vpMeEllipse.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 vpMeEllipse_HH
#define vpMeEllipse_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>

class VISP_EXPORT vpMeEllipse : public vpMeTracker
{
public:
  vpMeEllipse();
  vpMeEllipse(const vpMeEllipse &me_ellipse);
  virtual ~vpMeEllipse();

  void display(const vpImage<unsigned char> &I, vpColor col);

  inline vpColVector get_nij() const
  {
    vpColVector nij(3);
    nij[0] = m_n20;
    nij[1] = m_n11;
    nij[2] = m_n02;

    return nij;
  }

  inline vpColVector get_ABE() const
  {
    vpColVector ABE(3);
    ABE[0] = a;
    ABE[1] = b;
    ABE[2] = e;

    return ABE;
  }

  inline double getArea() const { return m00; }

  inline vpImagePoint getCenter() const { return iPc; }

  unsigned int getExpectedDensity() const { return m_expectedDensity; }

  inline vpImagePoint getFirstEndpoint() const { return iP1; }

  inline double getHighestAngle() const { return m_alphamax; }

  inline vpImagePoint getSecondEndpoint() const { return iP2; }

  inline double getSmallestAngle() const { return m_alphamin; }

  void initTracking(const vpImage<unsigned char> &I, bool trackArc = false);
  void initTracking(const vpImage<unsigned char> &I, const std::vector<vpImagePoint> &iP, bool trackArc = false);
  void initTracking(const vpImage<unsigned char> &I, const vpColVector &param, vpImagePoint *pt1 = NULL, const vpImagePoint *pt2 = NULL);
  void printParameters() const;

  void setEndpoints(const vpImagePoint &pt1, const vpImagePoint &pt2)
  {
    iP1 = pt1;
    iP2 = pt2;
  }

  void setThresholdRobust(double threshold)
  {
    if (threshold < 0) {
      thresholdWeight = 0;
    } else if (threshold > 1) {
      thresholdWeight = 1;
    } else {
      thresholdWeight = threshold;
    }
  }

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

#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS

  vp_deprecated inline double getA() const { return a; }

  vp_deprecated inline double getB() const { return b; }

  vp_deprecated inline double getE() const { return e; }

  vp_deprecated inline double get_m00() const { return m00; }

  vp_deprecated inline double get_m10() const { return m10; }

  vp_deprecated inline double get_m01() const { return m01; }

  vp_deprecated inline double get_m11() const { return m11; }

  vp_deprecated inline double get_m20() const { return m20; }

  vp_deprecated inline double get_m02() const { return m02; }

  vp_deprecated inline double get_mu11() const { return mu11; }

  vp_deprecated inline double get_mu02() const { return mu02; }

  vp_deprecated inline double get_mu20() const { return mu20; }
  vp_deprecated void getEquationParam(double &A, double &B, double &E)
  {
    A = a;
    B = b;
    E = e;
  }
  vp_deprecated void initTracking(const vpImage<unsigned char> &I, const vpImagePoint &center_p, double a_p, double b_p, double e_p,
                                  double low_alpha, double high_alpha);
  vp_deprecated void initTracking(const vpImage<unsigned char> &I, unsigned int n, vpImagePoint *iP);
  vp_deprecated void initTracking(const vpImage<unsigned char> &I, unsigned int n, unsigned *i, unsigned *j);
#endif // VISP_BUILD_DEPRECATED_FUNCTIONS

#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
public:
#else
protected:
#endif

  vpColVector K;
  vpImagePoint iPc;
  double a;
  double b;
  double e;

protected:
  vpImagePoint iP1;
  vpImagePoint iP2;
  double alpha1;
  double alpha2;
  double ce;
  double se;
  std::list<double> angle;
  double m00;
#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
  double mu11, mu20, mu02;
  double m10, m01;
  double m11, m02, m20;
#endif

  double thresholdWeight;

#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
  double expecteddensity;
#endif

  double m_alphamin;
  double m_alphamax;
  double m_uc;
  double m_vc;
  double m_n20, m_n11, m_n02;
  unsigned int m_expectedDensity;
  unsigned int m_numberOfGoodPoints;
  bool m_trackArc;
  double m_arcEpsilon;

protected:
  void computeAbeFromNij();
  double computeAngleOnEllipse(const vpImagePoint &pt) const;
  void computeKiFromNij();
  void computeNijFromAbe();
  void computePointOnEllipse(const double ang, vpImagePoint &iP);
  double computeTheta(const vpImagePoint &iP) const;
  double computeTheta(double u, double v) const;
  void getParameters();
  void leastSquare(const vpImage<unsigned char> &I, const std::vector<vpImagePoint> &iP);  // FC : new
  void leastSquareRobust(const vpImage<unsigned char> &I);
  unsigned int plugHoles(const vpImage<unsigned char> &I);
  virtual void sample(const vpImage<unsigned char> &I, bool doNotTrack=false);
  void updateTheta();

private:
#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
  void computeMoments();
#endif

  // Static Function
public:
  static void display(const vpImage<unsigned char> &I, const vpImagePoint &center,
                      const double &A, const double &B, const double &E,
                      const double &smallalpha, const double &highalpha,
                      const vpColor &color = vpColor::green, unsigned int thickness = 1);
  static void display(const vpImage<vpRGBa> &I, const vpImagePoint &center,
                      const double &A, const double &B, const double &E,
                      const double &smallalpha, const double &highalpha,
                      const vpColor &color = vpColor::green, unsigned int thickness = 1);
};

#endif