MeTracker¶

class MeTracker¶

Bases: Tracker

Contains abstract elements for a Distance to Feature type feature.

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

Methods

__init__
display	Overloaded function.
getInitRange	Return the initial range.
getMeList	Overloaded function.
getNbPoints	Return the number of points that has not been suppressed.
init	Initialize the tracker.
initTracking	Virtual function that is called by lower classes vpMeEllipse , vpMeLine and vpMeNurbs .
numberOfSignal	Return number of moving-edges that are tracked.
outOfImage	Overloaded function.
reset	Reset the tracker by removing all the moving edges.
setDisplay	Set type of moving-edges display.
setInitRange	Set the initial range.
setMask	Set the mask.
setMeList	Set the list of moving edges.
totalNumberOfSignal	Return the total number of moving-edges.
track	Track moving-edges.

Inherited Methods

get_p	Return object parameters expressed in the 2D image plane computed by perspective projection.
get_cP	Return object parameters expressed in the 3D camera frame.
cP
p
cPAvailable

Operators

__annotations__
__doc__
__init__
__module__

Attributes

__annotations__
cP
cPAvailable
p

__init__(*args, **kwargs)¶

display(*args, **kwargs)¶

Overloaded function.

1. display(self: visp._visp.me.MeTracker, I: visp._visp.core.ImageGray) -> None

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.

2. display(self: visp._visp.me.MeTracker, I: visp._visp.core.ImageRGBa) -> None

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.

3. display(self: visp._visp.me.MeTracker, I: visp._visp.core.ImageGray, w: visp._visp.core.ColVector, index_w: int) -> int

Displays the status of moving edge sites

Parameters:

I

The image.

w

vector

index_w

index

Returns:

A tuple containing:

• index_w: index

4. display(self: visp._visp.me.MeTracker, I: visp._visp.core.ImageGray, w: visp._visp.core.ColVector, index_w: int) -> int

Displays the status of moving edge sites

Parameters:

I

The image.

w

vector

index_w

index

Returns:

A tuple containing:

• index_w: index

5. display(self: visp._visp.me.MeTracker, I: visp._visp.core.ImageGray, w: visp._visp.core.ColVector, index_w: int) -> int

Displays the status of moving edge sites

Parameters:

I

The image.

w

vector

index_w

index

Returns:

A tuple containing:

• index_w: index

6. display(self: visp._visp.me.MeTracker, I: visp._visp.core.ImageGray, w: visp._visp.core.ColVector, index_w: int) -> int

Displays the status of moving edge sites

Parameters:

I

The image.

w

vector

index_w

index

Returns:

A tuple containing:

• index_w: index

getInitRange(self) → int¶

Return the initial range.

Returns:

Value of init_range.

getMeList(*args, **kwargs)¶

Overloaded function.

1. getMeList(self: visp._visp.me.MeTracker) -> list[visp._visp.me.MeSite]

Return the list of moving edges

Returns:

List of Moving Edges.

2. getMeList(self: visp._visp.me.MeTracker) -> list[visp._visp.me.MeSite]

Return the list of moving edges

Returns:

List of Moving Edges.

getNbPoints(self) → int¶

Return the number of points that has not been suppressed.

Returns:

Number of good points.

get_cP(self) → visp._visp.core.ColVector¶

Return object parameters expressed in the 3D camera frame.

get_p(self) → visp._visp.core.ColVector¶

Return object parameters expressed in the 2D image plane computed by perspective projection.

init(self) → None¶

Initialize the tracker.

initTracking(self, I: visp._visp.core.ImageGray) → None¶

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

numberOfSignal(self) → int¶

Return number of moving-edges that are tracked.

outOfImage(*args, **kwargs)¶

Overloaded function.

1. outOfImage(self: visp._visp.me.MeTracker, i: int, j: int, border: int, nrows: int, ncols: int) -> bool

Parameters:

i

Pixel coordinates.

j

Pixel coordinates.

border

Number of pixels along the image border to exclude. When border is set to 0, consider the complete image.

nrows

Size of the image.

ncols

Size of the image.

Returns:

true when the pixel is inside the image minus the border size, false otherwise.

2. outOfImage(self: visp._visp.me.MeTracker, iP: visp._visp.core.ImagePoint, border: int, nrows: int, ncols: int) -> bool

Parameters:

iP

Pixel coordinates.

border

Number of pixels along the image border to exclude. When border is set to 0, consider the complete image.

nrows

Size of the image.

ncols

Size of the image.

Returns:

true when the pixel is inside the image minus the border size, false otherwise.

reset(self) → None¶

Reset the tracker by removing all the moving edges.

setDisplay(self, select: visp._visp.me.MeSite.MeSiteDisplayType) → None¶

Set type of moving-edges display.

Parameters:

select: visp._visp.me.MeSite.MeSiteDisplayType¶

Display type selector.

setInitRange(self, r: int) → None¶

Set the initial range.

Parameters:

r: int¶

initial range.

setMask(self: visp._visp.me.MeTracker, mask: vpImage<bool>) → None¶

Set the mask.

Parameters:

mask

Mask.

setMeList(self, meList: list[visp._visp.me.MeSite]) → None¶

Set the list of moving edges.

Parameters:

meList: list[visp._visp.me.MeSite]¶

List of Moving Edges.

totalNumberOfSignal(self) → int¶

Return the total number of moving-edges.

track(self, I: visp._visp.core.ImageGray) → None¶

Track moving-edges.

Parameters:

I: visp._visp.core.ImageGray¶

Image.