vpMbtMeEllipse.h

/****************************************************************************
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2017 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://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * 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 vpMbtMeEllipse_HH
#define vpMbtMeEllipse_HH

#include <visp3/core/vpMatrix.h>
#include <visp3/core/vpColVector.h>

#include <visp3/me/vpMeTracker.h>
#include <visp3/me/vpMeSite.h>
#include <visp3/core/vpImagePoint.h>

#include <visp3/core/vpImage.h>
#include <visp3/core/vpColor.h>

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

#ifndef DOXYGEN_SHOULD_SKIP_THIS

/*
  The code below shows how to use this class.
\code
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpImage.h>
#include <visp3/mbt/vpMbtMeEllipse.h>
#include <visp3/core/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
  vpMbtMeEllipse 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 vpMbtMeEllipse.
*/

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

  void computeProjectionError(const vpImage<unsigned char>& _I, double &_sumErrorRad, unsigned int &_nbFeatures);

  void display(const vpImage<unsigned char>&I, vpColor col) ;
  void display(const vpImage<unsigned char>& I) {vpMeTracker::display(I);} //Shouldn't be here since it's already in vpMeTracker
  int getExpectedDensity() {return (int)expecteddensity;};

  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; }

  void initTracking(const vpImage<unsigned char> &I, const vpImagePoint &ic,
                    double mu20_p, double mu11_p, double mu02_p) ;

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

  void updateParameters(const vpImage<unsigned char> &I, const vpImagePoint &ic,
                        double mu20_p, double mu11_p, double mu02_p);


protected:
  vpImagePoint iPc;
  double a;
  double b;
  double e;

protected:
  double ce;
  double se;

  double mu11,mu20, mu02;
  double thresholdWeight;
  double expecteddensity;

private:
  void sample(const vpImage<unsigned char>&image);
  void reSample(const vpImage<unsigned char> &I) ;
  void updateTheta();
  void suppressPoints() ;
};

#endif // #ifndef DOXYGEN_SHOULD_SKIP_THIS
#endif