vpMeEllipse.cpp

/****************************************************************************
 *
 * $Id: vpMeEllipse.cpp 4649 2014-02-07 14:57:11Z fspindle $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2014 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
 *
 *****************************************************************************/



#include <visp/vpMeEllipse.h>

#include <visp/vpMe.h>
#include <visp/vpRobust.h>
#include <visp/vpTrackingException.h>
#include <visp/vpDebug.h>
#include <visp/vpImagePoint.h>

#include <cmath>    // std::fabs
#include <limits>   // numeric_limits

void computeTheta(double &theta, vpColVector &K, vpImagePoint iP);
void
computeTheta(double &theta, vpColVector &K, vpImagePoint iP)
{

  double i = iP.get_i();
  double j = iP.get_j();

  double A = 2*i+2*K[1]*j + 2*K[2] ;
  double B = 2*K[0]*j + 2*K[1]*i + 2*K[3];

  theta = atan2(A,B) ; //Angle between the tangente and the i axis.

  while (theta > M_PI) { theta -= M_PI ; }
  while (theta < 0) { theta += M_PI ; }
}


vpMeEllipse::vpMeEllipse()
  : K(), iPc(), a(0.), b(0.), e(0.), iP1(), iP2(), alpha1(0), alpha2(2*M_PI),
    ce(0.), se(0.), angle(), m00(0.), mu11(0.), mu20(0.), mu02(0.),
    m10(0.), m01(0.), m11(0.), m02(0.), m20(0.), thresholdWeight(0.2), circle(false)
{
  vpCDEBUG(1) << "begin vpMeEllipse::vpMeEllipse() " <<  std::endl ;

  // redimensionnement du vecteur de parametre
  // i^2 + K0 j^2 + 2 K1 i j + 2 K2 i + 2 K3 j + K4

  K.resize(5) ;

  //j1 = j2 = i1 = i2 = 0 ;
  iP1.set_i(0);
  iP1.set_j(0);
  iP2.set_i(0);
  iP2.set_j(0);
  
  vpCDEBUG(1) << "end vpMeEllipse::vpMeEllipse() " << std::endl ;
}

vpMeEllipse::vpMeEllipse(const vpMeEllipse &meellipse)
  : vpMeTracker(meellipse), K(), iPc(), a(0.), b(0.), e(0.), iP1(), iP2(), alpha1(0), alpha2(2*M_PI),
    ce(0.), se(0.), angle(), m00(0.), mu11(0.), mu20(0.), mu02(0.),
    m10(0.), m01(0.), m11(0.), m02(0.), m20(0.), thresholdWeight(0.2), circle(false)
{
  K = meellipse.K;
  iPc = meellipse.iPc;
  a = meellipse.a;
  b = meellipse.b;
  e = meellipse.e;

  iP1 = meellipse.iP1;
  iP2 = meellipse.iP2;
  alpha1 = meellipse.alpha1;
  alpha2 = meellipse.alpha2;
  ce = meellipse.ce;
  se = meellipse.se;
  
  angle = meellipse.angle;

  m00 = meellipse.m00;
  mu11 = meellipse.mu11;
  mu20 = meellipse.mu20;
  mu02 = meellipse.mu02;
  m10 = meellipse.m10;
  m01 = meellipse.m01;
  m11 = meellipse.m11;
  m02 = meellipse.m02;
  m20 = meellipse.m20;  
  thresholdWeight = meellipse.thresholdWeight;

  circle = meellipse.circle;
}

vpMeEllipse::~vpMeEllipse()
{
  vpCDEBUG(1) << "begin vpMeEllipse::~vpMeEllipse() " << std::endl ;

  list.clear();
  angle.clear();

  vpCDEBUG(1) << "end vpMeEllipse::~vpMeEllipse() " << std::endl ;
}


void
vpMeEllipse::sample(const vpImage<unsigned char> & I)
{
  vpCDEBUG(1) <<"begin vpMeEllipse::sample() : "<<std::endl ;

  if (!me) {
    vpDERROR_TRACE(2, "Tracking error: Moving edges not initialized");
    throw(vpTrackingException(vpTrackingException::initializationError,
      "Moving edges not initialized")) ;
  }

  int height = (int)I.getHeight() ;
  int width = (int)I.getWidth() ;

  double n_sample;

  //if (me->getSampleStep()==0)
  if (std::fabs(me->getSampleStep()) <= std::numeric_limits<double>::epsilon())
  {
    std::cout << "In vpMeEllipse::sample: " ;
    std::cout << "function called with sample step = 0" ;
    //return fatalError ;
  }

  double j, i;//, j11, i11;
  vpImagePoint iP11;
  j = i = 0.0 ;

  double incr = vpMath::rad(me->getSampleStep()) ; // angle increment en degree
  vpColor col = vpColor::red ;
  getParameters() ;

  // Delete old list
  list.clear();

  angle.clear();

  // sample positions
  double k = alpha1 ;
  while (k<alpha2)
  {
//     j = a *cos(k) ; // equation of an ellipse
//     i = b *sin(k) ; // equation of an ellipse

    j = a *sin(k) ; // equation of an ellipse
    i = b *cos(k) ; // equation of an ellipse

    // (i,j) are the coordinates on the origin centered ellipse ;
    // a rotation by "e" and a translation by (xci,jc) are done
    // to get the coordinates of the point on the shifted ellipse
//     iP11.set_j( iPc.get_j() + ce *j - se *i );
//     iP11.set_i( iPc.get_i() -( se *j + ce *i) );

    iP11.set_j( iPc.get_j() + ce *j + se *i );
    iP11.set_i( iPc.get_i() - se *j + ce *i );

    vpDisplay::displayCross(I, iP11,  5, col) ;

    double theta ;
    computeTheta(theta, K, iP11)  ;

    // If point is in the image, add to the sample list
    if(!outOfImage(vpMath::round(iP11.get_i()), vpMath::round(iP11.get_j()), 0, height, width))
    {
      vpMeSite pix ;
      pix.init((int)iP11.get_i(), (int)iP11.get_j(), theta) ;
      pix.setDisplay(selectDisplay) ;
      pix.setState(vpMeSite::NO_SUPPRESSION);

      if(vpDEBUG_ENABLE(3))
      {
        vpDisplay::displayCross(I,iP11, 5, vpColor::blue);
      }
      list.push_back(pix);
      angle.push_back(k);
    }
    k += incr ;

  }
  vpMeTracker::initTracking(I) ;

  n_sample = (unsigned int)list.size() ;

  vpCDEBUG(1) << "end vpMeEllipse::sample() : " ;
  vpCDEBUG(1) << n_sample << " point inserted in the list " << std::endl  ;
}


void
vpMeEllipse::reSample(const vpImage<unsigned char>  &I)
{
  if (!me) {
    vpDERROR_TRACE(2, "Tracking error: Moving edges not initialized");
    throw(vpTrackingException(vpTrackingException::initializationError,
      "Moving edges not initialized")) ;
  }

  unsigned int n = numberOfSignal() ;
  double expecteddensity = (alpha2-alpha1) / vpMath::rad((double)me->getSampleStep());
  if ((double)n<0.9*expecteddensity){
    sample(I) ;
  }
}


void
vpMeEllipse::getParameters()
{

  double k[6] ;
  for (unsigned int i=0 ; i < 5 ; i++)
    k[i+1] = K[i] ;
  k[0] = 1 ;

  double d = k[2]*k[2] - k[0]*k[1];


  iPc.set_i( (k[1] * k[3] - k[2] * k[4]) / d );
  iPc.set_j( (k[0] * k[4] - k[2] * k[3]) / d );

  double sq =  sqrt(vpMath::sqr(k[1]-k[0]) + 4.0*vpMath::sqr(k[2])) ;
  if (circle ==true)
  {
    e = 0 ;
  }
  else
  {
    e = (k[1] - k[0] + sq) / (2.0*k[2]);
    e = (-1/e) ;

    e = atan(e) ;
  }

  if(e < 0.0)  e += M_PI ;

  ce = cos(e) ;
  se = sin(e) ;

  double num = 2.0*(k[0]*iPc.get_i()*iPc.get_i() + 2.0*k[2]*iPc.get_j()*iPc.get_i() + k[1]*iPc.get_j()*iPc.get_j() - k[5]) ;
  double a2 = num / (k[0] + k[1] + sq ) ;
  double b2 = num / (k[0] + k[1] - sq ) ;

  a = sqrt( a2 ) ;
  b = sqrt( b2 ) ;

}

void
vpMeEllipse::printParameters()
{
  std::cout << "K" << std::endl ;
  std::cout << K.t() ;
  std::cout << iPc << std::endl ;
}

void
vpMeEllipse::computeAngle(vpImagePoint pt1, vpImagePoint pt2)
{

  getParameters() ;
  double j1, i1, j11, i11;
  j1 =  i1 =  0.0 ;

  int number_of_points = 2000 ;
  double incr = 2 * M_PI / number_of_points ; // angle increment

  double dmin1 = 1e6  ;
  double dmin2 = 1e6  ;

  double k =  0 ;
  while(k < 2*M_PI) {

//     j1 = a *cos(k) ; // equation of an ellipse
//     i1 = b *sin(k) ; // equation of an ellipse

    j1 = a *sin(k) ; // equation of an ellipse
    i1 = b *cos(k) ; // equation of an ellipse

    // (i1,j1) are the coordinates on the origin centered ellipse ;
    // a rotation by "e" and a translation by (xci,jc) are done
    // to get the coordinates of the point on the shifted ellipse
//     j11 = iPc.get_j() + ce *j1 - se *i1 ;
//     i11 = iPc.get_i() -( se *j1 + ce *i1) ;

    j11 = iPc.get_j() + ce *j1 + se *i1 ;
    i11 = iPc.get_i() - se *j1 + ce *i1 ;

    double  d = vpMath::sqr(pt1.get_i()-i11) + vpMath::sqr(pt1.get_j()-j11) ;
    if (d < dmin1)
    {
      dmin1 = d ;
      alpha1 = k ;
    }
    d = vpMath::sqr(pt2.get_i()-i11) + vpMath::sqr(pt2.get_j()-j11) ;
    if (d < dmin2)
    {
      dmin2 = d ;
      alpha2 = k ;
    }
    k += incr ;
  }
  //std::cout << "end vpMeEllipse::computeAngle(..)" << alpha1 << "  " << alpha2 << std::endl ;

  if (alpha2 <alpha1)
  {
//    double alphatmp = alpha2;
//    alpha2 = alpha1;
//    alpha1 = alphatmp;
    alpha2 += 2 * M_PI;
  }

  //std::cout << "end vpMeEllipse::computeAngle(..)" << alpha1 << "  " << alpha2 << std::endl ;
  
  
}


void
vpMeEllipse::updateTheta()
{
  vpMeSite p_me;
  double theta;
  for(std::list<vpMeSite>::iterator it=list.begin(); it!=list.end(); ++it){
    p_me = *it;
    vpImagePoint iP;
    iP.set_i(p_me.ifloat);
    iP.set_j(p_me.jfloat);
    computeTheta(theta, K, iP) ;
    p_me.alpha = theta ;
    *it = p_me;
  }
}

void
vpMeEllipse::suppressPoints()
{
  // Loop through list of sites to track
  std::list<vpMeSite>::iterator itList = list.begin();
  for(std::list<double>::iterator it=angle.begin(); it!=angle.end(); ){
    vpMeSite s = *itList;//current reference pixel
    if (s.getState() != vpMeSite::NO_SUPPRESSION)
    {
      itList = list.erase(itList) ;
      it = angle.erase(it);
    }
    else
    {
      ++itList;
      ++it;
    }
  }
}


void
vpMeEllipse::seekExtremities(const vpImage<unsigned char>  &I)
{
  if (!me) {
    vpDERROR_TRACE(2, "Tracking error: Moving edges not initialized");
    throw(vpTrackingException(vpTrackingException::initializationError,
      "Moving edges not initialized")) ;
  }

  int rows = (int)I.getHeight() ;
  int cols = (int)I.getWidth() ;

  vpImagePoint ip;

  unsigned int  memory_range = me->getRange() ;
  me->setRange(2);

  double  memory_mu1 = me->getMu1();
  me->setMu1(0.5);

  double  memory_mu2 = me->getMu2();
  me->setMu2(0.5);

  double incr = vpMath::rad(2.0) ;

  if (alpha2-alpha1 < 2*M_PI-vpMath::rad(6.0))
  {
    vpMeSite P;
    double k = alpha1;
    double i1,j1;

    for (unsigned int i=0 ; i < 3 ; i++)
    {
      k -= incr;
      //while ( k < -M_PI ) { k+=2*M_PI; }

      i1 = b *cos(k) ; // equation of an ellipse
      j1 = a *sin(k) ; // equation of an ellipse
      P.ifloat = iPc.get_i() - se *j1 + ce *i1 ; P.i = (int)P.ifloat ;
      P.jfloat = iPc.get_j() + ce *j1 + se *i1 ; P.j = (int)P.jfloat ;

      if(!outOfImage(P.i, P.j, 5, rows, cols))
      {
        P.track(I,me,false) ;

        if (P.getState() == vpMeSite::NO_SUPPRESSION)
        {
          list.push_back(P);
          angle.push_back(k);
          if (vpDEBUG_ENABLE(3)) {
            ip.set_i( P.i );
            ip.set_j( P.j );

            vpDisplay::displayCross(I, ip, 5, vpColor::green) ;
          }
        }
        else {
      if (vpDEBUG_ENABLE(3)) {
        ip.set_i( P.i );
        ip.set_j( P.j );
        vpDisplay::displayCross(I, ip, 10, vpColor::blue) ;
      }
        }
      }
    }

    k = alpha2;

    for (unsigned int i=0 ; i < 3 ; i++)
    {
      k += incr;
      //while ( k > M_PI ) { k-=2*M_PI; }

      i1 = b *cos(k) ; // equation of an ellipse
      j1 = a *sin(k) ; // equation of an ellipse
      P.ifloat = iPc.get_i() - se *j1 + ce *i1 ; P.i = (int)P.ifloat ;
      P.jfloat = iPc.get_j() + ce *j1 + se *i1 ; P.j = (int)P.jfloat ;

      if(!outOfImage(P.i, P.j, 5, rows, cols))
      {
        P.track(I,me,false) ;

        if (P.getState() == vpMeSite::NO_SUPPRESSION)
        {
          list.push_back(P);
          angle.push_back(k);
          if (vpDEBUG_ENABLE(3)) {
            ip.set_i( P.i );
            ip.set_j( P.j );

            vpDisplay::displayCross(I, ip, 5, vpColor::green) ;
          }
        }
        else {
          if (vpDEBUG_ENABLE(3)) {
            ip.set_i( P.i );
            ip.set_j( P.j );
            vpDisplay::displayCross(I, ip, 10, vpColor::blue) ;
          }
        }
      }
    }
  }

  suppressPoints() ;

  me->setRange(memory_range);
  me->setMu1(memory_mu1);
  me->setMu2(memory_mu2);
}


void
vpMeEllipse::setExtremities()
{
  double alphamin = +1e6;
  double alphamax = -1e6;
  double imin = 0;
  double jmin = 0;
  double imax = 0;
  double jmax = 0;

  // Loop through list of sites to track
  std::list<double>::const_iterator itAngle = angle.begin();

  for(std::list<vpMeSite>::const_iterator itList=list.begin(); itList!=list.end(); ++itList){
    vpMeSite s = *itList;//current reference pixel
    double alpha = *itAngle;
    if (alpha < alphamin)
    {
      alphamin = alpha;
      imin = s.ifloat ;
      jmin = s.jfloat ;
    }

    if (alpha > alphamax)
    {
      alphamax = alpha;
      imax = s.ifloat ;
      jmax = s.jfloat ;
    }
    ++itAngle;
  }

  alpha1 = alphamin;
  alpha2 = alphamax;
  iP1.set_ij(imin,jmin);
  iP2.set_ij(imax,jmax);
}


void
vpMeEllipse::leastSquare()
{
  // Construction du systeme Ax=b
  // A = (j^2 2ij 2i 2j 1)   x = (K0 K1 K2 K3 K4)^T  b = (-i^2 )
  unsigned int i ;

  vpMeSite p_me ;

  unsigned int iter =0 ;
  vpColVector b_(numberOfSignal()) ;
  vpRobust r(numberOfSignal()) ;
  r.setThreshold(2);
  r.setIteration(0) ;
  vpMatrix D(numberOfSignal(),numberOfSignal()) ;
  D.setIdentity() ;
  vpMatrix DA, DAmemory ;
  vpColVector DAx ;
  vpColVector w(numberOfSignal()) ;
  w =1 ;
  unsigned int nos_1 = numberOfSignal() ;

  if (list.size() < 3)
  {
    vpERROR_TRACE("Not enough point") ;
    throw(vpTrackingException(vpTrackingException::notEnoughPointError,
                  "not enough point")) ;
  }

  if (circle ==false)
  {
    vpMatrix A(numberOfSignal(),5) ;
    vpColVector x(5);

    unsigned int k =0 ;
    for(std::list<vpMeSite>::const_iterator it=list.begin(); it!=list.end(); ++it){
      p_me = *it;
      if (p_me.getState() == vpMeSite::NO_SUPPRESSION)
      {
        A[k][0] = vpMath::sqr(p_me.jfloat) ;
        A[k][1] = 2 * p_me.ifloat * p_me.jfloat ;
        A[k][2] = 2 * p_me.ifloat ;
        A[k][3] = 2 * p_me.jfloat ;
        A[k][4] = 1 ;

        b_[k] = - vpMath::sqr(p_me.ifloat) ;
        k++ ;
      }
    }

    while (iter < 4 )
    {
      DA = D*A ;
      vpMatrix DAp ;

      x = DA.pseudoInverse(1e-26) *D*b_ ;

      vpColVector residu(nos_1);
      residu = b_ - A*x;
      r.setIteration(iter) ;
      r.MEstimator(vpRobust::TUKEY,residu,w) ;

      k = 0;
      for (i=0 ; i < nos_1 ; i++)
      {
        D[k][k] =w[k]  ;
        k++;
      }
      iter++;
    }

    k =0 ;
    for(std::list<vpMeSite>::iterator it=list.begin(); it!=list.end(); ++it){
      p_me = *it;
      if (p_me.getState() == vpMeSite::NO_SUPPRESSION)
      {
        if (w[k] < thresholdWeight)
        {
          p_me.setState(vpMeSite::M_ESTIMATOR);
          
          *it = p_me;
        }
        k++ ;
      }
    }
    for(i = 0; i < 5; i ++)
      K[i] = x[i];
  }
  
  else
  {
    vpMatrix A(numberOfSignal(),3) ;
    vpColVector x(3);

    unsigned int k =0 ;
    for(std::list<vpMeSite>::const_iterator it=list.begin(); it!=list.end(); ++it){
      p_me = *it;
      if (p_me.getState() == vpMeSite::NO_SUPPRESSION)
      {
        A[k][0] = 2* p_me.ifloat ;
        A[k][1] = 2 * p_me.jfloat ;
        A[k][2] = 1 ;

        b_[k] = - vpMath::sqr(p_me.ifloat) - vpMath::sqr(p_me.jfloat) ;
        k++ ;
      }
    }

    while (iter < 4 )
    {
      DA = D*A ;
      vpMatrix DAp ;

      x = DA.pseudoInverse(1e-26) *D*b_ ;

      vpColVector residu(nos_1);
      residu = b_ - A*x;
      r.setIteration(iter) ;
      r.MEstimator(vpRobust::TUKEY,residu,w) ;

      k = 0;
      for (i=0 ; i < nos_1 ; i++)
      {
        D[k][k] =w[k];
        k++;
      }
      iter++;
    }

    k =0 ;
    for(std::list<vpMeSite>::iterator it=list.begin(); it!=list.end(); ++it){
      p_me = *it;
      if (p_me.getState() == vpMeSite::NO_SUPPRESSION)
      {
        if (w[k] < thresholdWeight)
        {
          p_me.setState(vpMeSite::M_ESTIMATOR);
      
          *it = p_me;
        }
        k++ ;
      }
    }
    for(i = 0; i < 3; i ++)
      K[i+2] = x[i];
  }
  getParameters() ;
}


void
vpMeEllipse::display(const vpImage<unsigned char> &I, vpColor col)
{
    vpMeEllipse::display(I,iPc,a,b,e,alpha1,alpha2,col);
}


void
vpMeEllipse::initTracking(const vpImage<unsigned char> &I)
{
  vpCDEBUG(1) <<" begin vpMeEllipse::initTracking()"<<std::endl ;

  const unsigned int n=5 ;
  vpImagePoint iP[n];

  for (unsigned int k =0 ; k < n ; k++)
    {
      std::cout << "Click points "<< k+1 <<"/" << n ;
      std::cout << " on the ellipse in the trigonometric order" <<std::endl ;
      vpDisplay::getClick(I, iP[k], true);
      vpDisplay::displayCross(I, iP[k], 7, vpColor::red);
      vpDisplay::flush(I);
      std::cout << iP[k] << std::endl;
    }

  iP1 = iP[0];
  iP2 = iP[n-1];

  initTracking(I, n, iP) ;
}


void
vpMeEllipse::initTracking(const vpImage<unsigned char> &I, const unsigned int n,
              vpImagePoint *iP)
{
  vpCDEBUG(1) <<" begin vpMeEllipse::initTracking()"<<std::endl ;

  if (circle==false)
  {
    vpMatrix A(n,5) ;
    vpColVector b_(n) ;
    vpColVector x(5) ;

    // Construction du systeme Ax=b
    // A = (j^2 2ij 2i 2j 1)   x = (K0 K1 K2 K3 K4)^T  b = (-i^2 )

    for (unsigned int k =0 ; k < n ; k++)
    {
      A[k][0] = vpMath::sqr(iP[k].get_j()) ;
      A[k][1] = 2* iP[k].get_i() * iP[k].get_j() ;
      A[k][2] = 2* iP[k].get_i() ;
      A[k][3] = 2* iP[k].get_j() ;
      A[k][4] = 1 ;

      b_[k] = - vpMath::sqr(iP[k].get_i()) ;
    }

    K = A.pseudoInverse(1e-26)*b_ ;
    std::cout << K << std::endl;
  }
  else
  {
    vpMatrix A(n,3) ;
    vpColVector b_(n) ;
    vpColVector x(3) ;

    vpColVector Kc(3) ;
    for (unsigned int k =0 ; k < n ; k++)
    {
      A[k][0] =  2* iP[k].get_i() ;
      A[k][1] =  2* iP[k].get_j() ;
      A[k][2] = 1 ;

      b_[k] = - vpMath::sqr(iP[k].get_i()) - vpMath::sqr(iP[k].get_j()) ;
    }

    Kc = A.pseudoInverse(1e-26)*b_ ;
    K[0] = 1 ;
    K[1] = 0 ;
    K[2] = Kc[0] ;
    K[3] = Kc[1] ;
    K[4] = Kc[2] ;

    std::cout << K << std::endl;
  }

  iP1 = iP[0];
  iP2 = iP[n-1];

  getParameters() ;
  computeAngle(iP1, iP2) ;
  display(I, vpColor::green) ;

  sample(I) ;

  //  2. On appelle ce qui n'est pas specifique
  {
    vpMeTracker::initTracking(I) ;
  }

  try{
    track(I) ;
  }
  catch(...)
  {
    vpERROR_TRACE("Error caught") ;
    throw ;
  }
  vpMeTracker::display(I) ;
  vpDisplay::flush(I) ;

}

void
vpMeEllipse::track(const vpImage<unsigned char> &I)
{
  vpCDEBUG(1) <<"begin vpMeEllipse::track()"<<std::endl ;

  static int iter =0 ;
  //  1. On fait ce qui concerne les ellipse (peut etre vide)
  {
  }

  //vpDisplay::display(I) ;
  //  2. On appelle ce qui n'est pas specifique
  {

  try{
       vpMeTracker::track(I) ;
  }
  catch(...)
  {
    vpERROR_TRACE("Error caught") ;
    throw ;
  }
    //    std::cout << "number of signals " << numberOfSignal() << std::endl ;
  }

  // 3. On revient aux ellipses
  {
    // Estimation des parametres de la droite aux moindres carre
    suppressPoints() ;
    setExtremities() ;


    try{
      leastSquare() ;  }
    catch(...)
    {
      vpERROR_TRACE("Error caught") ;
      throw ;
    }

    seekExtremities(I) ;

    setExtremities() ;

    try
    {
      leastSquare() ;
    }
    catch(...)
    {
      vpERROR_TRACE("Error caught") ;
      throw ;
    }

    // suppression des points rejetes par la regression robuste
    suppressPoints() ;
    setExtremities() ;

    //reechantillonage si necessaire
    reSample(I) ;

    // remet a jour l'angle delta pour chaque  point de la liste

    updateTheta() ;
    
    computeMoments();

    // Remise a jour de delta dans la liste de site me
    if (vpDEBUG_ENABLE(2))
    {
    display(I,vpColor::red) ;
    vpMeTracker::display(I) ;
    vpDisplay::flush(I) ;
    }
//     computeAngle(iP1, iP2) ;
// 
//     if (iter%5==0)
//     {
//       sample(I) ;
//       try{
//  leastSquare() ;  }
//       catch(...)
//       {
//  vpERROR_TRACE("Error caught") ;
//  throw ;
//       }
//       computeAngle(iP1, iP2) ;
//     }
//     seekExtremities(I) ;
// 
//     vpMeTracker::display(I) ;
//     // vpDisplay::flush(I) ;
// 
//     // remet a jour l'angle theta pour chaque  point de la liste
//     updateTheta() ;

  }

  iter++ ;


  vpCDEBUG(1) << "end vpMeEllipse::track()"<<std::endl ;

}


void
vpMeEllipse::computeMoments()
{
  double tane = tan(-1/e);
  m00 = M_PI*a*b;
  m10 = m00*iPc.get_i();
  m01 = m00*iPc.get_j();
  m20 = m00*(a*a+b*b*tane*tane)/(4*(1+tane*tane))+m00*iPc.get_i()*iPc.get_i();
  m02 = m00*(a*a*tane*tane+b*b)/(4*(1+tane*tane))+m00*iPc.get_j()*iPc.get_j();
  m11 = m00*tane*(a*a-b*b)/(4*(1+tane*tane))+m00*iPc.get_i()*iPc.get_j();
  mu11 = m11 - iPc.get_j()*m10;
  mu02 = m02 - iPc.get_j()*m01;
  mu20 = m20 - iPc.get_i()*m10;
}








#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS

void
vpMeEllipse::computeAngle(int ip1, int jp1, double &_alpha1,
              int ip2, int jp2, double &_alpha2)
{

  getParameters() ;
  double j1, i1, j11, i11;
  j1 =  i1 =  0.0 ;

  int number_of_points = 2000 ;
  double incr = 2 * M_PI / number_of_points ; // angle increment

  double dmin1 = 1e6  ;
  double dmin2 = 1e6  ;

  double k =  -M_PI ;
  while(k < M_PI) {

    j1 = a *cos(k) ; // equation of an ellipse
    i1 = b *sin(k) ; // equation of an ellipse

    // (i1,j1) are the coordinates on the origin centered ellipse ;
    // a rotation by "e" and a translation by (xci,jc) are done
    // to get the coordinates of the point on the shifted ellipse
    j11 = iPc.get_j() + ce *j1 - se *i1 ;
    i11 = iPc.get_i() -( se *j1 + ce *i1) ;

    double  d = vpMath::sqr(ip1-i11) + vpMath::sqr(jp1-j11) ;
    if (d < dmin1)
    {
      dmin1 = d ;
      alpha1 = k ;
      _alpha1 = k ;
    }
    d = vpMath::sqr(ip2-i11) + vpMath::sqr(jp2-j11) ;
    if (d < dmin2)
    {
      dmin2 = d ;
      alpha2 = k ;
      _alpha2 = k ;
    }
    k += incr ;
  }

  if (alpha2 <alpha1) alpha2 += 2*M_PI ;

  vpCDEBUG(1) << "end vpMeEllipse::computeAngle(..)" << alpha1 << "  " << alpha2 << std::endl ;

}


void
vpMeEllipse::computeAngle(int ip1, int jp1, int ip2, int jp2)
{

  double a1, a2 ;
  computeAngle(ip1,jp1,a1, ip2, jp2,a2) ;
}


void
vpMeEllipse::initTracking(const vpImage<unsigned char> &I, const unsigned int n,
              unsigned *i, unsigned *j)
{
  vpCDEBUG(1) <<" begin vpMeEllipse::initTracking()"<<std::endl ;

  if (circle==false)
  {
    vpMatrix A(n,5) ;
    vpColVector b_(n) ;
    vpColVector x(5) ;

    // Construction du systeme Ax=b
    // A = (j^2 2ij 2i 2j 1)   x = (K0 K1 K2 K3 K4)^T  b = (-i^2 )

    for (unsigned int k =0 ; k < n ; k++)
    {
      A[k][0] = vpMath::sqr(j[k]) ;
      A[k][1] = 2* i[k] * j[k] ;
      A[k][2] = 2* i[k] ;
      A[k][3] = 2* j[k] ;
      A[k][4] = 1 ;

      b_[k] = - vpMath::sqr(i[k]) ;
    }

    K = A.pseudoInverse(1e-26)*b_ ;
    std::cout << K << std::endl;
  }
  else
  {
    vpMatrix A(n,3) ;
    vpColVector b_(n) ;
    vpColVector x(3) ;

    vpColVector Kc(3) ;
    for (unsigned int k =0 ; k < n ; k++)
    {
      A[k][0] =  2* i[k] ;
      A[k][1] =  2* j[k] ;

      A[k][2] = 1 ;
      b_[k] = - vpMath::sqr(i[k]) - vpMath::sqr(j[k]) ;
    }

    Kc = A.pseudoInverse(1e-26)*b_ ;
    K[0] = 1 ;
    K[1] = 0 ;
    K[2] = Kc[0] ;
    K[3] = Kc[1] ;
    K[4] = Kc[2] ;

    std::cout << K << std::endl;
  }
  iP1.set_i( i[0] );
  iP1.set_j( j[0] );
  iP2.set_i( i[n-1] );
  iP2.set_j( j[n-1] );

  getParameters() ;
  computeAngle(iP1, iP2) ;
  display(I, vpColor::green) ;

  sample(I) ;

  //  2. On appelle ce qui n'est pas specifique
  {
    vpMeTracker::initTracking(I) ;
  }

  try{
    track(I) ;
  }
  catch(...)
  {
    vpERROR_TRACE("Error caught") ;
    throw ;
  }
  vpMeTracker::display(I) ;
  vpDisplay::flush(I) ;

}
#endif // Deprecated

void vpMeEllipse::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)
{
  double j1, i1;
  vpImagePoint iP11;
  double j2, i2;
  vpImagePoint iP22;
  j1 = j2 = i1 = i2 = 0 ;

  double incr = vpMath::rad(2) ; // angle increment

  vpDisplay::displayCross(I,center,20,vpColor::red) ;

  double k = smallalpha ;
  while (k+incr<highalpha)
  {
    j1 = A *cos(k) ; // equation of an ellipse
    i1 = B *sin(k) ; // equation of an ellipse

    j2 = A *cos(k+incr) ; // equation of an ellipse
    i2 = B *sin(k+incr) ; // equation of an ellipse

    // (i1,j1) are the coordinates on the origin centered ellipse ;
    // a rotation by "e" and a translation by (xci,jc) are done
    // to get the coordinates of the point on the shifted ellipse
    iP11.set_j ( center.get_j() + cos(E) *j1 - sin(E) *i1 );
    iP11.set_i ( center.get_i() -( sin(E) *j1 + cos(E) *i1) );
    // to get the coordinates of the point on the shifted ellipse
    iP22.set_j ( center.get_j() + cos(E) *j2 - sin(E) *i2 );
    iP22.set_i ( center.get_i() -( sin(E) *j2 + cos(E) *i2) );

    vpDisplay::displayLine(I, iP11, iP22, color, 3) ;

    k += incr ;
  }

  j1 = A *cos(smallalpha) ; // equation of an ellipse
  i1 = B *sin(smallalpha) ; // equation of an ellipse

  j2 = A *cos(highalpha) ; // equation of an ellipse
  i2 = B *sin(highalpha) ; // equation of an ellipse

  // (i1,j1) are the coordinates on the origin centered ellipse ;
  // a rotation by "e" and a translation by (xci,jc) are done
  // to get the coordinates of the point on the shifted ellipse
  iP11.set_j ( center.get_j() + cos(E) *j1 - sin(E) *i1 );
  iP11.set_i ( center.get_i() -( sin(E) *j1 + cos(E) *i1) );
  // to get the coordinates of the point on the shifted ellipse
  iP22.set_j ( center.get_j() + cos(E) *j2 - sin(E) *i2 );
  iP22.set_i ( center.get_i() -( sin(E) *j2 + cos(E) *i2) );

  vpDisplay::displayLine(I, center, iP11, vpColor::red, 3) ;
  vpDisplay::displayLine(I, center, iP22, vpColor::blue, 3) ;
}

void vpMeEllipse::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)
{
  double j1, i1;
  vpImagePoint iP11;
  double j2, i2;
  vpImagePoint iP22;
  j1 = j2 = i1 = i2 = 0 ;

  double incr = vpMath::rad(2) ; // angle increment

  vpDisplay::displayCross(I,center,20,vpColor::red) ;

  double k = smallalpha ;
  while (k+incr<highalpha)
  {
    j1 = A *cos(k) ; // equation of an ellipse
    i1 = B *sin(k) ; // equation of an ellipse

    j2 = A *cos(k+incr) ; // equation of an ellipse
    i2 = B *sin(k+incr) ; // equation of an ellipse

    // (i1,j1) are the coordinates on the origin centered ellipse ;
    // a rotation by "e" and a translation by (xci,jc) are done
    // to get the coordinates of the point on the shifted ellipse
    iP11.set_j ( center.get_j() + cos(E) *j1 - sin(E) *i1 );
    iP11.set_i ( center.get_i() -( sin(E) *j1 + cos(E) *i1) );
    // to get the coordinates of the point on the shifted ellipse
    iP22.set_j ( center.get_j() + cos(E) *j2 - sin(E) *i2 );
    iP22.set_i ( center.get_i() -( sin(E) *j2 + cos(E) *i2) );

    vpDisplay::displayLine(I, iP11, iP22, color, 3) ;

    k += incr ;
  }

  j1 = A *cos(smallalpha) ; // equation of an ellipse
  i1 = B *sin(smallalpha) ; // equation of an ellipse

  j2 = A *cos(highalpha) ; // equation of an ellipse
  i2 = B *sin(highalpha) ; // equation of an ellipse

  // (i1,j1) are the coordinates on the origin centered ellipse ;
  // a rotation by "e" and a translation by (xci,jc) are done
  // to get the coordinates of the point on the shifted ellipse
  iP11.set_j ( center.get_j() + cos(E) *j1 - sin(E) *i1 );
  iP11.set_i ( center.get_i() -( sin(E) *j1 + cos(E) *i1) );
  // to get the coordinates of the point on the shifted ellipse
  iP22.set_j ( center.get_j() + cos(E) *j2 - sin(E) *i2 );
  iP22.set_i ( center.get_i() -( sin(E) *j2 + cos(E) *i2) );

  vpDisplay::displayLine(I, center, iP11, vpColor::red, 3) ;
  vpDisplay::displayLine(I, center, iP22, vpColor::blue, 3) ;
}