vpMeSite.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
 * Andrew Comport
 * Aurelien Yol
 *
 *****************************************************************************/

#ifndef vpMeSite_H
#define vpMeSite_H

#include <visp3/core/vpMatrix.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpDisplay.h>
#include <visp3/me/vpMe.h>

class VISP_EXPORT vpMeSite
{
public:
  typedef enum
    {
      NONE,
      RANGE,
      RESULT,
      RANGE_RESULT
    } vpMeSiteDisplayType;

  typedef enum
  {
    NO_SUPPRESSION = 0,
    CONSTRAST = 1,
    THRESHOLD = 2,
    M_ESTIMATOR = 3,
    TOO_NEAR = 4,
    UNKNOW = 5
  } vpMeSiteState;
  
public:
  int i,j ;
  int i_1, j_1 ;
  double ifloat, jfloat ;
  unsigned char v ;
  int mask_sign ;
  // Angle of tangent at site
  double alpha;
  // Convolution of Site in previous image
  double convlt ;
 // Convolution of Site in previous image
  double normGradient ;
  // Uncertainty of point given as a probability between 0 and 1
  double weight;
  
private:
  vpMeSiteDisplayType selectDisplay ;
  vpMeSiteState state;

public:
  void init() ;
  void init(double ip, double jp, double alphap) ;
  void init(double ip, double jp, double alphap, double convltp) ;
  void init(double ip, double jp, double alphap, double convltp, int sign) ;

  vpMeSite () ;
  vpMeSite(double ip, double jp) ;
  vpMeSite (const vpMeSite &mesite) ;
  virtual ~vpMeSite() {} ;
  
  void display(const vpImage<unsigned char>& I);

  double convolution(const vpImage<unsigned char>& ima, const vpMe *me) ;

  vpMeSite *getQueryList(const vpImage<unsigned char> &I, const int range) ;

  void track(const vpImage<unsigned char>& im,
         const vpMe *me,
         const  bool test_contraste=true);
  
  void setAlpha(const double &a) { alpha = a; }
  
  inline double getAlpha() const { return alpha; }
  
  
  void setDisplay(vpMeSiteDisplayType select) { selectDisplay = select ; }
  
  inline int get_i() const { return i; }
  
  inline int get_j() const { return j; }
  
  inline double get_ifloat() const { return ifloat; }
  
  inline double get_jfloat() const { return jfloat; }
  
  void setState(const vpMeSiteState &flag){ 
    state = flag; 
    
    #ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
    suppress = (int)flag;
    #endif
  }
  
  inline vpMeSiteState getState() const { return state; }
  
  void setWeight(const double &w) { weight = w; }
  
  inline double getWeight() const { return weight; }
  
//Operators
  vpMeSite &operator=(const vpMeSite &m) ;
  int       operator!=(const vpMeSite  &m) ;
  
  friend VISP_EXPORT std::ostream& operator<<(std::ostream& os, vpMeSite& vpMeS);
  
//Static functions 
  static double distance (const vpMeSite S1, const vpMeSite S2) {
    return(sqrt(vpMath::sqr(S1.ifloat-S2.ifloat)+vpMath::sqr(S1.jfloat-S2.jfloat)));}
    
  static double sqrDistance (const vpMeSite S1, const vpMeSite S2) {
    return(vpMath::sqr(S1.ifloat-S2.ifloat)+vpMath::sqr(S1.jfloat-S2.jfloat));}
    
  static void display(const vpImage<unsigned char>& I, const double &i, const double &j,
                      const vpMeSiteState &state = NO_SUPPRESSION);
  static void display(const vpImage<vpRGBa>& I, const double &i, const double &j,
                      const vpMeSiteState &state = NO_SUPPRESSION);

//Deprecated 
#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
public:
  int suppress;
  
  vp_deprecated void getSign(const vpImage<unsigned char> &I, const int range) ;
#endif
} ;

#endif