#include <vpMe.h>
This class defines predetermined masks for sites and holds moving edges tracking parameters.
- Examples
- mbtEdgeKltMultiTracking.cpp, mbtEdgeKltTracking.cpp, mbtEdgeMultiTracking.cpp, mbtEdgeTracking.cpp, mbtGenericTracking.cpp, mbtGenericTracking2.cpp, mbtGenericTrackingDepth.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6Cylinder2DCamVelocity.cpp, servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp, servoAfma6Line2DCamVelocity.cpp, servoAfma6SquareLines2DCamVelocity.cpp, servoAfma6TwoLines2DCamVelocity.cpp, testGenericTracker.cpp, testKeyPoint-2.cpp, testKeyPoint-4.cpp, trackMeCircle.cpp, trackMeEllipse.cpp, trackMeLine.cpp, trackMeNurbs.cpp, tutorial-detection-object-mbt-deprecated.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2-deprecated.cpp, tutorial-detection-object-mbt2.cpp, tutorial-mb-edge-tracker.cpp, tutorial-mb-generic-tracker-apriltag-rs2.cpp, tutorial-mb-generic-tracker-apriltag-webcam.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-stereo-mono.cpp, tutorial-mb-generic-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, tutorial-mb-tracker-full.cpp, tutorial-mb-tracker-stereo-mono.cpp, tutorial-mb-tracker.cpp, tutorial-me-ellipse-tracker.cpp, and tutorial-me-line-tracker.cpp.
Definition at line 59 of file vpMe.h.
◆ vpMe() [1/2]
◆ vpMe() [2/2]
vpMe::vpMe |
( |
const vpMe & |
me | ) |
|
◆ ~vpMe()
◆ checkSamplestep()
void vpMe::checkSamplestep |
( |
double & |
a | ) |
|
|
inline |
◆ getAngleStep()
unsigned int vpMe::getAngleStep |
( |
| ) |
const |
|
inline |
◆ getMask()
◆ getMaskNumber()
unsigned int vpMe::getMaskNumber |
( |
| ) |
const |
|
inline |
Return the number of mask applied to determine the object contour. The number of mask determines the precision of the normal of the edge for every sample. If precision is 2deg, then there are 360/2 = 180 masks.
- Returns
- the current number of mask.
Definition at line 127 of file vpMe.h.
◆ getMaskSign()
int vpMe::getMaskSign |
( |
| ) |
const |
|
inline |
Return the mask sign.
- Returns
- Value of mask_sign.
Definition at line 133 of file vpMe.h.
◆ getMaskSize()
unsigned int vpMe::getMaskSize |
( |
| ) |
const |
|
inline |
Return the actual mask size (in pixel) used to compute the image gradient and determine the object contour. The mask size defines the size of the convolution mask used to detect an edge.
- Returns
- the current mask size.
Definition at line 141 of file vpMe.h.
Referenced by vpMeSite::convolution().
◆ getMinSampleStep()
double vpMe::getMinSampleStep |
( |
| ) |
const |
|
inline |
Get the minimum allowed sample step. Useful to specify a lower bound when the sample step is changed.
- Returns
- Value of min_samplestep.
Definition at line 148 of file vpMe.h.
◆ getMu1()
double vpMe::getMu1 |
( |
| ) |
const |
|
inline |
Get the minimum image contrast allowed to detect a contour.
- Returns
- Value of mu1.
Definition at line 154 of file vpMe.h.
◆ getMu2()
double vpMe::getMu2 |
( |
| ) |
const |
|
inline |
Get the maximum image contrast allowed to detect a contour.
- Returns
- Value of mu2.
Definition at line 160 of file vpMe.h.
◆ getNbTotalSample()
int vpMe::getNbTotalSample |
( |
| ) |
const |
|
inline |
Get how many discretizied points are used to track the feature.
- Returns
- Value of ntotal_sample.
Definition at line 166 of file vpMe.h.
◆ getPointsToTrack()
int vpMe::getPointsToTrack |
( |
| ) |
const |
|
inline |
Return the number of points to track.
- Returns
- Value of points_to_track.
Definition at line 172 of file vpMe.h.
◆ getRange()
unsigned int vpMe::getRange |
( |
| ) |
const |
|
inline |
◆ getSampleStep()
double vpMe::getSampleStep |
( |
| ) |
const |
|
inline |
◆ getStrip()
int vpMe::getStrip |
( |
| ) |
const |
|
inline |
Get the number of pixels that are ignored around the image borders.
- Returns
- the value of strip.
Definition at line 184 of file vpMe.h.
Referenced by vpMeSite::convolution().
◆ getThreshold()
double vpMe::getThreshold |
( |
| ) |
const |
|
inline |
Return the likelihood threshold used to determined if the moving edge is valid or not.
- Returns
- Value of threshold.
Definition at line 192 of file vpMe.h.
◆ initMask()
◆ operator=() [1/2]
vpMe & vpMe::operator= |
( |
const vpMe && |
me | ) |
|
Move operator.
Definition at line 420 of file vpMe.cpp.
References anglestep, initMask(), mask, mask_sign, mask_size, min_samplestep, mu1, mu2, n_mask, ntotal_sample, points_to_track, range, sample_step, strip, and threshold.
◆ operator=() [2/2]
vpMe & vpMe::operator= |
( |
const vpMe & |
me | ) |
|
Copy operator.
Definition at line 394 of file vpMe.cpp.
◆ print()
◆ setAngleStep()
void vpMe::setAngleStep |
( |
const unsigned int & |
a | ) |
|
|
inline |
Set the angle step.
- Parameters
-
Definition at line 202 of file vpMe.h.
◆ setMaskNumber()
void vpMe::setMaskNumber |
( |
const unsigned int & |
a | ) |
|
Set the number of mask applied to determine the object contour. The number of mask determines the precision of the normal of the edge for every sample. If precision is 2deg, then there are 360/2 = 180 masks.
- Parameters
-
- Examples
- mbtEdgeKltMultiTracking.cpp, mbtEdgeKltTracking.cpp, mbtEdgeMultiTracking.cpp, mbtEdgeTracking.cpp, mbtGenericTracking.cpp, mbtGenericTracking2.cpp, mbtGenericTrackingDepth.cpp, testGenericTracker.cpp, testKeyPoint-2.cpp, testKeyPoint-4.cpp, tutorial-detection-object-mbt-deprecated.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2-deprecated.cpp, tutorial-detection-object-mbt2.cpp, tutorial-mb-edge-tracker.cpp, tutorial-mb-generic-tracker-apriltag-rs2.cpp, tutorial-mb-generic-tracker-apriltag-webcam.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-stereo-mono.cpp, tutorial-mb-generic-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, tutorial-mb-tracker-full.cpp, tutorial-mb-tracker-stereo-mono.cpp, and tutorial-mb-tracker.cpp.
Definition at line 453 of file vpMe.cpp.
References anglestep, initMask(), and n_mask.
◆ setMaskSign()
void vpMe::setMaskSign |
( |
const int & |
a | ) |
|
|
inline |
Set the mask sign.
- Parameters
-
Definition at line 217 of file vpMe.h.
◆ setMaskSize()
void vpMe::setMaskSize |
( |
const unsigned int & |
a | ) |
|
Set the mask size (in pixel) used to compute the image gradient and determine the object contour. The mask size defines the size of the convolution mask used to detect an edge.
- Parameters
-
- Examples
- mbtEdgeKltMultiTracking.cpp, mbtEdgeKltTracking.cpp, mbtEdgeMultiTracking.cpp, mbtEdgeTracking.cpp, mbtGenericTracking.cpp, mbtGenericTracking2.cpp, mbtGenericTrackingDepth.cpp, testGenericTracker.cpp, testKeyPoint-2.cpp, testKeyPoint-4.cpp, tutorial-detection-object-mbt-deprecated.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2-deprecated.cpp, tutorial-detection-object-mbt2.cpp, tutorial-mb-edge-tracker.cpp, tutorial-mb-generic-tracker-apriltag-rs2.cpp, tutorial-mb-generic-tracker-apriltag-webcam.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-stereo-mono.cpp, tutorial-mb-generic-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, tutorial-mb-tracker-full.cpp, tutorial-mb-tracker-stereo-mono.cpp, and tutorial-mb-tracker.cpp.
Definition at line 460 of file vpMe.cpp.
References initMask(), and mask_size.
◆ setMinSampleStep()
void vpMe::setMinSampleStep |
( |
const double & |
min | ) |
|
|
inline |
Set the minimum allowed sample step. Useful to specify a lower bound when the sample step is changed.
- Parameters
-
min | : new minimum sample step. |
Definition at line 233 of file vpMe.h.
◆ setMu1()
void vpMe::setMu1 |
( |
const double & |
mu_1 | ) |
|
|
inline |
Set the minimum image contrast allowed to detect a contour.
- Parameters
-
- Examples
- mbtEdgeKltMultiTracking.cpp, mbtEdgeKltTracking.cpp, mbtEdgeMultiTracking.cpp, mbtEdgeTracking.cpp, mbtGenericTracking.cpp, mbtGenericTracking2.cpp, mbtGenericTrackingDepth.cpp, testGenericTracker.cpp, testKeyPoint-2.cpp, testKeyPoint-4.cpp, tutorial-detection-object-mbt-deprecated.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2-deprecated.cpp, tutorial-detection-object-mbt2.cpp, tutorial-mb-edge-tracker.cpp, tutorial-mb-generic-tracker-apriltag-rs2.cpp, tutorial-mb-generic-tracker-apriltag-webcam.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-stereo-mono.cpp, tutorial-mb-generic-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, tutorial-mb-tracker-full.cpp, tutorial-mb-tracker-stereo-mono.cpp, and tutorial-mb-tracker.cpp.
Definition at line 240 of file vpMe.h.
◆ setMu2()
void vpMe::setMu2 |
( |
const double & |
mu_2 | ) |
|
|
inline |
Set the maximum image contrast allowed to detect a contour.
- Parameters
-
- Examples
- mbtEdgeKltMultiTracking.cpp, mbtEdgeKltTracking.cpp, mbtEdgeMultiTracking.cpp, mbtEdgeTracking.cpp, mbtGenericTracking.cpp, mbtGenericTracking2.cpp, mbtGenericTrackingDepth.cpp, testGenericTracker.cpp, testKeyPoint-2.cpp, testKeyPoint-4.cpp, tutorial-detection-object-mbt-deprecated.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2-deprecated.cpp, tutorial-detection-object-mbt2.cpp, tutorial-mb-edge-tracker.cpp, tutorial-mb-generic-tracker-apriltag-rs2.cpp, tutorial-mb-generic-tracker-apriltag-webcam.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-stereo-mono.cpp, tutorial-mb-generic-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, tutorial-mb-tracker-full.cpp, tutorial-mb-tracker-stereo-mono.cpp, and tutorial-mb-tracker.cpp.
Definition at line 247 of file vpMe.h.
◆ setNbTotalSample()
void vpMe::setNbTotalSample |
( |
const int & |
nb | ) |
|
|
inline |
◆ setPointsToTrack()
void vpMe::setPointsToTrack |
( |
const int & |
n | ) |
|
|
inline |
◆ setRange()
void vpMe::setRange |
( |
const unsigned int & |
r | ) |
|
|
inline |
Set the seek range on both sides of the reference pixel.
- Parameters
-
- Examples
- mbtEdgeKltMultiTracking.cpp, mbtEdgeKltTracking.cpp, mbtEdgeMultiTracking.cpp, mbtEdgeTracking.cpp, mbtGenericTracking.cpp, mbtGenericTracking2.cpp, mbtGenericTrackingDepth.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6Cylinder2DCamVelocity.cpp, servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp, servoAfma6Line2DCamVelocity.cpp, servoAfma6SquareLines2DCamVelocity.cpp, servoAfma6TwoLines2DCamVelocity.cpp, testGenericTracker.cpp, testKeyPoint-2.cpp, testKeyPoint-4.cpp, trackMeCircle.cpp, trackMeEllipse.cpp, trackMeLine.cpp, trackMeNurbs.cpp, tutorial-detection-object-mbt-deprecated.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2-deprecated.cpp, tutorial-detection-object-mbt2.cpp, tutorial-mb-edge-tracker.cpp, tutorial-mb-generic-tracker-apriltag-rs2.cpp, tutorial-mb-generic-tracker-apriltag-webcam.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-stereo-mono.cpp, tutorial-mb-generic-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, tutorial-mb-tracker-full.cpp, tutorial-mb-tracker-stereo-mono.cpp, tutorial-mb-tracker.cpp, tutorial-me-ellipse-tracker.cpp, and tutorial-me-line-tracker.cpp.
Definition at line 270 of file vpMe.h.
Referenced by vpMeNurbs::seekExtremitiesCanny().
◆ setSampleStep()
void vpMe::setSampleStep |
( |
const double & |
s | ) |
|
|
inline |
Set the minimum distance in pixel between two discretized points.
- Parameters
-
- Examples
- mbtEdgeKltMultiTracking.cpp, mbtEdgeKltTracking.cpp, mbtEdgeMultiTracking.cpp, mbtEdgeTracking.cpp, mbtGenericTracking.cpp, mbtGenericTracking2.cpp, mbtGenericTrackingDepth.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6Cylinder2DCamVelocity.cpp, servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp, servoAfma6Line2DCamVelocity.cpp, servoAfma6SquareLines2DCamVelocity.cpp, servoAfma6TwoLines2DCamVelocity.cpp, testGenericTracker.cpp, testKeyPoint-2.cpp, testKeyPoint-4.cpp, trackMeCircle.cpp, trackMeEllipse.cpp, trackMeNurbs.cpp, tutorial-detection-object-mbt-deprecated.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2-deprecated.cpp, tutorial-detection-object-mbt2.cpp, tutorial-mb-edge-tracker.cpp, tutorial-mb-generic-tracker-apriltag-rs2.cpp, tutorial-mb-generic-tracker-apriltag-webcam.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-stereo-mono.cpp, tutorial-mb-generic-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, tutorial-mb-tracker-full.cpp, tutorial-mb-tracker-stereo-mono.cpp, tutorial-mb-tracker.cpp, tutorial-me-ellipse-tracker.cpp, and tutorial-me-line-tracker.cpp.
Definition at line 277 of file vpMe.h.
◆ setStrip()
void vpMe::setStrip |
( |
const int & |
a | ) |
|
|
inline |
Set the number of pixels that are ignored around the image borders.
- Parameters
-
Definition at line 291 of file vpMe.h.
◆ setThreshold()
void vpMe::setThreshold |
( |
const double & |
t | ) |
|
|
inline |
Set the likelihood threshold used to determined if the moving edge is valid or not.
- Parameters
-
- Examples
- mbtEdgeKltMultiTracking.cpp, mbtEdgeKltTracking.cpp, mbtEdgeMultiTracking.cpp, mbtEdgeTracking.cpp, mbtGenericTracking.cpp, mbtGenericTracking2.cpp, mbtGenericTrackingDepth.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6Cylinder2DCamVelocity.cpp, servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp, servoAfma6Line2DCamVelocity.cpp, servoAfma6SquareLines2DCamVelocity.cpp, servoAfma6TwoLines2DCamVelocity.cpp, testGenericTracker.cpp, testKeyPoint-2.cpp, testKeyPoint-4.cpp, trackMeCircle.cpp, trackMeEllipse.cpp, trackMeLine.cpp, trackMeNurbs.cpp, tutorial-detection-object-mbt-deprecated.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2-deprecated.cpp, tutorial-detection-object-mbt2.cpp, tutorial-mb-edge-tracker.cpp, tutorial-mb-generic-tracker-apriltag-rs2.cpp, tutorial-mb-generic-tracker-apriltag-webcam.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-stereo-mono.cpp, tutorial-mb-generic-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, tutorial-mb-tracker-full.cpp, tutorial-mb-tracker-stereo-mono.cpp, tutorial-mb-tracker.cpp, tutorial-me-ellipse-tracker.cpp, and tutorial-me-line-tracker.cpp.
Definition at line 299 of file vpMe.h.
◆ anglestep
unsigned int vpMe::anglestep |
◆ mask
◆ mask_sign
◆ mask_size
unsigned int vpMe::mask_size |
◆ min_samplestep
double vpMe::min_samplestep |
◆ mu1
◆ mu2
◆ n_mask
unsigned int vpMe::n_mask |
◆ ntotal_sample
Distance between sampled points (in pixels)
Definition at line 74 of file vpMe.h.
Referenced by operator=().
◆ points_to_track
int vpMe::points_to_track |
◆ range
◆ sample_step
◆ strip
◆ threshold