#include <vpMeSite.h>

Public Types
enum	vpMeSiteDisplayType { NONE , RANGE , RESULT , RANGE_RESULT }

enum	vpMeSiteState { NO_SUPPRESSION = 0 , CONTRAST = 1 , CONSTRAST = CONTRAST , THRESHOLD = 2 , M_ESTIMATOR = 3 , TOO_NEAR = 4 , UNKNOW = 5 }

Public Member Functions
void	init ()

void	init (double ip, double jp, double alphap)

void	init (double ip, double jp, double alphap, double convltp)

void	init (double ip, double jp, double alphap, double convltp, int sign)

	vpMeSite ()

	vpMeSite (double ip, double jp)

	vpMeSite (const vpMeSite &mesite)

virtual	~vpMeSite ()

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

void	display (const vpImage< vpRGBa > &I)

double	convolution (const vpImage< unsigned char > &ima, const vpMe *me)

vpMeSite *	getQueryList (const vpImage< unsigned char > &I, const int range)

void	track (const vpImage< unsigned char > &im, const vpMe *me, bool test_likelihood=true)

void	setAlpha (const double &a)

double	getAlpha () const

void	setDisplay (vpMeSiteDisplayType select)

int	get_i () const

int	get_j () const

double	get_ifloat () const

double	get_jfloat () const

void	setState (const vpMeSiteState &flag)

vpMeSiteState	getState () const

void	setWeight (const double &w)

double	getWeight () const

vpMeSite &	operator= (const vpMeSite &m)

int	operator!= (const vpMeSite &m)

vp_deprecated void	getSign (const vpImage< unsigned char > &I, const int range)

Static Public Member Functions
static double	distance (const vpMeSite &S1, const vpMeSite &S2)

static double	sqrDistance (const vpMeSite &S1, const vpMeSite &S2)

static void	display (const vpImage< unsigned char > &I, const double &i, const double &j, const vpMeSiteState &state=NO_SUPPRESSION)

static void	display (const vpImage< vpRGBa > &I, const double &i, const double &j, const vpMeSiteState &state=NO_SUPPRESSION)

Public Attributes
int	i

int	j

double	ifloat

double	jfloat

int	mask_sign

double	alpha

double	convlt

double	normGradient

double	weight

int	suppress

Friends
VISP_EXPORT std::ostream &	operator<< (std::ostream &os, vpMeSite &vpMeS)

Detailed Description

Performs search in a given direction(normal) for a given distance(pixels) for a given 'site'. Gives the most likely site given the probability from an ME mask.

Bug fix: rewrote application of masks to use the temporal information instead of applying both temporal masks to the same image. ie: spatial -> spatio/temporal
Added new tracking function to choose the most similar edge amongst all edges found.
sample step.

Definition at line 64 of file vpMeSite.h.

Member Enumeration Documentation

◆ vpMeSiteDisplayType

enum vpMeSite::vpMeSiteDisplayType

Type moving-edges site of display.

Enumerator
NONE	Not displayed.
RANGE
RESULT
RANGE_RESULT

Definition at line 70 of file vpMeSite.h.

◆ vpMeSiteState

enum vpMeSite::vpMeSiteState

Moving-edge site state

Enumerator
NO_SUPPRESSION	Point used by the tracker.
CONTRAST	Point removed due to a contrast problem.
CONSTRAST	Point removed due to a contrast problem.
THRESHOLD	Point removed due to a threshold problem.
M_ESTIMATOR	Point removed during virtual visual-servoing because considered as an outlier.
TOO_NEAR	Point removed because too near image borders.
UNKNOW	Reserved.

Definition at line 81 of file vpMeSite.h.

Constructor & Destructor Documentation

◆ vpMeSite() [1/3]

vpMeSite::vpMeSite ( )

Default constructor.

Definition at line 85 of file vpMeSite.cpp.

◆ vpMeSite() [2/3]

vpMeSite::vpMeSite	(	double	ip,
		double	jp
	)

Constructor from pixel coordinates.

Definition at line 94 of file vpMeSite.cpp.

References i, ifloat, j, jfloat, and vpMath::round().

◆ vpMeSite() [3/3]

vpMeSite::vpMeSite ( const vpMeSite & mesite )

Copy constructor.

Definition at line 108 of file vpMeSite.cpp.

◆ ~vpMeSite()

virtual vpMeSite::~vpMeSite ( )

inlinevirtual

Destructor.

Definition at line 157 of file vpMeSite.h.

Member Function Documentation

◆ convolution()

double vpMeSite::convolution	(	const vpImage< unsigned char > &	ima,
		const vpMe *	me
	)

Compute convolution.

Definition at line 253 of file vpMeSite.cpp.

References alpha, vpMe::getAngleStep(), vpImage< Type >::getHeight(), vpMe::getMask(), vpMe::getMaskSize(), vpMe::getStrip(), vpImage< Type >::getWidth(), i, j, mask_sign, and vpMath::round().

Referenced by track().

◆ display() [1/4]

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

Display moving edges in image I.

Parameters

I	: Input image.

Definition at line 415 of file vpMeSite.cpp.

References display(), ifloat, and jfloat.

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

◆ display() [2/4]

void vpMeSite::display	(	const vpImage< unsigned char > &	I,
		const double &	i,
		const double &	j,
		const vpMeSiteState &	state = `NO_SUPPRESSION`
	)

static

Display the moving edge site 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

I	: The image.
i	: Pixel i of the site.
j	: Pixel j of the site.
state	: State of the site.

Definition at line 421 of file vpMeSite.cpp.

References vpColor::blue, CONTRAST, vpColor::cyan, vpDisplay::displayCross(), vpColor::green, i, j, M_ESTIMATOR, NO_SUPPRESSION, vpColor::purple, vpColor::red, THRESHOLD, TOO_NEAR, and vpColor::yellow.

◆ display() [3/4]

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

Display moving edges in image I.

Parameters

I	: Input image.

Definition at line 417 of file vpMeSite.cpp.

References display(), ifloat, and jfloat.

◆ display() [4/4]

void vpMeSite::display	(	const vpImage< vpRGBa > &	I,
		const double &	i,
		const double &	j,
		const vpMeSiteState &	state = `NO_SUPPRESSION`
	)

static

Display the moving edge site 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

I	: The image.
i	: Pixel i of the site.
j	: Pixel j of the site.
state	: State of the site.

Definition at line 449 of file vpMeSite.cpp.

References vpColor::blue, CONTRAST, vpColor::cyan, vpDisplay::displayCross(), vpColor::green, i, j, M_ESTIMATOR, NO_SUPPRESSION, vpColor::purple, vpColor::red, THRESHOLD, TOO_NEAR, and vpColor::yellow.

◆ distance()

static double vpMeSite::distance	(	const vpMeSite &	S1,
		const vpMeSite &	S2
	)

inlinestatic

Compute the square root distance between two moving-edges sites $|S1 - S2| = \sqrt{(i_1-i_2)^2+(j_1-j_2)^2}$

Parameters

S1	: First site
S2	: Second site

Returns: the distance between the two sites.

See also: sqrDistance()

Definition at line 304 of file vpMeSite.h.

◆ get_i()

int vpMeSite::get_i ( ) const

inline

Get the i coordinate (integer).

Returns: value of i

Definition at line 217 of file vpMeSite.h.

◆ get_ifloat()

double vpMeSite::get_ifloat ( ) const

inline

Get the i coordinate (double).

Returns: value of i

Definition at line 231 of file vpMeSite.h.

Referenced by vpMbtDistanceCircle::getFeaturesForDisplay(), vpMbtDistanceCylinder::getFeaturesForDisplay(), and vpMbtDistanceLine::getFeaturesForDisplay().

◆ get_j()

int vpMeSite::get_j ( ) const

inline

Get the j coordinate (f).

Returns: value of j

Definition at line 224 of file vpMeSite.h.

◆ get_jfloat()

double vpMeSite::get_jfloat ( ) const

inline

Get the j coordinate (double).

Returns: value of j

Definition at line 238 of file vpMeSite.h.

Referenced by vpMbtDistanceCircle::getFeaturesForDisplay(), vpMbtDistanceCylinder::getFeaturesForDisplay(), and vpMbtDistanceLine::getFeaturesForDisplay().

◆ getAlpha()

double vpMeSite::getAlpha ( ) const

inline

Get the angle of tangent at site.

Returns: value of alpha

Definition at line 205 of file vpMeSite.h.

◆ getQueryList()

vpMeSite * vpMeSite::getQueryList	(	const vpImage< unsigned char > &	I,
		const int	range
	)

Construct and return the list of vpMeSite along the normal to the contour, in the given range.

Precondition: : ifloat, jfloat, and the direction of the normal (alpha) have to be set.

Parameters

I	: Image in which the display is performed.
range	: +/- the range within which the pixel's correspondent will be sought.

Returns: Pointer to the list of query sites

Definition at line 181 of file vpMeSite.cpp.

References alpha, convlt, vpDisplay::displayCross(), ifloat, init(), jfloat, mask_sign, RANGE, RANGE_RESULT, vpImagePoint::set_i(), vpImagePoint::set_j(), setDisplay(), and vpColor::yellow.

Referenced by track().

◆ getSign()

void vpMeSite::getSign	(	const vpImage< unsigned char > &	I,
		const int	range
	)

Get the sign (according to the difference of values of the intensities of the extremities).

Precondition: : ifloat, jfloat, and the direction of the normal (alpha) have to be set.

Parameters

I	: Image in which the sign is computed.
range	: +/- the range within which the pixel's correspondent is sought.

Postcondition: : mask_sign is computed

Definition at line 228 of file vpMeSite.cpp.

References alpha, ifloat, jfloat, mask_sign, and vpMath::round().

◆ getState()

vpMeSiteState vpMeSite::getState ( ) const

inline

Get the state of the site.

Returns: flag corresponding to vpMeSiteState

Definition at line 261 of file vpMeSite.h.

Referenced by vpMbEdgeTracker::computeVVSFirstPhase(), vpMbEdgeTracker::computeVVSFirstPhaseFactor(), vpMeTracker::display(), vpMeLine::displayLine(), vpMeLine::displayLine(), vpMbtDistanceCircle::getFeaturesForDisplay(), vpMbtDistanceCylinder::getFeaturesForDisplay(), vpMbtDistanceLine::getFeaturesForDisplay(), vpMeTracker::initTracking(), vpMeLine::leastSquare(), vpMeEllipse::leastSquareRobust(), vpMeNurbs::localReSample(), vpMeEllipse::plugHoles(), vpMeLine::seekExtremities(), vpMeNurbs::seekExtremities(), vpMeLine::suppressPoints(), vpMeNurbs::suppressPoints(), vpMbEdgeTracker::testTracking(), vpMeTracker::track(), and vpMbEdgeKltTracker::trackFirstLoop().

◆ getWeight()

double vpMeSite::getWeight ( ) const

inline

Get the weight of the site.

Returns: value of weight

Definition at line 275 of file vpMeSite.h.

◆ init() [1/4]

void vpMeSite::init ( )

Initialize moving-edge site with default parameters.

Definition at line 59 of file vpMeSite.cpp.

References alpha, convlt, i, ifloat, j, jfloat, mask_sign, NO_SUPPRESSION, NONE, normGradient, suppress, and weight.

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

◆ init() [2/4]

void vpMeSite::init	(	double	ip,
		double	jp,
		double	alphap
	)

Initialize moving-edge site parameters.

Definition at line 121 of file vpMeSite.cpp.

References alpha, i, ifloat, j, jfloat, mask_sign, NONE, and vpMath::round().

◆ init() [3/4]

void vpMeSite::init	(	double	ip,
		double	jp,
		double	alphap,
		double	convltp
	)

Initialize moving-edge site parameters.

Definition at line 135 of file vpMeSite.cpp.

References alpha, convlt, i, ifloat, j, jfloat, mask_sign, and NONE.

◆ init() [4/4]

void vpMeSite::init	(	double	ip,
		double	jp,
		double	alphap,
		double	convltp,
		int	sign
	)

Initialize moving-edge site parameters.

Definition at line 148 of file vpMeSite.cpp.

References alpha, convlt, i, ifloat, j, jfloat, mask_sign, and NONE.

◆ operator!=()

int vpMeSite::operator!= ( const vpMeSite & m )

Comparison operator.

Definition at line 403 of file vpMeSite.cpp.

References i, and j.

◆ operator=()

vpMeSite & vpMeSite::operator= ( const vpMeSite & m )

Copy operator.

Definition at line 160 of file vpMeSite.cpp.

References alpha, convlt, i, ifloat, j, jfloat, mask_sign, normGradient, suppress, and weight.

◆ setAlpha()

void vpMeSite::setAlpha ( const double & a )

inline

Set the angle of tangent at site.

Parameters

a	: new value of alpha

Definition at line 198 of file vpMeSite.h.

◆ setDisplay()

void vpMeSite::setDisplay ( vpMeSiteDisplayType select )

inline

Display selector.

Definition at line 210 of file vpMeSite.h.

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

◆ setState()

void vpMeSite::setState ( const vpMeSiteState & flag )

inline

Set the state of the site.

Parameters

flag	: flag corresponding to vpMeSiteState

See also: vpMeSiteState

Definition at line 247 of file vpMeSite.h.

Referenced by vpMeLine::leastSquare(), vpMeEllipse::plugHoles(), vpMbEdgeKltTracker::postTrackingMbt(), vpMeEllipse::sample(), vpMeNurbs::supressNearPoints(), vpMeTracker::track(), and vpMbEdgeTracker::updateMovingEdgeWeights().

◆ setWeight()

void vpMeSite::setWeight ( const double & w )

inline

Set the weight of the site.

Parameters

w	: new value of weight

Definition at line 268 of file vpMeSite.h.

◆ sqrDistance()

static double vpMeSite::sqrDistance	(	const vpMeSite &	S1,
		const vpMeSite &	S2
	)

inlinestatic

Compute the square distance between two moving-edges sites $ |S1 - S2| = (i_1-i_2)^2+(j_1-j_2)^2 $

Parameters

S1	: First site
S2	: Second site

Returns: The square distance between the two sites.

See also: distance()

Definition at line 320 of file vpMeSite.h.

References ifloat, jfloat, and vpMath::sqr().

Referenced by vpMeNurbs::localReSample(), vpMeNurbs::seekExtremitiesCanny(), and vpMeNurbs::supressNearPoints().

◆ track()

void vpMeSite::track	(	const vpImage< unsigned char > &	im,
		const vpMe *	me,
		bool	test_likelihood = `true`
	)

Specific function for moving-edges.

Warning: To display the moving edges graphics a call to vpDisplay::flush() is needed after this function.

Definition at line 305 of file vpMeSite.cpp.

References CONTRAST, convlt, convolution(), vpDisplay::displayPoint(), vpMe::getLikelihoodThresholdType(), vpMe::getMaskSize(), vpMe::getMu1(), vpMe::getMu2(), getQueryList(), vpMe::getRange(), vpMe::getThreshold(), vpColor::green, i, j, vpMe::NORMALIZED_THRESHOLD, normGradient, RANGE_RESULT, vpColor::red, RESULT, vpImagePoint::set_i(), vpImagePoint::set_j(), vpMath::sqr(), and THRESHOLD.

Referenced by vpMeTracker::initTracking(), vpMeNurbs::localReSample(), vpMeEllipse::plugHoles(), vpMeLine::seekExtremities(), vpMeNurbs::seekExtremities(), vpMeNurbs::seekExtremitiesCanny(), and vpMeTracker::track().

Friends And Related Symbol Documentation

◆ operator<<

VISP_EXPORT std::ostream & operator<<	(	std::ostream &	os,
		vpMeSite &	vpMeS
	)

friend

ostream operator.

Definition at line 405 of file vpMeSite.cpp.

Member Data Documentation

◆ alpha

double vpMeSite::alpha

Angle of tangent at site.

Definition at line 106 of file vpMeSite.h.

Referenced by convolution(), getQueryList(), getSign(), init(), init(), init(), init(), operator=(), vpMeLine::updateDelta(), vpMeNurbs::updateDelta(), and vpMeEllipse::updateTheta().

◆ convlt

double vpMeSite::convlt

Convolution of Site in previous image.

Definition at line 108 of file vpMeSite.h.

Referenced by getQueryList(), init(), init(), init(), operator=(), and track().

◆ i

int vpMeSite::i

Coordinate along i of a site.

Definition at line 96 of file vpMeSite.h.

Referenced by convolution(), display(), display(), init(), init(), init(), init(), operator!=(), operator=(), vpMeLine::seekExtremities(), vpMeNurbs::seekExtremities(), vpMeTracker::track(), track(), vpMeNurbs::updateDelta(), and vpMeSite().

◆ ifloat

double vpMeSite::ifloat

Floating coordinates along i of a site.

Definition at line 100 of file vpMeSite.h.

Referenced by display(), display(), vpMeLine::displayLine(), vpMeLine::displayLine(), vpMeLine::displayLine(), vpMeLine::displayLine(), getQueryList(), getSign(), vpNurbs::globalCurveApprox(), vpNurbs::globalCurveInterp(), vpNurbs::globalCurveInterp(), init(), init(), init(), init(), vpMeLine::initTracking(), vpMeLine::leastSquare(), vpMeEllipse::leastSquareRobust(), vpMeNurbs::localReSample(), operator=(), vpMeEllipse::plugHoles(), vpMeLine::reSample(), vpMeLine::sample(), vpMeLine::seekExtremities(), vpMeNurbs::seekExtremities(), vpMeNurbs::seekExtremitiesCanny(), vpMeLine::setExtremities(), sqrDistance(), vpMeEllipse::updateTheta(), and vpMeSite().

◆ j

int vpMeSite::j

Coordinates along j of a site.

Definition at line 98 of file vpMeSite.h.

Referenced by vpMbtDistanceCylinder::computeInteractionMatrixError(), convolution(), display(), display(), init(), init(), init(), init(), operator!=(), operator=(), vpMeLine::seekExtremities(), vpMeNurbs::seekExtremities(), vpMeTracker::track(), track(), vpMeNurbs::updateDelta(), and vpMeSite().

◆ jfloat

double vpMeSite::jfloat

Floating coordinates along j of a site.

Definition at line 102 of file vpMeSite.h.

Referenced by display(), display(), vpMeLine::displayLine(), vpMeLine::displayLine(), vpMeLine::displayLine(), vpMeLine::displayLine(), getQueryList(), getSign(), vpNurbs::globalCurveApprox(), vpNurbs::globalCurveInterp(), vpNurbs::globalCurveInterp(), init(), init(), init(), init(), vpMeLine::initTracking(), vpMeLine::leastSquare(), vpMeEllipse::leastSquareRobust(), vpMeNurbs::localReSample(), operator=(), vpMeEllipse::plugHoles(), vpMeLine::reSample(), vpMeLine::sample(), vpMeLine::seekExtremities(), vpMeNurbs::seekExtremities(), vpMeNurbs::seekExtremitiesCanny(), vpMeLine::setExtremities(), sqrDistance(), vpMeEllipse::updateTheta(), and vpMeSite().

◆ mask_sign

int vpMeSite::mask_sign

Mask sign.

Definition at line 104 of file vpMeSite.h.

Referenced by convolution(), getQueryList(), getSign(), init(), init(), init(), init(), operator=(), and vpMeLine::updateDelta().

◆ normGradient

double vpMeSite::normGradient

Convolution of Site in previous image.

Definition at line 110 of file vpMeSite.h.

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

◆ suppress

int vpMeSite::suppress

Flag to indicate whether point is rejected or not 1 = contrast, 2 = threshold, 3 = M-estimator, 0 = nosupp

Definition at line 366 of file vpMeSite.h.

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

◆ weight

double vpMeSite::weight

Uncertainty of point given as a probability between 0 and 1.

Definition at line 112 of file vpMeSite.h.

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

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Friends

Detailed Description

Member Enumeration Documentation

◆ vpMeSiteDisplayType

◆ vpMeSiteState

Constructor & Destructor Documentation

◆ vpMeSite() [1/3]

◆ vpMeSite() [2/3]

◆ vpMeSite() [3/3]

◆ ~vpMeSite()

Member Function Documentation

◆ convolution()

◆ display() [1/4]

◆ display() [2/4]

◆ display() [3/4]

◆ display() [4/4]

◆ distance()

◆ get_i()

◆ get_ifloat()

◆ get_j()

◆ get_jfloat()

◆ getAlpha()

◆ getQueryList()

◆ getSign()

◆ getState()

◆ getWeight()

◆ init() [1/4]

◆ init() [2/4]

◆ init() [3/4]

◆ init() [4/4]

◆ operator!=()

◆ operator=()

◆ setAlpha()

◆ setDisplay()

◆ setState()

◆ setWeight()

◆ sqrDistance()

◆ track()

Friends And Related Symbol Documentation

◆ operator<<

Member Data Documentation

◆ alpha

◆ convlt

◆ i

◆ ifloat

◆ j

◆ jfloat

◆ mask_sign

◆ normGradient

◆ suppress

◆ weight