#include <vpMbtMeLine.h>

Inheritance diagram for vpMbtMeLine:

Collaboration diagram for vpMbtMeLine:

Public Member Functions
	vpMbtMeLine ()

	~vpMbtMeLine ()

void	display (const vpImage< unsigned char > &, vpColor)

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

double	get_a () const

double	get_b () const

double	get_c () const

void	initTracking (const vpImage< unsigned char > &I, const vpImagePoint &ip1, const vpImagePoint &ip2, double rho, double theta)

void	track (const vpImage< unsigned char > &I)

void	updateParameters (const vpImage< unsigned char > &I, double rho, double theta)

void	updateParameters (const vpImage< unsigned char > &I, vpImagePoint ip1, vpImagePoint ip2, double rho, double theta)

void	init ()

void	initTracking (const vpImage< unsigned char > &I)

unsigned int	numberOfSignal ()

unsigned int	totalNumberOfSignal ()

void	display (const vpImage< unsigned char > &I, vpColVector &w, unsigned int &index_w)

void	setDisplay (vpMeSite::vpMeSiteDisplayType select)

int	outOfImage (int i, int j, int half, int rows, int cols)

int	outOfImage (vpImagePoint iP, int half, int rows, int cols)

void	setInitRange (const unsigned int &r)

unsigned int	getInitRange ()

void	setMe (vpMe *me)

vpMe *	getMe ()

void	setMeList (const std::list< vpMeSite > &l)

std::list< vpMeSite > &	getMeList ()

std::list< vpMeSite >	getMeList () const

int	getNbPoints () const

Public Attributes
int	imin

int	imax

int	jmin

int	jmax

double	expecteddensity

std::list< vpMeSite >	list

vpMe *	me

unsigned int	init_range

int	nGoodElement

int	query_range

bool	display_point

vpColVector	p

vpColVector	cP

bool	cPAvailable

Protected Attributes
vpMeSite::vpMeSiteDisplayType	selectDisplay

Detailed Description

Implementation of a line used by the model-based tracker.

Definition at line 62 of file vpMbtMeLine.h.

Constructor & Destructor Documentation

vpMbtMeLine::vpMbtMeLine ( )

vpMbtMeLine::~vpMbtMeLine ( )

Member Function Documentation

void vpMbtMeLine::display	(	const vpImage< unsigned char > &	,
		vpColor
	)

inlinevirtual

Implements vpMeTracker.

Definition at line 80 of file vpMbtMeLine.h.

Referenced by vpMbtDistanceLine::displayMovingEdges(), and vpMbtDistanceCylinder::displayMovingEdges().

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

inlinevirtual

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 from vpMeTracker.

Definition at line 81 of file vpMbtMeLine.h.

References vpMeTracker::display().

void vpMeTracker::display	(	const vpImage< unsigned char > &	I,
		vpColVector &	w,
		unsigned int &	index_w
	)

inherited

Displays the status of moving edge sites

Parameters

I	: The image.
w	: vector
index_w	: index

Definition at line 346 of file vpMeTracker.cpp.

References vpMeTracker::display(), vpMeSite::getState(), vpMeTracker::list, vpMeSite::NO_SUPPRESSION, and vpMeSite::weight.

double vpMbtMeLine::get_a ( ) const

inline

Get the a coefficient of the line corresponding to $i \; cos(\theta) + j \; sin(\theta) - \rho = 0$

Returns: : The a coefficient of the moving edge

Definition at line 88 of file vpMbtMeLine.h.

double vpMbtMeLine::get_b ( ) const

inline

Get the a coefficient of the line corresponding to $i \; cos(\theta) + j \; sin(\theta) - \rho = 0$

Returns: : The b coefficient of the moving edge

Definition at line 95 of file vpMbtMeLine.h.

double vpMbtMeLine::get_c ( ) const

inline

Get the a coefficient of the line corresponding to $i \; cos(\theta) + j \; sin(\theta) - \rho = 0$

Returns: : The c coefficient of the moving edge

Definition at line 102 of file vpMbtMeLine.h.

unsigned int vpMeTracker::getInitRange ( )

inlineinherited

Return the initial range.

Returns: Value of init_range.

Definition at line 133 of file vpMeTracker.h.

vpMe* vpMeTracker::getMe ( )

inlineinherited

Return the moving edges initialisation parameters

Returns: Moving Edges.

Examples:: trackMeCircle.cpp, and trackMeEllipse.cpp.

Definition at line 147 of file vpMeTracker.h.

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

inlineinherited

Return the list of moving edges

Returns: List of Moving Edges.

Definition at line 161 of file vpMeTracker.h.

Referenced by vpMbtDistanceLine::closeToImageBorder(), vpMbtDistanceLine::computeInteractionMatrixError(), vpMbtDistanceCylinder::computeInteractionMatrixError(), vpMbEdgeTracker::computeVVS(), vpMbEdgeTracker::getNbPoints(), vpMbtDistanceLine::initInteractionMatrixError(), vpMbtDistanceCylinder::initInteractionMatrixError(), vpMbEdgeKltTracker::postTrackingMbt(), vpMbEdgeTracker::testTracking(), vpMbEdgeKltTracker::trackFirstLoop(), vpMbtDistanceLine::trackMovingEdge(), vpMbtDistanceCylinder::trackMovingEdge(), vpMbtDistanceLine::updateMovingEdge(), and vpMbtDistanceCylinder::updateMovingEdge().

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

inlineinherited

Definition at line 162 of file vpMeTracker.h.

int vpMeTracker::getNbPoints ( ) const

inlineinherited

Return the number of points that has not been suppressed.

Returns: Number of good points.

Definition at line 169 of file vpMeTracker.h.

void vpMeTracker::init ( void )

inherited

Definition at line 61 of file vpMeTracker.cpp.

References vpTracker::init(), vpMeSite::NONE, vpTracker::p, vpColVector::resize(), and vpMeTracker::selectDisplay.

Referenced by vpMeTracker::vpMeTracker().

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

inherited

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

Exceptions

vpTrackingException::initializationError : Moving edges not initialized.

Definition at line 162 of file vpMeTracker.cpp.

References vpDisplay::displayArrow(), vpMe::getRange(), vpMeSite::getState(), vpColor::green, vpMeSite::i, vpMeSite::i_1, vpMeTracker::init_range, vpTrackingException::initializationError, vpMeSite::j, vpMeSite::j_1, vpMeTracker::list, vpMeTracker::me, vpMeTracker::nGoodElement, vpMeSite::NO_SUPPRESSION, vpImagePoint::set_i(), vpImagePoint::set_j(), vpMe::setRange(), vpMeSite::track(), vpDERROR_TRACE, and vpERROR_TRACE.

Referenced by vpMeEllipse::initTracking(), vpMeLine::initTracking(), vpMeNurbs::initTracking(), vpMeLine::reSample(), and vpMeNurbs::reSample().

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void vpMbtMeLine::initTracking	(	const vpImage< unsigned char > &	I,
		const vpImagePoint &	ip1,
		const vpImagePoint &	ip2,
		double	rho,
		double	theta
	)

Referenced by vpMbtDistanceLine::initMovingEdge(), and vpMbtDistanceCylinder::initMovingEdge().

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unsigned int vpMeTracker::numberOfSignal ( )

inherited

Definition at line 117 of file vpMeTracker.cpp.

References vpMeTracker::list.

Referenced by vpMeLine::leastSquare(), vpMeNurbs::localReSample(), vpMeLine::reSample(), and vpMeNurbs::reSample().

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int vpMeTracker::outOfImage	(	int	i,
		int	j,
		int	half,
		int	rows,
		int	cols
	)

inherited

Definition at line 133 of file vpMeTracker.cpp.

Referenced by vpMeNurbs::localReSample(), vpMeLine::sample(), vpMeNurbs::sample(), vpMeNurbs::seekExtremities(), and vpMeLine::seekExtremities().

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int vpMeTracker::outOfImage	(	vpImagePoint	iP,
		int	half,
		int	rows,
		int	cols
	)

inherited

Definition at line 143 of file vpMeTracker.cpp.

References vpImagePoint::get_i(), vpImagePoint::get_j(), and vpMath::round().

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

inlineinherited

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 108 of file vpMeTracker.h.

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

inlineinherited

Set the initial range.

Parameters

r	: initial range.

Definition at line 126 of file vpMeTracker.h.

Referenced by vpMbtDistanceLine::initMovingEdge(), and vpMbtDistanceCylinder::initMovingEdge().

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void vpMeTracker::setMe ( vpMe * me )

inlineinherited

Set the moving edges initialisation parameters

Parameters

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 140 of file vpMeTracker.h.

Referenced by vpMbtDistanceLine::initMovingEdge(), vpMbtDistanceCylinder::initMovingEdge(), vpMbtDistanceLine::setMovingEdge(), and vpMbtDistanceCylinder::setMovingEdge().

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void vpMeTracker::setMeList ( const std::list< vpMeSite > & l )

inlineinherited

Set the list of moving edges

Parameters

l	: list of Moving Edges.

Definition at line 154 of file vpMeTracker.h.

unsigned int vpMeTracker::totalNumberOfSignal ( )

inherited

Definition at line 127 of file vpMeTracker.cpp.

References vpMeTracker::list.

void vpMbtMeLine::track ( const vpImage< unsigned char > & I )

Referenced by vpMbtDistanceLine::trackMovingEdge(), and vpMbtDistanceCylinder::trackMovingEdge().

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void vpMbtMeLine::updateParameters	(	const vpImage< unsigned char > &	I,
		double	rho,
		double	theta
	)

Referenced by vpMbtDistanceLine::updateMovingEdge(), and vpMbtDistanceCylinder::updateMovingEdge().

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void vpMbtMeLine::updateParameters	(	const vpImage< unsigned char > &	I,
		vpImagePoint	ip1,
		vpImagePoint	ip2,
		double	rho,
		double	theta
	)

Member Data Documentation

vpColVector vpTracker::cP

inherited

Feature coordinates expressed in the camera frame cP.

Examples:: servoSimuPoint3DCamVelocity.cpp.

Definition at line 82 of file vpTracker.h.

Referenced by vpFeaturePoint3D::buildFrom(), vpSphere::changeFrame(), vpCircle::changeFrame(), vpCylinder::changeFrame(), vpLine::changeFrame(), vpFeatureBuilder::create(), vpCircle::init(), vpSphere::init(), vpLine::init(), vpPoint::init(), vpCylinder::init(), vpTracker::operator=(), vpPoint::operator=(), vpForwardProjection::print(), vpPose::printPoint(), vpForwardProjection::project(), vpSphere::projection(), vpCircle::projection(), vpCylinder::projection(), and vpLine::projection().

bool vpTracker::cPAvailable

inherited

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

Definition at line 88 of file vpTracker.h.

Referenced by vpTracker::init(), vpTracker::operator=(), and vpPoint::operator=().

bool vpMeTracker::display_point

inherited

Definition at line 174 of file vpMeTracker.h.

Referenced by vpMeTracker::vpMeTracker().

double vpMbtMeLine::expecteddensity

Definition at line 74 of file vpMbtMeLine.h.

Referenced by vpMbEdgeTracker::testTracking().

int vpMbtMeLine::imax

Definition at line 72 of file vpMbtMeLine.h.

Referenced by vpMbtDistanceLine::initMovingEdge(), vpMbtDistanceCylinder::initMovingEdge(), vpMbtDistanceLine::updateMovingEdge(), and vpMbtDistanceCylinder::updateMovingEdge().

int vpMbtMeLine::imin

Definition at line 72 of file vpMbtMeLine.h.

Referenced by vpMbtDistanceLine::initMovingEdge(), vpMbtDistanceCylinder::initMovingEdge(), vpMbtDistanceLine::updateMovingEdge(), and vpMbtDistanceCylinder::updateMovingEdge().

unsigned int vpMeTracker::init_range

inherited

Definition at line 83 of file vpMeTracker.h.

Referenced by vpMeTracker::initTracking(), and vpMeTracker::vpMeTracker().

int vpMbtMeLine::jmax

Definition at line 73 of file vpMbtMeLine.h.

Referenced by vpMbtDistanceLine::initMovingEdge(), vpMbtDistanceCylinder::initMovingEdge(), vpMbtDistanceLine::updateMovingEdge(), and vpMbtDistanceCylinder::updateMovingEdge().

int vpMbtMeLine::jmin

Definition at line 73 of file vpMbtMeLine.h.

Referenced by vpMbtDistanceLine::initMovingEdge(), vpMbtDistanceCylinder::initMovingEdge(), vpMbtDistanceLine::updateMovingEdge(), and vpMbtDistanceCylinder::updateMovingEdge().

std::list<vpMeSite> vpMeTracker::list

inherited

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

Definition at line 80 of file vpMeTracker.h.

Referenced by vpMeTracker::display(), vpMeLine::display(), vpMeTracker::initTracking(), vpMeLine::leastSquare(), vpMeNurbs::localReSample(), vpMeTracker::numberOfSignal(), vpMeTracker::operator=(), vpMeLine::sample(), vpMeNurbs::sample(), vpMeLine::seekExtremities(), vpMeNurbs::seekExtremities(), vpMeLine::setExtremities(), vpMeLine::suppressPoints(), vpMeNurbs::suppressPoints(), vpMeNurbs::supressNearPoints(), vpMeTracker::totalNumberOfSignal(), vpMeTracker::track(), vpMeNurbs::track(), vpMeLine::updateDelta(), vpMeNurbs::updateDelta(), vpMeTracker::vpMeTracker(), vpMeEllipse::~vpMeEllipse(), vpMeLine::~vpMeLine(), and vpMeTracker::~vpMeTracker().

vpMe* vpMeTracker::me

inherited

Moving edges initialisation parameters.

Definition at line 82 of file vpMeTracker.h.

Referenced by vpMeTracker::initTracking(), vpMeTracker::operator=(), vpMeLine::reSample(), vpMeLine::sample(), vpMeLine::seekExtremities(), vpMeTracker::track(), and vpMeTracker::vpMeTracker().

int vpMeTracker::nGoodElement

inherited

Definition at line 84 of file vpMeTracker.h.

Referenced by vpMeTracker::initTracking(), vpMeTracker::track(), and vpMeTracker::vpMeTracker().

vpColVector vpTracker::p

inherited

Feature coordinates expressed in the image plane p. They correspond to 2D normalized coordinates expressed in meters.

Definition at line 78 of file vpTracker.h.

Referenced by vpFeatureBuilder::create(), vpPoint::display(), vpSphere::display(), vpProjectionDisplay::display(), vpMeTracker::display(), vpCircle::display(), vpCylinder::display(), vpLine::display(), vpProjectionDisplay::displayCamera(), vpDisplay::displayFrame(), vpPose::displayModel(), vpCircle::init(), vpSphere::init(), vpMeTracker::init(), vpLine::init(), vpPoint::init(), vpCylinder::init(), vpMeLine::leastSquare(), vpTracker::operator=(), vpPoint::operator=(), vpForwardProjection::print(), vpPose::printPoint(), vpForwardProjection::project(), vpSphere::projection(), vpCircle::projection(), vpCylinder::projection(), vpLine::projection(), and vpMeLine::updateDelta().

int vpMeTracker::query_range

inherited

Definition at line 173 of file vpMeTracker.h.

Referenced by vpMeTracker::vpMeTracker().

vpMeSite::vpMeSiteDisplayType vpMeTracker::selectDisplay

protectedinherited

Definition at line 87 of file vpMeTracker.h.

Referenced by vpMeTracker::init(), vpMeNurbs::localReSample(), vpMeTracker::operator=(), vpMeLine::sample(), vpMeNurbs::sample(), vpMeNurbs::seekExtremities(), vpMeLine::seekExtremities(), and vpMeTracker::vpMeTracker().

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation