vpMeNurbs.cpp

/****************************************************************************
 *
 * $Id: vpMeNurbs.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:
 * Nicolas Melchior
 *
 *****************************************************************************/


#include <visp/vpMeTracker.h>
#include <visp/vpMe.h>
#include <visp/vpMeSite.h>
#include <visp/vpMeNurbs.h>
#include <visp/vpRobust.h>
#include <visp/vpTrackingException.h>
#include <visp/vpImagePoint.h>
#include <visp/vpMath.h>
#include <visp/vpRect.h>
#include <visp/vpImageTools.h>
#include <visp/vpImageConvert.h>
#include <stdlib.h>
#include <cmath>    // std::fabs
#include <limits>   // numeric_limits
#ifdef VISP_HAVE_OPENCV
#  if (VISP_HAVE_OPENCV_VERSION >= 0x020101) // Require opencv >= 2.1.1
//#    include <opencv2/imgproc/imgproc.hpp>
#    include <opencv2/imgproc/imgproc_c.h>
#  else
#    include <cv.h>
#  endif
#endif

double computeDelta(double deltai, double deltaj);
void findAngle(const vpImage<unsigned char> &I, const vpImagePoint &iP,
               vpMe* me, double &angle, double &convlt);
vpImagePoint findFirstBorder(const vpImage<unsigned char>& Isub, const vpImagePoint &iP);
bool findCenterPoint(std::list<vpImagePoint> *ip_edges_list);
#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
vp_deprecated bool findCenterPoint(vpList<vpImagePoint> *ip_edges_list);
#endif

//Compute the angle delta = arctan(deltai/deltaj)
//and normalize it between 0 and pi
double
computeDelta(double deltai, double deltaj)
{
  double delta;
  delta =  atan2(deltai,deltaj) ;
  delta -= M_PI/2.0 ;
  while (delta > M_PI) { delta -= M_PI ; }
  while (delta < 0) { delta += M_PI ; }
  return(delta);
}

//Check if the image point is in the image and not to close to
//its edge to enable the computation of a convolution whith a mask.
static
bool outOfImage( vpImagePoint iP , int half , int rows , int cols)
{
  return((iP.get_i() < half + 1) || ( iP.get_i() > (rows - half - 3) )
     ||(iP.get_j() < half + 1) || (iP.get_j() > (cols - half - 3) )) ;
}

//if iP is a edge point, it computes the angle corresponding to the
//highest convolution result. the angle is between 0 an 179.
//The result gives the angle in RADIAN + pi/2 (to deal with the moving edeg alpha angle)
//and the corresponding convolution result.
void findAngle(const vpImage<unsigned char> &I, const vpImagePoint &iP,
           vpMe* me, double &angle, double &convlt)
{
  int Iheight = (int)I.getHeight();
  int Iwidth = (int)I.getWidth();
  angle = 0.0;
  convlt = 0.0;
  for (int i = 0; i < 180; i++)
  {
    double conv = 0.0;
    unsigned int half;
    int index_mask;
    half = (me->getMaskSize() - 1) >> 1 ;

    if(outOfImage( iP , (int)half + me->getStrip() , Iheight, Iwidth))
    {
      conv = 0.0 ;
    }
    else
    {
      if (me->getAngleStep() !=0)
        index_mask = (int)(i/(double)me->getAngleStep());
      else
    throw (vpException(vpException::divideByZeroError,"angle step = 0"));

      unsigned int ihalf = (unsigned int)(iP.get_i()-half) ;
      unsigned int jhalf = (unsigned int)(iP.get_j()-half) ;
      unsigned int ihalfa ;
      unsigned int a ;
      unsigned int b ;
      for( a = 0 ; a < me->getMaskSize() ; a++ )
      {
        ihalfa = ihalf+a ;
        for( b = 0 ; b < me->getMaskSize() ; b++ )
        {
      conv += me->getMask()[index_mask][a][b] *
      I(ihalfa,jhalf+b) ;
        }
      }
    }
    conv = fabs(conv);
    if (conv > convlt)
    {
      convlt = conv;
      angle = vpMath::rad(i);
      angle += M_PI/2;
      while (angle > M_PI) { angle -= M_PI ; }
      while (angle < 0) { angle += M_PI ; }
    }
  }
}


//Find the point belonging to the edge of the sub image which respects the following hypotheses:
//- the value of the pixel is upper than zero.
//- the distantce between the point and iP is less than 4 pixels.
//The function returns the nearest point of iP which respect the hypotheses
//If no point is found the returned point is (-1,-1)
vpImagePoint findFirstBorder(const vpImage<unsigned char>& Isub, const vpImagePoint &iP)
{
  double dist = 1e6;
  double dist_1 = 1e6;
  vpImagePoint index(-1,-1);
  for (unsigned int i = 0; i <= Isub.getHeight(); i++)
  {
    for (unsigned int j = 0; j <= Isub.getWidth(); j++)
    {
      if(i == 0 || i == Isub.getHeight()-1 || j == 0 || j == Isub.getWidth()-1)
      {
        if (Isub(i,j) > 0)
        {
          dist = vpImagePoint::sqrDistance(vpImagePoint(iP),vpImagePoint(i,j));
          if (dist <= 16 && dist < dist_1)
          {
            dist_1 = dist;
        index.set_ij(i,j);
          }
        }
      }
    }
  }
  return index;
}

#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
//Check if the list of vpImagePoint contains a distant point of less tha 4 pixels
//from the center of the sub image (ie the point (15,15). 
vp_deprecated bool findCenterPoint(vpList<vpImagePoint> *ip_edges_list)
{
  ip_edges_list->front();
  double dist;
  while (!ip_edges_list->outside())
  {
    vpImagePoint iP = ip_edges_list->value();
    dist = vpImagePoint::sqrDistance(iP,vpImagePoint(15,15));
    if (dist <= 16)
    {
      return true;
    }
    ip_edges_list->next();
  }
  return false;
}
#endif

//Check if the list of vpImagePoint contains a distant point of less tha 4 pixels
//from the center of the sub image (ie the point (15,15).
bool findCenterPoint(std::list<vpImagePoint> *ip_edges_list)
{
  double dist;
  for(std::list<vpImagePoint>::const_iterator it=ip_edges_list->begin(); it!=ip_edges_list->end(); ++it){
    vpImagePoint iP = *it;
    dist = vpImagePoint::sqrDistance(iP, vpImagePoint(15,15));
    if (dist <= 16)
    {
      return true;
    }
  }
  return false;
}

/***************************************/

vpMeNurbs::vpMeNurbs()
  : nurbs(), dist(0.), nbControlPoints(20), beginPtFound(0), endPtFound(0), enableCannyDetection(false),
    cannyTh1(100.), cannyTh2(200.)
{
}

vpMeNurbs::vpMeNurbs(const vpMeNurbs &menurbs)
  : vpMeTracker(menurbs),
    nurbs(), dist(0.), nbControlPoints(20), beginPtFound(0), endPtFound(0), enableCannyDetection(false),
    cannyTh1(100.), cannyTh2(200.)
{
  nurbs = menurbs.nurbs;
  dist = menurbs.dist;
  nbControlPoints = menurbs.nbControlPoints;
  beginPtFound = menurbs.beginPtFound;
  endPtFound = menurbs.endPtFound;
  enableCannyDetection = menurbs.enableCannyDetection;
  cannyTh1 = menurbs.cannyTh1;
  cannyTh2 = menurbs.cannyTh2;
}

vpMeNurbs::~vpMeNurbs()
{
}


void
vpMeNurbs::initTracking(const vpImage<unsigned char> &I)
{
  std::list<vpImagePoint> ptList;
  vpImagePoint pt;
  vpMouseButton::vpMouseButtonType b;

  while (vpDisplay::getClick(I, pt, b))
  {
    if (b == vpMouseButton::button1)
    {
      //std::cout<<pt<<std::endl;
      ptList.push_back(pt);
      vpDisplay::displayCross(I,pt,10,vpColor::green);
      vpDisplay::flush(I);
    }
    if (b == vpMouseButton::button3) break;
  }
  if (ptList.size() > 3)
    initTracking(I, ptList);
  else
    throw (vpException(vpException::notInitialized,"Not enough points to initialize the Nurbs"));
}

#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS

vp_deprecated void
vpMeNurbs::initTracking(const vpImage<unsigned char> &I,
                        vpList<vpImagePoint> &ptList)
{
  std::list<vpImagePoint> listStd;
  for(ptList.front(); !ptList.outside(); ptList.next()){
    listStd.push_back(ptList.value());
  }
  nurbs.globalCurveInterp(listStd);

  sample(I);
  
  vpMeTracker::initTracking(I) ;
  track(I);
}
#endif

void
vpMeNurbs::initTracking(const vpImage<unsigned char> &I,
                        const std::list<vpImagePoint> &ptList)
{
  nurbs.globalCurveInterp(ptList);

  sample(I);

  vpMeTracker::initTracking(I) ;
  track(I);
}

void
vpMeNurbs::sample(const vpImage<unsigned char>& I)
{
  int rows = (int)I.getHeight() ;
  int cols = (int)I.getWidth() ;
  double step = 1.0 / (double)me->getPointsToTrack();

  // Delete old list
  list.clear();

  vpImagePoint ip;
  double u = 0.0;
  vpImagePoint *pt = NULL;
  vpImagePoint pt_1(-rows,-cols);
  while (u <= 1.0)
  {
    if (pt!=NULL) delete[] pt;
    pt = nurbs.computeCurveDersPoint(u, 1);
    double delta = computeDelta(pt[1].get_i(),pt[1].get_j());

    // If point is in the image, add to the sample list
    if(!outOfImage(pt[0], 0, rows, cols) && vpImagePoint::sqrDistance(pt[0],pt_1) >= vpMath::sqr(me->getSampleStep()))
    {
      vpMeSite pix ; //= list.value();
      pix.init(pt[0].get_i(), pt[0].get_j(), delta) ;
      pix.setDisplay(selectDisplay) ;

      list.push_back(pix);
      pt_1 = pt[0];
    }
    u = u+step;
  }
  if (pt!=NULL) delete[] pt;
}


void
vpMeNurbs::suppressPoints()
{
  for(std::list<vpMeSite>::iterator it=list.begin(); it!=list.end(); ){
    vpMeSite s = *it;//current reference pixel

    if (s.getState() != vpMeSite::NO_SUPPRESSION)
    {
      it = list.erase(it);
    }
    else
      ++it;
  }
}


void
vpMeNurbs::updateDelta()
{
  double u = 0.0;
  double d = 1e6;
  double d_1 = 1e6;
  std::list<vpMeSite>::iterator it=list.begin();
  
  vpImagePoint Cu;
  vpImagePoint* der = NULL;
  double step = 0.01;
  while (u < 1 && it!=list.end())
  {
    vpMeSite s = *it;
    vpImagePoint pt(s.i,s.j);
    while (d <= d_1 && u<1)
    {
      Cu = nurbs.computeCurvePoint(u);
      d_1=d;
      d = vpImagePoint::distance(pt,Cu);
      u +=step;
    }
    
    u-=step;
    if (der != NULL) delete[] der;
    der = nurbs.computeCurveDersPoint(u, 1);
      //vpImagePoint toto(der[0].get_i(),der[0].get_j());
      //vpDisplay::displayCross(I,toto,4,vpColor::red);
    
    s.alpha = computeDelta(der[1].get_i(),der[1].get_j());
    *it = s;
    ++it;
    d = 1e6;
    d_1 = 1.5e6;
  }
  if (der != NULL) delete[] der;
}


void
vpMeNurbs::seekExtremities(const vpImage<unsigned char> &I)
{
  int rows = (int)I.getHeight() ;
  int cols = (int)I.getWidth() ;

  vpImagePoint* begin = NULL;
  vpImagePoint* end = NULL;

  begin = nurbs.computeCurveDersPoint(0.0,1);
  end = nurbs.computeCurveDersPoint(1.0,1);

  //Check if the two extremities are not to close to eachother.
  double d = vpImagePoint::distance(begin[0],end[0]);
  double threshold = 3*me->getSampleStep();
  double sample_step = me->getSampleStep();
  vpImagePoint pt;
  if ( d > threshold /*|| (list.firstValue()).mask_sign != (list.lastValue()).mask_sign*/)
  {
    vpMeSite P ;
    
    //Init vpMeSite
    P.init(begin[0].get_i(), begin[0].get_j(), (list.front()).alpha, 0, (list.front()).mask_sign) ;
    P.setDisplay(selectDisplay) ;

    //Set the range
    unsigned int  memory_range = me->getRange() ;
    me->setRange(2);
    
    //Point at the beginning of the list
    bool beginPtAdded = false;
    vpImagePoint pt_max = begin[0];
    double angle = atan2(begin[1].get_i(),begin[1].get_j());
    double co = vpMath::abs(cos(angle));
    co = co * vpMath::sign(begin[1].get_j());
    double si = vpMath::abs(sin(angle));
    si = si * vpMath::sign(begin[1].get_i());
    for (int i=0 ; i < 3 ; i++)
    {
      P.ifloat = P.ifloat - si*sample_step ; P.i = (int)P.ifloat ;
      P.jfloat = P.jfloat - co*sample_step ; P.j = (int)P.jfloat ;
      pt.set_ij(P.ifloat,P.jfloat);
      if (vpImagePoint::distance(end[0],pt) < threshold) break;
      if(!outOfImage(P.i, P.j, 5, rows, cols))
      {
        P.track(I,me,false);

        if (P.getState() == vpMeSite::NO_SUPPRESSION)
        {
          list.push_front(P) ;
          beginPtAdded = true;
          pt_max = pt;
          if (vpDEBUG_ENABLE(3)) {
            vpDisplay::displayCross(I, pt, 5, vpColor::blue) ;
          }
        }
        else {
          if (vpDEBUG_ENABLE(3)) {
            vpDisplay::displayCross(I, pt, 10, vpColor::blue) ;
          }
        }
      }
    }
    
    if (!beginPtAdded) beginPtFound++;

    P.init(end[0].get_i(), end[0].get_j(), (list.back()).alpha, 0, (list.back()).mask_sign);
    P.setDisplay(selectDisplay);
    
    bool endPtAdded = false;
    angle = atan2(end[1].get_i(),end[1].get_j());
    co = vpMath::abs(cos(angle));
    co = co * vpMath::sign(end[1].get_j());
    si = vpMath::abs(sin(angle));
    si = si * vpMath::sign(end[1].get_i());
    for (int i=0 ; i < 3 ; i++)
    {
      P.ifloat = P.ifloat + si*sample_step ; P.i = (int)P.ifloat ;
      P.jfloat = P.jfloat + co*sample_step ; P.j = (int)P.jfloat ;
      pt.set_ij(P.ifloat,P.jfloat);
      if (vpImagePoint::distance(begin[0],pt) < threshold) break;
      if(!outOfImage(P.i, P.j, 5, rows, cols))
      {
        P.track(I,me,false);

        if (P.getState() == vpMeSite::NO_SUPPRESSION)
        {
          list.push_back(P) ;
          endPtAdded = true;
          if (vpDEBUG_ENABLE(3)) {
            vpDisplay::displayCross(I, pt, 5, vpColor::blue) ;
          }
        }
        else {
          if (vpDEBUG_ENABLE(3)) {
            vpDisplay::displayCross(I, pt, 10, vpColor::blue) ;
          }
        }
      }
    }
    if (!endPtAdded) endPtFound++;
    me->setRange(memory_range);
  }
  else
  {
    list.pop_front();
  }
  /*if(begin != NULL)*/ delete[] begin;
  /*if(end != NULL)  */ delete[] end;
}


#ifdef VISP_HAVE_OPENCV
void
vpMeNurbs::seekExtremitiesCanny(const vpImage<unsigned char> &I)
#else
void
vpMeNurbs::seekExtremitiesCanny(const vpImage<unsigned char> & /* I */)
#endif
{
#ifdef VISP_HAVE_OPENCV
  vpMeSite pt = list.front();
  vpImagePoint firstPoint(pt.ifloat,pt.jfloat);
  pt = list.back();
  vpImagePoint lastPoint(pt.ifloat,pt.jfloat);
  if (beginPtFound >=3 && farFromImageEdge(I, firstPoint))
  {
    vpImagePoint *begin = NULL;
    begin = nurbs.computeCurveDersPoint(0.0,1);
    vpImage<unsigned char> Isub(32,32); //Sub image.
    vpImagePoint topLeft(begin[0].get_i()-15,begin[0].get_j()-15); 
    vpRect rect(topLeft,32,32);
    
    vpDisplay::displayRectangle(I,rect,vpColor::green);
    
    vpImageTools::createSubImage(I,rect,Isub);
    
    vpImagePoint lastPtInSubIm(begin[0]);
    double u = 0.0;
    double step =0.0001;
    //Find the point of the nurbs closest from the edge of the subImage and in the subImage.
    while (inRectangle(lastPtInSubIm,rect) && u < 1)
    {
      u += step;
      lastPtInSubIm = nurbs.computeCurvePoint(u);
    }

    u -= step;
    if( u > 0)
      lastPtInSubIm = nurbs.computeCurvePoint(u);
    
    IplImage* Ip = NULL;
    vpImageConvert::convert(Isub, Ip);
    

    IplImage* dst = cvCreateImage( cvSize((int)Isub.getWidth(), (int)Isub.getHeight()), 8, 1 );
    cvCanny( Ip, dst, cannyTh1, cannyTh2, 3 );
    
    vpImageConvert::convert(dst, Isub);
    
    vpImagePoint firstBorder(-1,-1);
    
    firstBorder = findFirstBorder(Isub, lastPtInSubIm-topLeft);
    
    std::list<vpImagePoint> ip_edges_list;
    if (firstBorder != vpImagePoint(-1, -1))
    {
      unsigned int dir;
      double fi = firstBorder.get_i();
      double fj = firstBorder.get_j();
      double w = Isub.getWidth()-1;
      double h = Isub.getHeight()-1;
      //if (firstBorder.get_i() == 0) dir = 4;
      if (std::fabs(fi) <= std::numeric_limits<double>::epsilon()) dir = 4;
      //else if (firstBorder.get_i() == Isub.getHeight()-1) dir = 0;
      else if (std::fabs(fi-h) <= std::fabs(vpMath::maximum(fi,h))*std::numeric_limits<double>::epsilon()) dir = 0;
      //else if (firstBorder.get_j() == 0) dir = 2;
      else if (std::fabs(fj) <= std::numeric_limits<double>::epsilon()) dir = 2;
      //else if (firstBorder.get_j() == Isub.getWidth()-1) dir = 6;
      else if (std::fabs(fj-w) <= std::fabs(vpMath::maximum(fj,w))*std::numeric_limits<double>::epsilon()) dir = 6;
      computeFreemanChainElement(Isub, firstBorder , dir);
      unsigned int firstDir = dir;
      ip_edges_list.push_back( firstBorder );
      vpImagePoint border(firstBorder);
      vpImagePoint dBorder;
      do 
      {
        computeFreemanParameters(dir, dBorder);
        border = border + dBorder;
        vpDisplay::displayPoint(I, border+topLeft, vpColor::orange) ;

        ip_edges_list.push_back( border );

        computeFreemanChainElement(Isub, border , dir);
      } while( (border != firstBorder || dir != firstDir) && isInImage(Isub,border) );
    }
    
    if (findCenterPoint(&ip_edges_list))
    {
      for(std::list<vpMeSite>::iterator it=list.begin(); it!=list.end(); /*++it*/){
        vpMeSite s = *it;
        vpImagePoint iP(s.ifloat,s.jfloat);
        if (inRectangle(iP,rect))
          it = list.erase(it) ;
        else
          break;
      }

      std::list<vpMeSite>::iterator itList=list.begin();
      double convlt;
      double delta = 0;
      int nbr = 0;
      std::list<vpMeSite> addedPt;
      for(std::list<vpImagePoint>::const_iterator itEdges=ip_edges_list.begin(); itEdges!=ip_edges_list.end(); ++itEdges){
        vpMeSite s = *itList;
        vpImagePoint iPtemp = *itEdges + topLeft;
        vpMeSite pix;
        pix.init(iPtemp.get_i(), iPtemp.get_j(), delta);
        dist = vpMeSite::sqrDistance(s,pix);
        if (dist >= vpMath::sqr(me->getSampleStep())/*25*/)
        {
          bool exist = false;
          for(std::list<vpMeSite>::const_iterator itAdd=addedPt.begin(); itAdd!=addedPt.end(); ++itAdd){
            dist = vpMeSite::sqrDistance(pix, *itAdd);
            if (dist < vpMath::sqr(me->getSampleStep())/*25*/)
              exist = true;
          }
          if (!exist)
          {
            findAngle(I, iPtemp, me, delta, convlt);
            pix.init(iPtemp.get_i(), iPtemp.get_j(), delta, convlt);
            pix.setDisplay(selectDisplay);
            --itList;
            list.insert(itList, pix);
            ++itList;
            addedPt.push_front(pix);
            nbr++;
          }
        }
      }

      unsigned int  memory_range = me->getRange();
      me->setRange(3);
      std::list<vpMeSite>::iterator itList2=list.begin();
      for (int j = 0; j < nbr; j++)
      {
        vpMeSite s = *itList2;
        s.track(I,me,false);
        *itList2 = s;
        ++itList2;
      }
      me->setRange(memory_range);
    }
    
    /* if (begin != NULL) */ delete[] begin;
    beginPtFound = 0;
  }

  if(endPtFound >= 3 && farFromImageEdge(I, lastPoint))
  {
    vpImagePoint *end = NULL;
    end = nurbs.computeCurveDersPoint(1.0,1);

    vpImage<unsigned char> Isub(32,32); //Sub image.
    vpImagePoint topLeft(end[0].get_i()-15,end[0].get_j()-15); 
    vpRect rect(topLeft,32,32);
    
    vpDisplay::displayRectangle(I,rect,vpColor::green);
    
    vpImageTools::createSubImage(I,rect,Isub);
    
    vpImagePoint lastPtInSubIm(end[0]);
    double u = 1.0;
    double step =0.0001;
    //Find the point of the nurbs closest from the edge of the subImage and in the subImage.
    while (inRectangle(lastPtInSubIm,rect) && u > 0)
    {
      u -= step;
      lastPtInSubIm = nurbs.computeCurvePoint(u);
    }

    u += step;
    if( u < 1.0)
      lastPtInSubIm = nurbs.computeCurvePoint(u);
    
    IplImage* Ip = NULL;
    vpImageConvert::convert(Isub, Ip);
    

    IplImage* dst = cvCreateImage( cvSize((int)Isub.getWidth(), (int)Isub.getHeight()), 8, 1 );
    cvCanny( Ip, dst, cannyTh1, cannyTh2, 3 );
    
    vpImageConvert::convert(dst, Isub);
    
    vpImagePoint firstBorder(-1,-1);
    
    firstBorder = findFirstBorder(Isub, lastPtInSubIm-topLeft);
    
    std::list<vpImagePoint> ip_edges_list;
    if (firstBorder != vpImagePoint(-1, -1))
    {
      unsigned int dir;
      double fi = firstBorder.get_i();
      double fj = firstBorder.get_j();
      double w = Isub.getWidth()-1;
      double h = Isub.getHeight()-1;
      //if (firstBorder.get_i() == 0) dir = 4;
      if (std::fabs(fi) <= std::numeric_limits<double>::epsilon()) dir = 4;
      //else if (firstBorder.get_i() == Isub.getHeight()-1) dir = 0;
      else if (std::fabs(fi-h) <= std::fabs(vpMath::maximum(fi,h))*std::numeric_limits<double>::epsilon()) dir = 0;
      //else if (firstBorder.get_j() == 0) dir = 2;
      else if (std::fabs(fj) <= std::numeric_limits<double>::epsilon()) dir = 2;
      //else if (firstBorder.get_j() == Isub.getWidth()-1) dir = 6;
      else if (std::fabs(fj-w) <= std::fabs(vpMath::maximum(fj,w))*std::numeric_limits<double>::epsilon()) dir = 6;


      computeFreemanChainElement(Isub, firstBorder , dir);
      unsigned int firstDir = dir;
      ip_edges_list.push_back( firstBorder );
      vpImagePoint border(firstBorder);
      vpImagePoint dBorder;
      do 
      {
        computeFreemanParameters(dir, dBorder);
        border = border + dBorder;
        vpDisplay::displayPoint(I, border+topLeft, vpColor::orange) ;

        ip_edges_list.push_back( border );

        computeFreemanChainElement(Isub, border , dir);
      } while( (border != firstBorder || dir != firstDir) && isInImage(Isub,border) );
    }
    
    if (findCenterPoint(&ip_edges_list))
    {
//      list.end();
      vpMeSite s;
      while(true)//{//!list.outside())
      {
        s = list.back();//list.value() ;
        vpImagePoint iP(s.ifloat,s.jfloat);
        if (inRectangle(iP,rect))
        {
          list.erase(list.end()) ;
//          list.end();
        }
        else
          break;
      }

      std::list<vpMeSite>::iterator itList = list.end();
      --itList; // Move on the last element
      double convlt;
      double delta;
      int nbr = 0;
      std::list<vpMeSite> addedPt;
      for(std::list<vpImagePoint>::const_iterator itEdges=ip_edges_list.begin(); itEdges!=ip_edges_list.end(); ++itEdges){
        s = *itList;
        vpImagePoint iPtemp = *itEdges + topLeft;
        vpMeSite pix;
        pix.init(iPtemp.get_i(), iPtemp.get_j(), 0);
        dist = vpMeSite::sqrDistance(s,pix);
        if (dist >= vpMath::sqr(me->getSampleStep()))
        {
          bool exist = false;
          for(std::list<vpMeSite>::const_iterator itAdd=addedPt.begin(); itAdd!=addedPt.end(); ++itAdd){
            dist = vpMeSite::sqrDistance(pix, *itAdd);
            if (dist < vpMath::sqr(me->getSampleStep()))
              exist = true;
          }
          if (!exist)
          {
            findAngle(I, iPtemp, me, delta, convlt);
            pix.init(iPtemp.get_i(), iPtemp.get_j(), delta, convlt);
            pix.setDisplay(selectDisplay);
            list.push_back(pix);
            addedPt.push_back(pix);
            nbr++;
          }
        }
      }
      
      unsigned int  memory_range = me->getRange();
      me->setRange(3);
      std::list<vpMeSite>::iterator itList2 = list.end();
      --itList2; // Move to the last element
      for (int j = 0; j < nbr; j++)
      {
        vpMeSite me_s = *itList2;
        me_s.track(I,me,false);
        *itList2 = me_s;
        --itList2;
      }
      me->setRange(memory_range);
    }
    
    /* if (end != NULL) */ delete[] end;
    endPtFound = 0;
  }
#else
  vpTRACE("To use the canny detection, OpenCV has to be installed.");
#endif
}


void
vpMeNurbs::reSample(const vpImage<unsigned char> &I)
{
  unsigned int n = numberOfSignal();
  double nbPt = floor(dist / me->getSampleStep());

  if ((double)n < 0.7*nbPt)
  {
    sample(I);
    vpMeTracker::initTracking(I);
  }
}


void
vpMeNurbs::localReSample(const vpImage<unsigned char> &I)
{
  int rows = (int)I.getHeight() ;
  int cols = (int)I.getWidth() ;
  vpImagePoint* iP = NULL;
  
  int n = (int)numberOfSignal();
  
//  list.front();
  std::list<vpMeSite>::iterator it=list.begin();
  std::list<vpMeSite>::iterator itNext=list.begin();
  ++itNext;

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

  while(itNext!=list.end() && n <= me->getPointsToTrack())
  {
    vpMeSite s = *it;//current reference pixel
    vpMeSite s_next = *itNext;//current reference pixel
    
    double d = vpMeSite::sqrDistance(s,s_next);
    if(d > 4 * vpMath::sqr(me->getSampleStep()) && d < 1600)
    {
      vpImagePoint iP0(s.ifloat,s.jfloat);
      vpImagePoint iPend(s_next.ifloat,s_next.jfloat);
      vpImagePoint iP_1(s.ifloat,s.jfloat);

      double u = 0.0;
      double ubegin = 0.0;
      double uend = 0.0;
      double dmin1_1 = 1e6;
      double dmin2_1 = 1e6;
      while(u < 1)
      {
        u+=0.01;
        double dmin1 = vpImagePoint::sqrDistance(nurbs.computeCurvePoint(u),iP0);
        double dmin2 = vpImagePoint::sqrDistance(nurbs.computeCurvePoint(u),iPend);

        if (dmin1 < dmin1_1)
        {
          dmin1_1 = dmin1;
          ubegin = u;
        }

        if (dmin2 < dmin2_1)
        {
          dmin2_1 = dmin2;
          uend = u;
        }
      }
      u = ubegin;
      
      //if(( u != 1.0 || uend != 1.0)
      if( (std::fabs(u-1.0) > std::fabs(vpMath::maximum(u, 1.0))*std::numeric_limits<double>::epsilon())
          || (std::fabs(uend-1.0) > std::fabs(vpMath::maximum(uend, 1.0))*std::numeric_limits<double>::epsilon()))
      {
        iP = nurbs.computeCurveDersPoint(u, 1);

        while (vpImagePoint::sqrDistance(iP[0],iPend) > vpMath::sqr(me->getSampleStep()) && u < uend)
        {
          u+=0.01;
          /*if (iP!=NULL)*/ {
            delete[] iP;
            iP = NULL;
          }
          iP = nurbs.computeCurveDersPoint(u, 1);
          if ( vpImagePoint::sqrDistance(iP[0],iP_1) > vpMath::sqr(me->getSampleStep()) && !outOfImage(iP[0], 0, rows, cols))
          {
            double delta = computeDelta(iP[1].get_i(),iP[1].get_j());
            vpMeSite pix ; //= list.value();
            pix.init(iP[0].get_i(), iP[0].get_j(), delta) ;
            pix.setDisplay(selectDisplay) ;
            pix.track(I,me,false);
            if (pix.getState() == vpMeSite::NO_SUPPRESSION)
            {
              list.insert(it, pix);
              iP_1 = iP[0];
            }
          }
        }
        /*if (iP!=NULL)*/ {
          delete[] iP;
          iP = NULL;
        }
      }
    }
    ++it;
    ++itNext;
  }
  me->setRange(range_tmp);
}


void
vpMeNurbs::supressNearPoints()
{
#if 0
  // Loop through list of sites to track
  list.front();
  while(!list.nextOutside())
  {
    vpMeSite s = list.value() ;//current reference pixel
    vpMeSite s_next = list.nextValue() ;//current reference pixel
    
    if(vpMeSite::sqrDistance(s,s_next) < vpMath::sqr(me->getSampleStep()))
    {
      s_next.setState(vpMeSite::TOO_NEAR);
          
      list.next();
      list.modify(s_next);
      if (!list.nextOutside()) list.next();
    }
    else
      list.next() ;
  }
#endif
  std::list<vpMeSite>::const_iterator it=list.begin();
  std::list<vpMeSite>::iterator itNext=list.begin();
  ++itNext;
  for(;itNext!=list.end();){
    vpMeSite s = *it;//current reference pixel
    vpMeSite s_next = *itNext;//current reference pixel

    if(vpMeSite::sqrDistance(s,s_next) < vpMath::sqr(me->getSampleStep())){
      s_next.setState(vpMeSite::TOO_NEAR);
          
      *itNext = s_next;
      ++it;
      ++itNext;
      if(itNext!=list.end()){
        ++it;
        ++itNext;
      }
    }
    else{
      ++it;
      ++itNext;
    }
  }
}


void
vpMeNurbs::track(const vpImage<unsigned char> &I)
{
  //Tracking des vpMeSites
  vpMeTracker::track(I);

  //Suppress points which are too close to each other
  supressNearPoints();
  
  //Suppressions des points ejectes par le tracking
  suppressPoints();

  //Recalcule les param�tres
//  nurbs.globalCurveInterp(list);
  nurbs.globalCurveApprox(list,nbControlPoints);
  
  //On resample localement
  localReSample(I);

  seekExtremities(I);
  if(enableCannyDetection)
    seekExtremitiesCanny(I);

//   nurbs.globalCurveInterp(list);
  nurbs.globalCurveApprox(list,nbControlPoints);
  
  double u = 0.0;
  vpImagePoint pt;
  vpImagePoint pt_1;
  dist = 0;
  while (u<=1.0)
  {
    pt = nurbs.computeCurvePoint(u);
    //if(u!=0)
    if(std::fabs(u) > std::numeric_limits<double>::epsilon())
      dist = dist + vpImagePoint::distance(pt,pt_1);
    pt_1 = pt;
    u=u+0.01;
  }

  updateDelta();

  reSample(I);
}


void
vpMeNurbs::display(const vpImage<unsigned char>&I, vpColor col)
{
  vpMeNurbs::display(I,nurbs,col);
}


bool
vpMeNurbs::computeFreemanChainElement(const vpImage<unsigned char> &I,
                   vpImagePoint &iP,
                   unsigned int &element)
{
  vpImagePoint diP;
  vpImagePoint iPtemp;
  if (hasGoodLevel( I, iP )) {
    // get the point on the right of the point passed in
    computeFreemanParameters((element + 2) %8, diP);
    iPtemp = iP + diP;
    if (hasGoodLevel( I, iPtemp )) {
      element = (element + 2) % 8;      // turn right
    }
    else {
      computeFreemanParameters((element + 1) %8, diP);
      iPtemp = iP + diP;

      if ( hasGoodLevel( I, iPtemp )) {
    element = (element + 1) % 8;      // turn diag right
      }
      else {
    computeFreemanParameters(element, diP);
        iPtemp = iP + diP;

    if ( hasGoodLevel( I, iPtemp )) {
      //element = element;      // keep same dir
    }
    else {
      computeFreemanParameters((element + 7) %8, diP);
          iPtemp = iP + diP;

      if ( hasGoodLevel( I, iPtemp )) {
        element = (element + 7) %8;      // turn diag left
      }
      else {
        computeFreemanParameters((element + 6) %8, diP);
            iPtemp = iP + diP;

        if ( hasGoodLevel( I, iPtemp )) {
          element = (element + 6) %8 ;      // turn left
        }
        else {
          computeFreemanParameters((element + 5) %8, diP);
              iPtemp = iP + diP;

          if ( hasGoodLevel( I, iPtemp )) {
        element = (element + 5) %8 ;      // turn diag down
          }
          else {
        computeFreemanParameters((element + 4) %8, diP);
                iPtemp = iP + diP;

        if ( hasGoodLevel( I, iPtemp )) {
          element = (element + 4) %8 ;      // turn down
        }
        else {
          computeFreemanParameters((element + 3) %8, diP);
                  iPtemp = iP + diP;

          if ( hasGoodLevel( I, iPtemp )) {
            element = (element + 3) %8 ;      // turn diag right down
          }
          else {
            // No neighbor with a good level
            //
            return false;
          }
        }
          }
        }
      }
    }
      }
    }
  }
  else {
    return false;
  }
  return true;
}


bool vpMeNurbs::hasGoodLevel(const vpImage<unsigned char>& I,
              const vpImagePoint& iP) const
{
  if( !isInImage( I, iP ) )
    return false;

  if( I((unsigned int)vpMath::round(iP.get_i()), (unsigned int)vpMath::round(iP.get_j())) > 0)
  {
    return true;
  }
  else
  {
    return false;
  }
}


bool vpMeNurbs::isInImage(const vpImage<unsigned char>& I, const vpImagePoint &iP) const
{
  return (iP.get_i() >= 0 
      && iP.get_j() >= 0
      && iP.get_i() < I.getHeight() 
      && iP.get_j() < I.getWidth());
}


void
vpMeNurbs::computeFreemanParameters( unsigned int element, vpImagePoint &diP)
{
  /*
           5  6  7
            \ | /
             \|/ 
         4 ------- 0
             /|\
            / | \
           3  2  1
  */
  switch(element) {
  case 0: // go right
    diP.set_ij(0,1);
    break;

  case 1: // go right top
    diP.set_ij(1,1);
    break;

  case 2: // go top
    diP.set_ij(1,0);
    break;

  case 3:
    diP.set_ij(1,-1);
    break;

  case 4:
    diP.set_ij(0,-1);
    break;

  case 5:
    diP.set_ij(-1,-1);
    break;

  case 6:
    diP.set_ij(-1,0);
    break;

  case 7:
    diP.set_ij(-1,1);
    break;
  }
}


bool
vpMeNurbs::farFromImageEdge(const vpImage<unsigned char>& I, const vpImagePoint& iP)
{
  unsigned int height = I.getHeight();
  unsigned int width  = I.getWidth();
  return (iP.get_i() < height - 20 
      && iP.get_j() < width - 20 
      && iP.get_i() > 20 
      && iP.get_j() > 20);
}

void vpMeNurbs::display(const vpImage<unsigned char>& I, vpNurbs &n, vpColor color)
{
  double u = 0.0;
  vpImagePoint pt;
  while (u <= 1)
  {
    pt = n.computeCurvePoint(u);
    vpDisplay::displayCross(I,pt,4,color);
    u+=0.01;
  }
}

void vpMeNurbs::display(const vpImage<vpRGBa>& I, vpNurbs &n, vpColor color)
{
  double u = 0.0;
  vpImagePoint pt;
  while (u <= 1)
  {
    pt = n.computeCurvePoint(u);
    vpDisplay::displayCross(I,pt,4,color);
    u+=0.01;
  }
}