Visual Servoing Platform  version 3.6.1 under development (2024-06-20)
vpDot.h
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3  * ViSP, open source Visual Servoing Platform software.
4  * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
5  *
6  * This software is free software; you can redistribute it and/or modify
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9  * (at your option) any later version.
10  * See the file LICENSE.txt at the root directory of this source
11  * distribution for additional information about the GNU GPL.
12  *
13  * For using ViSP with software that can not be combined with the GNU
14  * GPL, please contact Inria about acquiring a ViSP Professional
15  * Edition License.
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18  *
19  * This software was developed at:
20  * Inria Rennes - Bretagne Atlantique
21  * Campus Universitaire de Beaulieu
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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 *****************************************************************************/
35 
41 #ifndef vpDot_hh
42 #define vpDot_hh
43 
44 #include <visp3/core/vpConfig.h>
45 #include <visp3/core/vpDisplay.h>
46 #include <visp3/core/vpImage.h>
47 #include <visp3/core/vpImagePoint.h>
48 #include <visp3/core/vpPolygon.h>
49 #include <visp3/core/vpRect.h>
50 #include <visp3/core/vpTracker.h>
51 
52 #include <fstream>
53 #include <list>
54 #include <math.h>
55 #include <vector>
56 
57 #ifdef VISP_USE_MSVC
58 #pragma comment(linker, "/STACK:256000000") // Increase max recursion depth
59 #endif
60 
62 
113 class VISP_EXPORT vpDot : public vpTracker
114 {
115 public:
119  typedef enum
120  {
121  CONNEXITY_4,
123  CONNEXITY_8
125  } vpConnexityType;
126 
127 #ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
128 public:
129 #else
130 private:
131 #endif
132  static const unsigned int SPIRAL_SEARCH_SIZE;
134  double m00;
141  double m01;
148  double m10;
155  double m11;
162  double m20;
169  double m02;
176  double mu11;
181  double mu20;
186  double mu02;
192 public:
193  vpDot();
194  explicit vpDot(const vpImagePoint &ip);
195  vpDot(const vpDot &d);
196  virtual ~vpDot() vp_override;
197 
198  void display(const vpImage<unsigned char> &I, vpColor color = vpColor::red, unsigned int thickness = 1) const;
199 
209  inline vpColVector get_nij() const
210  {
211  vpColVector nij(3);
212  nij[0] = mu20 / m00;
213  nij[1] = mu11 / m00;
214  nij[2] = mu02 / m00;
215 
216  return nij;
217  }
218 
224  inline double getArea() const { return m00; }
225 
231  inline vpRect getBBox() const
232  {
233  vpRect bbox;
234 
235  bbox.setRect(this->u_min, this->v_min, this->u_max - this->u_min + 1, this->v_max - this->v_min + 1);
236 
237  return (bbox);
238  };
244  inline vpImagePoint getCog() const { return cog; }
245 
252  inline std::list<vpImagePoint> getEdges() const { return this->ip_edges_list; };
253 
260  inline std::list<vpImagePoint> getConnexities() const { return this->ip_connexities_list; };
261 
262  inline double getGamma() const { return this->gamma; };
263 
269  double getGrayLevelPrecision() const { return grayLevelPrecision; }
270  double getMaxDotSize() const { return this->maxDotSizePercentage; }
271 
275  double getMeanGrayLevel() const { return (this->mean_gray_level); };
276 
280  vpPolygon getPolygon() const { return (vpPolygon(ip_edges_list)); };
281 
287  inline unsigned int getWidth() const { return (this->u_max - this->u_min + 1); };
288 
294  inline unsigned int getHeight() const { return (this->v_max - this->v_min + 1); };
295 
296  void initTracking(const vpImage<unsigned char> &I);
297  void initTracking(const vpImage<unsigned char> &I, const vpImagePoint &ip);
298  void initTracking(const vpImage<unsigned char> &I, const vpImagePoint &ip, unsigned int gray_level_min,
299  unsigned int gray_level_max);
300 
301  vpDot &operator=(const vpDot &d);
302  bool operator==(const vpDot &d) const;
303  bool operator!=(const vpDot &d) const;
304  friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, vpDot &d);
305 
306  void print(std::ostream &os) { os << *this << std::endl; }
307 
311  inline void setCog(const vpImagePoint &ip) { this->cog = ip; }
312 
326  void setComputeMoments(bool activate) { compute_moment = activate; }
327 
331  void setConnexity(vpConnexityType type) { this->connexityType = type; };
332  void setMaxDotSize(double percentage);
333  void setGrayLevelMin(const unsigned int &level_min) { this->gray_level_min = level_min; };
334  void setGrayLevelMax(const unsigned int &level_max) { this->gray_level_max = level_max; };
335  void setGrayLevelPrecision(const double &grayLevelPrecision);
336 
351  void setGraphics(bool activate) { graphics = activate; }
358  void setGraphicsThickness(unsigned int t) { this->thickness = t; };
359 
360  void track(const vpImage<unsigned char> &I);
361  void track(const vpImage<unsigned char> &I, vpImagePoint &ip);
362 
363 private:
365  std::list<vpImagePoint> ip_connexities_list;
366 
368  std::list<vpImagePoint> ip_edges_list;
369 
374  vpConnexityType connexityType;
375 
377  vpImagePoint cog;
378 
379  // Bounding box
380  unsigned int u_min, u_max, v_min, v_max;
381 
382  // Flag used to allow display
383  bool graphics;
384 
385  unsigned int thickness; // Graphics thickness
386 
387  double maxDotSizePercentage;
388  unsigned char gray_level_out;
389 
390  double mean_gray_level; // Mean gray level of the dot
391  unsigned int gray_level_min; // left threshold for binarization
392  unsigned int gray_level_max; // right threshold for binarization
393  double grayLevelPrecision; // precision of the gray level of the dot.
394  // It is a double precision float witch value is in ]0,1].
395  // 1 means full precision, whereas values close to 0 show a very bad
396  // precision
397  double gamma;
399  bool compute_moment;
400  double nbMaxPoint;
401 
402  void init();
403  void setGrayLevelOut();
404  bool connexe(const vpImage<unsigned char> &I, unsigned int u, unsigned int v, double &mean_value, double &u_cog,
405  double &v_cog, double &n);
406  bool connexe(const vpImage<unsigned char> &I, unsigned int u, unsigned int v, double &mean_value, double &u_cog,
407  double &v_cog, double &n, std::vector<bool> &checkTab);
408  void COG(const vpImage<unsigned char> &I, double &u, double &v);
409 
410  // Static Functions
411 public:
412  static void display(const vpImage<unsigned char> &I, const vpImagePoint &cog,
413  const std::list<vpImagePoint> &edges_list, vpColor color = vpColor::red,
414  unsigned int thickness = 1);
415  static void display(const vpImage<vpRGBa> &I, const vpImagePoint &cog, const std::list<vpImagePoint> &edges_list,
416  vpColor color = vpColor::red, unsigned int thickness = 1);
417 };
418 
420 #endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:171
Class to define RGB colors available for display functionalities.
Definition: vpColor.h:153
static const vpColor red
Definition: vpColor.h:213
This tracker is meant to track a dot (connected pixels with same gray level) on a vpImage.
Definition: vpDot.h:114
double mu02
Definition: vpDot.h:186
vpRect getBBox() const
Definition: vpDot.h:231
double m10
Definition: vpDot.h:148
std::list< vpImagePoint > getConnexities() const
Definition: vpDot.h:260
unsigned int getWidth() const
Definition: vpDot.h:287
double mu11
Definition: vpDot.h:176
double m01
Definition: vpDot.h:141
void setGraphics(bool activate)
Definition: vpDot.h:351
void setCog(const vpImagePoint &ip)
Definition: vpDot.h:311
void setGraphicsThickness(unsigned int t)
Definition: vpDot.h:358
double getArea() const
Definition: vpDot.h:224
double getMeanGrayLevel() const
Definition: vpDot.h:275
double mu20
Definition: vpDot.h:181
double m11
Definition: vpDot.h:155
std::list< vpImagePoint > getEdges() const
Definition: vpDot.h:252
static const unsigned int SPIRAL_SEARCH_SIZE
Definition: vpDot.h:132
double m02
Definition: vpDot.h:169
double getMaxDotSize() const
Definition: vpDot.h:270
void print(std::ostream &os)
Definition: vpDot.h:306
vpPolygon getPolygon() const
Definition: vpDot.h:280
void setGrayLevelMax(const unsigned int &level_max)
Definition: vpDot.h:334
void setConnexity(vpConnexityType type)
Definition: vpDot.h:331
void setGrayLevelMin(const unsigned int &level_min)
Definition: vpDot.h:333
void setComputeMoments(bool activate)
Definition: vpDot.h:326
double getGrayLevelPrecision() const
Definition: vpDot.h:269
double m00
Definition: vpDot.h:134
double m20
Definition: vpDot.h:162
vpConnexityType
Definition: vpDot.h:120
double getGamma() const
Definition: vpDot.h:262
vpImagePoint getCog() const
Definition: vpDot.h:244
unsigned int getHeight() const
Definition: vpDot.h:294
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:82
Definition of the vpImage class member functions.
Definition: vpImage.h:136
Defines a generic 2D polygon.
Definition: vpPolygon.h:99
Defines a rectangle in the plane.
Definition: vpRect.h:79
void setRect(double l, double t, double w, double h)
Definition: vpRect.h:333
Class that defines what is a feature generic tracker.
Definition: vpTracker.h:61
vpTracker & operator=(const vpTracker &tracker)
Copy operator.
Definition: vpTracker.cpp:52
void init()
Default initialization.
Definition: vpTracker.cpp:46