#include <vpTemplateTrackerZone.h>

Public Member Functions
	vpTemplateTrackerZone ()
	vpTemplateTrackerZone (const vpTemplateTrackerZone &z)
virtual	~vpTemplateTrackerZone ()
void	add (const vpTemplateTrackerTriangle &t)
void	clear ()
void	copy (const vpTemplateTrackerZone &z)
void	display (const vpImage< unsigned char > &I, const vpColor &col=vpColor::green, unsigned int thickness=3)
void	display (const vpImage< vpRGBa > &I, const vpColor &col=vpColor::green, unsigned int thickness=3)
void	fillTriangle (vpImage< unsigned char > &I, unsigned int id, unsigned char gray_level)
double	getArea () const
vpImagePoint	getCenter () const
vpImagePoint	getCenter (int borne_x, int borne_y) const
int	getMaxx () const
int	getMaxy () const
int	getMinx () const
int	getMiny () const
vpRect	getBoundingBox () const
unsigned int	getNbTriangle () const
vpTemplateTrackerZone	getPyramidDown () const
void	getTriangle (unsigned int i, vpTemplateTrackerTriangle &T) const
vpTemplateTrackerTriangle	getTriangle (unsigned int i) const
void	initClick (const vpImage< unsigned char > &I, bool delaunay=false)
void	initFromPoints (const vpImage< unsigned char > &I, const std::vector< vpImagePoint > &ip, bool delaunay=false)
bool	inZone (const int &i, const int &j) const
bool	inZone (const double &i, const double &j) const
bool	inZone (const int &i, const int &j, unsigned int &id_triangle) const
bool	inZone (const double &i, const double &j, unsigned int &id_triangle) const
vpTemplateTrackerZone &	operator= (const vpTemplateTrackerZone &z)

Protected Attributes
std::vector< vpTemplateTrackerTriangle >	Zone
int	min_x
int	min_y
int	max_x
int	max_y

Detailed Description

A zone is defined by a set of triangles defined as vpTemplateTrackerTriangle.

A zone can be initialized either by user interaction using mouse click in a display device throw initClick(), or by a list of points throw initFromPoints().

Tutorials & Examples

Tutorials
If you are interested in the Template Tracker (TT), you may have a look at:

Tutorial: Template tracking

Examples: templateTracker.cpp.

Definition at line 68 of file vpTemplateTrackerZone.h.

Constructor & Destructor Documentation

◆ vpTemplateTrackerZone() [1/2]

BEGIN_VISP_NAMESPACE vpTemplateTrackerZone::vpTemplateTrackerZone ( )

Default constructor.

Definition at line 46 of file vpTemplateTrackerZone.cpp.

References max_x, max_y, min_x, min_y, and Zone.

Referenced by copy(), getPyramidDown(), operator=(), and vpTemplateTrackerZone().

◆ vpTemplateTrackerZone() [2/2]

vpTemplateTrackerZone::vpTemplateTrackerZone ( const vpTemplateTrackerZone & z )

Copy constructor.

Definition at line 51 of file vpTemplateTrackerZone.cpp.

References max_x, max_y, min_x, min_y, vpTemplateTrackerZone(), and Zone.

◆ ~vpTemplateTrackerZone()

vpTemplateTrackerZone::~vpTemplateTrackerZone ( )

virtual

Destructor.

Definition at line 493 of file vpTemplateTrackerZone.cpp.

References clear().

Member Function Documentation

◆ add()

void vpTemplateTrackerZone::add ( const vpTemplateTrackerTriangle & t )

Add a triangle to the zone and update the bounding box.

Parameters

t	: Triangle to introduce in the zone.

Definition at line 245 of file vpTemplateTrackerZone.cpp.

References max_x, max_y, min_x, min_y, and Zone.

Referenced by copy(), getPyramidDown(), initFromPoints(), and vpTemplateTrackerWarp::warpZone().

◆ clear()

void vpTemplateTrackerZone::clear ( )

Remove all the triangles that define the zone.

Definition at line 60 of file vpTemplateTrackerZone.cpp.

References max_x, max_y, min_x, min_y, and Zone.

Referenced by operator=(), vpTemplateTrackerWarp::warpZone(), and ~vpTemplateTrackerZone().

◆ copy()

void vpTemplateTrackerZone::copy ( const vpTemplateTrackerZone & z )

Copy all the triangles that define zone Z in the current zone (*this) and update the zone bounding box.

Parameters

z	: Zone with a set of triangles provided as input.

Definition at line 537 of file vpTemplateTrackerZone.cpp.

References add(), vpTemplateTrackerTriangle::getMaxx(), vpTemplateTrackerTriangle::getMaxy(), vpTemplateTrackerTriangle::getMinx(), vpTemplateTrackerTriangle::getMiny(), max_x, max_y, min_x, min_y, and vpTemplateTrackerZone().

Referenced by operator=().

◆ display() [1/2]

void vpTemplateTrackerZone::display	(	const vpImage< unsigned char > &	I,
		const vpColor &	col = vpColor::green,
		unsigned int	thickness = 3 )

If a display device is associated to image I, display in overlay the triangles that define the zone.

Parameters

I	: Image.
col	: Color used to display the triangles.
thickness	: Thickness of the triangle lines.

Examples: templateTracker.cpp.

Definition at line 458 of file vpTemplateTrackerZone.cpp.

References vpDisplay::displayLine(), and Zone.

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

◆ display() [2/2]

void vpTemplateTrackerZone::display	(	const vpImage< vpRGBa > &	I,
		const vpColor &	col = vpColor::green,
		unsigned int	thickness = 3 )

If a display device is associated to image I, display in overlay the triangles that define the zone.

Parameters

I	: Image.
col	: Color used to display the triangles.
thickness	: Thickness of the triangle lines.

Definition at line 478 of file vpTemplateTrackerZone.cpp.

References vpDisplay::displayLine(), and Zone.

◆ fillTriangle()

void vpTemplateTrackerZone::fillTriangle	(	vpImage< unsigned char > &	I,
		unsigned int	id,
		unsigned char	gray_level )

Modify all the pixels inside a triangle with a given gray level.

Parameters

I	: Output image.
id	: Triangle id. This value should be less than the number of triangles used to define the zone and available using getNbTriangle().
gray_level	: Color used to fill the triangle with.

Definition at line 502 of file vpTemplateTrackerZone.cpp.

References getNbTriangle(), getTriangle(), and vpTemplateTrackerTriangle::inTriangle().

◆ getArea()

double vpTemplateTrackerZone::getArea ( ) const

Return the area of the template zone.

Definition at line 588 of file vpTemplateTrackerZone.cpp.

References vpTemplateTrackerTriangle::getArea(), getNbTriangle(), and getTriangle().

◆ getBoundingBox()

vpRect vpTemplateTrackerZone::getBoundingBox ( ) const

Return a rectangle that defines the bounding box of the zone.

See also: getMinx(), getMiny(), getMaxx(), getMaxy()

Definition at line 442 of file vpTemplateTrackerZone.cpp.

References max_x, max_y, min_x, min_y, vpRect::setBottomRight(), and vpRect::setTopLeft().

◆ getCenter() [1/2]

vpImagePoint vpTemplateTrackerZone::getCenter ( ) const

Return the position of the center of gravity of the zone.

Exceptions

vpException::divideByZeroError The size of the zone is null.

Definition at line 395 of file vpTemplateTrackerZone.cpp.

References vpException::divideByZeroError, inZone(), max_x, max_y, min_x, min_y, and vpImagePoint::set_uv().

◆ getCenter() [2/2]

vpImagePoint vpTemplateTrackerZone::getCenter	(	int	borne_x,
		int	borne_y ) const

Return the position of the center of gravity in a given area.

Parameters

borne_x	: Right coordinate of the area to consider.
borne_y	: Bottom coordinate of the area to consider.

Exceptions

vpException::divideByZeroError The size of the zone is null.

Definition at line 562 of file vpTemplateTrackerZone.cpp.

References vpException::divideByZeroError, inZone(), and vpImagePoint::set_uv().

◆ getMaxx()

int vpTemplateTrackerZone::getMaxx ( ) const

Returns: The maximal x coordinate (along the columns of the image) of the points that are in the zone.

See also: getMinx(), getBoundingBox()

Definition at line 421 of file vpTemplateTrackerZone.cpp.

References max_x.

◆ getMaxy()

int vpTemplateTrackerZone::getMaxy ( ) const

Returns: The maximal y coordinate (along the rows of the image) of the points that are in the zone.

See also: getMiny(), getBoundingBox()

Definition at line 426 of file vpTemplateTrackerZone.cpp.

References max_y.

◆ getMinx()

int vpTemplateTrackerZone::getMinx ( ) const

Returns: The minimal x coordinate (along the columns of the image) of the points that are in the zone.

See also: getMaxx(), getBoundingBox()

Definition at line 431 of file vpTemplateTrackerZone.cpp.

References min_x.

◆ getMiny()

int vpTemplateTrackerZone::getMiny ( ) const

Returns: The minimal y coordinate (along the rows of the image) of the points that are in the zone.

See also: getMaxy(), getBoundingBox()

Definition at line 436 of file vpTemplateTrackerZone.cpp.

References min_y.

◆ getNbTriangle()

unsigned int vpTemplateTrackerZone::getNbTriangle ( ) const

inline

Return the number of triangles that define the zone.

See also: getTriangle()

Definition at line 106 of file vpTemplateTrackerZone.h.

References Zone.

Referenced by fillTriangle(), getArea(), getPyramidDown(), getTriangle(), getTriangle(), and vpTemplateTrackerWarp::warpZone().

◆ getPyramidDown()

vpTemplateTrackerZone vpTemplateTrackerZone::getPyramidDown ( ) const

Return a zone with triangles that are down scaled by a factor 2.

Definition at line 519 of file vpTemplateTrackerZone.cpp.

References add(), getNbTriangle(), vpTemplateTrackerTriangle::getPyramidDown(), getTriangle(), and vpTemplateTrackerZone().

◆ getTriangle() [1/2]

vpTemplateTrackerTriangle vpTemplateTrackerZone::getTriangle ( unsigned int i ) const

A zone is defined by a set of triangles. This function returns the ith triangle.

Parameters

i	: Index of the triangle to return.

Returns: The triangle corresponding to index i.

The following sample code shows how to use this function:

vpTemplateTrackerZone zone;
...
for (unsigned int i=0; i < zone.getNbTriangle(); i++) {
  vpTemplateTrackerTriangle triangle = zone.getTriangle(i);
}

Definition at line 384 of file vpTemplateTrackerZone.cpp.

References vpException::badValue, getNbTriangle(), and Zone.

◆ getTriangle() [2/2]

void vpTemplateTrackerZone::getTriangle	(	unsigned int	i,
		vpTemplateTrackerTriangle &	T ) const

A zone is defined by a set of triangles. This function returns the ith triangle.

Parameters

[in]	i	: Index of the triangle to return.
[out]	T	: The triangle corresponding to index i.

Exceptions

pException::badValue When the triangle with index i was not found.

The following sample code shows how to use this function:

vpTemplateTrackerZone zone;
...
for (unsigned int i=0; i < zone.getNbTriangle(); i++) {
  vpTemplateTrackerTriangle triangle;
  zone.getTriangle(i, triangle);
}

Definition at line 361 of file vpTemplateTrackerZone.cpp.

References vpException::badValue, getNbTriangle(), and Zone.

Referenced by fillTriangle(), getArea(), getPyramidDown(), and vpTemplateTrackerWarp::warpZone().

◆ initClick()

void vpTemplateTrackerZone::initClick	(	const vpImage< unsigned char > &	I,
		bool	delaunay = false )

Initialize a zone in image I using mouse click.

Parameters

I : Image used to select the zone.

delaunay

: Flag used to enable Delaunay triangulation.

If true, from the image points selected by the user, a Delaunay triangulation is performed to initialize the zone.
- A left click select a image point;
- A right click select the last image point and ends the initialisation stage. In that case at least 3 points need to be selected by the user.
If false, the user select directly points as successive triangle corners. Three successive points define a triangle. It is not mandatory that triangles have one edge in common; they can define a discontinued area.
- A left click select a triangle corner;
- A right click select the last triangle corner and ends the initialisation stage. The number of points that are selected by the user should be a multiple of 3. For example, to select a zone as two triangles, the user has to left click five times and finish the selection on the sixth corner with a right click.

Definition at line 103 of file vpTemplateTrackerZone.cpp.

References vpColor::blue, vpMouseButton::button3, vpDisplay::displayCross(), vpDisplay::displayLine(), vpDisplay::flush(), vpDisplay::getClick(), initFromPoints(), vpColor::red, vpTime::wait(), and Zone.

◆ initFromPoints()

void vpTemplateTrackerZone::initFromPoints	(	const vpImage< unsigned char > &	I,
		const std::vector< vpImagePoint > &	vip,
		bool	delaunay = false )

Initialize the zone using a vector of image points.

Parameters

I	: Image to process.
vip	: Vector of image points used as initialization.
delaunay	: If true, a Delaunay triangulation is perfomed on the vector of image points. This functionality is only available if ViSP is build with OpenCV >2.3 third-party. If false, the vector of image points describe triangles. Its size is then a multiple of 3.

Definition at line 161 of file vpTemplateTrackerZone.cpp.

References add(), vpException::functionNotImplementedError, vpTemplateTrackerTriangle::getMaxx(), vpTemplateTrackerTriangle::getMaxy(), vpTemplateTrackerTriangle::getMinx(), vpTemplateTrackerTriangle::getMiny(), initFromPoints(), max_x, max_y, min_x, min_y, and Zone.

Referenced by initClick(), and initFromPoints().

◆ inZone() [1/4]

bool vpTemplateTrackerZone::inZone	(	const double &	i,
		const double &	j ) const

Test if a pixel with coordinates (i,j) is in the zone.

Parameters

i	: Coordinate i of the pixel to test.
j	: Coordinate j of the pixel to test.

Returns: true if the pixel with coordinates (i,j) is in the zone defined by a set of triangles, false otherwise.

Definition at line 285 of file vpTemplateTrackerZone.cpp.

References Zone.

◆ inZone() [2/4]

bool vpTemplateTrackerZone::inZone	(	const double &	i,
		const double &	j,
		unsigned int &	id_triangle ) const

Test if a pixel with coordinates (i,j) is in the zone and returns also the index of the triangle that contains the pixel.

Parameters

i	: Coordinate i of the pixel to test.
j	: Coordinate j of the pixel to test.
id_triangle	: Index of the triangle that contains the pixel (i,j).

Returns: true if the pixel with coordinates (i,j) is in the zone defined by a set of triangles, false otherwise.

Definition at line 329 of file vpTemplateTrackerZone.cpp.

References Zone.

◆ inZone() [3/4]

bool vpTemplateTrackerZone::inZone	(	const int &	i,
		const int &	j ) const

Test if a pixel with coordinates (i,j) is in the zone.

Parameters

i	: Coordinate i of the pixel to test.
j	: Coordinate j of the pixel to test.

Returns: true if the pixel with coordinates (i,j) is in the zone defined by a set of triangles, false otherwise.

Definition at line 267 of file vpTemplateTrackerZone.cpp.

References Zone.

Referenced by getCenter(), getCenter(), and vpTemplateTracker::initTracking().

◆ inZone() [4/4]

bool vpTemplateTrackerZone::inZone	(	const int &	i,
		const int &	j,
		unsigned int &	id_triangle ) const

Test if a pixel with coordinates (i,j) is in the zone and returns also the index of the triangle that contains the pixel.

Parameters

i	: Coordinate i of the pixel to test.
j	: Coordinate j of the pixel to test.
id_triangle	: Index of the triangle that contains the pixel (i,j).

Returns: true if the pixel with coordinates (i,j) is in the zone defined by a set of triangles, false otherwise.

Definition at line 305 of file vpTemplateTrackerZone.cpp.

References Zone.

◆ operator=()

vpTemplateTrackerZone & vpTemplateTrackerZone::operator= ( const vpTemplateTrackerZone & z )

Copy operator.

Definition at line 73 of file vpTemplateTrackerZone.cpp.

References clear(), copy(), and vpTemplateTrackerZone().

Member Data Documentation

◆ max_x

int vpTemplateTrackerZone::max_x

protected

Bounding box parameter.

Definition at line 74 of file vpTemplateTrackerZone.h.

Referenced by add(), clear(), copy(), getBoundingBox(), getCenter(), getMaxx(), initFromPoints(), vpTemplateTrackerZone(), and vpTemplateTrackerZone().

◆ max_y

int vpTemplateTrackerZone::max_y

protected

Bounding box parameter.

Definition at line 75 of file vpTemplateTrackerZone.h.

Referenced by add(), clear(), copy(), getBoundingBox(), getCenter(), getMaxy(), initFromPoints(), vpTemplateTrackerZone(), and vpTemplateTrackerZone().

◆ min_x

int vpTemplateTrackerZone::min_x

protected

Bounding box parameter.

Definition at line 72 of file vpTemplateTrackerZone.h.

Referenced by add(), clear(), copy(), getBoundingBox(), getCenter(), getMinx(), initFromPoints(), vpTemplateTrackerZone(), and vpTemplateTrackerZone().

◆ min_y

int vpTemplateTrackerZone::min_y

protected

Bounding box parameter.

Definition at line 73 of file vpTemplateTrackerZone.h.

Referenced by add(), clear(), copy(), getBoundingBox(), getCenter(), getMiny(), initFromPoints(), vpTemplateTrackerZone(), and vpTemplateTrackerZone().

◆ Zone

std::vector<vpTemplateTrackerTriangle> vpTemplateTrackerZone::Zone

protected

Vector of triangles that defines the zone.

Definition at line 71 of file vpTemplateTrackerZone.h.

Referenced by add(), clear(), display(), display(), getNbTriangle(), getTriangle(), getTriangle(), initClick(), initFromPoints(), inZone(), inZone(), inZone(), inZone(), vpTemplateTrackerZone(), and vpTemplateTrackerZone().

Public Member Functions

Protected Attributes

Detailed Description

Tutorials & Examples

Constructor & Destructor Documentation

◆ vpTemplateTrackerZone() [1/2]

◆ vpTemplateTrackerZone() [2/2]

◆ ~vpTemplateTrackerZone()

Member Function Documentation

◆ add()

◆ clear()

◆ copy()

◆ display() [1/2]

◆ display() [2/2]

◆ fillTriangle()

◆ getArea()

◆ getBoundingBox()

◆ getCenter() [1/2]

◆ getCenter() [2/2]

◆ getMaxx()

◆ getMaxy()

◆ getMinx()

◆ getMiny()

◆ getNbTriangle()

◆ getPyramidDown()

◆ getTriangle() [1/2]

◆ getTriangle() [2/2]

◆ initClick()

◆ initFromPoints()

◆ inZone() [1/4]

◆ inZone() [2/4]

◆ inZone() [3/4]

◆ inZone() [4/4]

◆ operator=()

Member Data Documentation

◆ max_x

◆ max_y

◆ min_x

◆ min_y

◆ Zone