#include <visp3/me/vpMeLine.h>

Inheritance diagram for vpMeLine:

Public Member Functions
	vpMeLine ()

	vpMeLine (const vpMeLine &meline)

virtual	~vpMeLine () VP_OVERRIDE

void	display (const vpImage< unsigned char > &I, const vpColor &color, unsigned int thickness=1)

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

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

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

void	leastSquare ()

void	updateDelta ()

void	setExtremities ()

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

void	suppressPoints ()

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

void	initTracking (const vpImage< unsigned char > &I, const vpImagePoint &ip1, const vpImagePoint &ip2)

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

double	getRho () const

double	getTheta () const

void	getExtremities (vpImagePoint &ip1, vpImagePoint &ip2)

void	getEquationParam (double &A, double &B, double &C)

double	getA () const

double	getB () const

double	getC () const

void	computeRhoSignFromIntensity (bool useIntensityForRho)

Public Member Functions Inherited from vpTracker
vpColVector	get_p () const

vpColVector	get_cP () const

Static Public Member Functions
static bool	intersection (const vpMeLine &line1, const vpMeLine &line2, vpImagePoint &ip)

static void	displayLine (const vpImage< unsigned char > &I, const vpMeSite &PExt1, const vpMeSite &PExt2, const double &A, const double &B, const double &C, const vpColor &color=vpColor::green, unsigned int thickness=1)

static void	displayLine (const vpImage< vpRGBa > &I, const vpMeSite &PExt1, const vpMeSite &PExt2, const double &A, const double &B, const double &C, const vpColor &color=vpColor::green, unsigned int thickness=1)

static void	displayLine (const vpImage< unsigned char > &I, const vpMeSite &PExt1, const vpMeSite &PExt2, const std::list< vpMeSite > &site_list, const double &A, const double &B, const double &C, const vpColor &color=vpColor::green, unsigned int thickness=1)

static void	displayLine (const vpImage< vpRGBa > &I, const vpMeSite &PExt1, const vpMeSite &PExt2, const std::list< vpMeSite > &site_list, const double &A, const double &B, const double &C, const vpColor &color=vpColor::green, unsigned int thickness=1)

Public Attributes
Public Attributes Inherited from vpTracker
vpColVector	p

vpColVector	cP

bool	cPAvailable

Protected Attributes
vpMeSite	m_PExt [2]

double	m_rho

double	m_theta

double	m_delta

double	m_delta_1

double	m_angle

double	m_angle_1

int	m_sign

bool	m_useIntensityForRho

double	m_a

double	m_b

double	m_c

Protected Attributes Inherited from vpMeTracker
std::list< vpMeSite >	m_meList

vpMe *	m_me

unsigned int	m_init_range

int	m_nGoodElement

const vpImage< bool > *	m_mask

const vpImage< bool > *	m_maskCandidates

vpMeSite::vpMeSiteDisplayType	m_selectDisplay

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 ()

unsigned int	numberOfSignal ()

bool	outOfImage (int i, int j, int border, int nrows, int ncols)

bool	outOfImage (const vpImagePoint &iP, int border, int nrows, int ncols)

void	reset ()

void	setDisplay (vpMeSite::vpMeSiteDisplayType select)

void	setInitRange (const unsigned int &r)

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

virtual void	setMaskCandidates (const vpImage< bool > *maskCandidates)

void	setMe (vpMe *me)

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

unsigned int	totalNumberOfSignal ()

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

static bool	inMeMaskCandidates (const vpImage< bool > *meMaskCandidates, unsigned int i, unsigned int j)

Detailed Description

Class that tracks in an image a line moving edges.

In this class the line is defined by its equation in the image plane. Two kinds of parametrization are available to describe a 2D line. The first one corresponds to the following equation

$ai + bj + c = 0$

where $ i $ and $ j $ are the coordinates of the points belonging to the line. The line features are .

The second way to write the line equation is to consider polar coordinates

$i \; cos(\theta) + j \; sin(\theta) - \rho = 0$

where $ i $ and $ j $ are still the coordinates of the points belonging to the line. But now the line features are $(\rho, \theta)$ . The computation of $\rho$ and $\theta$ is easy thanks to .

$\theta = arctan(b/a)$

$\rho = -c/\sqrt{a^2+b^2}$

The value of $\theta$ is between and $2\pi$ . And the value of $\rho$ can be positive or negative. The conventions to find the right values of the two features are illustrated in the following pictures.

The angle $\theta$ is computed thanks to the direction of the arrow. The arrow points to the side of the line which is darker.

The example below available in tutorial-me-line-tracker.cpp and described in Tutorial: Moving-edges 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/vpMeLine.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))
#ifdef ENABLE_VISP_NAMESPACE
  using namespace VISP_NAMESPACE_NAME;
#endif
  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);
 
    vpMeLine line;
    line.setMe(&me);
    line.setDisplay(vpMeSite::RANGE_RESULT);
    line.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);
      line.track(I);
      line.display(I, vpColor::red);
      vpDisplay::flush(I);
    }
  }
  catch (const vpException &e) {
    std::cout << "Catch an exception: " << e << std::endl;
  }
#endif
}

The code below shows how to use this class.

#include <visp3/core/vpConfig.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpImagePoint.h>
#include <visp3/me/vpMeLine.h>
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
int main()
{
  vpImage<unsigned char> I(240, 320);
 
  // Fill the image with a black rectangle
  I = 0u;
  for (int i = 100; i < 180; i ++) {
    for (int j = 120; j < 250; j ++) {
      I[i][j] = 255;
    }
  }
 
  // Set the moving-edges tracker parameters
  vpMe me;
  me.setRange(25);
  me.setLikelihoodThresholdType(vpMe::NORMALIZED_THRESHOLD);
  me.setThreshold(20);
  me.setSampleStep(10);
 
  // Initialize the moving-edges line tracker parameters
  vpMeLine line;
  line.setMe(&me);
 
  // Initialize the location of the vertical line to track
  vpImagePoint ip1, ip2; // Two points belonging to the line to track
  ip1.set_i( 120 );
  ip1.set_j( 119 );
  ip2.set_i( 170 );
  ip2.set_j( 122 );
 
  line.initTracking(I, ip1, ip2);
 
  while ( 1 )
  {
    // ... Here the code to read or grab the next image.
 
    // Track the line.
    line.track(I);
  }
  return 0;
}

Note: It is possible to display the line as an overlay. For that you must use the display function of the class vpMeLine.

Examples: servoAfma62DhalfCamVelocity.cpp, servoAfma6Line2DCamVelocity.cpp, trackMeLine.cpp, and tutorial-me-line-tracker.cpp.

Definition at line 151 of file vpMeLine.h.

Constructor & Destructor Documentation

◆ vpMeLine() [1/2]

vpMeLine::vpMeLine ( )

Basic constructor that calls the constructor of the class vpMeTracker.

Definition at line 91 of file vpMeLine.cpp.

◆ vpMeLine() [2/2]

vpMeLine::vpMeLine ( const vpMeLine & meline )

Copy constructor.

Definition at line 96 of file vpMeLine.cpp.

References m_a, m_angle, m_angle_1, m_b, m_c, m_delta, m_delta_1, m_PExt, m_rho, m_sign, m_theta, and m_useIntensityForRho.

◆ ~vpMeLine()

vpMeLine::~vpMeLine ( )

virtual

Destructor.

Definition at line 117 of file vpMeLine.cpp.

References vpMeTracker::m_meList.

Member Function Documentation

◆ computeRhoSignFromIntensity()

void vpMeLine::computeRhoSignFromIntensity ( bool useIntensityForRho )

inline

This method allows to turn off the computation of the sign of the rho attribute based on the intensity near the middle point of the line. This is usually done to distinguish between a black/white and a white/black edge but it may be source of problem (ex. for a servoing example) when this point can be occluded.

Parameters

useIntensityForRho : new value of the flag.

Definition at line 364 of file vpMeLine.h.

◆ computeRhoTheta()

void vpMeLine::computeRhoTheta ( const vpImage< unsigned char > & I )

Compute the two parameters $(\rho, \theta)$ of the line.

Parameters

I	: Image in which the line appears.

Definition at line 740 of file vpMeLine.cpp.

References vpDisplay::displayArrow(), vpException::fatalError, vpTrackingException::fatalError, vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpColor::green, m_a, m_b, m_c, m_PExt, m_rho, m_theta, m_useIntensityForRho, vpColor::red, vpMath::round(), vpImagePoint::set_i(), and vpImagePoint::set_j().

Referenced by track().

◆ display() [1/4]

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 254 of file vpMeTracker.cpp.

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

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

◆ display() [2/4]

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

Display line.

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

Parameters

I	: Image in which the line appears.
color	: Color of the displayed line. Note that a moving edge that is considered as an outlier is displayed in green.
thickness	: Drawings thickness.

Examples: servoAfma62DhalfCamVelocity.cpp, servoAfma6Line2DCamVelocity.cpp, trackMeLine.cpp, and tutorial-me-line-tracker.cpp.

Definition at line 194 of file vpMeLine.cpp.

References displayLine(), m_a, m_b, m_c, vpMeTracker::m_meList, and m_PExt.

Referenced by track().

◆ display() [3/4]

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 272 of file vpMeTracker.cpp.

References vpMeTracker::display(), vpMeSite::getState(), vpMeTracker::m_meList, vpMeSite::NO_SUPPRESSION, and vpMeSite::setWeight().

◆ display() [4/4]

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 263 of file vpMeTracker.cpp.

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

◆ displayLine() [1/4]

void vpMeLine::displayLine	(	const vpImage< unsigned char > &	I,
		const vpMeSite &	PExt1,
		const vpMeSite &	PExt2,
		const double &	A,
		const double &	B,
		const double &	C,
		const vpColor &	color = `vpColor::green`,
		unsigned int	thickness = `1`
	)

static

Display of a moving line thanks to its equation parameters and its extremities.

Parameters

I	: The image used as background.
PExt1	: First extremity
PExt2	: Second extremity
A	: Parameter a of the line equation ai + bj + c = 0
B	: Parameter b of the line equation ai + bj + c = 0
C	: Parameter c of the line equation ai + bj + c = 0
color	: Color used to display the line.
thickness	: Thickness of the line.

Definition at line 1027 of file vpMeLine.cpp.

References vpDisplay::displayCross(), vpDisplay::displayLine(), vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpColor::green, vpMeSite::m_ifloat, vpMeSite::m_jfloat, vpImagePoint::set_i(), and vpImagePoint::set_j().

Referenced by display().

◆ displayLine() [2/4]

void vpMeLine::displayLine	(	const vpImage< unsigned char > &	I,
		const vpMeSite &	PExt1,
		const vpMeSite &	PExt2,
		const std::list< vpMeSite > &	site_list,
		const double &	A,
		const double &	B,
		const double &	C,
		const vpColor &	color = `vpColor::green`,
		unsigned int	thickness = `1`
	)

static

Display of a moving line thanks to its equation parameters and its extremities with all the site list.

Parameters

I	: The image used as background.
PExt1	: First extremity
PExt2	: Second extremity
site_list	: vpMeSite list
A	: Parameter a of the line equation ai + bj + c = 0
B	: Parameter b of the line equation ai + bj + c = 0
C	: Parameter c of the line equation ai + bj + c = 0
color	: Color used to display the line.
thickness	: Thickness of the line.

Definition at line 1109 of file vpMeLine.cpp.

References vpDisplay::displayCross(), vpDisplay::displayLine(), vpImage< Type >::getHeight(), vpMeSite::getState(), vpImage< Type >::getWidth(), vpColor::green, vpMeSite::M_ESTIMATOR, vpMeSite::m_ifloat, vpMeSite::m_jfloat, vpImagePoint::set_i(), and vpImagePoint::set_j().

◆ displayLine() [3/4]

void vpMeLine::displayLine	(	const vpImage< vpRGBa > &	I,
		const vpMeSite &	PExt1,
		const vpMeSite &	PExt2,
		const double &	A,
		const double &	B,
		const double &	C,
		const vpColor &	color = `vpColor::green`,
		unsigned int	thickness = `1`
	)

static

Display of a moving line thanks to its equation parameters and its extremities.

Parameters

I	: The image used as background.
PExt1	: First extremity
PExt2	: Second extremity
A	: Parameter a of the line equation ai + bj + c = 0
B	: Parameter b of the line equation ai + bj + c = 0
C	: Parameter c of the line equation ai + bj + c = 0
color	: Color used to display the line.
thickness	: Thickness of the line.

Definition at line 1068 of file vpMeLine.cpp.

References vpDisplay::displayCross(), vpDisplay::displayLine(), vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpColor::green, vpMeSite::m_ifloat, vpMeSite::m_jfloat, vpImagePoint::set_i(), and vpImagePoint::set_j().

◆ displayLine() [4/4]

void vpMeLine::displayLine	(	const vpImage< vpRGBa > &	I,
		const vpMeSite &	PExt1,
		const vpMeSite &	PExt2,
		const std::list< vpMeSite > &	site_list,
		const double &	A,
		const double &	B,
		const double &	C,
		const vpColor &	color = `vpColor::green`,
		unsigned int	thickness = `1`
	)

static

Display of a moving line thanks to its equation parameters and its extremities with all the site list.

Parameters

I	: The image used as background.
PExt1	: First extremity
PExt2	: Second extremity
site_list	: vpMeSite list
A	: Parameter a of the line equation ai + bj + c = 0
B	: Parameter b of the line equation ai + bj + c = 0
C	: Parameter c of the line equation ai + bj + c = 0
color	: Color used to display the line.
thickness	: Thickness of the line.

Definition at line 1164 of file vpMeLine.cpp.

References vpDisplay::displayCross(), vpDisplay::displayLine(), vpImage< Type >::getHeight(), vpMeSite::getState(), vpImage< Type >::getWidth(), vpColor::green, vpMeSite::M_ESTIMATOR, vpMeSite::m_ifloat, vpMeSite::m_jfloat, vpImagePoint::set_i(), and vpImagePoint::set_j().

◆ get_cP()

vpColVector vpTracker::get_cP ( ) const

inlineinherited

Return object parameters expressed in the 3D camera frame.

Definition at line 95 of file vpTracker.h.

◆ get_p()

vpColVector vpTracker::get_p ( ) const

inlineinherited

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

Definition at line 93 of file vpTracker.h.

◆ getA()

double vpMeLine::getA ( ) const

inline

Gets parameter a of the line equation a*i + b*j + c = 0

Definition at line 330 of file vpMeLine.h.

◆ getB()

double vpMeLine::getB ( ) const

inline

Gets parameter b of the line equation a*i + b*j + c = 0

Definition at line 335 of file vpMeLine.h.

◆ getC()

double vpMeLine::getC ( ) const

inline

Gets parameter c of the line equation a*i + b*j + c = 0

Definition at line 340 of file vpMeLine.h.

◆ getEquationParam()

void vpMeLine::getEquationParam	(	double &	A,
		double &	B,
		double &	C
	)

inline

Gets the equation parameters of the line

Definition at line 320 of file vpMeLine.h.

◆ getExtremities()

void vpMeLine::getExtremities	(	vpImagePoint &	ip1,
		vpImagePoint &	ip2
	)

Get the extremities of the line.

Parameters

ip1	: Coordinates of the first extremity.
ip2	: Coordinates of the second extremity.

Definition at line 847 of file vpMeLine.cpp.

References m_PExt, vpImagePoint::set_i(), and vpImagePoint::set_j().

◆ getInitRange()

unsigned int vpMeTracker::getInitRange ( )

inlineinherited

Return the initial range.

Returns: Value of init_range.

Definition at line 146 of file vpMeTracker.h.

◆ getMe()

vpMe* vpMeTracker::getMe ( )

inlineinherited

Return the moving edges initialisation parameters.

Returns: Moving Edges.

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

Definition at line 153 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 160 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 167 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 174 of file vpMeTracker.h.

◆ getRho()

double vpMeLine::getRho ( ) const

Get the value of $\rho$ , the distance between the origin and the point on the line with belong to the normal to the line crossing the origin.

Depending on the convention described at the beginning of this class, $\rho$ is signed.

Examples: trackMeLine.cpp.

Definition at line 843 of file vpMeLine.cpp.

References m_rho.

◆ getTheta()

double vpMeLine::getTheta ( ) const

Get the value of the angle $\theta$ .

Examples: trackMeLine.cpp.

Definition at line 845 of file vpMeLine.cpp.

References m_theta.

◆ init()

BEGIN_VISP_NAMESPACE void vpMeTracker::init ( void )

inherited

Initialize the tracker.

Definition at line 48 of file vpMeTracker.cpp.

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

Referenced by vpMeTracker::vpMeTracker().

◆ initTracking() [1/2]

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

Initialization of the tracking. Ask the user to click on two points from the line to track.

Parameters

I	: Image in which the line appears.

Examples: servoAfma62DhalfCamVelocity.cpp, servoAfma6Line2DCamVelocity.cpp, trackMeLine.cpp, and tutorial-me-line-tracker.cpp.

Definition at line 199 of file vpMeLine.cpp.

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

◆ initTracking() [2/2]

void vpMeLine::initTracking	(	const vpImage< unsigned char > &	I,
		const vpImagePoint &	ip1,
		const vpImagePoint &	ip2
	)

Initialization of the tracking. The line is defined thanks to the coordinates of two points.

Parameters

I	: Image in which the line appears.
ip1	: Coordinates of the first point.
ip2	: Coordinates of the second point.

Definition at line 375 of file vpMeLine.cpp.

References vpImagePoint::get_i(), vpImagePoint::get_j(), vpMeTracker::initTracking(), m_a, m_b, m_delta, m_delta_1, vpMeSite::m_ifloat, vpMeSite::m_jfloat, m_PExt, vpMath::round(), sample(), and track().

◆ inMeMaskCandidates()

bool vpMeTracker::inMeMaskCandidates	(	const vpImage< bool > *	meMaskCandidates,
		unsigned int	i,
		unsigned int	j
	)

staticinherited

Test whether the moving-edge (ME) is inside the mask of ME candidates for the initialization. Mask values that are set to true and their 8 neighbors are considered for the initialization.

Parameters

meMaskCandidates	Mask corresponding the ME location in the image or nullptr if not wanted. Mask values that are set to true are considered for the initialization. To disable a pixel, set false.
i	: ME coordinate along the rows.
j	: ME coordinate along the columns.

Definition at line 115 of file vpMeTracker.cpp.

References vpImage< Type >::getCols(), and vpImage< Type >::getRows().

Referenced by vpMeEllipse::sample(), sample(), and seekExtremities().

◆ inRoiMask()

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

staticinherited

Test whether the pixel is inside the region of interest mask. Mask values that are set to true are considered in the tracking.

Parameters

mask	Mask corresponding to the region of interest in the image or nullptr 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 105 of file vpMeTracker.cpp.

References vpImage< Type >::getValue().

Referenced by vpMbtFaceDepthDense::computeDesiredFeatures(), vpMbtFaceDepthNormal::computeDesiredFeatures(), vpMeEllipse::plugHoles(), vpMeEllipse::sample(), sample(), seekExtremities(), and vpMeTracker::track().

◆ intersection()

bool vpMeLine::intersection	(	const vpMeLine &	line1,
		const vpMeLine &	line2,
		vpImagePoint &	ip
	)

static

Computes the intersection point of two lines. The result is given in the (i,j) frame.

Parameters

line1	: The first line.
line2	: The second line.
ip	: The coordinates of the intersection point.

Returns: Returns a boolean value which depends on the computation success. True means that the computation ends successfully.

Examples: servoAfma62DhalfCamVelocity.cpp.

Definition at line 856 of file vpMeLine.cpp.

References m_a, m_b, m_c, vpImagePoint::set_i(), and vpImagePoint::set_j().

◆ leastSquare()

void vpMeLine::leastSquare ( )

Least squares method used to make the tracking more robust. It ensures that the points taken into account to compute the right equation belong to the line.

Definition at line 225 of file vpMeLine.cpp.

References vpMeSite::getState(), m_a, m_b, m_c, m_delta, vpMeSite::M_ESTIMATOR, vpMeSite::m_ifloat, vpMeSite::m_jfloat, vpMeTracker::m_meList, vpRobust::MEstimator(), vpMeSite::NO_SUPPRESSION, vpTrackingException::notEnoughPointError, vpMeTracker::numberOfSignal(), vpMatrix::pseudoInverse(), vpRobust::setMinMedianAbsoluteDeviation(), vpMeSite::setState(), vpMath::sqr(), and vpRobust::TUKEY.

Referenced by track().

◆ numberOfSignal()

unsigned int vpMeTracker::numberOfSignal ( )

inherited

Return number of moving-edges that are tracked.

Definition at line 94 of file vpMeTracker.cpp.

References vpMeTracker::m_meList.

Referenced by leastSquare(), vpMeEllipse::leastSquareRobust(), vpMeEllipse::leastSquareRobustCircle(), vpMeEllipse::leastSquareRobustEllipse(), vpMeNurbs::localReSample(), reSample(), and vpMeNurbs::reSample().

◆ outOfImage() [1/2]

bool vpMeTracker::outOfImage	(	const vpImagePoint &	iP,
		int	border,
		int	nrows,
		int	ncols
	)

inherited

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

Parameters

[in]	iP	: Pixel coordinates.
[in]	border	: Number of pixels along the image border to exclude. When border is set to 0, consider the complete image.
[in]	nrows,ncols	: Size of the image.

Returns: true when the pixel is inside the image minus the border size, false otherwise.

Definition at line 174 of file vpMeTracker.cpp.

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

◆ outOfImage() [2/2]

bool vpMeTracker::outOfImage	(	int	i,
		int	j,
		int	border,
		int	nrows,
		int	ncols
	)

inherited

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

Parameters

[in]	i,j	: Pixel coordinates.
[in]	border	: Number of pixels along the image border to exclude. When border is set to 0, consider the complete image.
[in]	nrows,ncols	: Size of the image.

Returns: true when the pixel is inside the image minus the border size, false otherwise.

Definition at line 166 of file vpMeTracker.cpp.

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

◆ reSample()

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

Resample the line if the number of sample is less than 80% of the expected value.

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

Parameters

I	: Image in which the line appears.

Definition at line 605 of file vpMeLine.cpp.

References vpMe::getSampleStep(), vpTrackingException::initializationError, vpMeTracker::initTracking(), m_a, m_b, m_c, m_delta, m_delta_1, vpMeSite::m_ifloat, vpMeSite::m_jfloat, vpMeTracker::m_me, m_PExt, vpMeTracker::numberOfSignal(), sample(), and vpMath::sqr().

Referenced by track().

◆ reset()

void vpMeTracker::reset ( )

inherited

Reset the tracker by removing all the moving edges.

Definition at line 74 of file vpMeTracker.cpp.

References vpMeTracker::m_meList, and vpMeTracker::m_nGoodElement.

Referenced by vpMeTracker::~vpMeTracker().

◆ sample()

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

virtual

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

Parameters

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

Exceptions

vpTrackingException::initializationError : Moving edges not initialized.

Implements vpMeTracker.

Definition at line 122 of file vpMeLine.cpp.

References vpColor::blue, vpMeSite::convolution(), vpDisplay::displayCross(), vpTrackingException::fatalError, vpImagePoint::get_i(), vpImagePoint::get_j(), vpImage< Type >::getHeight(), vpMe::getSampleStep(), vpMe::getThresholdMarginRatio(), vpImage< Type >::getWidth(), vpMeSite::init(), vpTrackingException::initializationError, vpMeTracker::inMeMaskCandidates(), vpMeTracker::inRoiMask(), m_delta, vpMeSite::m_ifloat, vpMeSite::m_jfloat, vpMeTracker::m_mask, vpMeTracker::m_maskCandidates, vpMeTracker::m_me, vpMeTracker::m_meList, m_PExt, vpMeTracker::m_selectDisplay, m_sign, vpMeSite::NO_SUPPRESSION, vpMeTracker::outOfImage(), vpMath::round(), vpImagePoint::set_i(), vpImagePoint::set_j(), vpMeSite::setContrastThreshold(), vpMeSite::setDisplay(), vpMeSite::setState(), and vpMath::sqr().

Referenced by initTracking(), and reSample().

◆ seekExtremities()

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

Seek along the line defined by its equation, the two extremities of the line. This function is useful in case of translation of the line.

Parameters

I	: Image in which the line appears.

Exceptions

vpTrackingException::initializationError : Moving edges not initialized.

Definition at line 485 of file vpMeLine.cpp.

References vpColor::blue, vpMeSite::convolution(), vpDisplay::displayCross(), vpTrackingException::fatalError, vpImage< Type >::getHeight(), vpMe::getRange(), vpMe::getSampleStep(), vpMeSite::getState(), vpMe::getThresholdMarginRatio(), vpImage< Type >::getWidth(), vpColor::green, vpMeSite::init(), vpTrackingException::initializationError, vpMeTracker::inMeMaskCandidates(), vpMeTracker::inRoiMask(), m_delta_1, vpMeSite::m_i, vpMeSite::m_ifloat, vpMeSite::m_j, vpMeSite::m_jfloat, vpMeTracker::m_mask, vpMeTracker::m_maskCandidates, vpMeTracker::m_me, vpMeTracker::m_meList, m_PExt, vpMeTracker::m_selectDisplay, m_sign, vpMeSite::NO_SUPPRESSION, vpMeTracker::outOfImage(), vpImagePoint::set_i(), vpImagePoint::set_j(), vpMeSite::setContrastThreshold(), vpMeSite::setDisplay(), vpMe::setRange(), vpMath::sqr(), and vpMeSite::track().

Referenced by track().

◆ setDisplay()

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

inlineinherited

Set type of moving-edges display.

Parameters

select : Display type selector.

Examples: servoAfma6Line2DCamVelocity.cpp, trackMeCircle.cpp, trackMeEllipse.cpp, trackMeLine.cpp, trackMeNurbs.cpp, tutorial-me-ellipse-tracker.cpp, and tutorial-me-line-tracker.cpp.

Definition at line 232 of file vpMeTracker.h.

◆ setExtremities()

void vpMeLine::setExtremities ( )

Seek in the list of available points the two extremities of the line.

Definition at line 439 of file vpMeLine.cpp.

References vpMeSite::m_ifloat, vpMeSite::m_jfloat, vpMeTracker::m_meList, and m_PExt.

Referenced by track().

◆ setInitRange()

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

inlineinherited

Set the initial range.

Parameters

r	: initial range.

Definition at line 239 of file vpMeTracker.h.

◆ setMask()

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

inlinevirtualinherited

Set the mask.

Parameters

mask : Mask.

Definition at line 246 of file vpMeTracker.h.

◆ setMaskCandidates()

virtual void vpMeTracker::setMaskCandidates ( const vpImage< bool > * maskCandidates )

inlinevirtualinherited

Set the mask of candidates points for initialization.

Parameters

maskCandidates : Pointer towards the mask of candidates points for initialization.

Definition at line 253 of file vpMeTracker.h.

◆ setMe()

void vpMeTracker::setMe ( vpMe * me )

inlineinherited

Set the moving edges initialisation parameters.

Parameters

me	: Moving Edges.

Examples: servoAfma62DhalfCamVelocity.cpp, servoAfma6Line2DCamVelocity.cpp, trackMeCircle.cpp, trackMeEllipse.cpp, trackMeLine.cpp, trackMeNurbs.cpp, tutorial-me-ellipse-tracker.cpp, and tutorial-me-line-tracker.cpp.

Definition at line 260 of file vpMeTracker.h.

◆ setMeList()

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

inlineinherited

Set the list of moving edges.

Parameters

meList : List of Moving Edges.

Definition at line 267 of file vpMeTracker.h.

◆ suppressPoints()

void vpMeLine::suppressPoints ( )

Suppression of the points which belong no more to the line.

Definition at line 426 of file vpMeLine.cpp.

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

Referenced by track().

◆ totalNumberOfSignal()

unsigned int vpMeTracker::totalNumberOfSignal ( )

inherited

Return the total number of moving-edges.

Definition at line 103 of file vpMeTracker.cpp.

References vpMeTracker::m_meList.

◆ track()

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

Track the line in the image I.

Parameters

I	: Image in which the line appears.

Examples: servoAfma62DhalfCamVelocity.cpp, servoAfma6Line2DCamVelocity.cpp, trackMeLine.cpp, and tutorial-me-line-tracker.cpp.

Definition at line 673 of file vpMeLine.cpp.

References computeRhoTheta(), vpMeTracker::display(), display(), vpDisplay::flush(), leastSquare(), vpColor::red, reSample(), seekExtremities(), setExtremities(), suppressPoints(), vpMeTracker::track(), and updateDelta().

Referenced by initTracking().

◆ updateDelta()

void vpMeLine::updateDelta ( )

Set the alpha value of the different vpMeSite to the value of delta.

Definition at line 638 of file vpMeLine.cpp.

References m_angle_1, m_delta, m_delta_1, vpMeSite::m_mask_sign, vpMeTracker::m_meList, m_sign, vpMath::round(), and vpMeSite::setAlpha().

Referenced by track().

Member Data Documentation

◆ cP

vpColVector vpTracker::cP

inherited

Feature coordinates expressed in the camera frame cP.

Examples: testPoint.cpp.

Definition at line 73 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 79 of file vpTracker.h.

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

◆ m_a

double vpMeLine::m_a

protected

Parameter a of the line equation a*i + b*j + c = 0.

Definition at line 171 of file vpMeLine.h.

Referenced by computeRhoTheta(), display(), initTracking(), intersection(), leastSquare(), reSample(), and vpMeLine().

◆ m_angle

double vpMeLine::m_angle

protected

Angle in deg between the extremities.

Definition at line 163 of file vpMeLine.h.

Referenced by vpMeLine().

◆ m_angle_1

double vpMeLine::m_angle_1

protected

Angle in deg between the extremities.

Definition at line 164 of file vpMeLine.h.

Referenced by updateDelta(), and vpMeLine().

◆ m_b

double vpMeLine::m_b

protected

Parameter b of the line equation a*i + b*j + c = 0.

Definition at line 172 of file vpMeLine.h.

Referenced by computeRhoTheta(), display(), initTracking(), intersection(), leastSquare(), reSample(), and vpMeLine().

◆ m_c

double vpMeLine::m_c

protected

Parameter c of the line equation a*i + b*j + c = 0.

Definition at line 173 of file vpMeLine.h.

Referenced by computeRhoTheta(), display(), intersection(), leastSquare(), reSample(), and vpMeLine().

◆ m_delta

double vpMeLine::m_delta

protected

Angle in rad between the extremities.

Definition at line 161 of file vpMeLine.h.

Referenced by initTracking(), leastSquare(), reSample(), sample(), updateDelta(), and vpMeLine().

◆ m_delta_1

double vpMeLine::m_delta_1

protected

Angle in rad between the extremities.

Definition at line 162 of file vpMeLine.h.

Referenced by initTracking(), reSample(), seekExtremities(), updateDelta(), and vpMeLine().

◆ m_init_range

unsigned int vpMeTracker::m_init_range

protectedinherited

Initial range.

Definition at line 315 of file vpMeTracker.h.

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

◆ m_mask

const vpImage<bool>* vpMeTracker::m_mask

protectedinherited

Mask used to disable tracking on a part of image.

Definition at line 319 of file vpMeTracker.h.

Referenced by vpMeEllipse::plugHoles(), vpMeEllipse::sample(), sample(), seekExtremities(), and vpMeTracker::track().

◆ m_maskCandidates

const vpImage<bool>* vpMeTracker::m_maskCandidates

protectedinherited

Mask used to determine candidate points for initialization in an image.

Definition at line 321 of file vpMeTracker.h.

Referenced by vpMeEllipse::sample(), sample(), and seekExtremities().

◆ m_me

vpMe* vpMeTracker::m_me

protectedinherited

Moving edges initialisation parameters.

Definition at line 313 of file vpMeTracker.h.

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

◆ m_meList

std::list<vpMeSite> vpMeTracker::m_meList

protectedinherited

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

Definition at line 311 of file vpMeTracker.h.

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

◆ m_nGoodElement

int vpMeTracker::m_nGoodElement

protectedinherited

Number of good moving-edges that are tracked.

Definition at line 317 of file vpMeTracker.h.

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

◆ m_PExt

vpMeSite vpMeLine::m_PExt[2]

protected

Line extremities.

Definition at line 157 of file vpMeLine.h.

Referenced by computeRhoTheta(), display(), getExtremities(), initTracking(), reSample(), sample(), seekExtremities(), setExtremities(), and vpMeLine().

◆ m_rho

double vpMeLine::m_rho

protected

rho parameter of the line

Definition at line 159 of file vpMeLine.h.

Referenced by computeRhoTheta(), getRho(), and vpMeLine().

◆ m_selectDisplay

vpMeSite::vpMeSiteDisplayType vpMeTracker::m_selectDisplay

protectedinherited

Moving-edges display type.

Definition at line 323 of file vpMeTracker.h.

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

◆ m_sign

int vpMeLine::m_sign

protected

Sign.

Definition at line 165 of file vpMeLine.h.

Referenced by sample(), seekExtremities(), updateDelta(), and vpMeLine().

◆ m_theta

double vpMeLine::m_theta

protected

theta parameter of the line

Definition at line 160 of file vpMeLine.h.

Referenced by computeRhoTheta(), getTheta(), and vpMeLine().

◆ m_useIntensityForRho

bool vpMeLine::m_useIntensityForRho

protected

Flag to specify wether the intensity of the image at the middle point is used to compute the sign of rho or not.

Definition at line 169 of file vpMeLine.h.

Referenced by computeRhoTheta(), and vpMeLine().

◆ 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 69 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(), vpMeTracker::init(), vpCircle::init(), vpCylinder::init(), vpLine::init(), vpPoint::init(), vpSphere::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().

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Attributes

Public Member Functions Inherited from vpMeTracker

Detailed Description

Constructor & Destructor Documentation

◆ vpMeLine() [1/2]

◆ vpMeLine() [2/2]

◆ ~vpMeLine()

Member Function Documentation

◆ computeRhoSignFromIntensity()

◆ computeRhoTheta()

◆ display() [1/4]

◆ display() [2/4]

◆ display() [3/4]

◆ display() [4/4]

◆ displayLine() [1/4]

◆ displayLine() [2/4]

◆ displayLine() [3/4]

◆ displayLine() [4/4]

◆ get_cP()

◆ get_p()

◆ getA()

◆ getB()

◆ getC()

◆ getEquationParam()

◆ getExtremities()

◆ getInitRange()

◆ getMe()

◆ getMeList() [1/2]

◆ getMeList() [2/2]

◆ getNbPoints()

◆ getRho()

◆ getTheta()

◆ init()

◆ initTracking() [1/2]

◆ initTracking() [2/2]

◆ inMeMaskCandidates()

◆ inRoiMask()

◆ intersection()

◆ leastSquare()

◆ numberOfSignal()

◆ outOfImage() [1/2]

◆ outOfImage() [2/2]

◆ reSample()

◆ reset()

◆ sample()

◆ seekExtremities()

◆ setDisplay()

◆ setExtremities()

◆ setInitRange()

◆ setMask()

◆ setMaskCandidates()

◆ setMe()

◆ setMeList()

◆ suppressPoints()

◆ totalNumberOfSignal()

◆ track()

◆ updateDelta()

Member Data Documentation

◆ cP

◆ cPAvailable

◆ m_a

◆ m_angle

◆ m_angle_1

◆ m_b

◆ m_c

◆ m_delta

◆ m_delta_1

◆ m_init_range

◆ m_mask

◆ m_maskCandidates

◆ m_me

◆ m_meList

◆ m_nGoodElement

◆ m_PExt

◆ m_rho

◆ m_selectDisplay

◆ m_sign