/*!
Track and compute the dot characteristics.
To get the center of gravity coordinates of the dot, use
getCog(). To compute the moments use setComputeMoments(true) before
a call to initTracking().
\warning The image is modified (all the pixels that belong to the point
are set to white (ie to 255).
\param I : Image to process.
\sa getCog()
*/
void
vpDot::track(const vpImage<unsigned char> &I)
{
try{
setGrayLevelOut();
double u = this->cog.get_u();
double v = this->cog.get_v();
COG( I, u, v ) ;
this->cog.set_u( u );
this->cog.set_v( v );
if (compute_moment==true)
{
mu11 = m11 - u*m01;
mu02 = m02 - v*m01;
mu20 = m20 - u*m10;
}
if (graphics) {
// display a red cross at the center of gravity's location in the image.
vpDisplay::displayCross(I, this->cog, 3*thickness+8, vpColor::red, thickness);
}
}
catch(...)
{
vpERROR_TRACE("Error caught") ;
throw ;
}
}
/*!
Track and compute the dot characteristics.
To get the center of gravity coordinates of the dot, use
getCog(). To compute the moments use setComputeMoments(true) before
a call to initTracking().
\warning The image is modified (all the pixels that belong to the point
are set to white (ie to 255).
\param I : Image to process.
\sa getCog()
*/
void
vpDot::track(vpImage<unsigned char> &I)
{
try{
setGrayLevelOut();
double u = this->cog.get_u();
double v = this->cog.get_v();
COG( I, u, v ) ;
this->cog.set_u( u );
this->cog.set_v( v );
if (compute_moment==true)
{
mu11 = m11 - u*m01;
mu02 = m02 - v*m01;
mu20 = m20 - u*m10;
}
}
catch(...)
{
vpERROR_TRACE("Error caught") ;
throw ;
}
}
