Visual Servoing Platform  version 3.6.1 under development (2024-05-21)
vpImageCircle.h
1 /*
2  * ViSP, open source Visual Servoing Platform software.
3  * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
4  *
5  * This software is free software; you can redistribute it and/or modify
6  * it under the terms of the GNU General Public License as published by
7  * the Free Software Foundation; either version 2 of the License, or
8  * (at your option) any later version.
9  * See the file LICENSE.txt at the root directory of this source
10  * distribution for additional information about the GNU GPL.
11  *
12  * For using ViSP with software that can not be combined with the GNU
13  * GPL, please contact Inria about acquiring a ViSP Professional
14  * Edition License.
15  *
16  * See https://visp.inria.fr for more information.
17  *
18  * This software was developed at:
19  * Inria Rennes - Bretagne Atlantique
20  * Campus Universitaire de Beaulieu
21  * 35042 Rennes Cedex
22  * France
23  *
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25  * Inria at visp@inria.fr
26  *
27  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
28  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29  *
30  * Description:
31  * Image circle, i.e. circle in the image space.
32  */
33 
39 #ifndef _vpImageCircle_h_
40 #define _vpImageCircle_h_
41 
42 #include <visp3/core/vpConfig.h>
43 #include <visp3/core/vpColor.h>
44 #include <visp3/core/vpImage.h>
45 #include <visp3/core/vpImagePoint.h>
46 #include <visp3/core/vpRect.h>
47 
48 #if defined(VISP_HAVE_OPENCV)
49 #include <opencv2/core/core.hpp>
50 #endif
51 
55 class VISP_EXPORT vpImageCircle
56 {
57 public:
61  vpImageCircle();
62 
66  vpImageCircle(const vpImagePoint &center, const float &radius);
67 
68 #ifdef HAVE_OPENCV_CORE
72  vpImageCircle(const cv::Vec3f &vec);
73 #endif
74 
84  float computeAngularCoverageInRoI(const vpRect &roi, const float &roundingTolerance = 0.001f) const;
85 
93  float computeArcLengthInRoI(const vpRect &roi, const float &roundingTolerance = 0.001f) const;
94 
102  unsigned int computePixelsInMask(const vpImage<bool> &mask) const;
103 
108  vpImagePoint getCenter() const;
109 
114  float getRadius() const;
115 
120  vpRect getBBox() const;
121 
126  float get_n20() const;
127 
132  float get_n02() const;
133 
138  float get_n11() const;
139 
140 private:
141  vpImagePoint m_center;
142  float m_radius;
143 };
144 #endif
Class that defines a 2D circle in an image.
Definition: vpImageCircle.h:56
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:82
Defines a rectangle in the plane.
Definition: vpRect.h:76