#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

Public Attributes
Public Attributes Inherited from vpTracker
vpColVector	p

vpColVector	cP

bool	cPAvailable

Protected Attributes
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 ()

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

unsigned int	numberOfSignal ()

vpMeTracker &	operator= (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 61 of file vpMeTracker.h.

Constructor & Destructor Documentation

◆ vpMeTracker() [1/2]

vpMeTracker::vpMeTracker ( )

Default constructor.

Definition at line 56 of file vpMeTracker.cpp.

References init().

◆ vpMeTracker() [2/2]

vpMeTracker::vpMeTracker ( const vpMeTracker & meTracker )

Copy constructor.

Definition at line 62 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 80 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 254 of file vpMeTracker.cpp.

References vpMeSite::display(), and m_meList.

Referenced by display(), vpMeEllipse::initTracking(), 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 272 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 263 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 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.

◆ getInitRange()

unsigned int vpMeTracker::getInitRange ( )

inline

Return the initial range.

Returns: Value of init_range.

Definition at line 146 of file vpMeTracker.h.

◆ getMe()

vpMe* vpMeTracker::getMe ( )

inline

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 ( )

inline

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

inline

Return the list of moving edges

Returns: List of Moving Edges.

Definition at line 167 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 174 of file vpMeTracker.h.

◆ init()

BEGIN_VISP_NAMESPACE void vpMeTracker::init ( void )

Initialize the tracker.

Definition at line 48 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 )

Virtual function that is called by lower classes vpMeEllipse, vpMeLine and vpMeNurbs.

Exceptions

vpTrackingException::initializationError : Moving edges not initialized.

Definition at line 182 of file vpMeTracker.cpp.

References vpMe::getRange(), vpMeSite::getState(), vpTrackingException::initializationError, m_init_range, m_me, m_meList, m_nGoodElement, vpMeSite::NO_SUPPRESSION, vpMe::setRange(), and vpMeSite::track().

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

◆ 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

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(), 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

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(), vpMeLine::sample(), vpMeLine::seekExtremities(), and track().

◆ numberOfSignal()

unsigned int vpMeTracker::numberOfSignal ( )

Return number of moving-edges that are tracked.

Definition at line 94 of file vpMeTracker.cpp.

References m_meList.

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

◆ operator=()

vpMeTracker & vpMeTracker::operator= ( vpMeTracker & meTracker )

Copy operator.

Definition at line 82 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 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
	)

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(), vpMeLine::sample(), vpMeLine::seekExtremities(), and vpMeNurbs::seekExtremities().

◆ reset()

void vpMeTracker::reset ( )

Reset the tracker by removing all the moving edges.

Definition at line 74 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()

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

inline

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.

◆ setInitRange()

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

inline

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 )

inlinevirtual

Set the mask.

Parameters

mask : Mask.

Definition at line 246 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 253 of file vpMeTracker.h.

◆ setMe()

void vpMeTracker::setMe ( vpMe * me )

inline

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 )

inline

Set the list of moving edges.

Parameters

meList : List of Moving Edges.

Definition at line 267 of file vpMeTracker.h.

◆ totalNumberOfSignal()

unsigned int vpMeTracker::totalNumberOfSignal ( )

Return the total number of moving-edges.

Definition at line 103 of file vpMeTracker.cpp.

References m_meList.

◆ track()

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

Track moving-edges.

Parameters

I : Image.

Exceptions

vpTrackingException::initializationError : Moving edges not initialized.

Definition at line 215 of file vpMeTracker.cpp.

References vpMeSite::get_i(), vpMeSite::get_j(), vpMeSite::getState(), vpTrackingException::initializationError, inRoiMask(), m_mask, m_me, m_meList, m_nGoodElement, vpMeSite::NO_SUPPRESSION, vpTrackingException::notEnoughPointError, vpMeSite::OUTSIDE_ROI_MASK, vpMeSite::setState(), and vpMeSite::track().

Referenced by vpMeEllipse::track(), vpMeLine::track(), and vpMeNurbs::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_init_range

unsigned int vpMeTracker::m_init_range

protected

Initial range.

Definition at line 315 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 319 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 321 of file vpMeTracker.h.

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

◆ m_me

vpMe* vpMeTracker::m_me

protected

Moving edges initialisation parameters.

Definition at line 313 of file vpMeTracker.h.

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

◆ m_meList

std::list<vpMeSite> vpMeTracker::m_meList

protected

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

Definition at line 311 of file vpMeTracker.h.

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

◆ m_nGoodElement

int vpMeTracker::m_nGoodElement

protected

Number of good moving-edges that are tracked.

Definition at line 317 of file vpMeTracker.h.

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

◆ m_selectDisplay

vpMeSite::vpMeSiteDisplayType vpMeTracker::m_selectDisplay

protected

Moving-edges display type.

Definition at line 323 of file vpMeTracker.h.

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

Public Attributes

Protected Attributes

Public Member Functions Inherited from vpMeTracker

Detailed Description

Constructor & Destructor Documentation

◆ vpMeTracker() [1/2]

◆ vpMeTracker() [2/2]

◆ ~vpMeTracker()

Member Function Documentation

◆ display() [1/3]

◆ display() [2/3]

◆ display() [3/3]

◆ get_cP()

◆ get_p()

◆ getInitRange()

◆ getMe()

◆ getMeList() [1/2]

◆ getMeList() [2/2]

◆ getNbPoints()

◆ init()

◆ initTracking()

◆ inMeMaskCandidates()

◆ inRoiMask()

◆ numberOfSignal()

◆ operator=()

◆ outOfImage() [1/2]

◆ outOfImage() [2/2]

◆ reset()

◆ sample()

◆ setDisplay()

◆ setInitRange()

◆ setMask()

◆ setMaskCandidates()

◆ setMe()

◆ setMeList()

◆ totalNumberOfSignal()

◆ track()

Member Data Documentation

◆ cP

◆ cPAvailable

◆ m_init_range

◆ m_mask

◆ m_maskCandidates

◆ m_me

◆ m_meList

◆ m_nGoodElement

◆ m_selectDisplay

◆ p