Visual Servoing Platform  version 3.6.1 under development (2024-05-28)
vpMeTracker.h
1 /*
2  * ViSP, open source Visual Servoing Platform software.
3  * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
4  *
5  * This software is free software; you can redistribute it and/or modify
6  * it under the terms of the GNU General Public License as published by
7  * the Free Software Foundation; either version 2 of the License, or
8  * (at your option) any later version.
9  * See the file LICENSE.txt at the root directory of this source
10  * distribution for additional information about the GNU GPL.
11  *
12  * For using ViSP with software that can not be combined with the GNU
13  * GPL, please contact Inria about acquiring a ViSP Professional
14  * Edition License.
15  *
16  * See https://visp.inria.fr for more information.
17  *
18  * This software was developed at:
19  * Inria Rennes - Bretagne Atlantique
20  * Campus Universitaire de Beaulieu
21  * 35042 Rennes Cedex
22  * France
23  *
24  * If you have questions regarding the use of this file, please contact
25  * Inria at visp@inria.fr
26  *
27  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
28  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29  *
30  * Description:
31  * Moving edges.
32  */
33 
39 #ifndef _vpMeTracker_h_
40 #define _vpMeTracker_h_
41 
42 #include <visp3/core/vpColVector.h>
43 #include <visp3/core/vpTracker.h>
44 #include <visp3/me/vpMe.h>
45 #include <visp3/me/vpMeSite.h>
46 
47 #include <iostream>
48 #include <list>
49 #include <math.h>
50 
59 class VISP_EXPORT vpMeTracker : public vpTracker
60 {
61 public:
65  vpMeTracker();
66 
70  vpMeTracker(const vpMeTracker &meTracker);
71 
75  virtual ~vpMeTracker() vp_override;
76 
79 
92  void display(const vpImage<unsigned char> &I);
93 
106  void display(const vpImage<vpRGBa> &I);
107 
115  void display(const vpImage<unsigned char> &I, vpColVector &w, unsigned int &index_w);
116 
126  static bool inRoiMask(const vpImage<bool> *mask, unsigned int i, unsigned int j);
127 
137  static bool inMeMaskCandidates(const vpImage<bool> *meMaskCandidates, unsigned int i, unsigned int j);
138 
144  inline unsigned int getInitRange() { return m_init_range; }
145 
151  inline vpMe *getMe() { return m_me; }
152 
158  inline std::list<vpMeSite> &getMeList() { return m_meList; }
159 
165  inline std::list<vpMeSite> getMeList() const { return m_meList; }
166 
172  inline int getNbPoints() const { return m_nGoodElement; }
173 
177  void init();
178 
186  void initTracking(const vpImage<unsigned char> &I);
187 
191  unsigned int numberOfSignal();
192 
196  vpMeTracker &operator=(vpMeTracker &meTracker);
197 
205  bool outOfImage(int i, int j, int border, int nrows, int ncols);
206 
214  bool outOfImage(const vpImagePoint &iP, int border, int nrows, int ncols);
215 
219  void reset();
220 
224  virtual void sample(const vpImage<unsigned char> &image, bool doNotTrack = false) = 0;
225 
230  void setDisplay(vpMeSite::vpMeSiteDisplayType select) { m_selectDisplay = select; }
231 
237  void setInitRange(const unsigned int &r) { m_init_range = r; }
238 
244  virtual void setMask(const vpImage<bool> &mask) { m_mask = &mask; }
245 
251  virtual void setMaskCandidates(const vpImage<bool> *maskCandidates) { m_maskCandidates = maskCandidates; }
252 
258  void setMe(vpMe *me) { m_me = me; }
259 
265  void setMeList(const std::list<vpMeSite> &meList) { m_meList = meList; }
266 
270  unsigned int totalNumberOfSignal();
271 
279  void track(const vpImage<unsigned char> &I);
281 
282 #if defined(VISP_BUILD_DEPRECATED_FUNCTIONS)
297  vp_deprecated static bool inMask(const vpImage<bool> *mask, unsigned int i, unsigned int j)
298  {
299  return inRoiMask(mask, i, j);
300  }
302 #endif
303 
304 protected:
309  std::list<vpMeSite> m_meList;
313  unsigned int m_init_range;
323 
324 };
325 
326 #endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:163
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:82
vpMeSiteDisplayType
Definition: vpMeSite.h:71
Contains abstract elements for a Distance to Feature type feature.
Definition: vpMeTracker.h:60
const vpImage< bool > * m_mask
Mask used to disable tracking on a part of image.
Definition: vpMeTracker.h:317
std::list< vpMeSite > getMeList() const
Definition: vpMeTracker.h:165
vpMe * getMe()
Definition: vpMeTracker.h:151
vpMeSite::vpMeSiteDisplayType m_selectDisplay
Moving-edges display type.
Definition: vpMeTracker.h:321
int getNbPoints() const
Definition: vpMeTracker.h:172
virtual void sample(const vpImage< unsigned char > &image, bool doNotTrack=false)=0
virtual void setMaskCandidates(const vpImage< bool > *maskCandidates)
Definition: vpMeTracker.h:251
unsigned int m_init_range
Initial range.
Definition: vpMeTracker.h:313
vpMe * m_me
Moving edges initialisation parameters.
Definition: vpMeTracker.h:311
void setDisplay(vpMeSite::vpMeSiteDisplayType select)
Definition: vpMeTracker.h:230
void setMe(vpMe *me)
Definition: vpMeTracker.h:258
int m_nGoodElement
Number of good moving-edges that are tracked.
Definition: vpMeTracker.h:315
unsigned int getInitRange()
Definition: vpMeTracker.h:144
const vpImage< bool > * m_maskCandidates
Mask used to determine candidate points for initialization in an image.
Definition: vpMeTracker.h:319
static vp_deprecated bool inMask(const vpImage< bool > *mask, unsigned int i, unsigned int j)
Definition: vpMeTracker.h:297
std::list< vpMeSite > m_meList
Definition: vpMeTracker.h:309
void setInitRange(const unsigned int &r)
Definition: vpMeTracker.h:237
std::list< vpMeSite > & getMeList()
Definition: vpMeTracker.h:158
virtual void setMask(const vpImage< bool > &mask)
Definition: vpMeTracker.h:244
void setMeList(const std::list< vpMeSite > &meList)
Definition: vpMeTracker.h:265
Definition: vpMe.h:124
Class that defines what is a feature generic tracker.
Definition: vpTracker.h:59
vpTracker & operator=(const vpTracker &tracker)
Copy operator.
Definition: vpTracker.cpp:50
void init()
Default initialization.
Definition: vpTracker.cpp:44