vpTemplateTrackerZone Class Reference

#include <vpTemplateTrackerZone.h>

Public Member Functions
	vpTemplateTrackerZone ()
	vpTemplateTrackerZone (const vpTemplateTrackerZone &z)
virtual	~vpTemplateTrackerZone ()
void	add (const vpTemplateTrackerTriangle &t)
void	clear ()
void	copy (const vpTemplateTrackerZone &z)
void	display (const vpImage< unsigned char > &I, const vpColor &col=vpColor::green, unsigned int thickness=3)
void	display (const vpImage< vpRGBa > &I, const vpColor &col=vpColor::green, unsigned int thickness=3)
void	fillTriangle (vpImage< unsigned char > &I, unsigned int id, unsigned char gray_level)
double	getArea () const
vpImagePoint	getCenter () const
vpImagePoint	getCenter (int borne_x, int borne_y) const
int	getMaxx () const
int	getMaxy () const
int	getMinx () const
int	getMiny () const
vpRect	getBoundingBox () const
unsigned int	getNbTriangle () const
vpTemplateTrackerZone	getPyramidDown () const
void	getTriangle (unsigned int i, vpTemplateTrackerTriangle &T) const
vpTemplateTrackerTriangle	getTriangle (unsigned int i) const
void	initClick (const vpImage< unsigned char > &I, bool delaunay=false)
void	initFromPoints (const vpImage< unsigned char > &I, const std::vector< vpImagePoint > &ip, bool delaunay=false)
bool	inZone (const int &i, const int &j) const
bool	inZone (const double &i, const double &j) const
bool	inZone (const int &i, const int &j, unsigned int &id_triangle) const
bool	inZone (const double &i, const double &j, unsigned int &id_triangle) const
vpTemplateTrackerZone &	operator= (const vpTemplateTrackerZone &z)

Protected Attributes
std::vector< vpTemplateTrackerTriangle >	Zone
int	min_x
int	min_y
int	max_x
int	max_y

Detailed Description

A zone is defined by a set of triangles defined as vpTemplateTrackerTriangle.

A zone can be initialized either by user interaction using mouse click in a display device throw initClick(), or by a list of points throw initFromPoints().

Examples

templateTracker.cpp.

Definition at line 61 of file vpTemplateTrackerZone.h.

Constructor & Destructor Documentation

vpTemplateTrackerZone() [1/2]

vpTemplateTrackerZone::vpTemplateTrackerZone

(

)

Default constructor.

Definition at line 53 of file vpTemplateTrackerZone.cpp.

vpTemplateTrackerZone() [2/2]

vpTemplateTrackerZone::vpTemplateTrackerZone

(

const vpTemplateTrackerZone &

z

)

Copy constructor.

Definition at line 58 of file vpTemplateTrackerZone.cpp.

~vpTemplateTrackerZone()

vpTemplateTrackerZone::~vpTemplateTrackerZone ( )

virtual

Destructor.

Definition at line 477 of file vpTemplateTrackerZone.cpp.

Member Function Documentation

add()

void vpTemplateTrackerZone::add

(

const vpTemplateTrackerTriangle &

t

)

Add a triangle to the zone and update the bounding box.

Parameters

t	: Triangle to introduce in the zone.

Definition at line 248 of file vpTemplateTrackerZone.cpp.

clear()

void vpTemplateTrackerZone::clear

(

)

Remove all the triangles that define the zone.

Definition at line 67 of file vpTemplateTrackerZone.cpp.

copy()

void vpTemplateTrackerZone::copy

(

const vpTemplateTrackerZone &

z

)

Copy all the triangles that define zone Z in the current zone (*this) and update the zone bounding box.

Parameters

z	: Zone with a set of triangles provided as input.

Definition at line 521 of file vpTemplateTrackerZone.cpp.

display() [1/2]

void vpTemplateTrackerZone::display	(	const vpImage< unsigned char > &	I,
		const vpColor &	col = vpColor::green,
		unsigned int	thickness = 3
	)

If a display device is associated to image I, display in overlay the triangles that define the zone.

Parameters

I	: Image.
col	: Color used to display the triangles.
thickness	: Thickness of the triangle lines.

Examples

templateTracker.cpp.

Definition at line 445 of file vpTemplateTrackerZone.cpp.

display() [2/2]

void vpTemplateTrackerZone::display	(	const vpImage< vpRGBa > &	I,
		const vpColor &	col = vpColor::green,
		unsigned int	thickness = 3
	)

If a display device is associated to image I, display in overlay the triangles that define the zone.

Parameters

I	: Image.
col	: Color used to display the triangles.
thickness	: Thickness of the triangle lines.

Definition at line 462 of file vpTemplateTrackerZone.cpp.

fillTriangle()

void vpTemplateTrackerZone::fillTriangle	(	vpImage< unsigned char > &	I,
		unsigned int	id,
		unsigned char	gray_level
	)

Modify all the pixels inside a triangle with a given gray level.

Parameters

I	Output image.
id	Triangle id. This value should be less than the number of triangles used to define the zone and available using getNbTriangle().
gray_level	Color used to fill the triangle with.

Definition at line 486 of file vpTemplateTrackerZone.cpp.

getArea()

double vpTemplateTrackerZone::getArea

(

)

const

Return the area of the template zone.

Definition at line 572 of file vpTemplateTrackerZone.cpp.

getBoundingBox()

vpRect vpTemplateTrackerZone::getBoundingBox

(

)

const

Return a rectangle that defines the bounding box of the zone.

See also

getMinx(), getMiny(), getMaxx(), getMaxy()

Definition at line 432 of file vpTemplateTrackerZone.cpp.

getCenter() [1/2]

vpImagePoint vpTemplateTrackerZone::getCenter

(

)

const

Return the position of the center of gravity of the zone.

Exceptions

vpException::divideByZeroError

The size of the zone is null.

Definition at line 385 of file vpTemplateTrackerZone.cpp.

getCenter() [2/2]

vpImagePoint vpTemplateTrackerZone::getCenter	(	int	borne_x,
		int	borne_y
	)		const

Return the position of the center of gravity in a given area.

Parameters

borne_x	: Right coordinate of the area to consider.
borne_y	: Bottom coordinate of the area to consider.

Exceptions

vpException::divideByZeroError

The size of the zone is null.

Definition at line 546 of file vpTemplateTrackerZone.cpp.

getMaxx()

int vpTemplateTrackerZone::getMaxx

(

)

const

Returns

The maximal x coordinate (along the columns of the image) of the points that are in the zone.

See also

getMinx(), getBoundingBox()

Definition at line 411 of file vpTemplateTrackerZone.cpp.

getMaxy()

int vpTemplateTrackerZone::getMaxy

(

)

const

Returns

The maximal y coordinate (along the rows of the image) of the points that are in the zone.

See also

getMiny(), getBoundingBox()

Definition at line 416 of file vpTemplateTrackerZone.cpp.

getMinx()

int vpTemplateTrackerZone::getMinx

(

)

const

Returns

The minimal x coordinate (along the columns of the image) of the points that are in the zone.

See also

getMaxx(), getBoundingBox()

Definition at line 421 of file vpTemplateTrackerZone.cpp.

getMiny()

int vpTemplateTrackerZone::getMiny

(

)

const

Returns

The minimal y coordinate (along the rows of the image) of the points that are in the zone.

See also

getMaxy(), getBoundingBox()

Definition at line 426 of file vpTemplateTrackerZone.cpp.

getNbTriangle()

unsigned int vpTemplateTrackerZone::getNbTriangle ( ) const

inline

Return the number of triangles that define the zone.

See also

getTriangle()

Definition at line 99 of file vpTemplateTrackerZone.h.

getPyramidDown()

vpTemplateTrackerZone vpTemplateTrackerZone::getPyramidDown

(

)

const

Return a zone with triangles that are down scaled by a factor 2.

Definition at line 503 of file vpTemplateTrackerZone.cpp.

getTriangle() [1/2]

vpTemplateTrackerTriangle vpTemplateTrackerZone::getTriangle

(

unsigned int

i

)

const

A zone is defined by a set of triangles. This function returns the ith triangle.

Parameters

i	: Index of the triangle to return.

Returns

The triangle corresponding to index i.

The following sample code shows how to use this function:

vpTemplateTrackerZone zone;
...
for (unsigned int i=0; i < zone.getNbTriangle(); i++) {
  vpTemplateTrackerTriangle triangle = zone.getTriangle(i);
}

Definition at line 374 of file vpTemplateTrackerZone.cpp.

getTriangle() [2/2]

void vpTemplateTrackerZone::getTriangle	(	unsigned int	i,
		vpTemplateTrackerTriangle &	T
	)		const

A zone is defined by a set of triangles. This function returns the ith triangle.

Parameters

i	: Index of the triangle to return.
T	: The triangle corresponding to index i.

Returns

true if the triangle with index i was found, false otherwise.

The following sample code shows how to use this function:

vpTemplateTrackerZone zone;
...
for (unsigned int i=0; i < zone.getNbTriangle(); i++) {
  vpTemplateTrackerTriangle triangle;
  zone.getTriangle(i, triangle);
}

Definition at line 353 of file vpTemplateTrackerZone.cpp.

initClick()

void vpTemplateTrackerZone::initClick	(	const vpImage< unsigned char > &	I,
		bool	delaunay = false
	)

Initialize a zone in image I using mouse click.

Parameters

I

: Image used to select the zone.

delaunay

: Flag used to enable Delaunay triangulation. If true, from the image points selected by the user, a Delaunay triangulation is performed to initialize the zone. A left click select a image point; A right click select the last image point and ends the initialisation stage. In that case at least 3 points need to be selected by the user. If false, the user select directly points as successive triangle corners. Three successive points define a triangle. It is not mandatory that triangles have one edge in common; they can define a discontinued area. A left click select a triangle corner; A right click select the last triangle corner and ends the initialisation stage. The number of points that are selected by the user should be a multiple of 3. For example, to select a zone as two triangles, the user has to left click five times and finish the selection on the sixth corner with a right click.

Definition at line 110 of file vpTemplateTrackerZone.cpp.

initFromPoints()

void vpTemplateTrackerZone::initFromPoints	(	const vpImage< unsigned char > &	I,
		const std::vector< vpImagePoint > &	vip,
		bool	delaunay = false
	)

Initialize the zone using a vector of image points.

Parameters

I	: Image to process.
vip	: Vector of image points used as initialization.
delaunay	: If true, a Delaunay triangulation is perfomed on the vector of image points. This functionality is only available if ViSP is build with OpenCV >2.3 third-party. If false, the vector of image points describe triangles. Its size is then a multiple of 3.

Definition at line 167 of file vpTemplateTrackerZone.cpp.

inZone() [1/4]

bool vpTemplateTrackerZone::inZone	(	const double &	i,
		const double &	j
	)		const

Test if a pixel with coordinates (i,j) is in the zone..

Parameters

i,j	: Coordinates of the pixel to test.

Returns

true if the pixel with coordinates (i,j) is in the zone defined by a set of triangles, false otherwise.

Definition at line 285 of file vpTemplateTrackerZone.cpp.

inZone() [2/4]

bool vpTemplateTrackerZone::inZone	(	const double &	i,
		const double &	j,
		unsigned int &	id_triangle
	)		const

Test if a pixel with coordinates (i,j) is in the zone and returns also the index of the triangle that contains the pixel.

Parameters

i,j	: Coordinates of the pixel to test.
id_triangle	: Index of the triangle that contains the pixel (i,j).

Returns

true if the pixel with coordinates (i,j) is in the zone defined by a set of triangles, false otherwise.

Definition at line 323 of file vpTemplateTrackerZone.cpp.

inZone() [3/4]

bool vpTemplateTrackerZone::inZone	(	const int &	i,
		const int &	j
	)		const

Test if a pixel with coordinates (i,j) is in the zone..

Parameters

i,j	: Coordinates of the pixel to test.

Returns

true if the pixel with coordinates (i,j) is in the zone defined by a set of triangles, false otherwise.

Definition at line 269 of file vpTemplateTrackerZone.cpp.

Referenced by vpTemplateTracker::initTracking().

inZone() [4/4]

bool vpTemplateTrackerZone::inZone	(	const int &	i,
		const int &	j,
		unsigned int &	id_triangle
	)		const

Test if a pixel with coordinates (i,j) is in the zone and returns also the index of the triangle that contains the pixel.

Parameters

i,j	: Coordinates of the pixel to test.
id_triangle	: Index of the triangle that contains the pixel (i,j).

Returns

true if the pixel with coordinates (i,j) is in the zone defined by a set of triangles, false otherwise.

Definition at line 302 of file vpTemplateTrackerZone.cpp.

operator=()

vpTemplateTrackerZone & vpTemplateTrackerZone::operator=

(

const vpTemplateTrackerZone &

z

)

Copy operator.

Definition at line 80 of file vpTemplateTrackerZone.cpp.

Member Data Documentation

max_x

int vpTemplateTrackerZone::max_x

protected

Bounding box parameter.

Definition at line 67 of file vpTemplateTrackerZone.h.

max_y

int vpTemplateTrackerZone::max_y

protected

Bounding box parameter.

Definition at line 68 of file vpTemplateTrackerZone.h.

min_x

int vpTemplateTrackerZone::min_x

protected

Bounding box parameter.

Definition at line 65 of file vpTemplateTrackerZone.h.

min_y

int vpTemplateTrackerZone::min_y

protected

Bounding box parameter.

Definition at line 66 of file vpTemplateTrackerZone.h.

Zone

std::vector<vpTemplateTrackerTriangle> vpTemplateTrackerZone::Zone

protected

Vector of triangles that defines the zone.

Definition at line 64 of file vpTemplateTrackerZone.h.