#include <visp3/me/vpMeTracker.h>

Inheritance diagram for vpMeTracker:

Public Member Functions
Public Member Functions Inherited from vpTracker
vpColVector	get_p () const

vpColVector	get_cP () const

Public Attributes
Public Attributes Inherited from vpMeTracker
std::list< vpMeSite >	list

vpMe *	me

unsigned int	init_range

int	nGoodElement

const vpImage< bool > *	m_mask

int	query_range

bool	display_point

Public Attributes Inherited from vpTracker
vpColVector	p

vpColVector	cP

bool	cPAvailable

Protected Attributes Inherited from vpMeTracker
vpMeSite::vpMeSiteDisplayType	selectDisplay

	vpMeTracker ()

	vpMeTracker (const vpMeTracker &meTracker)

virtual	~vpMeTracker () override

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 &f)

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 ()

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)

void	setMe (vpMe *p_me)

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

unsigned int	totalNumberOfSignal ()

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

static bool	inMask (const vpImage< bool > *mask, 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 67 of file vpMeTracker.cpp.

References display_point, init(), init_range, list, me, nGoodElement, query_range, and selectDisplay.

◆ ~vpMeTracker()

vpMeTracker::~vpMeTracker ( )

overridevirtual

Destructor.

Definition at line 94 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 229 of file vpMeTracker.cpp.

References vpMeSite::display(), and list.

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 245 of file vpMeTracker.cpp.

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

◆ 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 237 of file vpMeTracker.cpp.

References vpMeSite::display(), and list.

◆ 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 161 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 168 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 175 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 182 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 189 of file vpMeTracker.h.

◆ init()

void vpMeTracker::init ( void )

Initialize the tracker.

Definition at line 50 of file vpMeTracker.cpp.

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

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 145 of file vpMeTracker.cpp.

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

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

◆ inMask()

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

static

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 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 123 of file vpMeTracker.cpp.

References vpImage< Type >::getValue().

Referenced by vpMbtFaceDepthDense::computeDesiredFeatures(), vpMbtFaceDepthNormal::computeDesiredFeatures(), vpMbtDistanceKltPoints::computeNbDetectedCurrent(), vpMbtDistanceKltPoints::init(), and track().

◆ numberOfSignal()

unsigned int vpMeTracker::numberOfSignal ( )

Return number of moving-edges that are tracked.

Definition at line 112 of file vpMeTracker.cpp.

References list.

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

◆ operator=()

vpMeTracker & vpMeTracker::operator= ( vpMeTracker & f )

Copy operator.

Definition at line 96 of file vpMeTracker.cpp.

References display_point, init_range, list, me, nGoodElement, query_range, and selectDisplay.

◆ outOfImage() [1/2]

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

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

Definition at line 138 of file vpMeTracker.cpp.

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

◆ outOfImage() [2/2]

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

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

Definition at line 133 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 88 of file vpMeTracker.cpp.

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

Definition at line 238 of file vpMeTracker.h.

◆ setInitRange()

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

inline

Set the initial range.

Parameters

r	: initial range.

Definition at line 245 of file vpMeTracker.h.

◆ setMask()

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

inlinevirtual

Set the mask.

Parameters

mask : Mask.

Definition at line 252 of file vpMeTracker.h.

◆ setMe()

void vpMeTracker::setMe ( vpMe * p_me )

inline

Set the moving edges initialisation parameters.

Parameters

p_me	: Moving Edges.

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

Definition at line 259 of file vpMeTracker.h.

◆ setMeList()

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

inline

Set the list of moving edges.

Parameters

l	: list of Moving Edges.

Definition at line 266 of file vpMeTracker.h.

◆ totalNumberOfSignal()

unsigned int vpMeTracker::totalNumberOfSignal ( )

Return the total number of moving-edges.

Definition at line 121 of file vpMeTracker.cpp.

References list.

◆ 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 182 of file vpMeTracker.cpp.

References vpMeSite::getState(), vpMeSite::i, vpTrackingException::initializationError, inMask(), vpMeSite::j, list, m_mask, me, nGoodElement, vpMeSite::NO_SUPPRESSION, vpTrackingException::notEnoughPointError, vpMeSite::setState(), vpMeSite::THRESHOLD, vpMeSite::track(), and vpDERROR_TRACE.

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.

Definition at line 71 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 77 of file vpTracker.h.

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

◆ display_point

bool vpMeTracker::display_point

Definition at line 288 of file vpMeTracker.h.

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

◆ init_range

unsigned int vpMeTracker::init_range

Initial range.

Definition at line 76 of file vpMeTracker.h.

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

◆ list

std::list<vpMeSite> vpMeTracker::list

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

Definition at line 72 of file vpMeTracker.h.

Referenced by display(), vpMeLine::display(), initTracking(), vpMeLine::leastSquare(), vpMeEllipse::leastSquareRobust(), 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_mask

const vpImage<bool>* vpMeTracker::m_mask

Mask used to disable tracking on a part of image.

Definition at line 80 of file vpMeTracker.h.

Referenced by track().

◆ me

vpMe* vpMeTracker::me

Moving edges initialisation parameters.

Definition at line 74 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().

◆ nGoodElement

int vpMeTracker::nGoodElement

Number of good moving-edges that are tracked.

Definition at line 78 of file vpMeTracker.h.

Referenced by initTracking(), operator=(), reset(), track(), 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 67 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().

◆ query_range

int vpMeTracker::query_range

Definition at line 287 of file vpMeTracker.h.

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

◆ selectDisplay

vpMeSite::vpMeSiteDisplayType vpMeTracker::selectDisplay

protected

Definition at line 86 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().

Public Member Functions

Public Attributes

Protected Attributes Inherited from vpMeTracker

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()

◆ inMask()

◆ numberOfSignal()

◆ operator=()

◆ outOfImage() [1/2]

◆ outOfImage() [2/2]

◆ reset()

◆ sample()

◆ setDisplay()

◆ setInitRange()

◆ setMask()

◆ setMe()

◆ setMeList()

◆ totalNumberOfSignal()

◆ track()

Member Data Documentation

◆ cP

◆ cPAvailable

◆ display_point

◆ init_range

◆ list

◆ m_mask

◆ me

◆ nGoodElement

◆ p

◆ query_range

◆ selectDisplay