vpDot.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:
 * Track a white dot.
 *
 * Authors:
 * Eric Marchand
 * Fabien Spindler
 *
 *****************************************************************************/

#ifndef vpDot_hh
#define vpDot_hh

#include <visp3/core/vpConfig.h>
#include <visp3/core/vpDisplay.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpImagePoint.h>
#include <visp3/core/vpPolygon.h>
#include <visp3/core/vpRect.h>
#include <visp3/core/vpTracker.h>

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

#ifdef VISP_USE_MSVC
#pragma comment(linker, "/STACK:256000000") // Increase max recursion depth
#endif

class VISP_EXPORT vpDot : public vpTracker
{
public:
  typedef enum {
    CONNEXITY_4, 
    CONNEXITY_8  
  } vpConnexityType;

#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
public:
#else
private:
#endif
  static const unsigned int SPIRAL_SEARCH_SIZE; 
  double m00; 
  double m01; 
  double m10; 
  double m11; 
  double m20; 
  double m02; 
  double mu11; 
  double mu20; 
  double mu02; 
public:
  vpDot();
  explicit vpDot(const vpImagePoint &ip);
  vpDot(const vpDot &d);
  virtual ~vpDot();

  void display(const vpImage<unsigned char> &I, vpColor color = vpColor::red, unsigned int thickness = 1) const;

  inline vpColVector get_nij() const
  {
    vpColVector nij(3);
    nij[0] = mu20 / m00;
    nij[1] = mu11 / m00;
    nij[2] = mu02 / m00;

    return nij;
  }

  inline double getArea() const { return m00; }

  inline vpRect getBBox() const
  {
    vpRect bbox;

    bbox.setRect(this->u_min, this->v_min, this->u_max - this->u_min + 1, this->v_max - this->v_min + 1);

    return (bbox);
  };
  inline vpImagePoint getCog() const { return cog; }

  inline std::list<vpImagePoint> getEdges() const { return this->ip_edges_list; };

  inline std::list<vpImagePoint> getConnexities() const { return this->ip_connexities_list; };

  inline double getGamma() const { return this->gamma; };
  double getGrayLevelPrecision() const { return grayLevelPrecision; }
  double getMaxDotSize() const { return this->maxDotSizePercentage; }
  double getMeanGrayLevel() const { return (this->mean_gray_level); };

  vpPolygon getPolygon() const { return (vpPolygon(ip_edges_list)); };

  inline unsigned int getWidth() const { return (this->u_max - this->u_min + 1); };

  inline unsigned int getHeight() const { return (this->v_max - this->v_min + 1); };

  void initTracking(const vpImage<unsigned char> &I);
  void initTracking(const vpImage<unsigned char> &I, const vpImagePoint &ip);
  void initTracking(const vpImage<unsigned char> &I, const vpImagePoint &ip, unsigned int gray_level_min,
                    unsigned int gray_level_max);

  vpDot &operator=(const vpDot &d);
  bool operator==(const vpDot &d) const;
  bool operator!=(const vpDot &d) const;
  friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, vpDot &d);

  void print(std::ostream &os) { os << *this << std::endl; }

  inline void setCog(const vpImagePoint &ip) { this->cog = ip; }

  void setComputeMoments(bool activate) { compute_moment = activate; }

  void setConnexity(vpConnexityType type) { this->connexityType = type; };
  void setMaxDotSize(double percentage);
  void setGrayLevelMin(const unsigned int &level_min) { this->gray_level_min = level_min; };
  void setGrayLevelMax(const unsigned int &level_max) { this->gray_level_max = level_max; };
  void setGrayLevelPrecision(const double &grayLevelPrecision);

  void setGraphics(bool activate) { graphics = activate; }
  void setGraphicsThickness(unsigned int t) { this->thickness = t; };

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

private:
  std::list<vpImagePoint> ip_connexities_list;

  std::list<vpImagePoint> ip_edges_list;

  vpConnexityType connexityType;

  vpImagePoint cog;

  // Bounding box
  unsigned int u_min, u_max, v_min, v_max;

  // Flag used to allow display
  bool graphics;

  unsigned int thickness; // Graphics thickness

  double maxDotSizePercentage;
  unsigned char gray_level_out;

  double mean_gray_level;      // Mean gray level of the dot
  unsigned int gray_level_min; // left threshold for binarisation
  unsigned int gray_level_max; // right threshold for binarisation
  double grayLevelPrecision;   // precision of the gray level of the dot.
  // It is a double precision float witch value is in ]0,1].
  // 1 means full precision, whereas values close to 0 show a very bad
  // precision
  double gamma;
  bool compute_moment;
  double nbMaxPoint;

  void init();
  void setGrayLevelOut();
  bool connexe(const vpImage<unsigned char> &I, unsigned int u, unsigned int v, double &mean_value, double &u_cog,
               double &v_cog, double &n);
  bool connexe(const vpImage<unsigned char> &I, unsigned int u, unsigned int v, double &mean_value, double &u_cog,
               double &v_cog, double &n, std::vector<bool> &checkTab);
  void COG(const vpImage<unsigned char> &I, double &u, double &v);

  // Static Functions
public:
  static void display(const vpImage<unsigned char> &I, const vpImagePoint &cog,
                      const std::list<vpImagePoint> &edges_list, vpColor color = vpColor::red,
                      unsigned int thickness = 1);
  static void display(const vpImage<vpRGBa> &I, const vpImagePoint &cog, const std::list<vpImagePoint> &edges_list,
                      vpColor color = vpColor::red, unsigned int thickness = 1);
};

#endif