vpMeLine.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 vpMeLine_HH
#define vpMeLine_HH

#include <visp3/core/vpMatrix.h>
#include <visp3/core/vpMath.h>
#include <visp3/me/vpMeTracker.h>

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

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

int main()
{
  vpImage<unsigned char> I(240, 320);

  // Fill the image with a black rectangle
  I = 0;
  for (int i = 100; i < 180; i ++) {
    for (int j = 120; j < 250; j ++) {
      I[i][j] = 255;
    }
  }
    
  // Set the moving-edges tracker parameters
  vpMe me;
  me.setRange(25);
  me.setThreshold(15000);
  me.setSampleStep(10);

  // Initialize the moving-edges line tracker parameters
  vpMeLine line;
  line.setMe(&me);

  // Initialize the location of the vertical line to track
  vpImagePoint ip1, ip2; // Two points belonging to the line to track 
  ip1.set_i( 120 );
  ip1.set_j( 119 );
  ip2.set_i( 170 );
  ip2.set_j( 122 );

  line.initTracking(I, ip1, ip2);

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

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

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

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

#endif