vpMeLine.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 vpMeLine_HH
#define vpMeLine_HH

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

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

class VISP_EXPORT vpMeLine : public vpMeTracker
{
private:
  static void update_indices(double theta, int incr, int i, int j, int &i1, int &i2, int &j1, int &j2);

protected:
  vpMeSite PExt[2];

  double rho, theta;
  double delta, delta_1;
  double angle, angle_1;
  int sign;

  bool _useIntensityForRho;

#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
public:
#else
protected:
#endif

  double a; 
  double b; 
  double c; 

public:
  vpMeLine();
  vpMeLine(const vpMeLine &meline);
  virtual ~vpMeLine();

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

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

  virtual void sample(const vpImage<unsigned char> &image, bool doNotTrack=false);
  void reSample(const vpImage<unsigned char> &I);
  void leastSquare();
  void updateDelta();
  void setExtremities();
  void seekExtremities(const vpImage<unsigned char> &I);
  void suppressPoints();

  void initTracking(const vpImage<unsigned char> &I);
  void initTracking(const vpImage<unsigned char> &I, const vpImagePoint &ip1, const vpImagePoint &ip2);

  void computeRhoTheta(const vpImage<unsigned char> &I);
  double getRho() const;
  double getTheta() const;
  void getExtremities(vpImagePoint &ip1, vpImagePoint &ip2);

  void getEquationParam(double &A, double &B, double &C)
  {
    A = a;
    B = b;
    C = c;
  }

  inline double getA() const { return a; }

  inline double getB() const { return b; }

  inline double getC() const { return c; }

  static bool intersection(const vpMeLine &line1, const vpMeLine &line2, vpImagePoint &ip);

  inline void computeRhoSignFromIntensity(bool useIntensityForRho) { _useIntensityForRho = useIntensityForRho; }

  // Static Functions
public:
  static void display(const vpImage<unsigned char> &I, const vpMeSite &PExt1, const vpMeSite &PExt2, const double &A,
                      const double &B, const double &C, const vpColor &color = vpColor::green,
                      unsigned int thickness = 1);
  static void display(const vpImage<vpRGBa> &I, const vpMeSite &PExt1, const vpMeSite &PExt2, const double &A,
                      const double &B, const double &C, const vpColor &color = vpColor::green,
                      unsigned int thickness = 1);

  static void display(const vpImage<unsigned char> &I, const vpMeSite &PExt1, const vpMeSite &PExt2,
                      const std::list<vpMeSite> &site_list, const double &A, const double &B, const double &C,
                      const vpColor &color = vpColor::green, unsigned int thickness = 1);
  static void display(const vpImage<vpRGBa> &I, const vpMeSite &PExt1, const vpMeSite &PExt2,
                      const std::list<vpMeSite> &site_list, const double &A, const double &B, const double &C,
                      const vpColor &color = vpColor::green, unsigned int thickness = 1);
};

#endif