vpMbtMeEllipse.h

/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2019 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 as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * 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/vpColVector.h>
#include <visp3/core/vpMatrix.h>

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

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

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

#ifndef DOXYGEN_SHOULD_SKIP_THIS

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,
                              const vpMatrix &SobelX, const vpMatrix &SobelY, const bool display,
                              const unsigned int length, const unsigned int thickness);

  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, const bool doNotTrack);

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

  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:
  virtual void sample(const vpImage<unsigned char> &image, const bool doNotTrack=false);
  void reSample(const vpImage<unsigned char> &I);
  void updateTheta();
  void suppressPoints();
};

#endif // #ifndef DOXYGEN_SHOULD_SKIP_THIS
#endif