MipAlgorithms::VisTrackVisp Class Reference
[Visual tracking]

#include <VisTrackVisp.h>

Inheritance diagram for MipAlgorithms::VisTrackVisp:

List of all members.

Public Member Functions
	VisTrackVisp (IplImage *img, bool green, bool moments, Decimal grayLevel, int vSav)
	Constructor from camera frame.
	~VisTrackVisp ()
	Destructor (closes displays).
void	getEstPose (Pose3D *pose)
	Gets the estimated pose of Robot.
void	setEstPose (Pose3D *pose)
	Sets the estimated pose of Robot (if a more realiable one is available).
void	getLastFeatureErr (ImageFeature &f)
	Gets image feature error.
void	setFeatureErr (ImageFeature &f)
	Gets image feature error.
bool	getFeatureErr (IplImage *frame, MipBaselib::Time &newTime, ImageFeature &f)
	Gets image feature error.
bool	trackReference (IplImage *frame, MipBaselib::Time &newTime)
	Performs tracking of reference in the image.
void	setDisplay (int level)
	Sets the level of visualization.
bool	displayTrack (int addInfo=1)
	Visualizes result of tracking.
VisualTrackVispVar *	getVar ()
	Gets variables class pointer.
Static Public Member Functions
static void	VtcMouseCallback (int event, int x, int y, int flags, void *param)
	Mouse callback to make the selection (OpenCV based).

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Constructor & Destructor Documentation

MipAlgorithms::VisTrackVisp::VisTrackVisp	(	IplImage *	img,
		bool	green,
		bool	moments,
		Decimal	grayLevel,
		int	vSav
	)

Constructor from camera frame.

MipAlgorithms::VisTrackVisp::~VisTrackVisp

(

)

Destructor (closes displays).

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Member Function Documentation

void MipAlgorithms::VisTrackVisp::VtcMouseCallback	(	int	event,
		int	x,
		int	y,
		int	flags,
		void *	param
	)			[static]

Mouse callback to make the selection (OpenCV based).

void MipAlgorithms::VisTrackVisp::getEstPose

(

Pose3D *

pose

)

[virtual]

Gets the estimated pose of Robot.

Parameters:

pose

Pointer to Pose3D object.

Implements MipAlgorithms::VisualTracking.

void MipAlgorithms::VisTrackVisp::setEstPose

(

Pose3D *

pose

)

[virtual]

Sets the estimated pose of Robot (if a more realiable one is available).

Parameters:

pose

Pointer to Pose3D object.

Implements MipAlgorithms::VisualTracking.

void MipAlgorithms::VisTrackVisp::getLastFeatureErr

(

ImageFeature &

f

)

Gets image feature error.

Parameters:

f

Feature object. It will be set with actual error.

void MipAlgorithms::VisTrackVisp::setFeatureErr

(

ImageFeature &

f

)

Gets image feature error.

Parameters:

f

Feature object. It will be set with actual error.

bool MipAlgorithms::VisTrackVisp::getFeatureErr	(	IplImage *	frame,
		MipBaselib::Time &	newTime,
		ImageFeature &	f
	)			[virtual]

Gets image feature error.

Parameters:

	frame	Frame to be analyzed.
	newTime	Timestamp of the frame.
	f	Feature object. It will be set with actual error.

Implements MipAlgorithms::VisualTracking.

bool MipAlgorithms::VisTrackVisp::trackReference	(	IplImage *	frame,
		MipBaselib::Time &	newTime
	)

Performs tracking of reference in the image.

Parameters:

	frame	Frame to be analyzed.
	newTime	Timestamp of the frame.

Returns:

True if successful, False otherwise. (Warning: Control of image not yet implemented)

void MipAlgorithms::VisTrackVisp::setDisplay

(

int

level

)

[inline, virtual]

Sets the level of visualization.

Parameters:

level

0: do not visualize anything, 1 visualizes Selection in mainFrame, 2 visualize all elaborations TODO: Create function to open and close mainframe for selection only

Implements MipAlgorithms::VisualTracking.

bool MipAlgorithms::VisTrackVisp::displayTrack

(

int

addInfo = 1

)

[virtual]

Visualizes result of tracking.

Parameters:

addInfo

select the level of added information (displayed on the frame)

REMOVE THIS ( MAYBE A SEPARATE THREAD CAN BE USED! )

Implements MipAlgorithms::VisualTracking.

VisualTrackVispVar* MipAlgorithms::VisTrackVisp::getVar

(

)

[inline]

Gets variables class pointer.

Reimplemented from MipAlgorithms::VisualTracking.

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The documentation for this class was generated from the following files:

• algorithms/VisualTracking/VisTrackVisp.h
• algorithms/VisualTracking/VisTrackVisp.cpp