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

#ifndef vpMeNurbs_HH
#define vpMeNurbs_HH

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

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

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> &I);

  virtual void sample(const vpImage<unsigned char> &image, const bool doNotTrack=false);
  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