#include <vpMe.h>

Public Types
enum	vpLikelihoodThresholdType { OLD_THRESHOLD = 0 , NORMALIZED_THRESHOLD = 1 }

Public Member Functions
	vpMe ()
	vpMe (const vpMe &me)
virtual	~vpMe ()
vpMe &	operator= (const vpMe &me)
vpMe &	operator= (const vpMe &&me)
void	checkSamplestep (double &sample_step)
unsigned int	getAngleStep () const
vpMatrix *	getMask () const
unsigned int	getMaskNumber () const
int	getMaskSign () const
unsigned int	getMaskSize () const
double	getMinSampleStep () const
double	getMu1 () const
double	getMu2 () const
int	getNbTotalSample () const
int	getPointsToTrack () const
unsigned int	getRange () const
int	getStrip () const
double	getThreshold () const
vpLikelihoodThresholdType	getLikelihoodThresholdType () const
void	initMask ()
void	print ()
void	setAngleStep (const unsigned int &a)
void	setMaskNumber (const unsigned int &a)
void	setMaskSign (const int &a)
void	setMaskSize (const unsigned int &a)
void	setMinSampleStep (const double &min)
void	setMu1 (const double &mu_1)
void	setMu2 (const double &mu_2)
void	setNbTotalSample (const int &nb)
void	setPointsToTrack (const int &n)
void	setRange (const unsigned int &r)
void	setSampleStep (const double &s)
double	getSampleStep () const
void	setStrip (const int &a)
void	setThreshold (const double &t)
void	setLikelihoodThresholdType (const vpLikelihoodThresholdType likelihood_threshold_type)

Public Attributes
double	threshold
double	mu1
double	mu2
double	min_samplestep
unsigned int	anglestep
int	mask_sign
unsigned int	range
double	sample_step
int	ntotal_sample
int	points_to_track
unsigned int	mask_size
unsigned int	n_mask
int	strip
vpMatrix *	mask

Friends
void	to_json (nlohmann::json &j, const vpMe &me)
void	from_json (const nlohmann::json &j, vpMe &me)

Detailed Description

This class defines predetermined masks for sites and holds moving edges tracking parameters.

JSON serialization

Since ViSP 3.6.0, if ViSP is build with JSON for modern C++ 3rd-party we introduce JSON serialization capabilities for vpMe. The following sample code shows how to save moving-edges settings in a file named me.json and reload the values from this JSON file.

#include <visp3/me/vpMe.h>
 
int main()
{
#if defined(VISP_HAVE_NLOHMANN_JSON)
  std::string filename = "me.json";
  {
    vpMe me;
    me.setLikelihoodThresholdType(vpMe::NORMALIZED_THRESHOLD);
    me.setThreshold(20);    // Value in range [0 ; 255]
    me.setMaskNumber(180);
    me.setMaskSign(0);
    me.setMu1(0.5);
    me.setMu2(0.5);
    me.setNbTotalSample(0);
    me.setPointsToTrack(200);
    me.setRange(5);
    me.setStrip(2);
 
    std::ofstream file(filename);
    const nlohmann::json j = me;
    file << j;
    file.close();
  }
  {
    std::ifstream file(filename);
    const nlohmann::json j = nlohmann::json::parse(file);
    vpMe me;
    me = j;
    file.close();
    std::cout << "Read moving-edges settings from " << filename << ":" << std::endl;
    me.print();
  }
#endif
}

If you build and execute the sample code, it will produce the following output:

Read moving-edges settings from me.json:
 
Moving edges settings
 
 Size of the convolution masks....5x5 pixels
 Number of masks..................180
 Query range +/- J................5 pixels
 Likelihood threshold type........normalized
 Likelihood threshold.............20
 Contrast tolerance +/-...........50% and 50%
 Sample step......................10 pixels
 Strip............................2 pixels
 Min sample step..................4 pixels

The content of the me.json file is the following:

$ cat me.json
{"maskSign":0,"maskSize":5,"minSampleStep":4.0,"mu":[0.5,0.5],"nMask":180,"ntotalSample":0,"pointsToTrack":200,
 "range":5,"sampleStep":10.0,"strip":2,"threshold":20.0,"thresholdType":1}

Examples: mbtEdgeKltTracking.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.cpp, tutorial-me-ellipse-tracker.cpp, and tutorial-me-line-tracker.cpp.

Definition at line 121 of file vpMe.h.

Member Enumeration Documentation

◆ vpLikelihoodThresholdType

enum vpMe::vpLikelihoodThresholdType

Type of likelihood threshold to use.

Enumerator
OLD_THRESHOLD	Old likelihood ratio threshold (to be avoided).
NORMALIZED_THRESHOLD	Easy-to-use normalized likelihood threshold corresponding to the minimal luminance contrast to consider with values in [0 ; 255].

Definition at line 127 of file vpMe.h.

Constructor & Destructor Documentation

◆ vpMe() [1/2]

vpMe::vpMe ( )

Array of matrices defining the different masks (one for every angle step).

Default constructor.

Definition at line 364 of file vpMe.cpp.

References anglestep, initMask(), mask, mask_sign, mask_size, min_samplestep, mu1, mu2, n_mask, ntotal_sample, OLD_THRESHOLD, points_to_track, range, sample_step, strip, and threshold.

Referenced by from_json, operator=(), operator=(), to_json, and vpMe().

◆ vpMe() [2/2]

vpMe::vpMe ( const vpMe & me )

Copy constructor.

Definition at line 376 of file vpMe.cpp.

References anglestep, mask, mask_sign, mask_size, min_samplestep, mu1, mu2, n_mask, ntotal_sample, OLD_THRESHOLD, points_to_track, range, sample_step, strip, threshold, and vpMe().

◆ ~vpMe()

vpMe::~vpMe ( )

virtual

Destructor.

Definition at line 437 of file vpMe.cpp.

References mask.

Member Function Documentation

◆ checkSamplestep()

void vpMe::checkSamplestep ( double & sample_step )

inline

Check sample step wrt min value.

Parameters

[in,out] sample_step : When this value is lower than the min sample step value, it is modified to the min sample step value.

Definition at line 198 of file vpMe.h.

References min_samplestep, and sample_step.

◆ getAngleStep()

unsigned int vpMe::getAngleStep ( ) const

inline

Return the angle step.

Returns: Value of anglestep.

Definition at line 208 of file vpMe.h.

References anglestep.

Referenced by vpMeSite::convolution().

◆ getLikelihoodThresholdType()

vpLikelihoodThresholdType vpMe::getLikelihoodThresholdType ( ) const

inline

Return the selected choice for the likelihood threshold.

Returns: The likelihood threshold type to consider.

See also: setLikelihoodThresholdType(), setThreshold(), getThreshold()

Definition at line 297 of file vpMe.h.

Referenced by from_json, to_json, and vpMeSite::track().

◆ getMask()

vpMatrix * vpMe::getMask ( ) const

inline

Get the matrix of the mask.

Returns: the value of mask.

Definition at line 214 of file vpMe.h.

References mask.

Referenced by vpMeSite::convolution().

◆ 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 222 of file vpMe.h.

References n_mask.

Referenced by to_json.

◆ getMaskSign()

int vpMe::getMaskSign ( ) const

inline

Return the mask sign.

Returns: Value of mask_sign.

Definition at line 228 of file vpMe.h.

References mask_sign.

Referenced by from_json, and to_json.

◆ 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 236 of file vpMe.h.

References mask_size.

Referenced by vpMeSite::convolution(), from_json, to_json, and vpMeSite::track().

◆ 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 243 of file vpMe.h.

References min_samplestep.

Referenced by from_json, and to_json.

◆ getMu1()

double vpMe::getMu1 ( ) const

inline

Get the minimum image contrast allowed to detect a contour.

Returns: Value of mu1.

Definition at line 249 of file vpMe.h.

References mu1.

Referenced by to_json, and vpMeSite::track().

◆ getMu2()

double vpMe::getMu2 ( ) const

inline

Get the maximum image contrast allowed to detect a contour.

Returns: Value of mu2.

Definition at line 255 of file vpMe.h.

References mu2.

Referenced by to_json, and vpMeSite::track().

◆ 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 261 of file vpMe.h.

References ntotal_sample.

Referenced by from_json, and to_json.

◆ getPointsToTrack()

int vpMe::getPointsToTrack ( ) const

inline

Return the number of points to track.

Returns: Value of points_to_track.

Definition at line 267 of file vpMe.h.

References points_to_track.

Referenced by from_json, and to_json.

◆ getRange()

unsigned int vpMe::getRange ( ) const

inline

Return the seek range on both sides of the reference pixel.

Returns: Value of range.

Examples: trackMeEllipse.cpp.

Definition at line 273 of file vpMe.h.

References range.

Referenced by from_json, to_json, and vpMeSite::track().

◆ getSampleStep()

double vpMe::getSampleStep ( ) const

inline

Get the minimum distance in pixel between two discretized points.

Returns: Value of sample_step.

Examples: trackMeCircle.cpp, and trackMeEllipse.cpp.

Definition at line 397 of file vpMe.h.

References sample_step.

Referenced by to_json.

◆ 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 279 of file vpMe.h.

References strip.

Referenced by vpMeSite::convolution(), from_json, and to_json.

◆ getThreshold()

double vpMe::getThreshold ( ) const

inline

Return the likelihood threshold used to determine if the moving edge is valid or not.

Returns: Value of the likelihood threshold.

See also: setThreshold(), getLikelihoodThresholdType(), setLikelihoodThresholdType()

Examples: trackMeEllipse.cpp.

Definition at line 288 of file vpMe.h.

References threshold.

Referenced by from_json, to_json, and vpMeSite::track().

◆ initMask()

void vpMe::initMask ( )

Initialise the array of matrices with the defined size and the number of matrices to create.

Definition at line 329 of file vpMe.cpp.

References mask, mask_size, and n_mask.

Referenced by from_json, operator=(), operator=(), setMaskNumber(), setMaskSize(), and vpMe().

◆ operator=() [1/2]

vpMe & vpMe::operator= ( const vpMe && me )

Move operator.

Definition at line 411 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, threshold, and vpMe().

◆ operator=() [2/2]

vpMe & vpMe::operator= ( const vpMe & me )

Copy operator.

Definition at line 384 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, threshold, and vpMe().

◆ print()

void vpMe::print ( )

Print using std::cout moving edges settings.

Examples: tutorial-mb-generic-tracker.cpp.

Definition at line 348 of file vpMe.cpp.

References mask_size, min_samplestep, mu1, mu2, n_mask, NORMALIZED_THRESHOLD, range, sample_step, strip, and threshold.

◆ setAngleStep()

void vpMe::setAngleStep ( const unsigned int & a )

inline

Set the angle step.

Parameters

a	: new angle step.

Definition at line 315 of file vpMe.h.

References anglestep.

Referenced by from_json.

◆ setLikelihoodThresholdType()

void vpMe::setLikelihoodThresholdType ( const vpLikelihoodThresholdType likelihood_threshold_type )

inline

Set the likelihood threshold type used to determine if the moving edge is valid or not.

Parameters

likelihood_threshold_type : Likelihood threshold type. It is recommended to use NORMALIZED_THRESHOLD and set the threshold using setThreshold() with a value corresponding to the minimal luminance contrast to consider that can handle values in range [0 ; 255].

See also: setThreshold()

Examples: mbtEdgeKltTracking.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.cpp, tutorial-me-ellipse-tracker.cpp, and tutorial-me-line-tracker.cpp.

Definition at line 445 of file vpMe.h.

Referenced by from_json.

◆ 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

a	: the number of mask.

Definition at line 445 of file vpMe.cpp.

References anglestep, initMask(), and n_mask.

Referenced by from_json.

◆ setMaskSign()

void vpMe::setMaskSign ( const int & a )

inline

Set the mask sign.

Parameters

a	: new mask sign.

Definition at line 330 of file vpMe.h.

References mask_sign.

Referenced by from_json.

◆ 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

a	: new mask size.

Definition at line 452 of file vpMe.cpp.

References initMask(), and mask_size.

Referenced by from_json.

◆ 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 346 of file vpMe.h.

References min_samplestep.

Referenced by from_json.

◆ setMu1()

void vpMe::setMu1 ( const double & mu_1 )

inline

Set the minimum image contrast allowed to detect a contour.

Parameters

mu_1	: new mu1.

Definition at line 353 of file vpMe.h.

Referenced by from_json.

◆ setMu2()

void vpMe::setMu2 ( const double & mu_2 )

inline

Set the maximum image contrast allowed to detect a contour.

Parameters

mu_2	: new mu2.

Definition at line 360 of file vpMe.h.

Referenced by from_json.

◆ setNbTotalSample()

void vpMe::setNbTotalSample ( const int & nb )

inline

Set how many discretizied points are used to track the feature.

Parameters

nb	: new total number of sample.

Examples: testKeyPoint-2.cpp, testKeyPoint-4.cpp, tutorial-detection-object-mbt-deprecated.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2-deprecated.cpp, and tutorial-detection-object-mbt2.cpp.

Definition at line 367 of file vpMe.h.

References ntotal_sample.

Referenced by from_json.

◆ setPointsToTrack()

void vpMe::setPointsToTrack ( const int & n )

inline

Set the number of points to track.

Parameters

n	: new number of points to track.

Warning: This method is useful only for the vpMeNurbsTracker.

Examples: servoAfma62DhalfCamVelocity.cpp, servoAfma6Cylinder2DCamVelocity.cpp, servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp, servoAfma6Line2DCamVelocity.cpp, servoAfma6SquareLines2DCamVelocity.cpp, servoAfma6TwoLines2DCamVelocity.cpp, trackMeLine.cpp, and trackMeNurbs.cpp.

Definition at line 376 of file vpMe.h.

References points_to_track.

Referenced by from_json.

◆ setRange()

void vpMe::setRange ( const unsigned int & r )

inline

Set the seek range on both sides of the reference pixel.

Parameters

r	: new range.

Examples: mbtEdgeKltTracking.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.cpp, tutorial-me-ellipse-tracker.cpp, and tutorial-me-line-tracker.cpp.

Definition at line 383 of file vpMe.h.

References range.

Referenced by from_json.

◆ setSampleStep()

void vpMe::setSampleStep ( const double & s )

inline

Set the minimum distance in pixel between two discretized points.

Parameters

s	: new sample_step.

Examples: mbtEdgeKltTracking.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.cpp, tutorial-me-ellipse-tracker.cpp, and tutorial-me-line-tracker.cpp.

Definition at line 390 of file vpMe.h.

References sample_step.

◆ setStrip()

void vpMe::setStrip ( const int & a )

inline

Set the number of pixels that are ignored around the image borders.

Parameters

a	: new strip.

Definition at line 404 of file vpMe.h.

References strip.

Referenced by from_json.

◆ setThreshold()

void vpMe::setThreshold ( const double & t )

inline

Set the likelihood threshold used to determined if the moving edge is valid or not.

Parameters

t : Threshold to consider. Two different cases need to be considered depending on the likelihood threshold type that can be set using setLikelihoodThresholdType() or get using getLikelihoodThresholdType(). The default likelihood threshold type is set to OLD_THRESHOLD to keep compatibility with ViSP previous releases, but it is recommended to use rather the NORMALIZED_THRESHOLD type like in the following sample code. When doing so, the threshold is more easy to set since it corresponds to the minimal luminance contrast to consider with values in range [0 ; 255].

vpMe me;
me.setLikelihoodThresholdType(NORMALIZED_THRESHOLD);
me.setThreshold(20); // Value in range [0 ; 255]

When the likelihood threshold type is set by default to OLD_THRESHOLD like in the next example, values of the likelihood threshold depends on the minimal luminance contrast to consider and the mask size that can be set using setMaskSize() and retrieved using getMaskSize().

vpMe me; // By default the constructor set the threshold type to OLD_THRESHOLD

me.setThreshold(10000); // Value that depends on the minimal luminance contrast to consider and the mask size.

The previous sample code is similar to the next one:

vpMe me;
me.setLikelihoodThresholdType(OLD_THRESHOLD);
me.setThreshold(10000); // Value that depends on the minimal luminance contrast to consider and the mask size.

See also: getThreshold(), getLikelihoodThresholdType()

Examples: mbtEdgeKltTracking.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.cpp, tutorial-me-ellipse-tracker.cpp, and tutorial-me-line-tracker.cpp.

Definition at line 435 of file vpMe.h.

References threshold.

Referenced by from_json.

◆ from_json

void from_json	(	const nlohmann::json &	j,
		vpMe &	me )

friend

Retrieve a vpMe object from a JSON representation.

JSON content (key: type):

thresholdType: int, vpMe::getLikelihoodThresholdType()
threshold: double, vpMe::setThreshold()
mu : [double, double], vpMe::setMu1, vpMe::setMu2()
minSampleStep: double, vpMe::setMinSampleStep()
angleStep: double, vpMe::setAngleStep()
sampleStep: double, vpMe::setSampleStep()
range: int, vpMe::setRange()
ntotal_sample: int, vpMe::setNbTotalSample()
pointsToTrack: int, vpMe::setPointsToTrack()
maskSize: int, vpMe::setMaskSize()
nMask: int, vpMe::setMaskNumber()
maskSign: int, vpMe::setMaskSign()
strip: int, vpMe::setStrip()

Example:

{
 "angleStep": 1,
  "maskSign": 0,
  "maskSize": 5,
  "minSampleStep": 4.0,
  "mu": [
      0.5,
      0.5
  ],
  "nMask": 180,
  "ntotal_sample": 0,
  "pointsToTrack": 500,
  "range": 7,
  "sampleStep": 4.0,
  "strip": 2,
  "thresholdType": 1
  "threshold": 20.0
}

Parameters

j	JSON representation to convert
me	converted object

Definition at line 523 of file vpMe.h.

References from_json, getLikelihoodThresholdType(), getMaskSign(), getMaskSize(), getMinSampleStep(), getNbTotalSample(), getPointsToTrack(), getRange(), getStrip(), getThreshold(), initMask(), setAngleStep(), setLikelihoodThresholdType(), setMaskNumber(), setMaskSign(), setMaskSize(), setMinSampleStep(), setMu1(), setMu2(), setNbTotalSample(), setPointsToTrack(), setRange(), setStrip(), setThreshold(), and vpMe().

Referenced by from_json.

◆ to_json

void to_json	(	nlohmann::json &	j,
		const vpMe &	me )

friend

Convert a vpMe object to a JSON representation.

Parameters

j	resulting json object
me	the object to convert

Definition at line 505 of file vpMe.h.

References getLikelihoodThresholdType(), getMaskNumber(), getMaskSign(), getMaskSize(), getMinSampleStep(), getMu1(), getMu2(), getNbTotalSample(), getPointsToTrack(), getRange(), getSampleStep(), getStrip(), getThreshold(), to_json, and vpMe().

Referenced by to_json.

Member Data Documentation

◆ anglestep

unsigned int vpMe::anglestep

Definition at line 147 of file vpMe.h.

Referenced by getAngleStep(), operator=(), operator=(), setAngleStep(), setMaskNumber(), vpMe(), and vpMe().

◆ mask

vpMatrix* vpMe::mask

Definition at line 166 of file vpMe.h.

Referenced by getMask(), initMask(), operator=(), operator=(), vpMe(), vpMe(), and ~vpMe().

◆ mask_sign

int vpMe::mask_sign

Definition at line 148 of file vpMe.h.

Referenced by getMaskSign(), operator=(), operator=(), setMaskSign(), vpMe(), and vpMe().

◆ mask_size

unsigned int vpMe::mask_size

Convolution masks' size in pixels (masks are square),

Warning: should not be public, use setMaskSize() and getMaskSize() instead (kept public for compatibility reasons).

Definition at line 156 of file vpMe.h.

Referenced by getMaskSize(), initMask(), operator=(), operator=(), print(), setMaskSize(), vpMe(), and vpMe().

◆ min_samplestep

double vpMe::min_samplestep

Contrast continuity parameter (right boundary).

Definition at line 146 of file vpMe.h.

Referenced by checkSamplestep(), getMinSampleStep(), operator=(), operator=(), print(), setMinSampleStep(), vpMe(), and vpMe().

◆ mu1

double vpMe::mu1

Old likelihood ratio threshold (to be avoided) or easy-to-use normalized threshold: minimal contrast.

Definition at line 144 of file vpMe.h.

Referenced by getMu1(), operator=(), operator=(), print(), vpMe(), and vpMe().

◆ mu2

double vpMe::mu2

Contrast continuity parameter (left boundary).

Definition at line 145 of file vpMe.h.

Referenced by getMu2(), operator=(), operator=(), print(), vpMe(), and vpMe().

◆ n_mask

unsigned int vpMe::n_mask

The number of convolution masks available for tracking ; defines resolution.

Warning: Should not be public, use setMaskNumber() and getMaskNumber() instead (kept public for compatibility reasons).

Definition at line 160 of file vpMe.h.

Referenced by getMaskNumber(), initMask(), operator=(), operator=(), print(), setMaskNumber(), vpMe(), and vpMe().

◆ ntotal_sample

int vpMe::ntotal_sample

Distance between sampled points in pixels.

Definition at line 151 of file vpMe.h.

Referenced by getNbTotalSample(), operator=(), operator=(), setNbTotalSample(), vpMe(), and vpMe().

◆ points_to_track

int vpMe::points_to_track

Definition at line 152 of file vpMe.h.

Referenced by getPointsToTrack(), operator=(), operator=(), setPointsToTrack(), vpMe(), and vpMe().

◆ range

unsigned int vpMe::range

Definition at line 149 of file vpMe.h.

Referenced by getRange(), operator=(), operator=(), print(), setRange(), vpMe(), and vpMe().

◆ sample_step

double vpMe::sample_step

Seek range - on both sides of the reference pixel.

Definition at line 150 of file vpMe.h.

Referenced by checkSamplestep(), getSampleStep(), operator=(), operator=(), print(), setSampleStep(), vpMe(), and vpMe().

◆ strip

int vpMe::strip

Definition at line 165 of file vpMe.h.

Referenced by getStrip(), operator=(), operator=(), print(), setStrip(), vpMe(), and vpMe().

◆ threshold

double vpMe::threshold

Definition at line 143 of file vpMe.h.

Referenced by getThreshold(), operator=(), operator=(), print(), setThreshold(), vpMe(), and vpMe().

Public Types

Public Member Functions

Public Attributes

Friends

Detailed Description

Member Enumeration Documentation

◆ vpLikelihoodThresholdType

Constructor & Destructor Documentation

◆ vpMe() [1/2]

◆ vpMe() [2/2]

◆ ~vpMe()

Member Function Documentation

◆ checkSamplestep()

◆ getAngleStep()

◆ getLikelihoodThresholdType()

◆ getMask()

◆ getMaskNumber()

◆ getMaskSign()

◆ getMaskSize()

◆ getMinSampleStep()

◆ getMu1()

◆ getMu2()

◆ getNbTotalSample()

◆ getPointsToTrack()

◆ getRange()

◆ getSampleStep()

◆ getStrip()

◆ getThreshold()

◆ initMask()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ print()

◆ setAngleStep()

◆ setLikelihoodThresholdType()

◆ setMaskNumber()

◆ setMaskSign()

◆ setMaskSize()

◆ setMinSampleStep()

◆ setMu1()

◆ setMu2()

◆ setNbTotalSample()

◆ setPointsToTrack()

◆ setRange()

◆ setSampleStep()

◆ setStrip()

◆ setThreshold()

Friends And Related Symbol Documentation

◆ from_json

◆ to_json

Member Data Documentation

◆ anglestep

◆ mask

◆ mask_sign

◆ mask_size

◆ min_samplestep

◆ mu1

◆ mu2

◆ n_mask

◆ ntotal_sample

◆ points_to_track

◆ range

◆ sample_step

◆ strip

◆ threshold