#include <VisTrackVisp.h>
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). |
MipAlgorithms::VisTrackVisp::VisTrackVisp | ( | IplImage * | img, | |
bool | green, | |||
bool | moments, | |||
Decimal | grayLevel, | |||
int | vSav | |||
) |
Constructor from camera frame.
MipAlgorithms::VisTrackVisp::~VisTrackVisp | ( | ) |
Destructor (closes displays).
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.
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).
pose | Pointer to Pose3D object. |
Implements MipAlgorithms::VisualTracking.
void MipAlgorithms::VisTrackVisp::getLastFeatureErr | ( | ImageFeature & | f | ) |
Gets image feature error.
f | Feature object. It will be set with actual error. |
void MipAlgorithms::VisTrackVisp::setFeatureErr | ( | ImageFeature & | f | ) |
Gets image feature error.
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.
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.
frame | Frame to be analyzed. | |
newTime | Timestamp of the frame. |
void MipAlgorithms::VisTrackVisp::setDisplay | ( | int | level | ) | [inline, virtual] |
Sets the level of visualization.
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.
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] |