#include <visp3/me/vpMeLine.h>

Inheritance diagram for vpMeLine:

Public Member Functions
	vpMeLine ()

	vpMeLine (const vpMeLine &meline)

virtual	~vpMeLine ()

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

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

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

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	display (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	display (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	display (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	display (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
double	a

double	b

double	c

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
vpMeSite	PExt [2]

double	rho

double	theta

double	delta

double	delta_1

double	angle

double	angle_1

int	sign

bool	_useIntensityForRho

Protected Attributes Inherited from vpMeTracker
vpMeSite::vpMeSiteDisplayType	selectDisplay

Public Member Functions Inherited from vpMeTracker
virtual void	display (const vpImage< unsigned char > &I)

virtual void	display (const vpImage< vpRGBa > &I)

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

unsigned int	getInitRange ()

vpMe *	getMe ()

std::list< vpMeSite > &	getMeList ()

std::list< vpMeSite >	getMeList () const

int	getNbPoints () const

void	init ()

unsigned int	numberOfSignal ()

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

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

void	reset ()

void	setDisplay (vpMeSite::vpMeSiteDisplayType select)

void	setInitRange (const unsigned int &r)

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

void	setMe (vpMe *p_me)

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

unsigned int	totalNumberOfSignal ()

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

Detailed Description

Class that tracks in an image a 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>
 
int main()
{
#if (defined(VISP_HAVE_DC1394) || defined(VISP_HAVE_CMU1394) || defined(VISP_HAVE_V4L2))
  try {
    vpImage<unsigned char> I;
 
#if defined(VISP_HAVE_DC1394)
    vp1394TwoGrabber g(false);
#elif defined(VISP_HAVE_CMU1394)
    vp1394CMUGrabber g;
#elif defined(VISP_HAVE_V4L2)
    vpV4l2Grabber g;
#elif defined(VISP_HAVE_OPENCV)
    cv::VideoCapture g(0); // open the default camera
    if (!g.isOpened()) {   // check if we succeeded
      std::cout << "Failed to open the camera" << std::endl;
      return EXIT_FAILURE;
    }
    cv::Mat frame;
    g >> frame; // get a new frame from camera
    vpImageConvert::convert(frame, I);
#endif
    g.open(I);
    g.acquire(I);
 
#if defined(VISP_HAVE_X11)
    vpDisplayX d(I, 0, 0, "Camera view");
#elif defined(VISP_HAVE_GDI)
    vpDisplayGDI d(I, 0, 0, "Camera view");
#elif defined(VISP_HAVE_OPENCV)
    vpDisplayOpenCV d(I, 0, 0, "Camera view");
#else
    std::cout << "No image viewer is available..." << std::endl;
#endif
 
    vpDisplay::display(I);
    vpDisplay::flush(I);
 
    vpMe me;
    me.setRange(25);
    me.setThreshold(15000);
    me.setSampleStep(10);
 
    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(VISP_HAVE_OPENCV)
      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>
 
int main()
{
  vpImage<unsigned char> I(240, 320);
 
  // Fill the image with a black rectangle
  I = 0;
  for (int i = 100; i < 180; i ++) {
    for (int j = 120; j < 250; j ++) {
      I[i][j] = 255;
    }
  }
 
  // Set the moving-edges tracker parameters
  vpMe me;
  me.setRange(25);
  me.setThreshold(15000);
  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, servoAfma6Cylinder2DCamVelocity.cpp, servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp, servoAfma6Line2DCamVelocity.cpp, servoAfma6SquareLines2DCamVelocity.cpp, servoAfma6TwoLines2DCamVelocity.cpp, trackMeLine.cpp, and tutorial-me-line-tracker.cpp.

Definition at line 148 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 95 of file vpMeLine.cpp.

◆ vpMeLine() [2/2]

vpMeLine::vpMeLine ( const vpMeLine & meline )

Copy constructor.

Definition at line 105 of file vpMeLine.cpp.

References _useIntensityForRho, a, angle, angle_1, b, c, delta, delta_1, PExt, rho, sign, and theta.

◆ ~vpMeLine()

vpMeLine::~vpMeLine ( )

virtual

Basic destructor.

Definition at line 131 of file vpMeLine.cpp.

References vpMeTracker::list.

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 236 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 820 of file vpMeLine.cpp.

References _useIntensityForRho, a, b, c, vpDisplay::displayArrow(), vpException::fatalError, vpTrackingException::fatalError, vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpColor::green, PExt, vpColor::red, rho, vpMath::round(), vpImagePoint::set_i(), vpImagePoint::set_j(), theta, vpDEBUG_ENABLE, and vpERROR_TRACE.

Referenced by track().

◆ display() [1/8]

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

virtualinherited

Display the moving edge sites with a color corresponding to their state.

If green : The vpMeSite is a good point.
If blue : The point is removed because of the vpMeSite tracking phase (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 298 of file vpMeTracker.cpp.

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

◆ display() [2/8]

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

virtual

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.

Implements vpMeTracker.

Examples: servoAfma62DhalfCamVelocity.cpp, servoAfma6Cylinder2DCamVelocity.cpp, servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp, servoAfma6Line2DCamVelocity.cpp, servoAfma6SquareLines2DCamVelocity.cpp, servoAfma6TwoLines2DCamVelocity.cpp, trackMeLine.cpp, and tutorial-me-line-tracker.cpp.

Definition at line 223 of file vpMeLine.cpp.

References a, b, c, vpMeTracker::list, and PExt.

Referenced by track().

◆ display() [3/8]

void vpMeLine::display	(	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 extrimity
PExt2	: Second extrimity
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 1062 of file vpMeLine.cpp.

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

◆ display() [4/8]

void vpMeLine::display	(	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 extrimity
PExt2	: Second extrimity
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 1190 of file vpMeLine.cpp.

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

◆ display() [5/8]

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 326 of file vpMeTracker.cpp.

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

◆ display() [6/8]

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

virtualinherited

Definition at line 312 of file vpMeTracker.cpp.

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

◆ display() [7/8]

void vpMeLine::display	(	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 extrimity
PExt2	: Second extrimity
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 1125 of file vpMeLine.cpp.

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

◆ display() [8/8]

void vpMeLine::display	(	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 extrimity
PExt2	: Second extrimity
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 1271 of file vpMeLine.cpp.

References vpDisplay::displayCross(), vpDisplay::displayLine(), vpImage< Type >::getHeight(), vpMeSite::getState(), vpImage< Type >::getWidth(), vpColor::green, vpMeSite::ifloat, vpMeSite::jfloat, vpMeSite::M_ESTIMATOR, 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 99 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 97 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 213 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 218 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 223 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 203 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 968 of file vpMeLine.cpp.

References 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 109 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 116 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 123 of file vpMeTracker.h.

◆ getMeList() [2/2]

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

inlineinherited

Definition at line 124 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 131 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 954 of file vpMeLine.cpp.

References rho.

Referenced by vpFeatureBuilder::create().

◆ getTheta()

double vpMeLine::getTheta ( ) const

Get the value of the angle $\theta$ .

Examples: trackMeLine.cpp.

Definition at line 959 of file vpMeLine.cpp.

References theta.

Referenced by vpFeatureBuilder::create().

◆ init()

void vpMeTracker::init ( void )

inherited

Definition at line 52 of file vpMeTracker.cpp.

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

Referenced by vpMeTracker::vpMeTracker().

◆ initTracking() [1/2]

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

Initilization 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, servoAfma6Cylinder2DCamVelocity.cpp, servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp, servoAfma6Line2DCamVelocity.cpp, servoAfma6SquareLines2DCamVelocity.cpp, servoAfma6TwoLines2DCamVelocity.cpp, trackMeLine.cpp, and tutorial-me-line-tracker.cpp.

Definition at line 235 of file vpMeLine.cpp.

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

◆ 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 423 of file vpMeLine.cpp.

References a, b, delta, delta_1, vpImagePoint::get_i(), vpImagePoint::get_j(), vpMeSite::ifloat, vpMeTracker::initTracking(), vpMeSite::jfloat, PExt, vpMath::round(), sample(), track(), vpCDEBUG, and vpERROR_TRACE.

◆ 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 137 of file vpMeTracker.cpp.

References vpImage< Type >::getValue().

Referenced by vpMbtFaceDepthDense::computeDesiredFeatures(), vpMbtFaceDepthNormal::computeDesiredFeatures(), vpMbtDistanceKltPoints::computeNbDetectedCurrent(), vpMbtDistanceKltPoints::init(), 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 989 of file vpMeLine.cpp.

References a, b, 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 264 of file vpMeLine.cpp.

References a, b, c, delta, vpMeSite::getState(), vpMeSite::ifloat, vpMeSite::jfloat, vpMeTracker::list, vpMeSite::M_ESTIMATOR, vpRobust::MEstimator(), vpMeSite::NO_SUPPRESSION, vpTrackingException::notEnoughPointError, vpMeTracker::numberOfSignal(), vpMatrix::pseudoInverse(), vpRobust::setMinMedianAbsoluteDeviation(), vpMeSite::setState(), vpMath::sqr(), vpRobust::TUKEY, and vpCDEBUG.

Referenced by track().

◆ numberOfSignal()

unsigned int vpMeTracker::numberOfSignal ( )

inherited

Definition at line 117 of file vpMeTracker.cpp.

References vpMeTracker::list.

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

◆ outOfImage() [1/2]

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

inherited

Definition at line 151 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

Definition at line 146 of file vpMeTracker.cpp.

Referenced by vpMeNurbs::localReSample(), vpMeEllipse::plugHoles(), vpMeEllipse::sample(), sample(), vpMeNurbs::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 665 of file vpMeLine.cpp.

References a, b, c, delta, delta_1, vpMe::getSampleStep(), vpMeSite::ifloat, vpTrackingException::initializationError, vpMeTracker::initTracking(), vpMeSite::jfloat, vpMeTracker::me, vpMeTracker::numberOfSignal(), PExt, sample(), vpMath::sqr(), and vpDERROR_TRACE.

Referenced by track().

◆ reset()

void vpMeTracker::reset ( )

inherited

Reset the tracker by removing all the moving edges.

Definition at line 93 of file vpMeTracker.cpp.

References vpMeTracker::list, and vpMeTracker::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 145 of file vpMeLine.cpp.

References vpColor::blue, delta, vpDisplay::displayCross(), vpTrackingException::fatalError, vpImage< Type >::getHeight(), vpMe::getSampleStep(), vpImage< Type >::getWidth(), vpMeSite::ifloat, vpMeSite::init(), vpTrackingException::initializationError, vpMeSite::jfloat, vpMeTracker::list, vpMeTracker::me, vpMeTracker::outOfImage(), PExt, vpMath::round(), vpMeTracker::selectDisplay, vpImagePoint::set_i(), vpImagePoint::set_j(), vpMeSite::setDisplay(), sign, vpMath::sqr(), vpCDEBUG, vpDEBUG_ENABLE, vpDERROR_TRACE, and vpERROR_TRACE.

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 549 of file vpMeLine.cpp.

References vpColor::blue, delta_1, vpDisplay::displayCross(), vpTrackingException::fatalError, vpImage< Type >::getHeight(), vpMe::getRange(), vpMe::getSampleStep(), vpMeSite::getState(), vpImage< Type >::getWidth(), vpColor::green, vpMeSite::i, vpMeSite::ifloat, vpMeSite::init(), vpTrackingException::initializationError, vpMeSite::j, vpMeSite::jfloat, vpMeTracker::list, vpMeTracker::me, vpMeSite::NO_SUPPRESSION, vpMeTracker::outOfImage(), PExt, vpMeTracker::selectDisplay, vpImagePoint::set_i(), vpImagePoint::set_j(), vpMeSite::setDisplay(), vpMe::setRange(), sign, vpMath::sqr(), vpMeSite::track(), vpCDEBUG, vpDEBUG_ENABLE, vpDERROR_TRACE, and vpERROR_TRACE.

Referenced by track().

◆ setDisplay()

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

inlineinherited

Examples: servoAfma6Cylinder2DCamVelocity.cpp, servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp, servoAfma6Line2DCamVelocity.cpp, servoAfma6SquareLines2DCamVelocity.cpp, servoAfma6TwoLines2DCamVelocity.cpp, trackMeCircle.cpp, trackMeEllipse.cpp, trackMeLine.cpp, trackMeNurbs.cpp, tutorial-me-ellipse-tracker.cpp, and tutorial-me-line-tracker.cpp.

Definition at line 148 of file vpMeTracker.h.

◆ setExtremities()

void vpMeLine::setExtremities ( )

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

Definition at line 492 of file vpMeLine.cpp.

References vpMeSite::ifloat, vpMeSite::jfloat, vpMeTracker::list, and PExt.

Referenced by track().

◆ setInitRange()

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

inlineinherited

Set the initial range.

Parameters

r	: initial range.

Definition at line 155 of file vpMeTracker.h.

◆ setMask()

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

inlinevirtualinherited

Set the mask

Parameters

mask : Mask.

Definition at line 162 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 169 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 176 of file vpMeTracker.h.

◆ suppressPoints()

void vpMeLine::suppressPoints ( )

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

Definition at line 476 of file vpMeLine.cpp.

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

Referenced by track().

◆ totalNumberOfSignal()

unsigned int vpMeTracker::totalNumberOfSignal ( )

inherited

Definition at line 126 of file vpMeTracker.cpp.

References vpMeTracker::list.

◆ 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, servoAfma6Cylinder2DCamVelocity.cpp, servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp, servoAfma6Line2DCamVelocity.cpp, servoAfma6SquareLines2DCamVelocity.cpp, servoAfma6TwoLines2DCamVelocity.cpp, trackMeLine.cpp, and tutorial-me-line-tracker.cpp.

Definition at line 745 of file vpMeLine.cpp.

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

Referenced by initTracking().

◆ updateDelta()

void vpMeLine::updateDelta ( )

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

Definition at line 704 of file vpMeLine.cpp.

References vpMeSite::alpha, angle_1, delta, delta_1, vpMeTracker::list, vpMeSite::mask_sign, vpMath::round(), and sign.

Referenced by track().

Member Data Documentation

◆ _useIntensityForRho

bool vpMeLine::_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 163 of file vpMeLine.h.

Referenced by computeRhoTheta(), and vpMeLine().

◆ a

double vpMeLine::a

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().

◆ angle

double vpMeLine::angle

protected

Definition at line 158 of file vpMeLine.h.

Referenced by vpMeLine().

◆ angle_1

double vpMeLine::angle_1

protected

Definition at line 158 of file vpMeLine.h.

Referenced by updateDelta(), and vpMeLine().

◆ b

double vpMeLine::b

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().

◆ c

double vpMeLine::c

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().

◆ cP

vpColVector vpTracker::cP

inherited

Feature coordinates expressed in the camera frame cP.

Definition at line 77 of file vpTracker.h.

Referenced by vpFeaturePoint3D::buildFrom(), 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 83 of file vpTracker.h.

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

◆ delta

double vpMeLine::delta

protected

Definition at line 157 of file vpMeLine.h.

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

◆ delta_1

double vpMeLine::delta_1

protected

Definition at line 157 of file vpMeLine.h.

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

◆ display_point

bool vpMeTracker::display_point

inherited

Definition at line 189 of file vpMeTracker.h.

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

◆ init_range

unsigned int vpMeTracker::init_range

inherited

Definition at line 77 of file vpMeTracker.h.

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

◆ list

std::list<vpMeSite> vpMeTracker::list

inherited

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

Definition at line 74 of file vpMeTracker.h.

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

◆ 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().

◆ me

vpMe* vpMeTracker::me

inherited

Moving edges initialisation parameters.

Definition at line 76 of file vpMeTracker.h.

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

◆ nGoodElement

int vpMeTracker::nGoodElement

inherited

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 73 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().

◆ PExt

vpMeSite vpMeLine::PExt[2]

protected

Definition at line 154 of file vpMeLine.h.

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

◆ query_range

int vpMeTracker::query_range

inherited

Definition at line 188 of file vpMeTracker.h.

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

◆ rho

double vpMeLine::rho

protected

Definition at line 156 of file vpMeLine.h.

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

◆ selectDisplay

vpMeSite::vpMeSiteDisplayType vpMeTracker::selectDisplay

protectedinherited

Definition at line 86 of file vpMeTracker.h.

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

◆ sign

int vpMeLine::sign

protected

Definition at line 159 of file vpMeLine.h.

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

◆ theta

double vpMeLine::theta

protected

Definition at line 156 of file vpMeLine.h.

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

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() [1/8]

◆ display() [2/8]

◆ display() [3/8]

◆ display() [4/8]

◆ display() [5/8]

◆ display() [6/8]

◆ display() [7/8]

◆ display() [8/8]

◆ 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]

◆ inMask()

◆ intersection()

◆ leastSquare()

◆ numberOfSignal()

◆ outOfImage() [1/2]

◆ outOfImage() [2/2]

◆ reSample()

◆ reset()

◆ sample()

◆ seekExtremities()

◆ setDisplay()

◆ setExtremities()

◆ setInitRange()

◆ setMask()

◆ setMe()

◆ setMeList()

◆ suppressPoints()

◆ totalNumberOfSignal()

◆ track()

◆ updateDelta()

Member Data Documentation

◆ _useIntensityForRho

◆ a

◆ angle

◆ angle_1

◆ b

◆ c

◆ cP

◆ cPAvailable

◆ delta

◆ delta_1

◆ display_point

◆ init_range

◆ list

◆ m_mask

◆ me

◆ nGoodElement

◆ p

◆ PExt

◆ query_range

◆ rho

◆ selectDisplay