MipAlgorithms::VisTrackCamshift Class Reference
[Visual tracking]

Class for visual tracking based on camshift algorithm. More...

#include <VisTrackCamshift.h>

Inheritance diagram for MipAlgorithms::VisTrackCamshift:

List of all members.

Public Member Functions
	VisTrackCamshift (int type, int port=0)
	Constructor with parameters.
	VisTrackCamshift (int type, IplImage *img, int port=0)
	Constructor from camera frame.
	~VisTrackCamshift ()
	Destructor (closes displays).
virtual bool	displayTrack (int addInfo=1)
	Visualizes result of tracking.
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, Time &newTime, ImageFeature &f)
	Gets image feature error.
bool	trackReference (IplImage *frame, Time &newTime)
	Performs tracking of reference in the image.
void	setDisplay (int level)
	Sets the level of visualization.
VisualTrackCamshiftVar *	getVar ()
	Gets variables class pointer.
Decimal	sg_derive7_step (SavgolFilter7 *filter, Decimal angle)
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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Detailed Description

Class for visual tracking based on camshift algorithm.

Author:

Lorenzo Rosa

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Constructor & Destructor Documentation

MipAlgorithms::VisTrackCamshift::VisTrackCamshift	(	int	type,
		int	port = 0
	)

Constructor with parameters.

Parameters:

	type	Tipe of Algorithm: 0 = Camshift, 1 = RemoteUDP.
	port	UDP port for listener UDP.

MipAlgorithms::VisTrackCamshift::VisTrackCamshift	(	int	type,
		IplImage *	img,
		int	port = 0
	)

Constructor from camera frame.

MipAlgorithms::VisTrackCamshift::~VisTrackCamshift

(

)

Destructor (closes displays).

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Member Function Documentation

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

Mouse callback to make the selection (OpenCV based).

bool MipAlgorithms::VisTrackCamshift::displayTrack

(

int

addInfo = 1

)

[virtual]

Visualizes result of tracking.

Parameters:

addInfo

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

Implements MipAlgorithms::VisualTracking.

void MipAlgorithms::VisTrackCamshift::getEstPose

(

Pose3D *

pose

)

[virtual]

Gets the estimated pose of Robot.

Parameters:

pose

Pointer to Pose3D object.

Implements MipAlgorithms::VisualTracking.

void MipAlgorithms::VisTrackCamshift::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::VisTrackCamshift::getLastFeatureErr

(

ImageFeature &

f

)

Gets image feature error.

Parameters:

f

Feature object. It will be set with actual error.

void MipAlgorithms::VisTrackCamshift::setFeatureErr

(

ImageFeature &

f

)

Gets image feature error.

Parameters:

f

Feature object. It will be set with actual error.

bool MipAlgorithms::VisTrackCamshift::getFeatureErr	(	IplImage *	frame,
		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::VisTrackCamshift::trackReference	(	IplImage *	frame,
		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)

TODO Control of image quality and return of bool value

void MipAlgorithms::VisTrackCamshift::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.

VisualTrackCamshiftVar* MipAlgorithms::VisTrackCamshift::getVar

(

)

[inline]

Gets variables class pointer.

Reimplemented from MipAlgorithms::VisualTracking.

Decimal MipAlgorithms::VisTrackCamshift::sg_derive7_step	(	SavgolFilter7 *	filter,
		Decimal	angle
	)

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

• algorithms/VisualTracking/VisTrackCamshift.h
• algorithms/VisualTracking/VisTrackCamshift.cpp