#include <vpMeLine.h>

Inheritance diagram for vpMeLine:

Public Member Functions
	vpMeLine ()
	vpMeLine (const vpMeLine &meline)
virtual	~vpMeLine () VP_OVERRIDE
vpMeLine &	operator= (const vpMeLine &meline)
void	display (const vpImage< unsigned char > &I, const vpColor &color, unsigned int thickness=1)
void	display (const vpImage< vpRGBa > &I, const vpColor &color, unsigned int thickness=1)
vpColVector	get_ABC () const
void	getExtremities (vpImagePoint &ip1, vpImagePoint &ip2) const
double	getRho () const
vpColVector	getRhoTheta () const
double	getTheta () const
void	initTracking (const vpImage< unsigned char > &I)
void	initTracking (const vpImage< unsigned char > &I, const vpImagePoint &ip1, const vpImagePoint &ip2)
void	track (const vpImage< unsigned char > &I)
Public Member Functions Inherited from vpTracker
vpColVector	get_p () const
vpColVector	get_cP () const

Static Public Member Functions
static void	displayLine (const vpImage< unsigned char > &I, const vpMeSite &PExt1, const vpMeSite &PExt2, const double &A, const double &B, const double &C, const vpColor &color=vpColor::green, unsigned int thickness=1)
static void	displayLine (const vpImage< vpRGBa > &I, const vpMeSite &PExt1, const vpMeSite &PExt2, const double &A, const double &B, const double &C, const vpColor &color=vpColor::green, unsigned int thickness=1)
static void	displayLine (const vpImage< unsigned char > &I, const vpMeSite &PExt1, const vpMeSite &PExt2, const std::list< vpMeSite > &site_list, const double &A, const double &B, const double &C, const vpColor &color=vpColor::green, unsigned int thickness=1)
static void	displayLine (const vpImage< vpRGBa > &I, const vpMeSite &PExt1, const vpMeSite &PExt2, const std::list< vpMeSite > &site_list, const double &A, const double &B, const double &C, const vpColor &color=vpColor::green, unsigned int thickness=1)
static bool	intersection (const vpMeLine &line1, const vpMeLine &line2, vpImagePoint &iP)
static void	project (double a, double b, double c, const vpMeSite &P, vpImagePoint &iP)
Deprecated functions
static VP_DEPRECATED bool	inMask (const vpImage< bool > *mask, unsigned int i, unsigned int j)

Public Attributes
Public Attributes Inherited from vpTracker
vpColVector	p
vpColVector	cP
bool	cPAvailable

Protected Member Functions
void	computeDelta (double &delta, double i1, double j1, double i2, double j2)
void	computeRhoTheta ()
void	leastSquare (const vpImage< unsigned char > &I)
void	normalizeAngle (double &delta)
unsigned int	plugHoles (const vpImage< unsigned char > &I)
void	reSample (const vpImage< unsigned char > &I)
virtual void	sample (const vpImage< unsigned char > &I, bool doNotTrack=false) VP_OVERRIDE
virtual unsigned int	seekExtremities (const vpImage< unsigned char > &I)
void	setExtremities ()
void	updateDelta ()

Protected Attributes
vpMeSite	m_PExt [2]
double	m_rho
double	m_theta
double	m_delta
int	m_sign
double	m_a
double	m_b
double	m_c
Protected Attributes Inherited from vpMeTracker
std::list< vpMeSite >	m_meList
vpMe *	m_me
int	m_nGoodElement
const vpImage< bool > *	m_mask
const vpImage< bool > *	m_maskCandidates
vpMeSite::vpMeSiteDisplayType	m_selectDisplay

Deprecated functions
VP_DEPRECATED void	setRhoSignFromIntensity (bool unused)
VP_DEPRECATED void	computeRhoSignFromIntensity (bool unused)
VP_DEPRECATED double	getA () const
VP_DEPRECATED double	getB () const
VP_DEPRECATED double	getC () const
VP_DEPRECATED void	getEquationParam (double &A, double &B, double &C) const
static VP_DEPRECATED void	display (const vpImage< unsigned char > &I, const vpMeSite &PExt1, const vpMeSite &PExt2, const double &A, const double &B, const double &C, const vpColor &color=vpColor::green, unsigned int thickness=1)
static VP_DEPRECATED void	display (const vpImage< vpRGBa > &I, const vpMeSite &PExt1, const vpMeSite &PExt2, const double &A, const double &B, const double &C, const vpColor &color=vpColor::green, unsigned int thickness=1)
static VP_DEPRECATED void	display (const vpImage< unsigned char > &I, const vpMeSite &PExt1, const vpMeSite &PExt2, const std::list< vpMeSite > &site_list, const double &A, const double &B, const double &C, const vpColor &color=vpColor::green, unsigned int thickness=1)
static VP_DEPRECATED void	display (const vpImage< vpRGBa > &I, const vpMeSite &PExt1, const vpMeSite &PExt2, const std::list< vpMeSite > &site_list, const double &A, const double &B, const double &C, const vpColor &color=vpColor::green, unsigned int thickness=1)

Public Member Functions Inherited from vpMeTracker
void	display (const vpImage< unsigned char > &I)
void	display (const vpImage< vpRGBa > &I)
void	display (const vpImage< unsigned char > &I, vpColVector &w, unsigned int &index_w)
vpMe *	getMe ()
std::list< vpMeSite > &	getMeList ()
std::list< vpMeSite >	getMeList () const
int	getNbPoints () const
void	init ()
unsigned int	numberOfSignal ()
bool	outOfImage (int i, int j, int border, int nrows, int ncols)
bool	outOfImage (const vpImagePoint &iP, int border, int nrows, int ncols)
void	reset ()
void	setDisplay (vpMeSite::vpMeSiteDisplayType select)
virtual void	setMask (const vpImage< bool > &mask)
virtual void	setMaskCandidates (const vpImage< bool > *maskCandidates)
void	setMe (vpMe *me)
void	setMeList (const std::list< vpMeSite > &meList)
unsigned int	totalNumberOfSignal ()
static bool	inRoiMask (const vpImage< bool > *mask, unsigned int i, unsigned int j)
static bool	inMeMaskCandidates (const vpImage< bool > *meMaskCandidates, unsigned int i, unsigned int j)

Detailed Description

Class that tracks in an image a line moving edges.

In this class the line is defined by its equation in the image plane. Two kinds of parametrization are available to describe a 2D line. The first one corresponds to the following equation

$\‍[ ai + bj + c = 0 \‍]$

where and are the coordinates of the points belonging to the line. The line features are .

The second way to write the line equation is to consider polar coordinates

$\‍[ i \; cos(\theta) + j \; sin(\theta) - \rho = 0 \‍]$

where and are still the coordinates of the points belonging to the line. But now the line features are $(\rho, \theta)$ . The computation of $\rho$ and $\theta$ is easy thanks to .

$\‍[ \theta = arctan(b/a) \‍]$

$\‍[ \rho = -c/\sqrt{a^2+b^2} \‍]$

The value of $\theta$ is between $-\pi$ and $\pi$ . And the value of $\rho$ can be positive or negative. The conventions to find the right values of the two features are illustrated in the following pictures.

The angle $\theta$ is computed thanks to the direction of the arrow. The arrow points to the side of the line which is darker.

Tutorials & Examples

Tutorials

The example below available in tutorial-me-line-tracker.cpp and described in Tutorial: Moving-edges tracking shows how to use this class.

#include <iostream>
 
#include <visp3/core/vpConfig.h>
// If openCV available, priority to OpenCV capture, otherwise the user has to modify the code uncommenting/commenting
// one of the following lines
#if defined(VISP_HAVE_OPENCV) && \
    (((VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI)) || \
     ((VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO)))
#undef VISP_HAVE_V4L2
#undef VISP_HAVE_DC1394
#undef VISP_HAVE_CMU1394
#undef VISP_HAVE_FLYCAPTURE
#undef VISP_HAVE_REALSENSE2
// #undef HAVE_OPENCV_HIGHGUI
// #undef HAVE_OPENCV_VIDEOIO
#else
// Use the first grabber that is available. Uncomment/comment the following lines to disable usage of a grabber
// #undef VISP_HAVE_V4L2
// #undef VISP_HAVE_DC1394
// #undef VISP_HAVE_CMU1394
// #undef VISP_HAVE_FLYCAPTURE
// #undef VISP_HAVE_REALSENSE2
#undef HAVE_OPENCV_HIGHGUI
#undef HAVE_OPENCV_VIDEOIO
#endif
#if (defined(VISP_HAVE_V4L2) || defined(VISP_HAVE_DC1394) || defined(VISP_HAVE_CMU1394) || \
   defined(VISP_HAVE_FLYCAPTURE) || defined(VISP_HAVE_REALSENSE2) || defined(VISP_HAVE_OPENCV) && \
   (((VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI)) || \
    ((VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO))) && \
    ((VISP_HAVE_OPENCV_VERSION < 0x050000) && defined(HAVE_OPENCV_CALIB3D) && defined(HAVE_OPENCV_FEATURES2D)) || \
    ((VISP_HAVE_OPENCV_VERSION >= 0x050000) && defined(HAVE_OPENCV_3D) && defined(HAVE_OPENCV_FEATURES)))
 
#ifdef VISP_HAVE_MODULE_SENSOR
#include <visp3/sensor/vp1394CMUGrabber.h>
#include <visp3/sensor/vp1394TwoGrabber.h>
#include <visp3/sensor/vpFlyCaptureGrabber.h>
#include <visp3/sensor/vpRealSense2.h>
#include <visp3/sensor/vpV4l2Grabber.h>
#if (VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI)
#include <opencv2/highgui/highgui.hpp> // for cv::VideoCapture
#elif (VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO)
#include <opencv2/videoio/videoio.hpp> // for cv::VideoCapture
#endif
#endif
#include <visp3/gui/vpDisplayFactory.h>
#include <visp3/me/vpMeLine.h>
 
int main(int argc, char **argv)
{
#ifdef ENABLE_VISP_NAMESPACE
  using namespace VISP_NAMESPACE_NAME;
#endif
 
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
  std::shared_ptr<vpDisplay> display;
#else
  vpDisplay *display = nullptr;
#endif
  int opt_me_range = 10;
  int opt_me_sample_step = 5;
  int opt_me_threshold = 20; // Value in [0 ; 255]
 
  for (int i = 1; i < argc; i++) {
    if (std::string(argv[i]) == "--me-range" && i + 1 < argc) {
      opt_me_range = std::atoi(argv[++i]);
    }
    else if (std::string(argv[i]) == "--me-sample-step" && i + 1 < argc) {
      opt_me_sample_step = std::atoi(argv[++i]);
    }
    else if (std::string(argv[i]) == "--me-threshold" && i + 1 < argc) {
      opt_me_threshold = std::atoi(argv[++i]);
    }
    else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
      std::cout << "\nUsage: " << argv[0]
        << " [--me-range <range>]"
        << " [--me-sample-step <sample step>]"
        << " [--me-threshold <threshold>]"
        << " [--help] [-h]\n"
        << std::endl;
      return EXIT_SUCCESS;
    }
    else {
      std::cout << "\nError: wrong parameter " << argv[i] << std::endl;
      return EXIT_FAILURE;
    }
  }
 
  try {
    vpImage<unsigned char> I;
    int opt_device = 0; // For OpenCV and V4l2 grabber to set the camera device
#if defined(VISP_HAVE_V4L2)
    vpV4l2Grabber g;
    std::ostringstream device;
    device << "/dev/video" << opt_device;
    std::cout << "Use Video 4 Linux grabber on device " << device.str() << std::endl;
    g.setDevice(device.str());
    g.setScale(1);
    g.open(I);
#elif defined(VISP_HAVE_DC1394)
    (void)opt_device;         // To avoid non used warning
    std::cout << "Use DC1394 grabber" << std::endl;
    vp1394TwoGrabber g;
    g.open(I);
#elif defined(VISP_HAVE_CMU1394)
    (void)opt_device; // To avoid non used warning
    std::cout << "Use CMU1394 grabber" << std::endl;
    vp1394CMUGrabber g;
    g.open(I);
#elif defined(VISP_HAVE_FLYCAPTURE)
    (void)opt_device; // To avoid non used warning
    std::cout << "Use FlyCapture grabber" << std::endl;
    vpFlyCaptureGrabber g;
    g.open(I);
#elif defined(VISP_HAVE_REALSENSE2)
    (void)opt_device; // To avoid non used warning
    std::cout << "Use Realsense 2 grabber" << std::endl;
    vpRealSense2 g;
    rs2::config config;
    config.disable_stream(RS2_STREAM_DEPTH);
    config.disable_stream(RS2_STREAM_INFRARED);
    config.enable_stream(RS2_STREAM_COLOR, 640, 480, RS2_FORMAT_RGBA8, 30);
    g.open(config);
    g.acquire(I);
#elif defined(VISP_HAVE_OPENCV) && \
    (((VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI)) || \
     ((VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO)))
    std::cout << "Use OpenCV grabber on device " << opt_device << std::endl;
    cv::VideoCapture g(opt_device); // Open the default camera
    if (!g.isOpened()) {            // Check if we succeeded
      std::cout << "Failed to open the camera" << std::endl;
      return EXIT_FAILURE;
    }
    cv::Mat frame;
    int i = 0;
    while ((i++ < 20) && !g.read(frame)) {
    } // warm up camera by skiping unread frames
    g >> frame; // get a new frame from camera
    vpImageConvert::convert(frame, I);
#endif
#if defined(VISP_HAVE_V4L2) || defined(VISP_HAVE_DC1394) || defined(VISP_HAVE_CMU1394) || defined(VISP_HAVE_FLYCAPTURE) || defined(VISP_HAVE_REALSENSE2)
    g.acquire(I);
#elif defined(VISP_HAVE_OPENCV) && \
    (((VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI)) || \
     ((VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO)))
    g >> frame; // get a new frame from camera
    vpImageConvert::convert(frame, I);
#endif
#if defined(VISP_HAVE_DISPLAY)
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
    display = vpDisplayFactory::createDisplay(I, -1, -1, "Camera view");
#else
    display = vpDisplayFactory::allocateDisplay(I, -1, -1, "Camera view");
#endif
#else
    std::cout << "No image viewer is available..." << std::endl;
#endif
    vpDisplay::display(I);
    vpDisplay::flush(I);
    vpMe me;
    me.setRange(opt_me_range);
    me.setLikelihoodThresholdType(vpMe::NORMALIZED_THRESHOLD);
    me.setThreshold(opt_me_threshold);
    me.setSampleStep(opt_me_sample_step);
 
    std::cout << "Moving-edges settings" << std::endl;
    me.print();
    vpMeLine line;
    line.setMe(&me);
    line.setDisplay(vpMeSite::RANGE_RESULT);
    line.initTracking(I);
    bool quit = false;
    while (!quit) {
#if defined(VISP_HAVE_V4L2) || defined(VISP_HAVE_DC1394) || defined(VISP_HAVE_CMU1394) || defined(VISP_HAVE_FLYCAPTURE) || defined(VISP_HAVE_REALSENSE2)
      g.acquire(I);
#elif defined(VISP_HAVE_OPENCV) && \
    (((VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI)) || \
     ((VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO)))
      g >> frame;
      vpImageConvert::convert(frame, I);
#endif
      vpDisplay::display(I);
      vpDisplay::displayText(I, 20, 20, "Click to quit", vpColor::red);
      line.track(I);
      line.display(I, vpColor::red);
      if (vpDisplay::getClick(I, false)) {
        quit = true;
      }
      vpDisplay::flush(I);
    }
  }
  catch (const vpException &e) {
    std::cout << "Catch an exception: " << e << std::endl;
  }
#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
  if (display != nullptr) {
    delete display;
  }
#endif
}
 
#else
 
int main()
{
#if defined(VISP_HAVE_OPENCV)
  std::cout << "Install a 3rd party dedicated to frame grabbing (dc1394, cmu1394, v4l2, OpenCV, FlyCapture, "
    << "Realsense2), configure and build ViSP again to use this tutorial."
    << std::endl;
#else
  std::cout << "Install OpenCV 3rd party, configure and build ViSP again to use this tutorial." << std::endl;
#endif
  return EXIT_SUCCESS;
}
#endif

The code below shows how to use this class.

#include <visp3/core/vpConfig.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpImagePoint.h>
#include <visp3/me/vpMeLine.h>
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
int main()
{
  vpImage<unsigned char> I(240, 320);
 
  // Fill the image with a black rectangle
  I = 0u;
  for (int i = 100; i < 180; i ++) {
    for (int j = 120; j < 250; j ++) {
      I[i][j] = 255;
    }
  }
 
  // Set the moving-edges tracker parameters
  vpMe me;
  me.setRange(25);
  me.setLikelihoodThresholdType(vpMe::NORMALIZED_THRESHOLD);
  me.setThreshold(20);
  me.setSampleStep(10);
 
  // Initialize the moving-edges line tracker parameters
  vpMeLine line;
  line.setMe(&me);
 
  // Initialize the location of the vertical line to track
  vpImagePoint ip1, ip2; // Two points belonging to the line to track
  ip1.set_i( 120 );
  ip1.set_j( 119 );
  ip2.set_i( 170 );
  ip2.set_j( 122 );
 
  line.initTracking(I, ip1, ip2);
 
  while ( 1 )
  {
    // ... Here the code to read or grab the next image.
 
    // Track the line.
    line.track(I);
  }
  return 0;
}

Note: It is possible to display the line as an overlay. For that you must use the display function of the class vpMeLine.

Examples: servoAfma62DhalfCamVelocity.cpp, servoAfma6Line2DCamVelocity.cpp, trackMeLine.cpp, and tutorial-me-line-tracker.cpp.

Definition at line 156 of file vpMeLine.h.

Constructor & Destructor Documentation

◆ vpMeLine() [1/2]

vpMeLine::vpMeLine ( )

Basic constructor that calls the constructor of the class vpMeTracker.

Definition at line 81 of file vpMeLine.cpp.

References m_a, m_b, m_c, m_delta, m_rho, m_sign, and m_theta.

Referenced by intersection(), operator=(), and vpMeLine().

◆ vpMeLine() [2/2]

vpMeLine::vpMeLine ( const vpMeLine & meline )

Copy constructor.

Definition at line 85 of file vpMeLine.cpp.

References vpMeLine(), and vpMeTracker::vpMeTracker().

◆ ~vpMeLine()

vpMeLine::~vpMeLine ( )

virtual

Destructor.

Definition at line 90 of file vpMeLine.cpp.

References vpMeTracker::m_meList.

Member Function Documentation

◆ computeDelta()

void vpMeLine::computeDelta	(	double &	delta,
		double	i1,
		double	j1,
		double	i2,
		double	j2 )

protected

References computeRhoTheta(), and leastSquare().

◆ computeRhoSignFromIntensity()

VP_DEPRECATED void vpMeLine::computeRhoSignFromIntensity ( bool unused )

inline

Deprecated: This method is deprecated and should no more be used. Instead of computing the sign of rho from the intensity of the middle point of the line, the algorithm was modified to consider all the points to be more robust to occlusion of the middle point.

This method allows to turn off the computation of the sign of the rho attribute based on the intensity near the middle point of the line. This is usually done to distinguish between a black/white and a white/black edge but it may be source of problem (ex. for a servoing example) when this point can be occluded.

Parameters

unused : This parameter is unused.

Definition at line 515 of file vpMeLine.h.

◆ computeRhoTheta()

void vpMeLine::computeRhoTheta ( )

protected

Compute the two parameters $(\rho, \theta)$ of the line in the (i,j) frame using all the MEs for disambiguating.

Select (rho,theta) from contrast between (rho,theta) and (-rho,theta +/- pi)

Definition at line 653 of file vpMeLine.cpp.

References vpMeSite::getIndex(), vpMeSite::getState(), m_a, m_b, m_c, vpMeSite::m_mask_sign, vpMeTracker::m_meList, m_rho, m_theta, vpMeSite::NO_SUPPRESSION, and vpMath::rad().

Referenced by computeDelta(), and track().

◆ display() [1/9]

void vpMeLine::display	(	const vpImage< unsigned char > &	I,
		const vpColor &	color,
		unsigned int	thickness = 1 )

Display me line.

Warning: To effectively display the line a call to vpDisplay::flush() is needed.

Parameters

I	: Image in which the line appears.
color	: Color of the displayed line. Note that a moving edge that is considered as an outlier is displayed in green.
thickness	: Drawings thickness.

Examples: servoAfma62DhalfCamVelocity.cpp, servoAfma6Line2DCamVelocity.cpp, trackMeLine.cpp, and tutorial-me-line-tracker.cpp.

Definition at line 177 of file vpMeLine.cpp.

References displayLine(), m_a, m_b, m_c, vpMeTracker::m_meList, and m_PExt.

Referenced by track().

◆ display() [2/9]

void vpMeLine::display	(	const vpImage< unsigned char > &	I,
		const vpMeSite &	PExt1,
		const vpMeSite &	PExt2,
		const double &	A,
		const double &	B,
		const double &	C,
		const vpColor &	color = vpColor::green,
		unsigned int	thickness = 1 )

static

Deprecated: Use rather displayLine().

Deprecated: This static function is deprecated. You should rather use vpMeLine::displayLine().

Display of a moving line thanks to its equation parameters and its extremities.

Parameters

I	: The image used as background.
PExt1	: First extremity
PExt2	: Second extremity
A	: Parameter a of the line equation ai + bj + c = 0
B	: Parameter b of the line equation ai + bj + c = 0
C	: Parameter c of the line equation ai + bj + c = 0
color	: Color used to display the line.
thickness	: Thickness of the line.

Definition at line 752 of file vpMeLine.cpp.

References displayLine().

◆ display() [3/9]

void vpMeLine::display	(	const vpImage< unsigned char > &	I,
		const vpMeSite &	PExt1,
		const vpMeSite &	PExt2,
		const std::list< vpMeSite > &	site_list,
		const double &	A,
		const double &	B,
		const double &	C,
		const vpColor &	color = vpColor::green,
		unsigned int	thickness = 1 )

static

Deprecated: Use rather displayLine().

Deprecated: This static function is deprecated. You should rather use vpMeLine::displayLine().

Display of a moving line thanks to its equation parameters and its extremities with all the site list.

Parameters

I	: The image used as background.
PExt1	: First extremity
PExt2	: Second extremity
site_list	: vpMeSite list
A	: Parameter a of the line equation ai + bj + c = 0
B	: Parameter b of the line equation ai + bj + c = 0
C	: Parameter c of the line equation ai + bj + c = 0
color	: Color used to display the line.
thickness	: Thickness of the line.

Definition at line 793 of file vpMeLine.cpp.

References displayLine().

◆ display() [4/9]

void vpMeLine::display	(	const vpImage< vpRGBa > &	I,
		const vpColor &	color,
		unsigned int	thickness = 1 )

Display me line.

Warning: To effectively display the line a call to vpDisplay::flush() is needed.

Parameters

I	: Image in which the line appears.
color	: Color of the displayed line. Note that a moving edge that is considered as an outlier is displayed in green.
thickness	: Drawings thickness.

Definition at line 182 of file vpMeLine.cpp.

References displayLine(), m_a, m_b, m_c, vpMeTracker::m_meList, and m_PExt.

◆ display() [5/9]

void vpMeLine::display	(	const vpImage< vpRGBa > &	I,
		const vpMeSite &	PExt1,
		const vpMeSite &	PExt2,
		const double &	A,
		const double &	B,
		const double &	C,
		const vpColor &	color = vpColor::green,
		unsigned int	thickness = 1 )

static

Deprecated: Use rather displayLine().

Deprecated: This static function is deprecated. You should rather use vpMeLine::displayLine().

Display of a moving line thanks to its equation parameters and its extremities.

Parameters

I	: The image used as background.
PExt1	: First extremity
PExt2	: Second extremity
A	: Parameter a of the line equation ai + bj + c = 0
B	: Parameter b of the line equation ai + bj + c = 0
C	: Parameter c of the line equation ai + bj + c = 0
color	: Color used to display the line.
thickness	: Thickness of the line.

Definition at line 772 of file vpMeLine.cpp.

References displayLine().

◆ display() [6/9]

void vpMeLine::display	(	const vpImage< vpRGBa > &	I,
		const vpMeSite &	PExt1,
		const vpMeSite &	PExt2,
		const std::list< vpMeSite > &	site_list,
		const double &	A,
		const double &	B,
		const double &	C,
		const vpColor &	color = vpColor::green,
		unsigned int	thickness = 1 )

static

Deprecated: Use rather displayLine().

Deprecated: This static function is deprecated. You should rather use vpMeLine::displayLine().

Display of a moving line thanks to its equation parameters and its extremities with all the site list.

Parameters

I	: The image used as background.
PExt1	: First extremity
PExt2	: Second extremity
site_list	: vpMeSite list
A	: Parameter a of the line equation ai + bj + c = 0
B	: Parameter b of the line equation ai + bj + c = 0
C	: Parameter c of the line equation ai + bj + c = 0
color	: Color used to display the line.
thickness	: Thickness of the line.

Definition at line 815 of file vpMeLine.cpp.

References displayLine().

◆ display() [7/9]

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

inherited

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

[in] I : The image.

Definition at line 252 of file vpMeTracker.cpp.

References vpMeSite::display(), and m_meList.

Referenced by display(), vpMeEllipse::initTracking(), vpMeEllipse::initTracking(), and vpMeLine::track().

◆ display() [8/9]

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

inherited

Displays the status of moving edge sites

Parameters

[in]	I	: The image.
[in]	w	: vector
[in]	index_w	: index

Definition at line 270 of file vpMeTracker.cpp.

References display(), vpMeSite::getState(), m_meList, vpMeSite::NO_SUPPRESSION, and vpMeSite::setWeight().

◆ display() [9/9]

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

inherited

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

[in] I : The image.

Definition at line 261 of file vpMeTracker.cpp.

References vpMeSite::display(), and m_meList.

◆ displayLine() [1/4]

void vpMeLine::displayLine	(	const vpImage< unsigned char > &	I,
		const vpMeSite &	PExt1,
		const vpMeSite &	PExt2,
		const double &	A,
		const double &	B,
		const double &	C,
		const vpColor &	color = vpColor::green,
		unsigned int	thickness = 1 )

static

Display of a moving line thanks to its equation parameters and its extremities.

Parameters

I	: The image used as background.
PExt1	: First extremity
PExt2	: Second extremity
A	: Parameter a of the line equation ai + bj + c = 0
B	: Parameter b of the line equation ai + bj + c = 0
C	: Parameter c of the line equation ai + bj + c = 0
color	: Color used to display the line.
thickness	: Thickness of the line.

Definition at line 825 of file vpMeLine.cpp.

References vpDisplay::displayCross(), vpDisplay::displayLine(), vpColor::green, project(), vpImagePoint::set_i(), and vpImagePoint::set_j().

Referenced by display(), display(), display(), display(), display(), and display().

◆ displayLine() [2/4]

void vpMeLine::displayLine	(	const vpImage< unsigned char > &	I,
		const vpMeSite &	PExt1,
		const vpMeSite &	PExt2,
		const std::list< vpMeSite > &	site_list,
		const double &	A,
		const double &	B,
		const double &	C,
		const vpColor &	color = vpColor::green,
		unsigned int	thickness = 1 )

static

Display of a moving line thanks to its equation parameters and its extremities with all the site list.

Parameters

I	: The image used as background.
PExt1	: First extremity
PExt2	: Second extremity
site_list	: vpMeSite list
A	: Parameter a of the line equation ai + bj + c = 0
B	: Parameter b of the line equation ai + bj + c = 0
C	: Parameter c of the line equation ai + bj + c = 0
color	: Color used to display the line.
thickness	: Thickness of the line.

Definition at line 902 of file vpMeLine.cpp.

References vpDisplay::displayCross(), vpDisplay::displayLine(), vpMeSite::getState(), vpColor::green, vpMeSite::M_ESTIMATOR, vpMeSite::m_ifloat, vpMeSite::m_jfloat, project(), vpImagePoint::set_i(), and vpImagePoint::set_j().

◆ displayLine() [3/4]

void vpMeLine::displayLine	(	const vpImage< vpRGBa > &	I,
		const vpMeSite &	PExt1,
		const vpMeSite &	PExt2,
		const double &	A,
		const double &	B,
		const double &	C,
		const vpColor &	color = vpColor::green,
		unsigned int	thickness = 1 )

static

Display of a moving line thanks to its equation parameters and its extremities.

Parameters

I	: The image used as background.
PExt1	: First extremity
PExt2	: Second extremity
A	: Parameter a of the line equation ai + bj + c = 0
B	: Parameter b of the line equation ai + bj + c = 0
C	: Parameter c of the line equation ai + bj + c = 0
color	: Color used to display the line.
thickness	: Thickness of the line.

Definition at line 864 of file vpMeLine.cpp.

References vpDisplay::displayCross(), vpDisplay::displayLine(), vpColor::green, project(), vpImagePoint::set_i(), and vpImagePoint::set_j().

◆ displayLine() [4/4]

void vpMeLine::displayLine	(	const vpImage< vpRGBa > &	I,
		const vpMeSite &	PExt1,
		const vpMeSite &	PExt2,
		const std::list< vpMeSite > &	site_list,
		const double &	A,
		const double &	B,
		const double &	C,
		const vpColor &	color = vpColor::green,
		unsigned int	thickness = 1 )

static

Display of a moving line thanks to its equation parameters and its extremities with all the site list.

Parameters

I	: The image used as background.
PExt1	: First extremity
PExt2	: Second extremity
site_list	: vpMeSite list
A	: Parameter a of the line equation ai + bj + c = 0
B	: Parameter b of the line equation ai + bj + c = 0
C	: Parameter c of the line equation ai + bj + c = 0
color	: Color used to display the line.
thickness	: Thickness of the line.

Definition at line 955 of file vpMeLine.cpp.

References vpDisplay::displayCross(), vpDisplay::displayLine(), vpMeSite::getState(), vpColor::green, vpMeSite::M_ESTIMATOR, vpMeSite::m_ifloat, vpMeSite::m_jfloat, project(), vpImagePoint::set_i(), and vpImagePoint::set_j().

◆ get_ABC()

vpColVector vpMeLine::get_ABC ( ) const

inline

Gets the parameters a,b,c of the line with equation a*x + b*y + c = 0 as a 3-dim vector.

Returns: 3-dim vector containing a, b and c line parameters.

Definition at line 209 of file vpMeLine.h.

References m_a, m_b, and m_c.

◆ get_cP()

vpColVector vpTracker::get_cP ( ) const

inlineinherited

Return object parameters expressed in the 3D camera frame.

Definition at line 95 of file vpTracker.h.

References cP.

◆ get_p()

vpColVector vpTracker::get_p ( ) const

inlineinherited

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

Definition at line 93 of file vpTracker.h.

References p.

◆ getA()

VP_DEPRECATED double vpMeLine::getA ( ) const

inline

Deprecated: Gets parameter a of the line equation a*i + b*j + c = 0 You should rather use get_ABC().

Definition at line 524 of file vpMeLine.h.

References m_a.

◆ getB()

VP_DEPRECATED double vpMeLine::getB ( ) const

inline

Deprecated: Gets parameter b of the line equation a*i + b*j + c = 0 You should rather use get_ABC().

Definition at line 530 of file vpMeLine.h.

References m_b.

◆ getC()

VP_DEPRECATED double vpMeLine::getC ( ) const

inline

Deprecated: Gets parameter c of the line equation a*i + b*j + c = 0 You should rather use get_ABC().

Definition at line 536 of file vpMeLine.h.

References m_c.

◆ getEquationParam()

VP_DEPRECATED void vpMeLine::getEquationParam	(	double &	A,
		double &	B,
		double &	C ) const

inline

Deprecated: Gets the equation parameters of the line You should rather use get_ABC().

Definition at line 542 of file vpMeLine.h.

References m_a, m_b, and m_c.

◆ getExtremities()

void vpMeLine::getExtremities	(	vpImagePoint &	ip1,
		vpImagePoint &	ip2 ) const

Get the extremities of the line. These two points strictly belong to the line. They are the projection of m_Pext[2] on the line

Parameters

ip1	: Coordinates of the first extremity.
ip2	: Coordinates of the second extremity.

Definition at line 703 of file vpMeLine.cpp.

References m_a, m_b, m_c, vpMeTracker::m_meList, and project().

Referenced by plugHoles(), and seekExtremities().

◆ getMe()

vpMe * vpMeTracker::getMe ( )

inlineinherited

Return the moving edges initialisation parameters.

Returns: Moving Edges.

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

Definition at line 153 of file vpMeTracker.h.

References m_me.

◆ getMeList() [1/2]

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

inlineinherited

Return the list of moving edges

Returns: List of Moving Edges.

Definition at line 160 of file vpMeTracker.h.

References m_meList.

◆ getMeList() [2/2]

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

inlineinherited

Return the list of moving edges

Returns: List of Moving Edges.

Definition at line 167 of file vpMeTracker.h.

References m_meList.

◆ getNbPoints()

int vpMeTracker::getNbPoints ( ) const

inlineinherited

Return the number of points that has not been suppressed.

Returns: Number of good points.

Definition at line 174 of file vpMeTracker.h.

References m_nGoodElement.

◆ getRho()

double vpMeLine::getRho ( ) const

inline

Returns the value of $\rho$ , the distance between the origin and the point on the line that belongs to the normal to the line passing through the origin.

Depending on the convention described at the beginning of this class, $\rho$ is signed.

See also: getTheta(), getRhoTheta()

Examples: trackMeLine.cpp.

Definition at line 236 of file vpMeLine.h.

References m_rho.

◆ getRhoTheta()

vpColVector vpMeLine::getRhoTheta ( ) const

inline

Returns the value of $\rho, \theta$ as a 2-dim vector.

$\rho$ is the distance between the origin and the point on the line that belongs to the normal to the line passing through the origin.
$\theta$ is the angle in radian between the vertical axis and the normal to the line.

Depending on the convention described at the beginning of this class, $\rho$ is signed.

See also: getRho(), getTheta()

Definition at line 253 of file vpMeLine.h.

References m_rho, and m_theta.

◆ getTheta()

double vpMeLine::getTheta ( ) const

inline

Returns the value of the angle $\theta$ between $-\pi$ and $\pi$ .

See also: getRho(), getRhoTheta()

Examples: trackMeLine.cpp.

Definition at line 266 of file vpMeLine.h.

References m_theta.

◆ init()

BEGIN_VISP_NAMESPACE void vpMeTracker::init ( )

inherited

Initialize the tracker.

Definition at line 48 of file vpMeTracker.cpp.

References vpTracker::init(), m_selectDisplay, vpMeSite::NONE, and vpTracker::p.

Referenced by vpMeTracker(), and vpMeTracker().

◆ initTracking() [1/2]

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

Initialization of the tracking. Ask the user to click on two points from the line to track.

Parameters

I	: Image in which the line appears.

Examples: servoAfma62DhalfCamVelocity.cpp, servoAfma6Line2DCamVelocity.cpp, trackMeLine.cpp, and tutorial-me-line-tracker.cpp.

Definition at line 187 of file vpMeLine.cpp.

References vpDisplay::displayCross(), vpDisplay::flush(), vpDisplay::getClick(), initTracking(), and vpColor::red.

Referenced by initTracking().

◆ initTracking() [2/2]

void vpMeLine::initTracking	(	const vpImage< unsigned char > &	I,
		const vpImagePoint &	ip1,
		const vpImagePoint &	ip2 )

Initialization of the tracking. The line is defined thanks to the coordinates of two points.

Parameters

I	: Image in which the line appears.
ip1	: Coordinates of the first point.
ip2	: Coordinates of the second point.

Definition at line 332 of file vpMeLine.cpp.

References vpImagePoint::get_i(), vpImagePoint::get_j(), vpMeTracker::initTracking(), m_delta, m_PExt, and sample().

◆ inMask()

VP_DEPRECATED bool vpMeTracker::inMask	(	const vpImage< bool > *	mask,
		unsigned int	i,
		unsigned int	j )

inlinestaticinherited

Deprecated: You should rather use inRoiMask(). Test whether the pixel is inside the region of interest mask. Mask values that are set to true are considered in the tracking.

Parameters

[in]	mask	: Mask corresponding to the region of interest in the image or nullptr if not wanted. Mask values that are set to true are considered in the tracking. To disable a pixel, set false.
[in]	i	: Pixel coordinate along the rows.
[in]	j	: Pixel coordinate along the columns.

Definition at line 294 of file vpMeTracker.h.

References inRoiMask().

◆ inMeMaskCandidates()

bool vpMeTracker::inMeMaskCandidates	(	const vpImage< bool > *	meMaskCandidates,
		unsigned int	i,
		unsigned int	j )

staticinherited

Test whether the moving-edge (ME) is inside the mask of ME candidates for the initialization. Mask values that are set to true and their 8 neighbors are considered for the initialization.

Parameters

[in]	meMaskCandidates	: Mask corresponding the ME location in the image or nullptr if not wanted. Mask values that are set to true are considered for the initialization. To disable a pixel, set false.
[in]	i	: ME coordinate along the rows.
[in]	j	: ME coordinate along the columns.

Definition at line 113 of file vpMeTracker.cpp.

References vpImage< Type >::getCols(), and vpImage< Type >::getRows().

Referenced by vpMeLine::plugHoles(), vpMeEllipse::sample(), vpMeLine::sample(), and vpMeLine::seekExtremities().

◆ inRoiMask()

bool vpMeTracker::inRoiMask	(	const vpImage< bool > *	mask,
		unsigned int	i,
		unsigned int	j )

staticinherited

Test whether the pixel is inside the region of interest mask. Mask values that are set to true are considered in the tracking.

Parameters

[in]	mask	: Mask corresponding to the region of interest in the image or nullptr if not wanted. Mask values that are set to true are considered in the tracking. To disable a pixel, set false.
[in]	i	: Pixel coordinate along the rows.
[in]	j	: Pixel coordinate along the columns.

Definition at line 103 of file vpMeTracker.cpp.

References vpImage< Type >::getValue().

Referenced by vpMbtFaceDepthDense::computeDesiredFeatures(), vpMbtFaceDepthDense::computeDesiredFeatures(), vpMbtFaceDepthDense::computeDesiredFeatures(), vpMbtFaceDepthNormal::computeDesiredFeatures(), vpMbtFaceDepthNormal::computeDesiredFeatures(), vpMbtFaceDepthNormal::computeDesiredFeatures(), vpMbtDistanceKltPoints::computeNbDetectedCurrent(), vpMbtDistanceKltPoints::init(), inMask(), vpMeEllipse::plugHoles(), vpMeLine::plugHoles(), vpMeEllipse::sample(), vpMeLine::sample(), vpMeLine::seekExtremities(), and track().

◆ intersection()

bool vpMeLine::intersection	(	const vpMeLine &	line1,
		const vpMeLine &	line2,
		vpImagePoint &	iP )

static

Computes the intersection point of two lines. The result is given in the (i,j) frame.

Parameters

line1	: The first line.
line2	: The second line.
iP	: The coordinates of the intersection point.

Returns: Returns a boolean value which depends on the computation success. True means that the computation ends successfully.

Examples: servoAfma62DhalfCamVelocity.cpp.

Definition at line 714 of file vpMeLine.cpp.

References m_a, m_b, m_c, vpImagePoint::set_i(), vpImagePoint::set_j(), and vpMeLine().

◆ leastSquare()

void vpMeLine::leastSquare ( const vpImage< unsigned char > & I )

protected

Least squares method used to make the tracking more robust. It ensures that the points taken into account to compute the right equation belong to the line.

Parameters

I	: Image in which the line appears.

Definition at line 207 of file vpMeLine.cpp.

References vpException::dimensionError, vpArray2D< Type >::getCols(), vpMeSite::getState(), m_a, m_b, m_c, vpMeSite::m_ifloat, vpMeSite::m_jfloat, vpMeTracker::m_meList, vpMeSite::NO_SUPPRESSION, vpTrackingException::notEnoughPointError, vpMatrix::nullSpace(), vpMeTracker::numberOfSignal(), vpMatrixException::rankDeficient, vpMath::sqr(), and vpRobust::TUKEY.

Referenced by computeDelta(), reSample(), and track().

◆ normalizeAngle()

void vpMeLine::normalizeAngle ( double & delta )

protected

References plugHoles(), reSample(), seekExtremities(), setExtremities(), and updateDelta().

◆ numberOfSignal()

unsigned int vpMeTracker::numberOfSignal ( )

inherited

Return number of moving-edges that are tracked.

Definition at line 92 of file vpMeTracker.cpp.

References m_meList.

Referenced by vpMeLine::leastSquare(), vpMeEllipse::leastSquareRobust(), vpMeEllipse::leastSquareRobustCircle(), vpMeEllipse::leastSquareRobustEllipse(), vpMeNurbs::localReSample(), and vpMeNurbs::reSample().

◆ operator=()

vpMeLine & vpMeLine::operator= ( const vpMeLine & meline )

Copy operator.

Definition at line 95 of file vpMeLine.cpp.

References m_a, m_b, m_c, m_delta, m_PExt, m_rho, m_sign, m_theta, and vpMeLine().

◆ outOfImage() [1/2]

bool vpMeTracker::outOfImage	(	const vpImagePoint &	iP,
		int	border,
		int	nrows,
		int	ncols )

inherited

Check if a pixel i,j is out of the image.

Parameters

[in]	iP	: Pixel coordinates.
[in]	border	: Number of pixels along the image border to exclude. When border is set to 0, consider the complete image.
[in]	nrows	: Image number of rows.
[in]	ncols	: Image number of cols.

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

Definition at line 172 of file vpMeTracker.cpp.

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

◆ outOfImage() [2/2]

bool vpMeTracker::outOfImage	(	int	i,
		int	j,
		int	border,
		int	nrows,
		int	ncols )

inherited

Check if a pixel i,j is out of the image.

Parameters

[in]	i	: Pixel coordinate along the image rows.
[in]	j	: Pixel coordinates along the image columns.
[in]	border	: Number of pixels along the image border to exclude. When border is set to 0, consider the complete image.
[in]	nrows	: Image number of rows.
[in]	ncols	: Image number of cols.

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

Definition at line 164 of file vpMeTracker.cpp.

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

◆ plugHoles()

unsigned int vpMeLine::plugHoles ( const vpImage< unsigned char > & I )

protected

Seek along the line defined by its equation to add points in the detected holes. Useful in case of temporary occlusion

Parameters

I	: Image in which the line appears.

Returns: The function returns the number of points added to the list.

Exceptions

vpTrackingException::initializationError : Moving edges not initialized.

Definition at line 361 of file vpMeLine.cpp.

References vpColor::blue, vpMeSite::convolution(), vpDisplay::displayCross(), vpTrackingException::fatalError, vpImagePoint::get_i(), vpImagePoint::get_j(), getExtremities(), vpMeSite::getState(), vpMeSite::init(), vpTrackingException::initializationError, vpMeTracker::inMeMaskCandidates(), vpMeTracker::inRoiMask(), m_a, m_b, m_c, m_delta, vpMeTracker::m_mask, vpMeTracker::m_maskCandidates, vpMeTracker::m_me, vpMeTracker::m_meList, m_PExt, vpMeTracker::m_selectDisplay, m_sign, vpMeSite::NO_SUPPRESSION, vpMeTracker::outOfImage(), project(), vpImagePoint::set_ij(), vpMeSite::setContrastThreshold(), vpMeSite::setDisplay(), vpMeSite::setState(), vpMath::sqr(), vpMeSite::track(), and vpDEBUG_ENABLE.

Referenced by normalizeAngle(), and track().

◆ project()

BEGIN_VISP_NAMESPACE void vpMeLine::project	(	double	a,
		double	b,
		double	c,
		const vpMeSite &	P,
		vpImagePoint &	iP )

static

Project a ME site on a straight line.

Parameters

[in]	a	: Parameters a of the line.
[in]	b	: Parameters b of the line.
[in]	c	: Parameters c of the line.
[in]	P	: ME site.
[out]	iP	: Coordinates of the ME site projected on the line.

Definition at line 66 of file vpMeLine.cpp.

References vpMeSite::m_ifloat, vpMeSite::m_jfloat, vpImagePoint::set_i(), and vpImagePoint::set_j().

Referenced by displayLine(), displayLine(), displayLine(), displayLine(), getExtremities(), and plugHoles().

◆ reSample()

void vpMeLine::reSample ( const vpImage< unsigned char > & I )

protected

Resample the line if the number of sample is less than 80% of the expected value.

Note: The expected value is computed thanks to the length of the line and the parameter which indicates the number of pixel between two points (vpMe::sample_step).

Parameters

I	: Image in which the line appears.

Definition at line 561 of file vpMeLine.cpp.

References vpTrackingException::initializationError, vpMeTracker::initTracking(), leastSquare(), m_delta, vpMeTracker::m_me, vpMeTracker::m_meList, m_PExt, sample(), setExtremities(), and vpMeTracker::track().

Referenced by normalizeAngle(), and track().

◆ reset()

void vpMeTracker::reset ( )

inherited

Reset the tracker by removing all the moving edges.

Definition at line 73 of file vpMeTracker.cpp.

References m_meList, and m_nGoodElement.

Referenced by ~vpMeTracker().

◆ sample()

void vpMeLine::sample	(	const vpImage< unsigned char > &	I,
		bool	doNotTrack = false )

protectedvirtual

Construct a list of vpMeSite moving edges at a particular sampling step between the two extremities of the line.

Parameters

I	: Image in which the line appears.
doNotTrack	: Inherited parameter, not used.

Exceptions

vpTrackingException::initializationError : Moving edges not initialized.

Implements vpMeTracker.

Definition at line 112 of file vpMeLine.cpp.

References vpColor::blue, vpMeSite::convolution(), vpDisplay::displayCross(), vpTrackingException::fatalError, vpMeSite::init(), vpTrackingException::initializationError, vpMeTracker::inMeMaskCandidates(), vpMeTracker::inRoiMask(), m_delta, vpMeTracker::m_mask, vpMeTracker::m_maskCandidates, vpMeTracker::m_me, vpMeTracker::m_meList, m_PExt, vpMeTracker::m_selectDisplay, m_sign, vpMeSite::NO_SUPPRESSION, vpMeTracker::outOfImage(), vpMath::round(), vpImagePoint::set_ij(), vpMeSite::setContrastThreshold(), vpMeSite::setDisplay(), vpMeSite::setState(), vpMath::sqr(), vpDEBUG_ENABLE, vpDERROR_TRACE, and vpERROR_TRACE.

Referenced by initTracking(), and reSample().

◆ seekExtremities()

unsigned int vpMeLine::seekExtremities ( const vpImage< unsigned char > & I )

protectedvirtual

Try to add points at both extremities of the line

Parameters

I	: Image in which the line appears.

Returns: The function returns the number of points added to the list.

Exceptions

vpTrackingException::initializationError : Moving edges not initialized.

Definition at line 445 of file vpMeLine.cpp.

References vpColor::blue, vpMeSite::convolution(), vpDisplay::displayCross(), vpImagePoint::get_i(), vpImagePoint::get_j(), getExtremities(), vpMeSite::getState(), vpColor::green, vpMeSite::init(), vpMeTracker::inMeMaskCandidates(), vpMeTracker::inRoiMask(), m_delta, vpMeSite::m_i, vpMeSite::m_ifloat, vpMeSite::m_j, vpMeSite::m_jfloat, vpMeTracker::m_mask, vpMeTracker::m_maskCandidates, vpMeTracker::m_me, vpMeTracker::m_meList, vpMeTracker::m_selectDisplay, m_sign, vpMeSite::NO_SUPPRESSION, vpMeTracker::outOfImage(), vpImagePoint::set_i(), vpImagePoint::set_ij(), vpImagePoint::set_j(), vpMeSite::setContrastThreshold(), vpMeSite::setDisplay(), vpMath::sqr(), vpMeSite::track(), and vpDEBUG_ENABLE.

Referenced by normalizeAngle(), and track().

◆ setDisplay()

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

inlineinherited

Set type of moving-edges display.

Parameters

select : Display type selector.

Examples: servoAfma6Line2DCamVelocity.cpp, trackMeCircle.cpp, trackMeEllipse.cpp, trackMeLine.cpp, trackMeNurbs.cpp, tutorial-me-ellipse-tracker.cpp, and tutorial-me-line-tracker.cpp.

Definition at line 234 of file vpMeTracker.h.

References m_selectDisplay.

◆ setExtremities()

void vpMeLine::setExtremities ( )

protected

Seek in the list of good points its two extremities m_PExt[2] These extremities are not strictly on the line

Definition at line 355 of file vpMeLine.cpp.

References vpMeTracker::m_meList, and m_PExt.

Referenced by normalizeAngle(), reSample(), and track().

◆ setMask()

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

inlinevirtualinherited

Set the mask.

Parameters

mask : Mask.

Definition at line 241 of file vpMeTracker.h.

References m_mask.

◆ setMaskCandidates()

virtual void vpMeTracker::setMaskCandidates ( const vpImage< bool > * maskCandidates )

inlinevirtualinherited

Set the mask of candidates points for initialization.

Parameters

[in] maskCandidates : Pointer towards the mask of candidates points for initialization.

Definition at line 248 of file vpMeTracker.h.

References m_maskCandidates.

◆ setMe()

void vpMeTracker::setMe ( vpMe * me )

inlineinherited

Set the moving edges initialisation parameters.

Parameters

[in] me : Moving Edges.

Examples: servoAfma62DhalfCamVelocity.cpp, servoAfma6Line2DCamVelocity.cpp, trackMeCircle.cpp, trackMeEllipse.cpp, trackMeLine.cpp, trackMeNurbs.cpp, tutorial-me-ellipse-tracker.cpp, and tutorial-me-line-tracker.cpp.

Definition at line 255 of file vpMeTracker.h.

References m_me.

◆ setMeList()

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

inlineinherited

Set the list of moving edges.

Parameters

[in] meList : List of Moving Edges.

Definition at line 262 of file vpMeTracker.h.

References m_meList.

◆ setRhoSignFromIntensity()

VP_DEPRECATED void vpMeLine::setRhoSignFromIntensity ( bool unused )

inline

Deprecated: This method is deprecated and should no more be used. Instead of computing the sign of rho from the intensity of the middle point of the line, the algorithm was modified to consider all the points to be more robust to occlusion of the middle point.

This method allows to disable/enable the calculation of the sign of the rho attribute from the intensity of the central point of the line. When enabled, it allows to distinguish between a black/white edge and a white/black edge, but it can cause problems for example during a visual-servo, when this point can be occluded.

Parameters

unused : This parameter is unused.

Definition at line 497 of file vpMeLine.h.

◆ totalNumberOfSignal()

unsigned int vpMeTracker::totalNumberOfSignal ( )

inherited

Return the total number of moving-edges.

Definition at line 101 of file vpMeTracker.cpp.

References m_meList.

◆ track()

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

Track the line in the image I.

Parameters

I	: Image in which the line appears.

Examples: servoAfma62DhalfCamVelocity.cpp, servoAfma6Line2DCamVelocity.cpp, trackMeLine.cpp, and tutorial-me-line-tracker.cpp.

Definition at line 607 of file vpMeLine.cpp.

References computeRhoTheta(), display(), vpMeTracker::display(), vpDisplay::flush(), leastSquare(), plugHoles(), vpColor::red, reSample(), seekExtremities(), setExtremities(), vpMeTracker::track(), updateDelta(), vpCDEBUG, and vpDEBUG_ENABLE.

◆ updateDelta()

void vpMeLine::updateDelta ( )

protected

Set the alpha value of the different vpMeSite to the value of delta.

Definition at line 593 of file vpMeLine.cpp.

References m_a, m_b, m_delta, vpMeTracker::m_meList, and vpMeSite::setAlpha().

Referenced by normalizeAngle(), and track().

Member Data Documentation

◆ cP

vpColVector vpTracker::cP

inherited

Feature coordinates expressed in the camera frame cP.

Examples: testPoint.cpp.

Definition at line 73 of file vpTracker.h.

Referenced by vpCircle::changeFrame(), vpCylinder::changeFrame(), vpForwardProjection::changeFrame(), vpLine::changeFrame(), vpPoint::changeFrame(), vpSphere::changeFrame(), vpFeatureBuilder::create(), get_cP(), vpPoint::get_W(), vpPoint::get_X(), vpPoint::get_Y(), vpPoint::get_Z(), vpCircle::getA(), vpCylinder::getA(), vpCircle::getB(), vpCylinder::getB(), vpCircle::getC(), vpCylinder::getC(), vpCircle::getR(), vpCylinder::getR(), vpSphere::getR(), vpCircle::getX(), vpCylinder::getX(), vpSphere::getX(), vpCircle::getY(), vpCylinder::getY(), vpSphere::getY(), vpCircle::getZ(), vpCylinder::getZ(), vpSphere::getZ(), vpCircle::init(), vpCylinder::init(), vpLine::init(), vpPoint::init(), vpSphere::init(), vpCircle::operator=(), operator=(), vpForwardProjection::print(), vpPose::printPoint(), vpForwardProjection::project(), vpCircle::projection(), vpCylinder::projection(), vpForwardProjection::projection(), vpLine::projection(), vpLine::projection(), vpPoint::projection(), vpSphere::projection(), vpPoint::set_W(), vpPoint::set_X(), vpPoint::set_Y(), vpPoint::set_Z(), vpTracker(), and vpTracker().

◆ cPAvailable

bool vpTracker::cPAvailable

inherited

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

Definition at line 79 of file vpTracker.h.

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

◆ m_a

double vpMeLine::m_a

protected

Parameter a of the line equation a*i + b*j + c = 0.

Definition at line 474 of file vpMeLine.h.

Referenced by computeRhoTheta(), display(), display(), get_ABC(), getA(), getEquationParam(), getExtremities(), intersection(), leastSquare(), operator=(), plugHoles(), updateDelta(), and vpMeLine().

◆ m_b

double vpMeLine::m_b

protected

Parameter b of the line equation a*i + b*j + c = 0.

Definition at line 475 of file vpMeLine.h.

Referenced by computeRhoTheta(), display(), display(), get_ABC(), getB(), getEquationParam(), getExtremities(), intersection(), leastSquare(), operator=(), plugHoles(), updateDelta(), and vpMeLine().

◆ m_c

double vpMeLine::m_c

protected

Parameter c of the line equation a*i + b*j + c = 0.

Definition at line 476 of file vpMeLine.h.

Referenced by computeRhoTheta(), display(), display(), get_ABC(), getC(), getEquationParam(), getExtremities(), intersection(), leastSquare(), operator=(), plugHoles(), and vpMeLine().

◆ m_delta

double vpMeLine::m_delta

protected

Angle in rad between the extremities.

Definition at line 471 of file vpMeLine.h.

Referenced by initTracking(), operator=(), plugHoles(), reSample(), sample(), seekExtremities(), updateDelta(), and vpMeLine().

◆ m_mask

const vpImage<bool>* vpMeTracker::m_mask

protectedinherited

Mask used to disable tracking on a part of image.

Definition at line 312 of file vpMeTracker.h.

Referenced by vpMeEllipse::plugHoles(), vpMeLine::plugHoles(), vpMeEllipse::sample(), vpMeLine::sample(), vpMeLine::seekExtremities(), setMask(), track(), vpMeTracker(), and vpMeTracker().

◆ m_maskCandidates

const vpImage<bool>* vpMeTracker::m_maskCandidates

protectedinherited

Mask used to determine candidate points for initialization in an image.

Definition at line 314 of file vpMeTracker.h.

Referenced by vpMeLine::plugHoles(), vpMeEllipse::sample(), vpMeLine::sample(), vpMeLine::seekExtremities(), setMaskCandidates(), vpMeTracker(), and vpMeTracker().

◆ m_me

vpMe* vpMeTracker::m_me

protectedinherited

Moving edges initialisation parameters.

Definition at line 308 of file vpMeTracker.h.

Referenced by getMe(), initTracking(), vpMeEllipse::leastSquareRobust(), vpMeNurbs::localReSample(), operator=(), vpMeEllipse::plugHoles(), vpMeLine::plugHoles(), vpMeLine::reSample(), vpMeNurbs::reSample(), vpMeEllipse::sample(), vpMeLine::sample(), vpMeNurbs::sample(), vpMeLine::seekExtremities(), vpMeNurbs::seekExtremities(), vpMeNurbs::seekExtremitiesCanny(), setMe(), vpMeNurbs::supressNearPoints(), track(), vpMeTracker(), and vpMeTracker().

◆ m_meList

std::list<vpMeSite> vpMeTracker::m_meList

protectedinherited

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

Definition at line 306 of file vpMeTracker.h.

Referenced by vpMeLine::computeRhoTheta(), vpMeLine::display(), vpMeLine::display(), display(), display(), display(), vpMeLine::getExtremities(), getMeList(), getMeList(), initTracking(), vpMeLine::leastSquare(), vpMeEllipse::leastSquareRobust(), vpMeEllipse::leastSquareRobustCircle(), vpMeEllipse::leastSquareRobustEllipse(), vpMeNurbs::localReSample(), numberOfSignal(), operator=(), vpMeEllipse::plugHoles(), vpMeLine::plugHoles(), vpMeLine::reSample(), reset(), vpMeEllipse::sample(), vpMeLine::sample(), vpMeNurbs::sample(), vpMeLine::seekExtremities(), vpMeNurbs::seekExtremities(), vpMeNurbs::seekExtremitiesCanny(), vpMeLine::setExtremities(), setMeList(), vpMeNurbs::suppressPoints(), vpMeNurbs::supressNearPoints(), totalNumberOfSignal(), vpMeNurbs::track(), track(), vpMeLine::updateDelta(), vpMeNurbs::updateDelta(), vpMeEllipse::updateTheta(), vpMeTracker(), vpMeTracker(), vpMeEllipse::~vpMeEllipse(), and vpMeLine::~vpMeLine().

◆ m_nGoodElement

int vpMeTracker::m_nGoodElement

protectedinherited

Number of good moving-edges that are tracked.

Definition at line 310 of file vpMeTracker.h.

Referenced by getNbPoints(), initTracking(), operator=(), reset(), track(), vpMeTracker(), and vpMeTracker().

◆ m_PExt

vpMeSite vpMeLine::m_PExt[2]

protected

Both extremities of good points in the list. These extremities are not strictly on the line

Definition at line 466 of file vpMeLine.h.

Referenced by display(), display(), initTracking(), operator=(), plugHoles(), reSample(), sample(), and setExtremities().

◆ m_rho

double vpMeLine::m_rho

protected

rho parameter of the line

Definition at line 469 of file vpMeLine.h.

Referenced by computeRhoTheta(), getRho(), getRhoTheta(), operator=(), and vpMeLine().

◆ m_selectDisplay

vpMeSite::vpMeSiteDisplayType vpMeTracker::m_selectDisplay

protectedinherited

Moving-edges display type.

Definition at line 316 of file vpMeTracker.h.

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

◆ m_sign

int vpMeLine::m_sign

protected

Sign.

Definition at line 472 of file vpMeLine.h.

Referenced by operator=(), plugHoles(), sample(), seekExtremities(), and vpMeLine().

◆ m_theta

double vpMeLine::m_theta

protected

theta parameter of the line

Definition at line 470 of file vpMeLine.h.

Referenced by computeRhoTheta(), getRhoTheta(), getTheta(), operator=(), and vpMeLine().

◆ 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 69 of file vpTracker.h.

Referenced by vpCircle::computeIntersectionPoint(), vpMeterPixelConversion::convertEllipse(), vpMeterPixelConversion::convertEllipse(), vpMeterPixelConversion::convertEllipse(), vpMeterPixelConversion::convertEllipse(), vpCircle::display(), vpCircle::display(), vpCylinder::display(), vpCylinder::display(), vpLine::display(), vpLine::display(), vpPoint::display(), vpPoint::display(), vpSphere::display(), vpSphere::display(), vpFeatureDisplay::displayEllipse(), vpFeatureDisplay::displayEllipse(), vpPose::displayModel(), vpPose::displayModel(), vpImageDraw::drawFrame(), vpImageDraw::drawFrame(), vpCircle::get_mu02(), vpSphere::get_mu02(), vpCircle::get_mu11(), vpSphere::get_mu11(), vpCircle::get_mu20(), vpSphere::get_mu20(), vpCircle::get_n02(), vpSphere::get_n02(), vpCircle::get_n11(), vpSphere::get_n11(), vpCircle::get_n20(), vpSphere::get_n20(), get_p(), vpPoint::get_w(), vpCircle::get_x(), vpPoint::get_x(), vpSphere::get_x(), vpCircle::get_y(), vpPoint::get_y(), vpSphere::get_y(), vpLine::getRho(), vpCylinder::getRho1(), vpCylinder::getRho2(), vpLine::getTheta(), vpCylinder::getTheta1(), vpCylinder::getTheta2(), vpCircle::init(), vpCylinder::init(), vpLine::init(), vpMeTracker::init(), vpPoint::init(), vpSphere::init(), vpCircle::operator=(), operator=(), vpForwardProjection::print(), vpPose::printPoint(), vpForwardProjection::project(), vpCircle::projection(), vpCylinder::projection(), vpForwardProjection::projection(), vpLine::projection(), vpPoint::projection(), vpSphere::projection(), vpPoint::set_w(), vpPoint::set_x(), vpPoint::set_y(), vpLine::setRho(), vpLine::setTheta(), vpTracker(), and vpTracker().

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Deprecated functions

Public Member Functions Inherited from vpMeTracker

Detailed Description

Tutorials & Examples

Constructor & Destructor Documentation

◆ vpMeLine() [1/2]

◆ vpMeLine() [2/2]

◆ ~vpMeLine()

Member Function Documentation

◆ computeDelta()

◆ computeRhoSignFromIntensity()

◆ computeRhoTheta()

◆ display() [1/9]

◆ display() [2/9]

◆ display() [3/9]

◆ display() [4/9]

◆ display() [5/9]

◆ display() [6/9]

◆ display() [7/9]

◆ display() [8/9]

◆ display() [9/9]

◆ displayLine() [1/4]

◆ displayLine() [2/4]

◆ displayLine() [3/4]

◆ displayLine() [4/4]

◆ get_ABC()

◆ get_cP()

◆ get_p()

◆ getA()

◆ getB()

◆ getC()

◆ getEquationParam()

◆ getExtremities()

◆ getMe()

◆ getMeList() [1/2]

◆ getMeList() [2/2]

◆ getNbPoints()

◆ getRho()

◆ getRhoTheta()

◆ getTheta()

◆ init()

◆ initTracking() [1/2]

◆ initTracking() [2/2]

◆ inMask()

◆ inMeMaskCandidates()

◆ inRoiMask()

◆ intersection()

◆ leastSquare()

◆ normalizeAngle()

◆ numberOfSignal()

◆ operator=()

◆ outOfImage() [1/2]

◆ outOfImage() [2/2]

◆ plugHoles()

◆ project()

◆ reSample()

◆ reset()

◆ sample()

◆ seekExtremities()

◆ setDisplay()

◆ setExtremities()

◆ setMask()

◆ setMaskCandidates()

◆ setMe()

◆ setMeList()

◆ setRhoSignFromIntensity()

◆ totalNumberOfSignal()

◆ track()

◆ updateDelta()

Member Data Documentation

◆ cP

◆ cPAvailable

◆ m_a

◆ m_b

◆ m_c