vpMeEllipse.h

/****************************************************************************
 *
 * $Id: vpMeEllipse.h 4231 2013-04-29 16:26:28Z fspindle $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2013 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 vpMeEllipse_HH
#define vpMeEllipse_HH

#include <visp/vpMatrix.h>
#include <visp/vpColVector.h>

#include <visp/vpMeTracker.h>
#include <visp/vpMeSite.h>
#include <visp/vpImagePoint.h>

#include <visp/vpImage.h>
#include <visp/vpColor.h>

#include <math.h>
#include <list>

/*
  The code below shows how to use this class.
\code
#include <visp/vpConfig.h>
#include <visp/vpImage.h>
#include <visp/vpMeEllipse.h>
#include <visp/vpImagePoint.h>

int main()
{
  vpImage<unsigned char> I;

  // I is the image containing the ellipse to track
    
  // Set the moving-edges tracker parameters
  vpMe me;
  me.setRange(25);
  me.setPointsToTrack(20);
  me.setThreshold(15000);
  me.setSampleStep(10);

  // Initialize the moving-edges ellipse tracker parameters
  vpMeEllipse ellipse;
  ellipse.setMe(&me);

  // Initialize the tracking. You have to click on five different points belonging to the ellipse.
  ellipse.initTracking(I);

  while ( 1 )
  {
    // ... Here the code to read or grab the next image.

    // Track the ellipse.
    ellipse.track(I);
  }
  return 0;
}
\endcode

  \note It is possible to display the ellipse as an overlay. For that you 
  must use the display function of the class vpMeEllipse.
*/

class VISP_EXPORT vpMeEllipse : public vpMeTracker
{
public:
  vpMeEllipse() ;
  vpMeEllipse(const vpMeEllipse &meellipse) ;
  virtual ~vpMeEllipse() ;

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

  void initTracking(const vpImage<unsigned char> &I) ;
  void initTracking(const vpImage<unsigned char> &I, const unsigned int n,
            vpImagePoint* iP) ;
  void display(const vpImage<unsigned char>&I, vpColor col) ;
  void printParameters() ;

#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS

  void initTracking(const vpImage<unsigned char> &I, const unsigned int n,
            unsigned *i, unsigned *j) ;
#endif //VISP_BUILD_DEPRECATED_FUNCTIONS

  void setCircle(bool circle) { this->circle = circle ; }
  
  inline double get_m00() const {return m00;}
  
  inline double get_m10() const {return m10;}
  
  inline double get_m01() const {return m01;}
  
  inline double get_m11() const {return m11;}
  
  inline double get_m20() const {return m20;}
  
  inline double get_m02() const {return m02;}
  
  inline double get_mu11() const {return mu11;}
  
  inline double get_mu02() const {return mu02;}
  
  inline double get_mu20() const {return mu20;}
  
  inline vpImagePoint getCenter() const {return iPc; }
  
  inline double getA() const {return a; }
  
  inline double getB() const {return b; }
  
  inline double getE() const {return e; }
  
  void getEquationParam(double &A, double &B, double &E) { A = a; B = b; E = e; }
  
  inline double getSmallestAngle() { return alpha1; }
  
  inline double getHighestAngle() { return alpha2; }
  
    void setThresholdRobust(const double threshold){
        if(threshold<0){
            thresholdWeight = 0;
        }else if(threshold>1){
            thresholdWeight = 1;
        }else{
            thresholdWeight = threshold;
        }
    }



#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
public:
#else
protected:
#endif

  vpColVector K ;
  vpImagePoint iPc;
  double a;
  double b;
  double e;
    
protected:
  vpImagePoint iP1;
  vpImagePoint iP2;
  double alpha1 ;
  double alpha2 ;
  double ce;
  double se;
  std::list<double> angle;
  double m00;
  double mu11,mu20, mu02;
  double m10,m01;
  double m11,m02,m20;
  double thresholdWeight;

private:
  bool circle ;

  void computeAngle(vpImagePoint pt1, vpImagePoint pt2);
  void sample(const vpImage<unsigned char>&image);
  void reSample(const vpImage<unsigned char> &I) ;
  void leastSquare() ;
  void updateTheta();
  void suppressPoints() ;
  void seekExtremities(const vpImage<unsigned char> &I) ;
  void setExtremities();
  void getParameters() ;
  void computeMoments();

#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS

  void computeAngle(int ip1, int jp1,int ip2, int jp2) ;
  void computeAngle(int ip1, int jp1, double &alpha1,
            int ip2, int jp2, double &alpha2) ;
#endif //VISP_BUILD_DEPRECATED_FUNCTIONS

//Static Function
public: 
  static void display(const vpImage<unsigned char>& I, const vpImagePoint &center,
                      const double &A, const double &B, const double &E,
                      const double & smallalpha, const double &highalpha,
                      vpColor color = vpColor::green);
  static void display(const vpImage<vpRGBa>& I, const vpImagePoint &center,
                      const double &A, const double &B, const double &E,
                      const double & smallalpha, const double &highalpha,
                      vpColor color = vpColor::green);

};

#endif