vpMeLine.h

/****************************************************************************
 *
 * $Id: vpMeLine.h 3581 2012-03-01 15:19:07Z ayol $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2012 by INRIA. All rights reserved.
 * 
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact INRIA about acquiring a ViSP Professional 
 * Edition License.
 *
 * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
 * 
 * This software was developed at:
 * INRIA Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 * http://www.irisa.fr/lagadic
 *
 * If you have questions regarding the use of this file, please contact
 * INRIA at visp@inria.fr
 * 
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 *
 * Description:
 * Moving edges.
 *
 * Authors:
 * Eric Marchand
 *
 *****************************************************************************/

#ifndef vpMeLine_HH
#define vpMeLine_HH

#include <visp/vpMatrix.h>
#include <visp/vpMath.h>
#include <visp/vpMeTracker.h>

#include <math.h>
#include <iostream>

class VISP_EXPORT vpMeLine : public vpMeTracker
{
private:
  static void update_indices(double theta,int incr,int i,int j,int& i1,int& i2,int& j1,int& j2);
  
protected:
  vpMeSite PExt[2] ;

  double rho, theta ;
  double delta ,delta_1;
  double angle, angle_1;
  int sign;

  bool _useIntensityForRho;
  
#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
public:
#else
protected:
#endif

  double a; 
  double b; 
  double c; 

public:
  vpMeLine() ;
  vpMeLine(const vpMeLine &meline);
  virtual ~vpMeLine() ;

  void display(const vpImage<unsigned char>& I, vpColor col) ;

  void track(const vpImage<unsigned char>& Im);

  void sample(const vpImage<unsigned char>&image);
  void reSample(const vpImage<unsigned char> &I) ;
  void leastSquare() ;
  void updateDelta();
  void setExtremities() ;
  void seekExtremities(const vpImage<unsigned char> &I) ;
  void suppressPoints() ;

  void initTracking(const vpImage<unsigned char> &I) ;
  void initTracking(const vpImage<unsigned char> &I,
            const vpImagePoint &ip1,
            const vpImagePoint &ip2) ;

  void computeRhoTheta(const vpImage<unsigned char> &I) ;
  double getRho() const ;
  double getTheta() const ;
  void getExtremities(vpImagePoint &ip1, vpImagePoint &ip2) ;
  
  void getEquationParam(double &A, double &B, double &C) { A = a; B = b; C = c; }
  
  inline double getA() const {return a; }
  
  inline double getB() const {return b; }
  
  inline double getC() const {return c; }

  static bool intersection(const vpMeLine &line1, const vpMeLine &line2, 
               vpImagePoint &ip); 

  inline void computeRhoSignFromIntensity(const bool useIntensityForRho){
    _useIntensityForRho = useIntensityForRho;
  }

//Static Functions
public: 
  static void display(const vpImage<unsigned char>& I,const vpMeSite &PExt1, const vpMeSite &PExt2,
              const double &A, const double &B, const double &C,
              vpColor color = vpColor::green,  unsigned int thickness=1);
  
  static void display(const vpImage<unsigned char>& I,const vpMeSite &PExt1, const vpMeSite &PExt2,
              const std::list<vpMeSite> &site_list,
              const double &A, const double &B, const double &C,
              vpColor color = vpColor::green,  unsigned int thickness=1);
 
};




#endif