Visual Servoing Platform  version 3.6.1 under development (2024-05-27)
vpMeTracker Class Referenceabstract

#include <visp3/me/vpMeTracker.h>

+ Inheritance diagram for vpMeTracker:

Public Member Functions

 vpMeTracker ()
 
 vpMeTracker (const vpMeTracker &meTracker)
 
virtual ~vpMeTracker () vp_override
 
Public Member Functions Inherited from vpTracker
vpColVector get_p () const
 
vpColVector get_cP () const
 

Static Public Member Functions

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

Public Attributes

Public Attributes Inherited from vpTracker
vpColVector p
 
vpColVector cP
 
bool cPAvailable
 

Protected Attributes

Protected Attributes Inherited from vpMeTracker
std::list< vpMeSitem_meList
 
vpMem_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 ()
 
vpMegetMe ()
 
std::list< vpMeSite > & getMeList ()
 
std::list< vpMeSitegetMeList () const
 
int getNbPoints () const
 
void init ()
 
void initTracking (const vpImage< unsigned char > &I)
 
unsigned int numberOfSignal ()
 
vpMeTrackeroperator= (vpMeTracker &meTracker)
 
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 ()
 
virtual void sample (const vpImage< unsigned char > &image, bool doNotTrack=false)=0
 
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 ()
 
void track (const vpImage< unsigned char > &I)
 
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

Contains abstract elements for a Distance to Feature type feature.

2D state = list of points, 3D state = feature

Definition at line 59 of file vpMeTracker.h.

Constructor & Destructor Documentation

◆ vpMeTracker() [1/2]

vpMeTracker::vpMeTracker ( )

Default constructor.

Definition at line 57 of file vpMeTracker.cpp.

References init().

◆ vpMeTracker() [2/2]

vpMeTracker::vpMeTracker ( const vpMeTracker meTracker)

Copy constructor.

Definition at line 63 of file vpMeTracker.cpp.

References init(), m_init_range, m_me, m_meList, m_nGoodElement, and m_selectDisplay.

◆ ~vpMeTracker()

vpMeTracker::~vpMeTracker ( )
virtual

Destructor.

Definition at line 81 of file vpMeTracker.cpp.

References reset().

Member Function Documentation

◆ display() [1/3]

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

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 258 of file vpMeTracker.cpp.

References vpMeSite::display(), and m_meList.

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

◆ display() [2/3]

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

Displays the status of moving edge sites

Parameters
I: The image.
w: vector
index_w: index

Definition at line 276 of file vpMeTracker.cpp.

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

◆ display() [3/3]

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

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 267 of file vpMeTracker.cpp.

References vpMeSite::display(), and m_meList.

◆ get_cP()

vpColVector vpTracker::get_cP ( ) const
inlineinherited

Return object parameters expressed in the 3D camera frame.

Definition at line 93 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 91 of file vpTracker.h.

◆ getInitRange()

unsigned int vpMeTracker::getInitRange ( )
inline

Return the initial range.

Returns
Value of init_range.

Definition at line 144 of file vpMeTracker.h.

◆ getMe()

vpMe* vpMeTracker::getMe ( )
inline

Return the moving edges initialisation parameters.

Returns
Moving Edges.
Examples
trackMeCircle.cpp, and trackMeEllipse.cpp.

Definition at line 151 of file vpMeTracker.h.

◆ getMeList() [1/2]

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

Return the list of moving edges

Returns
List of Moving Edges.

Definition at line 158 of file vpMeTracker.h.

◆ getMeList() [2/2]

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

Return the list of moving edges

Returns
List of Moving Edges.

Definition at line 165 of file vpMeTracker.h.

◆ getNbPoints()

int vpMeTracker::getNbPoints ( ) const
inline

Return the number of points that has not been suppressed.

Returns
Number of good points.

Definition at line 172 of file vpMeTracker.h.

◆ init()

void vpMeTracker::init ( void  )

Initialize the tracker.

Definition at line 50 of file vpMeTracker.cpp.

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

Referenced by vpMeTracker().

◆ initTracking()

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

◆ inMask()

static vp_deprecated bool vpMeTracker::inMask ( const vpImage< bool > *  mask,
unsigned int  i,
unsigned int  j 
)
inlinestatic
Deprecated:
You should rather use inRoiMask(). Test whether the pixel is inside the region of interest mask. Mask values that are set to true are considered in the tracking.
Parameters
maskMask 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 297 of file vpMeTracker.h.

◆ inMeMaskCandidates()

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

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
meMaskCandidatesMask 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 116 of file vpMeTracker.cpp.

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

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

◆ inRoiMask()

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

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

Parameters
maskMask 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 106 of file vpMeTracker.cpp.

References vpImage< Type >::getValue().

Referenced by vpMbtFaceDepthDense::computeDesiredFeatures(), vpMbtFaceDepthNormal::computeDesiredFeatures(), vpMbtDistanceKltPoints::computeNbDetectedCurrent(), vpMbtDistanceKltPoints::init(), vpMeEllipse::plugHoles(), vpMeEllipse::sample(), vpMeLine::sample(), vpMeLine::seekExtremities(), and track().

◆ numberOfSignal()

unsigned int vpMeTracker::numberOfSignal ( )

Return number of moving-edges that are tracked.

Definition at line 95 of file vpMeTracker.cpp.

References m_meList.

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

◆ operator=()

vpMeTracker & vpMeTracker::operator= ( vpMeTracker meTracker)

Copy operator.

Definition at line 83 of file vpMeTracker.cpp.

References m_init_range, m_me, m_meList, m_nGoodElement, and m_selectDisplay.

◆ outOfImage() [1/2]

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

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 175 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 
)

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 167 of file vpMeTracker.cpp.

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

◆ reset()

void vpMeTracker::reset ( )

Reset the tracker by removing all the moving edges.

Definition at line 75 of file vpMeTracker.cpp.

References m_meList, and m_nGoodElement.

Referenced by ~vpMeTracker().

◆ sample()

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

Sample pixels at a given interval.

Implemented in vpMeLine, vpMeEllipse, and vpMeNurbs.

◆ setDisplay()

◆ setInitRange()

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

Set the initial range.

Parameters
r: initial range.

Definition at line 237 of file vpMeTracker.h.

◆ setMask()

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

Set the mask.

Parameters
mask: Mask.

Definition at line 244 of file vpMeTracker.h.

◆ setMaskCandidates()

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

Set the mask of candidates points for initialization.

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

Definition at line 251 of file vpMeTracker.h.

◆ setMe()

◆ setMeList()

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

Set the list of moving edges.

Parameters
meList: List of Moving Edges.

Definition at line 265 of file vpMeTracker.h.

◆ totalNumberOfSignal()

unsigned int vpMeTracker::totalNumberOfSignal ( )

Return the total number of moving-edges.

Definition at line 104 of file vpMeTracker.cpp.

References m_meList.

◆ track()

Member Data Documentation

◆ cP

◆ cPAvailable

bool vpTracker::cPAvailable
inherited

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

Definition at line 77 of file vpTracker.h.

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

◆ m_init_range

unsigned int vpMeTracker::m_init_range
protected

Initial range.

Definition at line 313 of file vpMeTracker.h.

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

◆ m_mask

const vpImage<bool>* vpMeTracker::m_mask
protected

Mask used to disable tracking on a part of image.

Definition at line 317 of file vpMeTracker.h.

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

◆ m_maskCandidates

const vpImage<bool>* vpMeTracker::m_maskCandidates
protected

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

Definition at line 319 of file vpMeTracker.h.

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

◆ m_me

◆ m_meList

◆ m_nGoodElement

int vpMeTracker::m_nGoodElement
protected

Number of good moving-edges that are tracked.

Definition at line 315 of file vpMeTracker.h.

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

◆ m_selectDisplay

◆ p