vpMeTracker Class Reference

#include <vpMeTracker.h>

Inheritance diagram for vpMeTracker:

Public Member Functions
	vpMeTracker ()
	vpMeTracker (const vpMeTracker &meTracker)
virtual	~vpMeTracker ()
void	init ()
void	initTracking (const vpImage< unsigned char > &I)
void	track (const vpImage< unsigned char > &I)
unsigned int	numberOfSignal ()
unsigned int	totalNumberOfSignal ()
virtual void	display (const vpImage< unsigned char > &I, vpColor col)=0
virtual void	display (const vpImage< unsigned char > &I)
virtual void	display (const vpImage< vpRGBa > &I)
void	display (const vpImage< unsigned char > &I, vpColVector &w, unsigned int &index_w)
void	setDisplay (vpMeSite::vpMeSiteDisplayType select)
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	setInitRange (const unsigned int &r)
unsigned int	getInitRange ()
virtual void	setMask (const vpImage< bool > &mask)
void	setMe (vpMe *p_me)
vpMe *	getMe ()
void	setMeList (const std::list< vpMeSite > &l)
std::list< vpMeSite > &	getMeList ()
std::list< vpMeSite >	getMeList () const
int	getNbPoints () const

Static Public Member Functions
static bool	inMask (const vpImage< bool > *mask, unsigned int i, unsigned int j)

Public Attributes
std::list< vpMeSite >	list
vpMe *	me
unsigned int	init_range
int	nGoodElement
const vpImage< bool > *	m_mask
int	query_range
bool	display_point
vpColVector	p
vpColVector	cP
bool	cPAvailable

Protected Attributes
vpMeSite::vpMeSiteDisplayType	selectDisplay

Detailed Description

Contains abstract elements for a Distance to Feature type feature.

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

Definition at line 64 of file vpMeTracker.h.

Constructor & Destructor Documentation

vpMeTracker() [1/2]

vpMeTracker::vpMeTracker

(

)

Definition at line 61 of file vpMeTracker.cpp.

References init().

vpMeTracker() [2/2]

vpMeTracker::vpMeTracker

(

const vpMeTracker &

meTracker

)

Definition at line 71 of file vpMeTracker.cpp.

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

~vpMeTracker()

vpMeTracker::~vpMeTracker ( )

virtual

Definition at line 101 of file vpMeTracker.cpp.

References reset().

Member Function Documentation

display() [1/4]

void vpMeTracker::display ( const vpImage< unsigned char > &  I )

virtual

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 (constrast 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.

Reimplemented in vpMeEllipse.

Definition at line 325 of file vpMeTracker.cpp.

display() [2/4]

virtual void vpMeTracker::display ( const vpImage< unsigned char > &  I, vpColor  col  )

pure virtual

Implemented in vpMeNurbs, vpMeLine, and vpMeEllipse.

Referenced by vpMeEllipse::initTracking().

display() [3/4]

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 353 of file vpMeTracker.cpp.

display() [4/4]

void vpMeTracker::display ( const vpImage< vpRGBa > &  I )

virtual

Definition at line 339 of file vpMeTracker.cpp.

References vpMeSite::display(), and list.

getInitRange()

unsigned int vpMeTracker::getInitRange ( )

inline

Return the initial range.

Returns

Value of init_range.

Definition at line 130 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 151 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 165 of file vpMeTracker.h.

getMeList() [2/2]

std::list<vpMeSite> vpMeTracker::getMeList ( ) const

inline

Definition at line 166 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 173 of file vpMeTracker.h.

init()

void vpMeTracker::init

(

void

)

Definition at line 54 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 168 of file vpMeTracker.cpp.

Referenced by vpMeEllipse::initTracking().

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 NULL 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 139 of file vpMeTracker.cpp.

Referenced by vpMbtFaceDepthDense::computeDesiredFeatures(), and vpMbtFaceDepthNormal::computeDesiredFeatures().

numberOfSignal()

unsigned int vpMeTracker::numberOfSignal

(

)

Definition at line 119 of file vpMeTracker.cpp.

References list.

operator=()

vpMeTracker & vpMeTracker::operator=

(

vpMeTracker &

f

)

Definition at line 103 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
	)

Definition at line 154 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
	)

Definition at line 149 of file vpMeTracker.cpp.

reset()

void vpMeTracker::reset

(

)

Reset the tracker by removing all the moving edges.

Definition at line 95 of file vpMeTracker.cpp.

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 vpMeNurbs, and vpMeLine.

setDisplay()

void vpMeTracker::setDisplay ( vpMeSite::vpMeSiteDisplayType  select )

inline

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 104 of file vpMeTracker.h.

setInitRange()

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

inline

Set the initial range.

Parameters

r	: initial range.

Definition at line 123 of file vpMeTracker.h.

setMask()

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

inlinevirtual

Set the mask

Parameters

mask

: Mask.

Definition at line 137 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 144 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 158 of file vpMeTracker.h.

totalNumberOfSignal()

unsigned int vpMeTracker::totalNumberOfSignal

(

)

Definition at line 128 of file vpMeTracker.cpp.

References list.

track()

void vpMeTracker::track

(

const vpImage< unsigned char > &

I

)

Track sampled pixels.

Track moving-edges.

Parameters

I

: Image.

Exceptions

vpTrackingException::initializationError

: Moving edges not initialized.

Definition at line 249 of file vpMeTracker.cpp.

Member Data Documentation

cP

vpColVector vpTracker::cP

inherited

Feature coordinates expressed in the camera frame cP.

Definition at line 74 of file vpTracker.h.

Referenced by vpCircle::init(), vpSphere::init(), vpCylinder::init(), vpTracker::operator=(), and vpPose::printPoint().

cPAvailable

bool vpTracker::cPAvailable

inherited

Flag used to indicate if the feature parameters cP expressed in the camera frame are available.

Definition at line 80 of file vpTracker.h.

Referenced by vpTracker::operator=().

display_point

bool vpMeTracker::display_point

Definition at line 178 of file vpMeTracker.h.

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

init_range

unsigned int vpMeTracker::init_range

Definition at line 76 of file vpMeTracker.h.

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

list

std::list<vpMeSite> vpMeTracker::list

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

Definition at line 73 of file vpMeTracker.h.

Referenced by display(), numberOfSignal(), operator=(), totalNumberOfSignal(), and vpMeTracker().

m_mask

const vpImage<bool>* vpMeTracker::m_mask

Mask used to disable tracking on a part of image.

Definition at line 79 of file vpMeTracker.h.

me

vpMe* vpMeTracker::me

Moving edges initialisation parameters.

Definition at line 75 of file vpMeTracker.h.

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

nGoodElement

int vpMeTracker::nGoodElement

Definition at line 77 of file vpMeTracker.h.

Referenced by operator=(), 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 70 of file vpTracker.h.

Referenced by vpCircle::display(), vpSphere::display(), vpProjectionDisplay::display(), vpProjectionDisplay::displayCamera(), vpCircle::init(), vpSphere::init(), init(), vpCylinder::init(), vpTracker::operator=(), and vpPose::printPoint().

query_range

int vpMeTracker::query_range

Definition at line 177 of file vpMeTracker.h.

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

selectDisplay

vpMeSite::vpMeSiteDisplayType vpMeTracker::selectDisplay

protected

Definition at line 82 of file vpMeTracker.h.

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