Visual Servoing Platform  version 3.3.0 under development (2020-02-17)
vpDot.h
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20  * Inria Rennes - Bretagne Atlantique
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29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Track a white dot.
33  *
34  * Authors:
35  * Eric Marchand
36  * Fabien Spindler
37  *
38  *****************************************************************************/
39 
45 #ifndef vpDot_hh
46 #define vpDot_hh
47 
48 #include <visp3/core/vpConfig.h>
49 #include <visp3/core/vpDisplay.h>
50 #include <visp3/core/vpImage.h>
51 #include <visp3/core/vpImagePoint.h>
52 #include <visp3/core/vpPolygon.h>
53 #include <visp3/core/vpRect.h>
54 #include <visp3/core/vpTracker.h>
55 
56 #include <fstream>
57 #include <list>
58 #include <math.h>
59 #include <vector>
60 
61 #ifdef VISP_USE_MSVC
62 #pragma comment(linker, "/STACK:256000000") // Increase max recursion depth
63 #endif
64 
115 class VISP_EXPORT vpDot : public vpTracker
116 {
117 public:
121  typedef enum {
122  CONNEXITY_4,
124  CONNEXITY_8
126  } vpConnexityType;
127 
128  static const unsigned int SPIRAL_SEARCH_SIZE;
130  double m00;
137  double m01;
144  double m10;
151  double m11;
160  double m20;
169  double m02;
178  double mu11;
183  double mu20;
188  double mu02;
194  vpDot();
195  explicit vpDot(const vpImagePoint &ip);
196  vpDot(const vpDot &d);
197  virtual ~vpDot();
198 
199  void display(const vpImage<unsigned char> &I, vpColor color = vpColor::red, unsigned int thickness = 1) const;
200 
208  inline vpRect getBBox() const
209  {
210  vpRect bbox;
211 
212  bbox.setRect(this->u_min, this->v_min, this->u_max - this->u_min + 1, this->v_max - this->v_min + 1);
213 
214  return (bbox);
215  };
221  inline vpImagePoint getCog() const { return cog; }
222 
229  inline std::list<vpImagePoint> getEdges() const { return this->ip_edges_list; };
230 
239  inline std::list<vpImagePoint> getConnexities() const { return this->ip_connexities_list; };
240 
241  inline double getGamma() const { return this->gamma; };
249  double getGrayLevelPrecision() const { return grayLevelPrecision; }
250  double getMaxDotSize() const { return this->maxDotSizePercentage; }
254  double getMeanGrayLevel() const { return (this->mean_gray_level); };
255 
259  vpPolygon getPolygon() const { return (vpPolygon(ip_edges_list)); };
260 
268  inline unsigned int getWidth() const { return (this->u_max - this->u_min + 1); };
269 
277  inline unsigned int getHeight() const { return (this->v_max - this->v_min + 1); };
278 
279  void initTracking(const vpImage<unsigned char> &I);
280  void initTracking(const vpImage<unsigned char> &I, const vpImagePoint &ip);
281  void initTracking(const vpImage<unsigned char> &I, const vpImagePoint &ip, unsigned int gray_level_min,
282  unsigned int gray_level_max);
283 
284  vpDot &operator=(const vpDot &d);
285  bool operator==(const vpDot &d) const;
286  bool operator!=(const vpDot &d) const;
287  friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, vpDot &d);
288 
289  void print(std::ostream &os) { os << *this << std::endl; }
290 
294  inline void setCog(const vpImagePoint &ip) { this->cog = ip; }
295 
310  void setComputeMoments(bool activate) { compute_moment = activate; }
311 
315  void setConnexity(vpConnexityType type) { this->connexityType = type; };
316  void setMaxDotSize(double percentage);
317  void setGrayLevelMin(const unsigned int &level_min) { this->gray_level_min = level_min; };
318  void setGrayLevelMax(const unsigned int &level_max) { this->gray_level_max = level_max; };
319  void setGrayLevelPrecision(const double &grayLevelPrecision);
320 
334  void setGraphics(bool activate) { graphics = activate; }
341  void setGraphicsThickness(unsigned int t) { this->thickness = t; };
342 
343  void track(const vpImage<unsigned char> &I);
344  void track(const vpImage<unsigned char> &I, vpImagePoint &ip);
345 
346 private:
348  std::list<vpImagePoint> ip_connexities_list;
349 
351  std::list<vpImagePoint> ip_edges_list;
352 
357  vpConnexityType connexityType;
358 
360  vpImagePoint cog;
361 
362  // Bounding box
363  unsigned int u_min, u_max, v_min, v_max;
364 
365  // Flag used to allow display
366  bool graphics;
367 
368  unsigned int thickness; // Graphics thickness
369 
370  double maxDotSizePercentage;
371  unsigned char gray_level_out;
372 
373  double mean_gray_level; // Mean gray level of the dot
374  unsigned int gray_level_min; // left threshold for binarisation
375  unsigned int gray_level_max; // right threshold for binarisation
376  double grayLevelPrecision; // precision of the gray level of the dot.
377  // It is a double precision float witch value is in ]0,1].
378  // 1 means full precision, whereas values close to 0 show a very bad
379  // precision
380  double gamma;
382  bool compute_moment;
383  double nbMaxPoint;
384 
385  void init();
386  void setGrayLevelOut();
387  bool connexe(const vpImage<unsigned char> &I, unsigned int u, unsigned int v, double &mean_value, double &u_cog,
388  double &v_cog, double &n);
389  bool connexe(const vpImage<unsigned char> &I, unsigned int u, unsigned int v, double &mean_value, double &u_cog,
390  double &v_cog, double &n, std::vector<bool> &checkTab);
391  void COG(const vpImage<unsigned char> &I, double &u, double &v);
392 
393  // Static Functions
394 public:
395  static void display(const vpImage<unsigned char> &I, const vpImagePoint &cog,
396  const std::list<vpImagePoint> &edges_list, vpColor color = vpColor::red,
397  unsigned int thickness = 1);
398  static void display(const vpImage<vpRGBa> &I, const vpImagePoint &cog, const std::list<vpImagePoint> &edges_list,
399  vpColor color = vpColor::red, unsigned int thickness = 1);
400 };
401 
402 #endif
vpTracker & operator=(const vpTracker &tracker)
Copy operator.
Definition: vpTracker.cpp:53
double mu20
Definition: vpDot.h:183
void setConnexity(vpConnexityType type)
Definition: vpDot.h:315
double m10
Definition: vpDot.h:144
Class to define colors available for display functionnalities.
Definition: vpColor.h:119
void setComputeMoments(bool activate)
Definition: vpDot.h:310
double getGrayLevelPrecision() const
Definition: vpDot.h:249
void print(std::ostream &os)
Definition: vpDot.h:289
void setGrayLevelMin(const unsigned int &level_min)
Definition: vpDot.h:317
double m00
Definition: vpDot.h:130
vpConnexityType
Definition: vpDot.h:121
double mu11
Definition: vpDot.h:178
double getMeanGrayLevel() const
Definition: vpDot.h:254
double mu02
Definition: vpDot.h:188
vpPolygon getPolygon() const
Definition: vpDot.h:259
static const unsigned int SPIRAL_SEARCH_SIZE
Definition: vpDot.h:128
double m20
Definition: vpDot.h:160
double m11
Definition: vpDot.h:151
static const vpColor red
Definition: vpColor.h:179
Class that defines what is a feature generic tracker.
Definition: vpTracker.h:64
Defines a generic 2D polygon.
Definition: vpPolygon.h:103
double m01
Definition: vpDot.h:137
vpImagePoint getCog() const
Definition: vpDot.h:221
vpRect getBBox() const
Definition: vpDot.h:208
void setGraphicsThickness(unsigned int t)
Definition: vpDot.h:341
unsigned int getHeight() const
Definition: vpDot.h:277
double m02
Definition: vpDot.h:169
double getGamma() const
Definition: vpDot.h:241
void setGrayLevelMax(const unsigned int &level_max)
Definition: vpDot.h:318
void init()
Default initialization.
Definition: vpTracker.cpp:47
This tracker is meant to track a dot (connected pixels with same gray level) on a vpImage...
Definition: vpDot.h:115
Defines a rectangle in the plane.
Definition: vpRect.h:78
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:88
unsigned int getWidth() const
Definition: vpDot.h:268
void setGraphics(bool activate)
Definition: vpDot.h:334
std::list< vpImagePoint > getEdges() const
Definition: vpDot.h:229
void setRect(double l, double t, double w, double h)
Definition: vpRect.h:301
std::list< vpImagePoint > getConnexities() const
Definition: vpDot.h:239
void setCog(const vpImagePoint &ip)
Definition: vpDot.h:294
double getMaxDotSize() const
Definition: vpDot.h:250