m20 ( ) const

inline

Deprecated:: Gets the second order raw moment $m_{20}$ with $m_{nm} = \sum_{i,j}i^n j^m$ .

Returns: the value of $m_{11}$ .

Definition at line 306 of file vpMeEllipse.h.

◆ get_mu02()

vp_deprecated double vpMeEllipse::get_mu02 ( ) const

inline

Deprecated:: Gets the second order centered moment $\mu_{02}$ .

Returns: the value of $\mu_{02}$ .

Definition at line 328 of file vpMeEllipse.h.

◆ get_mu11()

vp_deprecated double vpMeEllipse::get_mu11 ( ) const

inline

Deprecated:: Gets the second order centered moment $\mu_{11}$ .

Returns: the value of $\mu_{11}$ .

Definition at line 321 of file vpMeEllipse.h.

◆ get_mu20()

vp_deprecated double vpMeEllipse::get_mu20 ( ) const

inline

Deprecated:: Gets the second order centered moment $\mu_{20}$ .

Returns: the value of $\mu_{20}$ .

Definition at line 335 of file vpMeEllipse.h.

◆ get_nij()

vpColVector vpMeEllipse::get_nij ( ) const

inline

Gets the second order normalized centered moment $n_{ij}$ as a 3-dim vector containing $n_{20}, n_{11}, n_{02}$ such as $n_{ij} = \mu_{ij}/m_{00}$

Returns: The 3-dim vector containing $n_{20}, n_{11}, n_{02}$ .

See also: getCenter(), get_ABE(), getArea()

Definition at line 115 of file vpMeEllipse.h.

Referenced by vpFeatureBuilder::create().

◆ get_p()

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.

◆ getA()

vp_deprecated double vpMeEllipse::getA ( ) const

inline

Deprecated:: You should rather use get_ABE(). Gets the semimajor axis of the ellipse.

See also: get_ABE()

Definition at line 245 of file vpMeEllipse.h.

◆ getArea()

double vpMeEllipse::getArea ( ) const

inline

Gets the area of the ellipse corresponding also to the zero order moment of the ellipse.

Returns: The ellipse area.

See also: getCenter(), get_nij(), get_ABE()

Definition at line 152 of file vpMeEllipse.h.

◆ getB()

vp_deprecated double vpMeEllipse::getB ( ) const

inline

Deprecated:: You should rather use get_ABE(). Gets the semiminor axis of the ellipse.

See also: get_ABE()

Definition at line 253 of file vpMeEllipse.h.

◆ getCenter()

vpImagePoint vpMeEllipse::getCenter ( ) const

inline

Gets the center of the ellipse.

See also: get_nij(), get_ABE(), getArea()

Definition at line 159 of file vpMeEllipse.h.

Referenced by vpFeatureBuilder::create().

◆ getE()

vp_deprecated double vpMeEllipse::getE ( ) const

inline

Deprecated:: You should rather use get_ABE(). Gets the angle made by the major axis and the u axis of the image frame , $e \in [-\pi/2;pi/2]$ .

See also: get_ABE()

Definition at line 262 of file vpMeEllipse.h.

◆ getEquationParam()

vp_deprecated void vpMeEllipse::getEquationParam	(	double &	A,
		double &	B,
		double &	E
	)

inline

Deprecated:: You should rather use get_ABE(). Gets the equation parameters of the ellipse.

Definition at line 340 of file vpMeEllipse.h.

References vpMeTracker::initTracking().

◆ getExpectedDensity()

unsigned int vpMeEllipse::getExpectedDensity ( ) const

inline

Returns: Expected number of moving edges to track along the ellipse.

Definition at line 164 of file vpMeEllipse.h.

◆ getFirstEndpoint()

vpImagePoint vpMeEllipse::getFirstEndpoint ( ) const

inline

Gets the first endpoint of the ellipse arc (corresponding to alpha1, not alphamin) when an arc is tracked.

See also: getSecondEndpoint()

Definition at line 172 of file vpMeEllipse.h.

◆ getHighestAngle()

double vpMeEllipse::getHighestAngle ( ) const

inline

Gets the highest $ alpha $ angle of the moving edges tracked $\alpha_{max} \in [\alpha_min;\alpha_2]$ .

See also: getSmallestAngle()

Definition at line 180 of file vpMeEllipse.h.

◆ getInitRange()

unsigned int vpMeTracker::getInitRange ( )

inlineinherited

Return the initial range.

Returns: Value of init_range.

Definition at line 113 of file vpMeTracker.h.

◆ getMe()

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.

◆ getMeList() [1/2]

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.

◆ getMeList() [2/2]

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

inlineinherited

Definition at line 128 of file vpMeTracker.h.

◆ getNbPoints()

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=().

◆ getParameters()

void vpMeEllipse::getParameters ( )

protected

Computes the coordinates of the ellipse center, the normalized moments $n_{ij}$ , the length of the semimajor axis $ a $ , the length of the semiminor axis $ b $ , and $ e $ that is the angle made by the major axis and the u axis of the image frame $ (u,v) $ .

All those computations are made from the parameters $K ={K_0, ..., K_5}$ so that $ K_0 u^2 + K1 v^2 + 2 K2 u v + 2 K3 u + 2 K4 v + K5 = 0 $ .

Definition at line 313 of file vpMeEllipse.cpp.

References computeAbeFromNij(), vpException::fatalError, iPc, K, m_n02, m_n11, m_n20, m_uc, m_vc, printParameters(), vpImagePoint::set_uv(), and vpDEBUG_ENABLE.

Referenced by leastSquare(), and leastSquareRobust().

◆ getSecondEndpoint()

vpImagePoint vpMeEllipse::getSecondEndpoint ( ) const

inline

Gets the second endpoint of the ellipse arc (corresponding to alpha2, not alphamax) when an arc is tracked.

See also: getFirstEndpoint()

Definition at line 188 of file vpMeEllipse.h.

◆ getSmallestAngle()

double vpMeEllipse::getSmallestAngle ( ) const

inline

Gets the smallest $ alpha $ angle of the moving edges tracked $\alpha_{min} \in [\alpha_1;\alpha_2]$ .

See also: getHighestAngle()

Definition at line 196 of file vpMeEllipse.h.

References vpMeTracker::initTracking().

◆ init()

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().

◆ initTracking() [1/7]

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

inherited

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, vpMeTracker::init_range, vpTrackingException::initializationError, vpMeSite::j, vpMeSite::j_1, vpMeTracker::list, vpMeTracker::me, vpMeTracker::nGoodElement, vpMeSite::NO_SUPPRESSION, vpImagePoint::set_i(), vpImagePoint::set_j(), vpMe::setRange(), vpMeSite::track(), vpDERROR_TRACE, and vpERROR_TRACE.

Referenced by getEquationParam(), getSmallestAngle(), vpMeNurbs::initTracking(), vpMeLine::initTracking(), vpMeLine::reSample(), vpMeNurbs::reSample(), sample(), and vpMeNurbs::setCannyThreshold().

◆ initTracking() [2/7]

void vpMeEllipse::initTracking	(	const vpImage< unsigned char > &	I,
		bool	trackArc = `false`
	)

Initialize the tracking of an ellipse or an arc of an ellipse when trackArc is set to true. Ask the user to click on five points located on the ellipse to be tracked.

Warning: The points should be selected as far as possible from each other. When an arc of an ellipse is tracked, it is recommended to select the 5 points clockwise.

Parameters

I	: Image in which the ellipse appears.
trackArc	: When true, track an arc of the ellipse. First and fifth points specify the extremities of the arc (clockwise). When false track the complete ellipse.

Examples:: trackMeCircle.cpp, trackMeEllipse.cpp, and tutorial-me-ellipse-tracker.cpp.

Definition at line 861 of file vpMeEllipse.cpp.

References vpDisplay::displayCross(), vpDisplay::flush(), vpDisplay::getClick(), m_trackArc, and vpColor::red.

Referenced by initTracking().

◆ initTracking() [3/7]

void vpMeEllipse::initTracking	(	const vpImage< unsigned char > &	I,
		const std::vector< vpImagePoint > &	iP,
		bool	trackArc = `false`
	)

Initialize the tracking of an ellipse or an arc of an ellipse when trackArc is set to true. The ellipse is defined thanks to a vector of image points.

Warning: It is mandatory to use at least five image points to estimate the ellipse parameters.; The image points should be selected as far as possible from each other. When an arc of an ellipse is tracked, it is recommended to select the 5 points clockwise.

Parameters

I	: Image in which the ellipse appears.
iP	: A vector of image points belonging to the ellipse edge used to initialize the tracking.
trackArc	: When true, track an arc of the ellipse. First and last points specify the extremities of the arc (clockwise). When false track the complete ellipse.

Definition at line 896 of file vpMeEllipse.cpp.

References alpha1, alpha2, computeAngleOnEllipse(), computePointOnEllipse(), vpMeTracker::display(), vpDisplay::flush(), iP1, iP2, leastSquare(), m_arcEpsilon, m_trackArc, sample(), and track().

◆ initTracking() [4/7]

void vpMeEllipse::initTracking	(	const vpImage< unsigned char > &	I,
		const vpColVector &	param,
		vpImagePoint *	pt1 = `NULL`,
		const vpImagePoint *	pt2 = `NULL`
	)

Initialize the tracking of an ellipse or an arc of an ellipse when arc extremities are given. The ellipse is defined by the vector containing the coordinates of its center and the three second order centered normalized moments $ n_ij $ . Without setting the arc extremities with parameters pt1 and pt2, the complete ellipse is considered. When extremities are set, we consider an ellipse arc defined clockwise from first extremity to second extremity.

Parameters

I	: Image in which the ellipse appears.
param	: Vector with the five parameters $(u_c, v_c, n_{20}, n_{11}, n_{02})$ defining the ellipse (expressed in pixels).
pt1	: Image point defining the first extremity of the arc or NULL to track a complete ellipse.
pt2	: Image point defining the second extremity of the arc or NULL to track a complete ellipse.

Definition at line 941 of file vpMeEllipse.cpp.

References alpha1, alpha2, computeAbeFromNij(), computeAngleOnEllipse(), computeKiFromNij(), computePointOnEllipse(), vpMeTracker::display(), vpDisplay::flush(), iP1, iP2, iPc, m_arcEpsilon, m_n02, m_n11, m_n20, m_trackArc, m_uc, m_vc, sample(), vpImagePoint::set_uv(), and track().

◆ initTracking() [5/7]

void vpMeEllipse::initTracking	(	const vpImage< unsigned char > &	I,
		const vpImagePoint &	center_p,
		double	a_p,
		double	b_p,
		double	e_p,
		double	alpha1_p,
		double	alpha2_p
	)

Deprecated:: Initialization of the tracking. The arc of the ellipse is defined thanks to its center, semimajor axis, semiminor axis, orientation and the angle of its two extremities

Parameters

I	: Image in which the ellipse appears.
center_p	: Ellipse center.
a_p	: Semimajor axis.
b_p	: Semiminor axis.
e_p	: Orientationn in rad.
alpha1_p	: Angle in rad defining the first extremity of the arc.
alpha2_p	: Angle in rad defining the second extremity of the arc.

Definition at line 1103 of file vpMeEllipse.cpp.

References a, alpha1, alpha2, b, ce, computeKiFromNij(), computeNijFromAbe(), computePointOnEllipse(), vpMeTracker::display(), e, vpDisplay::flush(), vpImagePoint::get_u(), vpImagePoint::get_v(), iP1, iP2, iPc, m_trackArc, m_uc, m_vc, sample(), se, and track().

◆ initTracking() [6/7]

void vpMeEllipse::initTracking	(	const vpImage< unsigned char > &	I,
		unsigned int	n,
		vpImagePoint *	iP
	)

Deprecated:: Initialization of the tracking. The ellipse is defined thanks to the coordinates of n points.

Warning: It is mandatory to use at least five points to estimate the ellipse parameters.; The n points should be selected as far as possible from each other.

Parameters

I	: Image in which the ellipse appears.
n	: The number of points in the list.
iP	: A pointer to a list of points belonging to the ellipse edge.

Definition at line 1151 of file vpMeEllipse.cpp.

References initTracking().

◆ initTracking() [7/7]

void vpMeEllipse::initTracking	(	const vpImage< unsigned char > &	I,
		unsigned int	n,
		unsigned *	i,
		unsigned *	j
	)

Deprecated:: Use an other initTracking() function.

Definition at line 1164 of file vpMeEllipse.cpp.

References initTracking().

◆ inMask()

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().

◆ leastSquare()

void vpMeEllipse::leastSquare	(	const vpImage< unsigned char > &	I,
		const std::vector< vpImagePoint > &	iP
	)

protected

Least squares method to compute the ellipse to which the points belong.

Parameters

I	: Image in which the ellipse appears (useful just to get its number of rows and columns...
iP	: A vector of points belonging to the ellipse.

Definition at line 573 of file vpMeEllipse.cpp.

References vpException::fatalError, vpImage< Type >::getHeight(), getParameters(), vpImage< Type >::getWidth(), K, and vpMatrix::nullSpace().

Referenced by initTracking().

◆ leastSquareRobust()

void vpMeEllipse::leastSquareRobust ( const vpImage< unsigned char > & I )

protected

Robust least squares method to compute the ellipse to which the vpMeSite belong. Manage also the lists of vpMeSite and corresponding angles.

Parameters

I	: Image where tracking is done (useful just to get its number of rows and columns...

Definition at line 631 of file vpMeEllipse.cpp.

References alpha1, alpha2, angle, vpColor::blue, computeAngleOnEllipse(), computePointOnEllipse(), vpColor::cyan, vpMath::deg(), vpException::dimensionError, vpDisplay::displayCross(), vpImagePoint::distance(), vpException::fatalError, vpImagePoint::get_i(), vpImagePoint::get_j(), vpImage< Type >::getHeight(), getParameters(), vpMe::getSampleStep(), vpMeSite::getState(), vpImage< Type >::getWidth(), vpColor::green, vpMeSite::ifloat, vpMeSite::jfloat, K, vpMeTracker::list, m_alphamax, m_alphamin, m_numberOfGoodPoints, vpMeTracker::me, vpRobust::MEstimator(), vpMeSite::NO_SUPPRESSION, vpMatrix::nullSpace(), vpMeTracker::numberOfSignal(), vpColor::orange, vpMath::rad(), vpColor::red, vpImagePoint::set_ij(), vpImagePoint::set_uv(), vpRobust::setMinMedianAbsoluteDeviation(), thresholdWeight, vpRobust::TUKEY, and vpDEBUG_ENABLE.

Referenced by track().

◆ numberOfSignal()

unsigned int vpMeTracker::numberOfSignal ( )

inherited

Definition at line 120 of file vpMeTracker.cpp.

References vpMeTracker::list.

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

◆ outOfImage() [1/2]

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

inherited

Definition at line 150 of file vpMeTracker.cpp.

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

◆ outOfImage() [2/2]

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().

◆ plugHoles()

unsigned int vpMeEllipse::plugHoles ( const vpImage< unsigned char > & I )

protected

Seek along the ellipse or arc of ellipse its two extremities to try recovering lost points. Try also to complete the parts with no tracked points.

Parameters

I	: Image in which the ellipse appears.

Returns: The function returns the number of points added to the list.

Exceptions

vpTrackingException::initializationError : Moving edges not initialized.

Definition at line 430 of file vpMeEllipse.cpp.

References alpha1, alpha2, angle, vpColor::blue, computeAngleOnEllipse(), computePointOnEllipse(), computeTheta(), vpDisplay::displayCross(), vpException::fatalError, vpImagePoint::get_i(), vpImagePoint::get_j(), vpImage< Type >::getHeight(), vpMe::getMu1(), vpMe::getMu2(), vpMe::getRange(), vpMe::getSampleStep(), vpMeSite::getState(), vpImage< Type >::getWidth(), vpMeSite::ifloat, vpMeSite::init(), vpMeSite::jfloat, vpMeTracker::list, m_alphamax, m_alphamin, vpMeTracker::me, vpMeSite::NO_SUPPRESSION, vpMeTracker::outOfImage(), vpMath::rad(), vpMath::round(), vpMeTracker::selectDisplay, vpImagePoint::set_ij(), vpMeSite::setDisplay(), vpMe::setMu1(), vpMe::setMu2(), vpMe::setRange(), vpMeSite::setState(), vpMeSite::track(), and vpDEBUG_ENABLE.

Referenced by track().

◆ printParameters()

void vpMeEllipse::printParameters ( ) const

Print the parameters $K = {K_0, ..., K_5}$ , the coordinates of the ellipse center, the normalized moments, and the A, B, E parameters.

Definition at line 347 of file vpMeEllipse.cpp.

References a, b, vpMath::deg(), e, K, m_n02, m_n11, m_n20, m_uc, m_vc, and vpColVector::t().

Referenced by getParameters(), and track().

◆ reset()

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().

◆ sample()

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

protectedvirtual

Construct a list of vpMeSite moving edges at a particular sampling step between the two extremities. The two extremities are defined by the points with the smallest and the biggest $ alpha $ angle.

Parameters

I	: Image in which the ellipse appears.
doNotTrack	: If true, moving-edges are not tracked.

Exceptions

vpTrackingException::initializationError : Moving edges not initialized.

Implements vpMeTracker.

Definition at line 367 of file vpMeEllipse.cpp.

References alpha1, alpha2, angle, computePointOnEllipse(), computeTheta(), vpDisplay::displayCross(), expecteddensity, vpException::fatalError, vpImagePoint::get_i(), vpImagePoint::get_j(), vpImage< Type >::getHeight(), vpMe::getSampleStep(), vpImage< Type >::getWidth(), vpMeSite::init(), vpMeTracker::initTracking(), vpMeTracker::list, m_expectedDensity, vpMeTracker::me, vpMeSite::NO_SUPPRESSION, vpMeTracker::outOfImage(), vpMath::rad(), vpColor::red, vpMath::round(), vpMeTracker::selectDisplay, vpMeSite::setDisplay(), vpMe::setSampleStep(), and vpMeSite::setState().

Referenced by initTracking(), and track().

◆ setDisplay()

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.

◆ setEndpoints()

void vpMeEllipse::setEndpoints	(	const vpImagePoint &	pt1,
		const vpImagePoint &	pt2
	)

inline

Set the two endpoints of the ellipse arc when an arc is tracked.

Definition at line 206 of file vpMeEllipse.h.

◆ setInitRange()

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

inlineinherited

Set the initial range.

Parameters

r	: initial range.

Definition at line 159 of file vpMeTracker.h.

◆ setMask()

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

inlinevirtualinherited

Set the mask

Parameters

mask : Mask.

Definition at line 166 of file vpMeTracker.h.

◆ setMe()

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.

◆ setMeList()

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.

◆ setThresholdRobust()

void vpMeEllipse::setThresholdRobust ( double threshold )

inline

Set the threshold for the weights in the robust estimation of the ellipse parameters. If the weight of a point is below this threshold, this one is removed from the list of tracked meSite. Value must be between 0 (never rejected) and 1 (always rejected).

Parameters

threshold : The new value of the threshold.

Definition at line 221 of file vpMeEllipse.h.

References vpMeTracker::track().

◆ totalNumberOfSignal()

unsigned int vpMeTracker::totalNumberOfSignal ( )

inherited

Definition at line 129 of file vpMeTracker.cpp.

References vpMeTracker::list.

◆ track()

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

Track the ellipse in the image I.

Parameters

I	: Image in which the ellipse appears.

Examples:: trackMeCircle.cpp, trackMeEllipse.cpp, and tutorial-me-ellipse-tracker.cpp.

Definition at line 987 of file vpMeEllipse.cpp.

References a, alpha1, alpha2, b, computeAngleOnEllipse(), computePointOnEllipse(), vpMath::deg(), vpException::dimensionError, vpMeTracker::display(), display(), vpDisplay::display(), vpDisplay::flush(), vpDisplay::getClick(), iP1, iP2, leastSquareRobust(), m00, m01, m02, m10, m11, m20, m_alphamax, m_alphamin, m_arcEpsilon, m_expectedDensity, m_n02, m_n11, m_n20, m_numberOfGoodPoints, m_trackArc, m_uc, m_vc, mu02, mu11, mu20, plugHoles(), printParameters(), vpMath::rad(), vpColor::red, sample(), vpMeTracker::track(), updateTheta(), and vpDEBUG_ENABLE.

Referenced by initTracking().

◆ updateTheta()

void vpMeEllipse::updateTheta ( )

protected

Compute the $ theta $ angle for each vpMeSite.

Note: The angle is useful during the tracking part.

Definition at line 149 of file vpMeEllipse.cpp.

References vpMeSite::alpha, computeTheta(), vpMeSite::ifloat, vpMeSite::jfloat, vpMeTracker::list, and vpImagePoint::set_ij().

Referenced by track().

Member Data Documentation

◆ a

double vpMeEllipse::a

$ a $ is the semimajor axis of the ellipse.

Definition at line 365 of file vpMeEllipse.h.

Referenced by computeAbeFromNij(), computeAngleOnEllipse(), computeNijFromAbe(), computePointOnEllipse(), display(), initTracking(), printParameters(), and track().

◆ alpha1

double vpMeEllipse::alpha1

protected

The angle $\alpha_1 \in [-\pi;\pi]$ on the ellipse corresponding to the first endpoint. Its value is 0 for tracking a complete ellipse

Definition at line 385 of file vpMeEllipse.h.

Referenced by display(), initTracking(), leastSquareRobust(), plugHoles(), sample(), and track().

◆ alpha2

double vpMeEllipse::alpha2

protected

The angle $\alpha_2 \in [\alpha_1;\alpha_1+2\pi]$ on the ellipse corresponding to the second endpoint. Its value is $2 \pi$ for tracking a complete ellipse

Definition at line 390 of file vpMeEllipse.h.

Referenced by display(), initTracking(), leastSquareRobust(), plugHoles(), sample(), and track().

◆ angle

std::list<double> vpMeEllipse::angle

protected

Stores the value in increasing order of the $ alpha $ angle on the ellipse for each vpMeSite .

Definition at line 396 of file vpMeEllipse.h.

Referenced by computeAngleOnEllipse(), leastSquareRobust(), plugHoles(), sample(), and ~vpMeEllipse().

◆ b

double vpMeEllipse::b

$ b $ is the semiminor axis of the ellipse.

Definition at line 367 of file vpMeEllipse.h.

Referenced by computeAbeFromNij(), computeAngleOnEllipse(), computeNijFromAbe(), computePointOnEllipse(), display(), initTracking(), printParameters(), and track().

◆ ce

double vpMeEllipse::ce

protected

Value of cos(e).

Definition at line 392 of file vpMeEllipse.h.

Referenced by computeAbeFromNij(), computeAngleOnEllipse(), computeNijFromAbe(), computePointOnEllipse(), and initTracking().

◆ cP

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().

◆ cPAvailable

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=().

◆ display_point

bool vpMeTracker::display_point

inherited

Definition at line 193 of file vpMeTracker.h.

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

◆ e

double vpMeEllipse::e

$e \in [-\pi/2;\pi/2]$ is the angle made by the major axis and the u axis of the image frame $ (u,v) $ .

Definition at line 371 of file vpMeEllipse.h.

Referenced by computeAbeFromNij(), display(), initTracking(), and printParameters().

◆ expecteddensity

double vpMeEllipse::expecteddensity

protected

Expected number of points to track along the ellipse.

Definition at line 413 of file vpMeEllipse.h.

Referenced by sample().

◆ init_range

unsigned int vpMeTracker::init_range

inherited

Definition at line 81 of file vpMeTracker.h.

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

◆ iP1

vpImagePoint vpMeEllipse::iP1

protected

The coordinates of the first endpoint of the ellipse arc corresponding to angle $\alpha_1$

Definition at line 377 of file vpMeEllipse.h.

Referenced by initTracking(), track(), and vpMeEllipse().

◆ iP2

vpImagePoint vpMeEllipse::iP2

protected

The coordinates of the second endpoint of the ellipse arc corresponding to angle $\alpha_2$

Definition at line 381 of file vpMeEllipse.h.

Referenced by initTracking(), track(), and vpMeEllipse().

◆ iPc

vpImagePoint vpMeEllipse::iPc

The coordinates of the ellipse center.

Definition at line 363 of file vpMeEllipse.h.

Referenced by display(), getParameters(), and initTracking().

◆ K

vpColVector vpMeEllipse::K

Parameters of the ellipse satisfying the homogeneous equation :

$K_0 u^2 + K_1 v^2 + 2K_2 uv + 2K_3u + 2K_4v + K5 = 0$

Definition at line 361 of file vpMeEllipse.h.

Referenced by computeKiFromNij(), computeTheta(), getParameters(), leastSquare(), leastSquareRobust(), printParameters(), and vpMeEllipse().

◆ list

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

◆ m00

double vpMeEllipse::m00

protected

Ellipse area.

Definition at line 398 of file vpMeEllipse.h.

Referenced by track().

◆ m01

double vpMeEllipse::m01

protected

Definition at line 403 of file vpMeEllipse.h.

Referenced by track().

◆ m02

double vpMeEllipse::m02

protected

Definition at line 405 of file vpMeEllipse.h.

Referenced by track().

◆ m10

double vpMeEllipse::m10

protected

First order raw moments.

Definition at line 403 of file vpMeEllipse.h.

Referenced by track().

◆ m11

double vpMeEllipse::m11

protected

Second order raw moments.

Definition at line 405 of file vpMeEllipse.h.

Referenced by track().

◆ m20

double vpMeEllipse::m20

protected

Definition at line 405 of file vpMeEllipse.h.

Referenced by track().

◆ m_alphamax

double vpMeEllipse::m_alphamax

protected

The highest angle $\alpha_{max} \in [\alpha_{min};\alpha_2]$ of the current moving edge list

Definition at line 423 of file vpMeEllipse.h.

Referenced by leastSquareRobust(), plugHoles(), and track().

◆ m_alphamin

double vpMeEllipse::m_alphamin

protected

The smallest angle $\alpha_{min} \in [\alpha_1;\alpha_2]$ of the current moving edge list

Definition at line 419 of file vpMeEllipse.h.

Referenced by leastSquareRobust(), plugHoles(), and track().

◆ m_arcEpsilon

double vpMeEllipse::m_arcEpsilon

protected

Epsilon value used to check if arc angles are the same.

Definition at line 437 of file vpMeEllipse.h.

Referenced by initTracking(), and track().

◆ m_expectedDensity

unsigned int vpMeEllipse::m_expectedDensity

protected

Expected number of points to track along the ellipse.

Definition at line 431 of file vpMeEllipse.h.

Referenced by sample(), and track().

◆ m_mask

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().

◆ m_n02

double vpMeEllipse::m_n02

protected

Definition at line 429 of file vpMeEllipse.h.

Referenced by computeAbeFromNij(), computeKiFromNij(), computeNijFromAbe(), getParameters(), initTracking(), printParameters(), and track().

◆ m_n11

double vpMeEllipse::m_n11

protected

Definition at line 429 of file vpMeEllipse.h.

Referenced by computeAbeFromNij(), computeKiFromNij(), computeNijFromAbe(), getParameters(), initTracking(), printParameters(), and track().

◆ m_n20

double vpMeEllipse::m_n20

protected

Second order centered and normalized moments.

Definition at line 429 of file vpMeEllipse.h.

Referenced by computeAbeFromNij(), computeKiFromNij(), computeNijFromAbe(), getParameters(), initTracking(), printParameters(), and track().

◆ m_numberOfGoodPoints

unsigned int vpMeEllipse::m_numberOfGoodPoints

protected

Number of correct points tracked along the ellipse.

Definition at line 433 of file vpMeEllipse.h.

Referenced by leastSquareRobust(), and track().

◆ m_trackArc

bool vpMeEllipse::m_trackArc

protected

Track an arc of ellipse (true) or a complete one (false).

Definition at line 435 of file vpMeEllipse.h.

Referenced by initTracking(), and track().

◆ m_uc

double vpMeEllipse::m_uc

protected

Value of u coordinate of iPc.

Definition at line 425 of file vpMeEllipse.h.

Referenced by computeAngleOnEllipse(), computeKiFromNij(), computePointOnEllipse(), getParameters(), initTracking(), printParameters(), and track().

◆ m_vc

double vpMeEllipse::m_vc

protected

Value of v coordinate of iPc.

Definition at line 427 of file vpMeEllipse.h.

Referenced by computeAngleOnEllipse(), computeKiFromNij(), computePointOnEllipse(), getParameters(), initTracking(), printParameters(), and track().

◆ me

vpMe* vpMeTracker::me

inherited

Moving edges initialisation parameters.

Definition at line 80 of file vpMeTracker.h.

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

◆ mu02

double vpMeEllipse::mu02

protected

Definition at line 401 of file vpMeEllipse.h.

Referenced by track().

◆ mu11

double vpMeEllipse::mu11

protected

Second order centered moments.

Definition at line 401 of file vpMeEllipse.h.

Referenced by track().

◆ mu20

double vpMeEllipse::mu20

protected

Definition at line 401 of file vpMeEllipse.h.

Referenced by track().

◆ nGoodElement

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().

◆ 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 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().

◆ query_range

int vpMeTracker::query_range

inherited

Definition at line 192 of file vpMeTracker.h.

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

◆ se

double vpMeEllipse::se

protected

Value of sin(e).

Definition at line 394 of file vpMeEllipse.h.

Referenced by computeAbeFromNij(), computeAngleOnEllipse(), computeNijFromAbe(), computePointOnEllipse(), and initTracking().

◆ selectDisplay

vpMeSite::vpMeSiteDisplayType vpMeTracker::selectDisplay

protectedinherited

Definition at line 90 of file vpMeTracker.h.

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

◆ thresholdWeight

double vpMeEllipse::thresholdWeight

protected

Threshold on the weights for the robust least square.

Definition at line 409 of file vpMeEllipse.h.

Referenced by leastSquareRobust().

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Public Member Functions Inherited from vpMeTracker

Detailed Description

Constructor & Destructor Documentation

◆ vpMeEllipse() [1/2]

◆ vpMeEllipse() [2/2]

◆ ~vpMeEllipse()

Member Function Documentation

◆ computeAbeFromNij()

◆ computeAngleOnEllipse()

◆ computeKiFromNij()

◆ computeNijFromAbe()

◆ computePointOnEllipse()

◆ computeTheta() [1/2]

◆ computeTheta() [2/2]

◆ display() [1/6]

◆ display() [2/6]

◆ display() [3/6]

◆ display() [4/6]

◆ display() [5/6]

◆ display() [6/6]

◆ get_ABE()

◆ get_cP()

◆ get_m00()

◆ get_m01()

◆ get_m02()

◆ get_m10()

◆ get_m11()

◆ get_m20()

◆ get_mu02()

◆ get_mu11()

◆ get_mu20()

◆ get_nij()

◆ get_p()

◆ getA()

◆ getArea()

◆ getB()

◆ getCenter()

◆ getE()

◆ getEquationParam()

◆ getExpectedDensity()

◆ getFirstEndpoint()

◆ getHighestAngle()

◆ getInitRange()

◆ getMe()

◆ getMeList() [1/2]

◆ getMeList() [2/2]

◆ getNbPoints()

◆ getParameters()

◆ getSecondEndpoint()

◆ getSmallestAngle()

◆ init()

◆ initTracking() [1/7]

◆ initTracking() [2/7]

◆ initTracking() [3/7]

◆ initTracking() [4/7]

◆ initTracking() [5/7]

◆ initTracking() [6/7]

◆ initTracking() [7/7]

◆ inMask()

◆ leastSquare()

◆ leastSquareRobust()

◆ numberOfSignal()

◆ outOfImage() [1/2]

◆ outOfImage() [2/2]

◆ plugHoles()

◆ printParameters()

◆ reset()

◆ sample()

◆ setDisplay()

◆ setEndpoints()

◆ setInitRange()

◆ setMask()

◆ setMe()

◆ setMeList()

◆ setThresholdRobust()