#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, const vpColor &col, unsigned int thickness=1)

vpColVector	get_nij () const

vpColVector	get_ABE () const

double	getArea () const

vpImagePoint	getCenter () const

unsigned int	getExpectedDensity () const

unsigned int	getNumberOfGoodPoints () const

vpImagePoint	getFirstEndpoint () const

double	getHighestAngle () const

vpImagePoint	getSecondEndpoint () const

double	getSmallestAngle () const

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

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

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

void	printParameters () const

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

void	setThresholdRobust (double threshold)

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

Public Member Functions Inherited from vpTracker
vpColVector	get_p () const

vpColVector	get_cP () const

Public Attributes
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

Deprecated functions
vpColVector	K

vpImagePoint	iPc

double	a

double	b

double	e

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	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_trackCircle

bool	m_trackArc

double	m_arcEpsilon

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)

void	computeAbeFromNij ()

double	computeAngleOnEllipse (const vpImagePoint &pt) const

void	computeKiFromNij ()

void	computeNijFromAbe ()

void	computePointOnEllipse (const double angle, 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)

unsigned int	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) override

void	updateTheta ()

static void	displayEllipse (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	displayEllipse (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 vp_deprecated 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 vp_deprecated 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 Member Functions Inherited from vpMeTracker
void	display (const vpImage< unsigned char > &I)

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 (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 and , 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 of the ellipse and either:

three normalized moments $n_{ij}$ of order 2,
or the semi major axis , the semi minor 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>
 
#if defined(HAVE_OPENCV_VIDEOIO)
#include <opencv2/videoio.hpp>
#endif
 
int main()
{
#if (defined(VISP_HAVE_DC1394) || defined(VISP_HAVE_CMU1394) || defined(VISP_HAVE_V4L2) || defined(HAVE_OPENCV_VIDEOIO))
        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(HAVE_OPENCV_VIDEOIO)
                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 EXIT_FAILURE;
                }
                cv::Mat frame;
#endif
 
#if defined(VISP_HAVE_DC1394) || defined(VISP_HAVE_V4L2) || defined(VISP_HAVE_CMU1394)
                g.acquire(I);
#elif defined(HAVE_OPENCV_VIDEOIO)
                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(HAVE_OPENCV_HIGHGUI)
                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.setLikelihoodThresholdType(vpMe::NORMALIZED_THRESHOLD);
                me.setThreshold(20);
                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(HAVE_OPENCV_VIDEOIO)
                        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 89 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 44 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 59 of file vpMeEllipse.cpp.

◆ ~vpMeEllipse()

vpMeEllipse::~vpMeEllipse ( )

virtual

Destructor.

Definition at line 75 of file vpMeEllipse.cpp.

References angle, and vpMeTracker::list.

Member Function Documentation

◆ computeAbeFromNij()

void vpMeEllipse::computeAbeFromNij ( )

protected

Computes the length of the semi major axis $ a $ , the length of the semi minor axis $ b $ , and that is the angle made by the major axis and the u axis of the image frame . They are computed from the normalized moments $ $n_{ij}$ .

Definition at line 187 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 147 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 are such that , etc. as in Eq (25) of Chaumette 2004 TRO paper.

Definition at line 209 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 parameters as in Eq (24) of Chaumette 2004 TRO paper after simplifications to deal with the case cos(e) = 0.0

Definition at line 219 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 114 of file vpMeEllipse.cpp.

References a, angle, 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 81 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 89 of file vpMeEllipse.cpp.

References K.

◆ display() [1/6]

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

inherited

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 (contrast 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 229 of file vpMeTracker.cpp.

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

Referenced by vpMeTracker::display(), initTracking(), track(), and vpMeLine::track().

◆ display() [2/6]

void vpMeEllipse::display	(	const vpImage< unsigned char > &	I,
		const vpColor &	col,
		unsigned int	thickness = `1`
	)

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.
thickness	: Thickness of the drawing.

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

Definition at line 1000 of file vpMeEllipse.cpp.

References a, alpha1, alpha2, b, displayEllipse(), e, and iPc.

Referenced by track().

◆ display() [3/6]

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

Deprecated:: This static function is deprecated. Use rather vpMeEllipse::displayEllipse().

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	: Semi major axis of the ellipse.
B	: Semi minor 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 1328 of file vpMeEllipse.cpp.

References displayEllipse().

◆ 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 245 of file vpMeTracker.cpp.

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

◆ display() [5/6]

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

inherited

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 (contrast 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 237 of file vpMeTracker.cpp.

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

◆ 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

Deprecated:: This static function is deprecated. Use rather vpMeEllipse::displayEllipse().

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	: Semi major axis of the ellipse.
B	: Semi minor 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.

See also: vpDisplay::displayEllipse()

Definition at line 1362 of file vpMeEllipse.cpp.

References displayEllipse().

◆ displayEllipse() [1/2]

void vpMeEllipse::displayEllipse	(	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	: Semi major axis of the ellipse.
B	: Semi minor 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.

See also: vpDisplay::displayEllipse()

Definition at line 1371 of file vpMeEllipse.cpp.

References vpDisplay::displayEllipse().

Referenced by display().

◆ displayEllipse() [2/2]

void vpMeEllipse::displayEllipse	(	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.

See also: vpDisplay::displayEllipse()

Definition at line 1378 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 .

Returns: The 3-dim vector containing corresponding respectively to the semi major axis, the semi minor 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 144 of file vpMeEllipse.h.

◆ get_cP()

vpColVector vpTracker::get_cP ( ) const

inlineinherited

Return object parameters expressed in the 3D camera frame.

Definition at line 94 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 348 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 364 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 388 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 356 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 372 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 380 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 402 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 395 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 409 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 125 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 92 of file vpTracker.h.

◆ getA()

vp_deprecated double vpMeEllipse::getA ( ) const

inline

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

See also: get_ABE()

Definition at line 319 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 162 of file vpMeEllipse.h.

◆ getB()

vp_deprecated double vpMeEllipse::getB ( ) const

inline

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

See also: get_ABE()

Definition at line 327 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 169 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 336 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 414 of file vpMeEllipse.h.

◆ getExpectedDensity()

unsigned int vpMeEllipse::getExpectedDensity ( ) const

inline

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

Definition at line 174 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 187 of file vpMeEllipse.h.

◆ getHighestAngle()

double vpMeEllipse::getHighestAngle ( ) const

inline

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

See also: getSmallestAngle()

Definition at line 195 of file vpMeEllipse.h.

◆ getInitRange()

unsigned int vpMeTracker::getInitRange ( )

inlineinherited

Return the initial range.

Returns: Value of init_range.

Definition at line 161 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 168 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 175 of file vpMeTracker.h.

◆ getMeList() [2/2]

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

inlineinherited

Return the list of moving edges

Returns: List of Moving Edges.

Definition at line 182 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 189 of file vpMeTracker.h.

◆ getNumberOfGoodPoints()

unsigned int vpMeEllipse::getNumberOfGoodPoints ( ) const

inline

Returns: Number of valid edges tracked along the ellipse.

Definition at line 179 of file vpMeEllipse.h.

◆ getParameters()

void vpMeEllipse::getParameters ( )

protected

Computes the coordinates of the ellipse center, the normalized moments $n_{ij}$ , the length of the semi major axis $ a $ , the length of the semi minor axis $ b $ , and that is the angle made by the major axis and the u axis of the image frame .

All those computations are made from the parameters $K ={K_0, ..., K_5}$ so that .

Definition at line 226 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 203 of file vpMeEllipse.h.

◆ getSmallestAngle()

double vpMeEllipse::getSmallestAngle ( ) const

inline

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

See also: getHighestAngle()

Definition at line 211 of file vpMeEllipse.h.

◆ init()

void vpMeTracker::init ( void )

inherited

Initialize the tracker.

Definition at line 50 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 145 of file vpMeTracker.cpp.

References vpMe::getRange(), vpMeSite::getState(), vpMeTracker::init_range, vpTrackingException::initializationError, vpMeTracker::list, vpMeTracker::me, vpMeTracker::nGoodElement, vpMeSite::NO_SUPPRESSION, vpMe::setRange(), vpMeSite::track(), vpDERROR_TRACE, and vpERROR_TRACE.

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

◆ initTracking() [2/7]

void vpMeEllipse::initTracking	(	const vpImage< unsigned char > &	I,
		bool	trackCircle = `false`,
		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.
trackCircle	: When true, track a circle, when false track an ellipse.
trackArc	: When true track an arc of the ellipse/circle. In that case, first and last points specify the extremities of the arc (clockwise). When false track the complete ellipse/circle.

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

Definition at line 1005 of file vpMeEllipse.cpp.

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

Referenced by initTracking().

◆ initTracking() [3/7]

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

Initialize the tracking of an ellipse/circle or an arc of an ellipse/circle when trackArc is set to true. The ellipse/circle 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 while three points are needed to estimate the circle parameters.; The image points should be selected as far as possible from each other. When an arc of an ellipse/circle is tracked, it is recommended to select the 5/3 points clockwise.

Parameters

I	: Image in which the ellipse/circle appears.
iP	: A vector of image points belonging to the ellipse/circle edge used to initialize the tracking.
trackCircle	: When true, track a circle, when false track an ellipse.
trackArc	: When true track an arc of the ellipse/circle. In that case, first and last points specify the extremities of the arc (clockwise). When false track the complete ellipse/circle.

Definition at line 1043 of file vpMeEllipse.cpp.

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

◆ initTracking() [4/7]

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

Initialize the tracking of an ellipse/circle or an arc of an ellipse/circle when arc extremities are given. The ellipse/circle is defined by the vector containing the coordinates of its center and the three second order centered normalized moments . Without setting the arc extremities with parameters pt1 and pt2, the complete ellipse/circle is considered. When extremities are set, we consider an ellipse/circle 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.
trackCircle	: When true enable tracking of a circle, when false the tracking of an ellipse.

Definition at line 1076 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_trackCircle, 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, semi major axis, semi minor axis, orientation and the angle of its two extremities

Parameters

I	: Image in which the ellipse appears.
center_p	: Ellipse center.
a_p	: Semi major axis.
b_p	: Semi minor axis.
e_p	: Orientation 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 1233 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,
		unsigned *	i,
		unsigned *	j
	)

Deprecated:: Use an other initTracking() function.

Definition at line 1294 of file vpMeEllipse.cpp.

References initTracking().

◆ initTracking() [7/7]

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 1281 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 123 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 circle/ ellipse to which the points belong.

Parameters

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

Definition at line 541 of file vpMeEllipse.cpp.

References b, vpException::dimensionError, vpImage< Type >::getHeight(), getParameters(), vpImage< Type >::getWidth(), K, m_trackCircle, vpMatrix::nullSpace(), vpMatrixException::rankDeficient, and vpMatrix::solveBySVD().

Referenced by initTracking().

◆ leastSquareRobust()

unsigned int 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, and update the expected density of points.

Parameters

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

Definition at line 623 of file vpMeEllipse.cpp.

References a, alpha1, alpha2, angle, b, vpColor::blue, computeAngleOnEllipse(), computePointOnEllipse(), vpColor::cyan, vpMath::deg(), vpException::dimensionError, vpDisplay::displayCross(), vpImagePoint::distance(), 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_expectedDensity, m_trackArc, m_trackCircle, m_uc, m_vc, vpMeTracker::me, vpRobust::MEstimator(), vpMeSite::NO_SUPPRESSION, vpMatrix::nullSpace(), vpMeTracker::numberOfSignal(), vpColor::orange, vpMatrixException::rankDeficient, vpColor::red, vpImagePoint::set_ij(), vpImagePoint::set_uv(), vpRobust::setMinMedianAbsoluteDeviation(), vpMatrix::solveBySVD(), thresholdWeight, vpRobust::TUKEY, and vpDEBUG_ENABLE.

Referenced by track().

◆ numberOfSignal()

unsigned int vpMeTracker::numberOfSignal ( )

inherited

Return number of moving-edges that are tracked.

Definition at line 112 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	(	const vpImagePoint &	iP,
		int	half,
		int	rows,
		int	cols
	)

inherited

Check if a pixel i,j is out of the image.

Definition at line 138 of file vpMeTracker.cpp.

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

◆ outOfImage() [2/2]

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

inherited

Check if a pixel i,j is out of the image.

Definition at line 133 of file vpMeTracker.cpp.

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

◆ 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 324 of file vpMeEllipse.cpp.

References a, alpha1, alpha2, angle, b, vpColor::blue, computeAngleOnEllipse(), computePointOnEllipse(), computeTheta(), vpMath::deg(), vpDisplay::displayCross(), vpException::fatalError, vpImagePoint::get_i(), vpImagePoint::get_j(), vpImage< Type >::getHeight(), 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::round(), vpMeTracker::selectDisplay, vpImagePoint::set_ij(), vpMeSite::setDisplay(), 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 255 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 88 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`
	)

overrideprotectedvirtual

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 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 263 of file vpMeEllipse.cpp.

References a, alpha1, alpha2, angle, b, computePointOnEllipse(), computeTheta(), vpDisplay::displayCross(), vpException::fatalError, vpImagePoint::get_i(), vpImagePoint::get_j(), vpImage< Type >::getHeight(), vpMe::getSampleStep(), vpImage< Type >::getWidth(), vpMeSite::init(), vpMeTracker::initTracking(), vpMeTracker::list, m_expectedDensity, m_trackArc, vpMeTracker::me, vpMeSite::NO_SUPPRESSION, vpMeTracker::outOfImage(), 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

Set type of moving-edges display.

Parameters

select : Display type selector.

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 238 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 274 of file vpMeEllipse.h.

◆ setInitRange()

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

inlineinherited

Set the initial range.

Parameters

r	: initial range.

Definition at line 245 of file vpMeTracker.h.

◆ setMask()

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

inlinevirtualinherited

Set the mask.

Parameters

mask : Mask.

Definition at line 252 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 259 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 266 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 289 of file vpMeEllipse.h.

◆ totalNumberOfSignal()

unsigned int vpMeTracker::totalNumberOfSignal ( )

inherited

Return the total number of moving-edges.

Definition at line 121 of file vpMeTracker.cpp.

References vpMeTracker::list.

◆ track()

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

Track a set of MEs along an ellipse or a circle. The number of valid tracked MEs is obtained from getNumberOfGoodPoints().

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 1124 of file vpMeEllipse.cpp.

References a, alpha1, alpha2, b, computeAngleOnEllipse(), computePointOnEllipse(), vpMath::deg(), vpDisplay::display(), vpMeTracker::display(), display(), vpDisplay::flush(), vpDisplay::getClick(), iP1, iP2, leastSquareRobust(), m00, m_alphamax, m_alphamin, m_arcEpsilon, m_expectedDensity, m_numberOfGoodPoints, m_trackArc, vpTrackingException::notEnoughPointError, plugHoles(), printParameters(), vpColor::red, sample(), vpMeTracker::track(), updateTheta(), and vpDEBUG_ENABLE.

Referenced by initTracking().

◆ updateTheta()

void vpMeEllipse::updateTheta ( )

protected

Compute the angle for each vpMeSite.

Note: The angle is useful during the tracking part.

Definition at line 101 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 semi major axis of the ellipse.

Definition at line 439 of file vpMeEllipse.h.

Referenced by computeAbeFromNij(), computeAngleOnEllipse(), computeNijFromAbe(), computePointOnEllipse(), display(), initTracking(), leastSquareRobust(), plugHoles(), printParameters(), sample(), 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 459 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 464 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 angle on the ellipse for each vpMeSite.

Definition at line 470 of file vpMeEllipse.h.

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

◆ b

double vpMeEllipse::b

$ b $ is the semi minor axis of the ellipse.

Definition at line 441 of file vpMeEllipse.h.

Referenced by computeAbeFromNij(), computeAngleOnEllipse(), computeNijFromAbe(), computePointOnEllipse(), display(), initTracking(), leastSquare(), leastSquareRobust(), plugHoles(), printParameters(), sample(), and track().

◆ ce

double vpMeEllipse::ce

protected

Value of cos(e).

Definition at line 466 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 72 of file vpTracker.h.

Referenced by vpFeaturePoint3D::buildFrom(), vpCircle::changeFrame(), vpCylinder::changeFrame(), vpLine::changeFrame(), vpPoint::changeFrame(), vpSphere::changeFrame(), vpFeatureBuilder::create(), vpPoint::get_W(), vpPoint::get_X(), vpPoint::get_Y(), vpPoint::get_Z(), vpCircle::init(), vpCylinder::init(), vpLine::init(), vpPoint::init(), vpSphere::init(), vpMbtPolygon::isVisible(), vpTracker::operator=(), vpForwardProjection::print(), vpPose::printPoint(), vpForwardProjection::project(), vpCircle::projection(), vpCylinder::projection(), vpLine::projection(), vpPoint::projection(), vpSphere::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 78 of file vpTracker.h.

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

◆ display_point

bool vpMeTracker::display_point

inherited

Definition at line 288 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 .

Definition at line 445 of file vpMeEllipse.h.

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

◆ init_range

unsigned int vpMeTracker::init_range

inherited

Initial range.

Definition at line 76 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 451 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 455 of file vpMeEllipse.h.

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

◆ iPc

vpImagePoint vpMeEllipse::iPc

The coordinates of the ellipse center.

Definition at line 437 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 435 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 72 of file vpMeTracker.h.

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

◆ m00

double vpMeEllipse::m00

protected

Ellipse area.

Definition at line 472 of file vpMeEllipse.h.

Referenced by track().

◆ m01

double vpMeEllipse::m01

protected

Definition at line 477 of file vpMeEllipse.h.

◆ m02

double vpMeEllipse::m02

protected

Definition at line 479 of file vpMeEllipse.h.

◆ m10

double vpMeEllipse::m10

protected

First order raw moments.

Definition at line 477 of file vpMeEllipse.h.

◆ m11

double vpMeEllipse::m11

protected

Second order raw moments.

Definition at line 479 of file vpMeEllipse.h.

◆ m20

double vpMeEllipse::m20

protected

Definition at line 479 of file vpMeEllipse.h.

◆ 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 492 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 488 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 512 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 504 of file vpMeEllipse.h.

Referenced by leastSquareRobust(), 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 80 of file vpMeTracker.h.

Referenced by vpMeTracker::track().

◆ m_n02

double vpMeEllipse::m_n02

protected

Second order centered and normalized moments $n_{02}$ .

Definition at line 502 of file vpMeEllipse.h.

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

◆ m_n11

double vpMeEllipse::m_n11

protected

Second order centered and normalized moments $n_{11}$ .

Definition at line 500 of file vpMeEllipse.h.

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

◆ m_n20

double vpMeEllipse::m_n20

protected

Second order centered and normalized moments $n_{20}$ .

Definition at line 498 of file vpMeEllipse.h.

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

◆ m_numberOfGoodPoints

unsigned int vpMeEllipse::m_numberOfGoodPoints

protected

Number of correct points tracked along the ellipse.

Definition at line 506 of file vpMeEllipse.h.

Referenced by track().

◆ m_trackArc

bool vpMeEllipse::m_trackArc

protected

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

Definition at line 510 of file vpMeEllipse.h.

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

◆ m_trackCircle

bool vpMeEllipse::m_trackCircle

protected

Track a circle (true) or an ellipse (false).

Definition at line 508 of file vpMeEllipse.h.

Referenced by initTracking(), leastSquare(), and leastSquareRobust().

◆ m_uc

double vpMeEllipse::m_uc

protected

Value of u coordinate of iPc.

Definition at line 494 of file vpMeEllipse.h.

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

◆ m_vc

double vpMeEllipse::m_vc

protected

Value of v coordinate of iPc.

Definition at line 496 of file vpMeEllipse.h.

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

◆ me

vpMe* vpMeTracker::me

inherited

Moving edges initialisation parameters.

Definition at line 74 of file vpMeTracker.h.

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

◆ mu02

double vpMeEllipse::mu02

protected

Definition at line 475 of file vpMeEllipse.h.

◆ mu11

double vpMeEllipse::mu11

protected

Second order centered moments.

Definition at line 475 of file vpMeEllipse.h.

◆ mu20

double vpMeEllipse::mu20

protected

Definition at line 475 of file vpMeEllipse.h.

◆ nGoodElement

int vpMeTracker::nGoodElement

inherited

Number of good moving-edges that are tracked.

Definition at line 78 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 68 of file vpTracker.h.

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

◆ query_range

int vpMeTracker::query_range

inherited

Definition at line 287 of file vpMeTracker.h.

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

◆ se

double vpMeEllipse::se

protected

Value of sin(e).

Definition at line 468 of file vpMeEllipse.h.

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

◆ selectDisplay

vpMeSite::vpMeSiteDisplayType vpMeTracker::selectDisplay

protectedinherited

Definition at line 86 of file vpMeTracker.h.

Referenced by vpMeTracker::init(), vpMeNurbs::localReSample(), vpMeTracker::operator=(), plugHoles(), vpMeNurbs::sample(), sample(), vpMeLine::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 483 of file vpMeEllipse.h.

Referenced by leastSquareRobust().

Public Member Functions

Public Attributes

Protected Attributes

Deprecated functions

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]

◆ displayEllipse() [1/2]

◆ displayEllipse() [2/2]

◆ 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()

◆ getNumberOfGoodPoints()

◆ 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()