vpMeNurbs.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:
 * Nicolas Melchior
 *
 *****************************************************************************/

#ifndef vpMeNurbs_HH
#define vpMeNurbs_HH

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

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

class VISP_EXPORT vpMeNurbs : public vpMeTracker
{
  #ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
    public:
    #else
    private:
    #endif
    vpNurbs nurbs;
    
    private:
    double dist;
    unsigned int nbControlPoints;
    int beginPtFound;
    int endPtFound;
    bool enableCannyDetection;
    double cannyTh1;
    double cannyTh2;

  public:
    vpMeNurbs();
    vpMeNurbs(const vpMeNurbs &menurbs);
    virtual ~vpMeNurbs();
    
    void setNbControlPoints(const unsigned int nb_point) {this->nbControlPoints = nb_point;}
    
    void setEnableCannyDetection(const bool enable_canny) {this->enableCannyDetection =enable_canny;}
    
    void setCannyThreshold(const double th1, const double th2)
    {
      this->cannyTh1 = th1;
      this->cannyTh2 = th2;
    }
    
    void initTracking(const vpImage<unsigned char> &I) ;
    void initTracking(const vpImage<unsigned char> &I,
                      const std::list<vpImagePoint> &ptList) ;

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

    void sample(const vpImage<unsigned char>&image);
    void reSample(const vpImage<unsigned char> &I) ;
    void updateDelta();
    void setExtremities() ;
    void seekExtremities(const vpImage<unsigned char> &I) ;
    void seekExtremitiesCanny(const vpImage<unsigned char> &I) ;
    void suppressPoints() ;

    void supressNearPoints();
    void localReSample(const vpImage<unsigned char> &I);
    
    inline vpNurbs getNurbs() const {return nurbs; }
    
    void display(const vpImage<unsigned char>& I, vpColor col) ;

  private:
    bool computeFreemanChainElement(const vpImage<unsigned char> &I,
                   vpImagePoint &iP,
                   unsigned int &element);

    bool hasGoodLevel(const vpImage<unsigned char>& I,
              const vpImagePoint& iP) const;

    bool isInImage(const vpImage<unsigned char>& I, const vpImagePoint &iP) const;
    
    void computeFreemanParameters( unsigned int element, vpImagePoint &diP);
    
    bool farFromImageEdge(const vpImage<unsigned char>& I, const vpImagePoint& iP);
    
public:
    static void display(const vpImage<unsigned char>& I, vpNurbs &n, vpColor color = vpColor::green);
    static void display(const vpImage<vpRGBa>& I, vpNurbs &n, vpColor color = vpColor::green);
};

#endif