vpRBSilhouetteControlPoint Class Reference

#include <visp3/rbt/vpRBSilhouetteControlPoint.h>

Public Member Functions
void	init ()
	vpRBSilhouetteControlPoint ()
	vpRBSilhouetteControlPoint (const vpRBSilhouetteControlPoint &meTracker)
	vpRBSilhouetteControlPoint (const vpRBSilhouetteControlPoint &&meTracker)
vpRBSilhouetteControlPoint &	operator= (const vpRBSilhouetteControlPoint &meTracker)
vpRBSilhouetteControlPoint &	operator= (const vpRBSilhouetteControlPoint &&meTracker)
	~vpRBSilhouetteControlPoint ()=default
void	setNumCandidates (unsigned numCandidates)
unsigned	getNumCandidates () const
void	setValid (bool valid)
bool	isValid () const
const vpCameraParameters &	getCameraParameters () const
bool	siteIsValid () const
const vpMeSite &	getSite () const
vpMeSite &	getSite ()
const vpFeatureLine &	getFeatureLine () const
const vpLine &	getLine () const
double	getTheta () const
bool	isSilhouette () const
void	initControlPoint (const vpImage< unsigned char > &I, double cvlt)
void	detectSilhouette (const vpImage< float > &I)
void	buildPoint (int n, int m, const double &Z, double orient, const vpColVector &normo, const vpHomogeneousMatrix &cMo, const vpHomogeneousMatrix &oMc, const vpCameraParameters &cam, const vpMe &me)
void	buildSilhouettePoint (int n, int m, const double &Z, double orient, const vpColVector &normo, const vpHomogeneousMatrix &cMo, const vpHomogeneousMatrix &oMc, const vpCameraParameters &cam)
void	update (const vpHomogeneousMatrix &_cMo)
void	updateSilhouettePoint (const vpHomogeneousMatrix &_cMo)
void	track (const vpImage< unsigned char > &I)
void	trackMultipleHypotheses (const vpImage< unsigned char > &I)
void	computeMeInteractionMatrixError (const vpHomogeneousMatrix &cMo, unsigned int i, vpMatrix &L, vpColVector &e)
void	computeMeInteractionMatrixErrorMH (const vpHomogeneousMatrix &cMo, unsigned int i, vpMatrix &L, vpColVector &e)

Public Attributes
vpImagePoint	icpoint
vpPoint	cpoint
vpPoint	cpointo
double	xs
double	ys
double	nxs
double	nys
double	Zs

Detailed Description

Trackable silhouette point representation.

Definition at line 58 of file vpRBSilhouetteControlPoint.h.

Constructor & Destructor Documentation

vpRBSilhouetteControlPoint() [1/3]

vpRBSilhouetteControlPoint::vpRBSilhouetteControlPoint

(

)

Definition at line 45 of file vpRBSilhouetteControlPoint.cpp.

References init(), and vpColVector::resize().

vpRBSilhouetteControlPoint() [2/3]

vpRBSilhouetteControlPoint::vpRBSilhouetteControlPoint

(

const vpRBSilhouetteControlPoint &

meTracker

)

Definition at line 58 of file vpRBSilhouetteControlPoint.cpp.

References init().

vpRBSilhouetteControlPoint() [3/3]

vpRBSilhouetteControlPoint::vpRBSilhouetteControlPoint

(

const vpRBSilhouetteControlPoint &&

meTracker

)

Definition at line 92 of file vpRBSilhouetteControlPoint.cpp.

~vpRBSilhouetteControlPoint()

vpRBSilhouetteControlPoint::~vpRBSilhouetteControlPoint ( )

default

Member Function Documentation

buildPoint()

void vpRBSilhouetteControlPoint::buildPoint	(	int	n,
		int	m,
		const double &	Z,
		double	orient,
		const vpColVector &	normo,
		const vpHomogeneousMatrix &	cMo,
		const vpHomogeneousMatrix &	oMc,
		const vpCameraParameters &	cam,
		const vpMe &	me
	)

Definition at line 225 of file vpRBSilhouetteControlPoint.cpp.

References vpPoint::changeFrame(), cpoint, cpointo, vpHomogeneousMatrix::extract(), vpCameraParameters::get_px(), vpCameraParameters::get_py(), vpCameraParameters::get_u0(), vpCameraParameters::get_v0(), vpPoint::get_X(), vpPoint::get_Y(), vpPoint::get_Z(), icpoint, nxs, nys, vpImagePoint::set_i(), vpImagePoint::set_j(), and vpPoint::setWorldCoordinates().

Referenced by vpRBSilhouetteMeTracker::extractFeatures().

buildSilhouettePoint()

void vpRBSilhouetteControlPoint::buildSilhouettePoint	(	int	n,
		int	m,
		const double &	Z,
		double	orient,
		const vpColVector &	normo,
		const vpHomogeneousMatrix &	cMo,
		const vpHomogeneousMatrix &	oMc,
		const vpCameraParameters &	cam
	)

Definition at line 257 of file vpRBSilhouetteControlPoint.cpp.

References vpPoint::changeFrame(), vpTracker::cP, cpoint, cpointo, vpHomogeneousMatrix::extract(), vpException::fatalError, vpCameraParameters::get_px(), vpCameraParameters::get_py(), vpCameraParameters::get_u0(), vpCameraParameters::get_v0(), vpPoint::get_X(), vpPoint::get_Y(), vpPoint::get_Z(), vpLine::getTheta(), icpoint, nxs, nys, vpImagePoint::set_i(), vpImagePoint::set_j(), vpPoint::setWorldCoordinates(), xs, ys, and Zs.

Referenced by vpRBSilhouetteCCDTracker::extractFeatures().

computeMeInteractionMatrixError()

void vpRBSilhouetteControlPoint::computeMeInteractionMatrixError	(	const vpHomogeneousMatrix &	cMo,
		unsigned int	i,
		vpMatrix &	L,
		vpColVector &	e
	)

Compute the interaction matrix and the error vector corresponding to the line.

Definition at line 387 of file vpRBSilhouetteControlPoint.cpp.

References vpLine::changeFrame(), vpTracker::cP, vpFeatureBuilder::create(), vpException::fatalError, vpCameraParameters::get_px(), vpCameraParameters::get_py(), vpCameraParameters::get_u0(), vpCameraParameters::get_v0(), vpFeatureLine::getRho(), vpFeatureLine::getTheta(), vpFeatureLine::interaction(), vpMeSite::m_i, vpMeSite::m_j, vpForwardProjection::oP, vpFeatureLine::print(), vpLine::projection(), and vpColVector::t().

Referenced by vpRBSilhouetteMeTracker::computeVVSIter().

computeMeInteractionMatrixErrorMH()

void vpRBSilhouetteControlPoint::computeMeInteractionMatrixErrorMH	(	const vpHomogeneousMatrix &	cMo,
		unsigned int	i,
		vpMatrix &	L,
		vpColVector &	e
	)

Definition at line 442 of file vpRBSilhouetteControlPoint.cpp.

References vpLine::changeFrame(), vpFeatureBuilder::create(), vpException::fatalError, vpCameraParameters::get_px(), vpCameraParameters::get_py(), vpCameraParameters::get_u0(), vpCameraParameters::get_v0(), vpFeatureLine::getRho(), vpMeSite::getState(), vpFeatureLine::getTheta(), vpFeatureLine::interaction(), vpMeSite::m_i, vpMeSite::m_j, vpMeSite::NO_SUPPRESSION, and vpLine::projection().

Referenced by vpRBSilhouetteMeTracker::computeVVSIter().

detectSilhouette()

void vpRBSilhouetteControlPoint::detectSilhouette

(

const vpImage< float > &

I

)

Definition at line 368 of file vpRBSilhouetteControlPoint.cpp.

References vpImagePoint::get_i(), vpImagePoint::get_j(), and icpoint.

Referenced by vpRBSilhouetteCCDTracker::extractFeatures().

getCameraParameters()

const vpCameraParameters& vpRBSilhouetteControlPoint::getCameraParameters ( ) const

inline

Definition at line 116 of file vpRBSilhouetteControlPoint.h.

Referenced by vpRBSilhouetteCCDTracker::computeErrorAndInteractionMatrix().

getFeatureLine()

const vpFeatureLine& vpRBSilhouetteControlPoint::getFeatureLine ( ) const

inline

Definition at line 120 of file vpRBSilhouetteControlPoint.h.

getLine()

const vpLine& vpRBSilhouetteControlPoint::getLine ( ) const

inline

Definition at line 121 of file vpRBSilhouetteControlPoint.h.

getNumCandidates()

unsigned vpRBSilhouetteControlPoint::getNumCandidates ( ) const

inline

Definition at line 110 of file vpRBSilhouetteControlPoint.h.

getSite() [1/2]

vpMeSite& vpRBSilhouetteControlPoint::getSite ( )

inline

Definition at line 119 of file vpRBSilhouetteControlPoint.h.

getSite() [2/2]

const vpMeSite& vpRBSilhouetteControlPoint::getSite ( ) const

inline

Definition at line 118 of file vpRBSilhouetteControlPoint.h.

getTheta()

double vpRBSilhouetteControlPoint::getTheta ( ) const

inline

Definition at line 122 of file vpRBSilhouetteControlPoint.h.

Referenced by vpRBSilhouetteCCDTracker::computeLocalStatistics(), and vpRBSilhouetteCCDTracker::computeMaskGradient().

init()

BEGIN_VISP_NAMESPACE void vpRBSilhouetteControlPoint::init

(

void

)

Definition at line 40 of file vpRBSilhouetteControlPoint.cpp.

Referenced by vpRBSilhouetteControlPoint().

initControlPoint()

void vpRBSilhouetteControlPoint::initControlPoint	(	const vpImage< unsigned char > &	I,
		double	cvlt
	)

Definition at line 355 of file vpRBSilhouetteControlPoint.cpp.

References vpMeSite::convolution(), vpImagePoint::get_i(), vpImagePoint::get_j(), vpMe::getThresholdMarginRatio(), icpoint, vpMeSite::init(), and vpMeSite::setContrastThreshold().

Referenced by vpRBSilhouetteMeTracker::extractFeatures().

isSilhouette()

bool vpRBSilhouetteControlPoint::isSilhouette ( ) const

inline

Definition at line 123 of file vpRBSilhouetteControlPoint.h.

Referenced by vpRBSilhouetteCCDTracker::extractFeatures().

isValid()

bool vpRBSilhouetteControlPoint::isValid ( ) const

inline

Definition at line 112 of file vpRBSilhouetteControlPoint.h.

Referenced by vpRBSilhouetteCCDTracker::computeErrorAndInteractionMatrix(), vpRBSilhouetteCCDTracker::computeLocalStatistics(), vpRBSilhouetteMeTracker::computeVVSIter(), and vpRBSilhouetteCCDTracker::extractFeatures().

operator=() [1/2]

vpRBSilhouetteControlPoint & vpRBSilhouetteControlPoint::operator=

(

const vpRBSilhouetteControlPoint &&

meTracker

)

Definition at line 97 of file vpRBSilhouetteControlPoint.cpp.

References cpoint, cpointo, icpoint, nxs, nys, xs, ys, and Zs.

operator=() [2/2]

vpRBSilhouetteControlPoint & vpRBSilhouetteControlPoint::operator=

(

const vpRBSilhouetteControlPoint &

meTracker

)

Definition at line 64 of file vpRBSilhouetteControlPoint.cpp.

References cpoint, cpointo, icpoint, nxs, nys, xs, ys, and Zs.

setNumCandidates()

void vpRBSilhouetteControlPoint::setNumCandidates ( unsigned  numCandidates )

inline

Set the number of candidates to use for multiple hypotheses testing.

Parameters

numCandidates

Definition at line 109 of file vpRBSilhouetteControlPoint.h.

Referenced by vpRBSilhouetteMeTracker::extractFeatures().

setValid()

void vpRBSilhouetteControlPoint::setValid ( bool  valid )

inline

Definition at line 111 of file vpRBSilhouetteControlPoint.h.

Referenced by vpRBSilhouetteCCDTracker::computeLocalStatistics().

siteIsValid()

bool vpRBSilhouetteControlPoint::siteIsValid ( ) const

inline

Definition at line 117 of file vpRBSilhouetteControlPoint.h.

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

Referenced by vpRBSilhouetteMeTracker::computeVVSIter().

track()

void vpRBSilhouetteControlPoint::track

(

const vpImage< unsigned char > &

I

)

Track the moving edge at this point retaining only the hypothesis with the highest likelihood.

Parameters

I	The image in which to track

Definition at line 145 of file vpRBSilhouetteControlPoint.cpp.

References vpMeSite::getState(), vpMeSite::m_convlt, vpMeSite::NO_SUPPRESSION, vpMeSite::setState(), vpMeSite::THRESHOLD, vpMeSite::track(), and vpERROR_TRACE.

trackMultipleHypotheses()

void vpRBSilhouetteControlPoint::trackMultipleHypotheses

(

const vpImage< unsigned char > &

I

)

Track the moving edge and retain the best numCandidates hypotheses.

Parameters

I	The image in which to track

See also

setNumCandidates

Definition at line 164 of file vpRBSilhouetteControlPoint.cpp.

References vpMeSite::getState(), vpMeSite::NO_SUPPRESSION, vpMeSite::setState(), vpMeSite::THRESHOLD, vpMeSite::trackMultipleHypotheses(), and vpERROR_TRACE.

update()

void vpRBSilhouetteControlPoint::update

(

const vpHomogeneousMatrix &

_cMo

)

Definition at line 297 of file vpRBSilhouetteControlPoint.cpp.

References vpPoint::changeFrame(), cpointo, vpCameraParameters::get_px(), vpCameraParameters::get_py(), vpCameraParameters::get_u0(), vpCameraParameters::get_v0(), vpPoint::get_x(), vpPoint::get_y(), icpoint, vpPoint::projection(), and vpImagePoint::set_uv().

updateSilhouettePoint()

void vpRBSilhouetteControlPoint::updateSilhouettePoint

(

const vpHomogeneousMatrix &

_cMo

)

Definition at line 312 of file vpRBSilhouetteControlPoint.cpp.

References vpLine::changeFrame(), vpPoint::changeFrame(), cpointo, vpFeatureBuilder::create(), vpException::fatalError, vpCameraParameters::get_px(), vpCameraParameters::get_py(), vpCameraParameters::get_u0(), vpCameraParameters::get_v0(), vpPoint::get_x(), vpPoint::get_y(), vpPoint::get_Z(), vpFeatureLine::getTheta(), icpoint, nxs, nys, vpLine::projection(), vpPoint::projection(), vpImagePoint::set_uv(), xs, ys, and Zs.

Member Data Documentation

cpoint

vpPoint vpRBSilhouetteControlPoint::cpoint

Definition at line 89 of file vpRBSilhouetteControlPoint.h.

Referenced by buildPoint(), buildSilhouettePoint(), and operator=().

cpointo

vpPoint vpRBSilhouetteControlPoint::cpointo

Definition at line 90 of file vpRBSilhouetteControlPoint.h.

Referenced by buildPoint(), buildSilhouettePoint(), operator=(), update(), and updateSilhouettePoint().

icpoint

vpImagePoint vpRBSilhouetteControlPoint::icpoint

Definition at line 86 of file vpRBSilhouetteControlPoint.h.

Referenced by buildPoint(), buildSilhouettePoint(), vpRBSilhouetteCCDTracker::computeLocalStatistics(), vpRBSilhouetteCCDTracker::computeMaskGradient(), detectSilhouette(), vpRBSilhouetteCCDTracker::display(), initControlPoint(), operator=(), update(), and updateSilhouettePoint().

nxs

double vpRBSilhouetteControlPoint::nxs

Definition at line 92 of file vpRBSilhouetteControlPoint.h.

Referenced by buildPoint(), buildSilhouettePoint(), vpRBSilhouetteCCDTracker::computeLocalStatistics(), operator=(), and updateSilhouettePoint().

nys

double vpRBSilhouetteControlPoint::nys

Definition at line 92 of file vpRBSilhouetteControlPoint.h.

Referenced by buildPoint(), buildSilhouettePoint(), vpRBSilhouetteCCDTracker::computeLocalStatistics(), operator=(), and updateSilhouettePoint().

xs

double vpRBSilhouetteControlPoint::xs

Definition at line 92 of file vpRBSilhouetteControlPoint.h.

Referenced by buildSilhouettePoint(), vpRBSilhouetteCCDTracker::computeErrorAndInteractionMatrix(), vpRBSilhouetteCCDTracker::computeLocalStatistics(), operator=(), and updateSilhouettePoint().

ys

double vpRBSilhouetteControlPoint::ys

Definition at line 92 of file vpRBSilhouetteControlPoint.h.

Referenced by buildSilhouettePoint(), vpRBSilhouetteCCDTracker::computeErrorAndInteractionMatrix(), operator=(), and updateSilhouettePoint().

Zs

double vpRBSilhouetteControlPoint::Zs

Definition at line 92 of file vpRBSilhouetteControlPoint.h.

Referenced by buildSilhouettePoint(), vpRBSilhouetteCCDTracker::computeErrorAndInteractionMatrix(), operator=(), and updateSilhouettePoint().