Visual Servoing Platform  version 3.6.1 under development (2024-04-18)
vpMbtMeEllipse.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  *
24  * If you have questions regarding the use of this file, please contact
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  * Moving edges.
32  */
33 
39 #ifndef vpMbtMeEllipse_HH
40 #define vpMbtMeEllipse_HH
41 
42 #include <list>
43 #include <math.h>
44 
45 #include <visp3/me/vpMeEllipse.h>
46 
47 #ifndef DOXYGEN_SHOULD_SKIP_THIS
48 
56 class VISP_EXPORT vpMbtMeEllipse : public vpMeEllipse
57 {
58 public:
60 
61  vpMbtMeEllipse();
62  vpMbtMeEllipse(const vpMbtMeEllipse &me_ellipse);
63 
64  void computeProjectionError(const vpImage<unsigned char> &_I, double &_sumErrorRad, unsigned int &_nbFeatures,
65  const vpMatrix &SobelX, const vpMatrix &SobelY, bool display, unsigned int length,
66  unsigned int thickness);
67 
68  void initTracking(const vpImage<unsigned char> &I, const vpImagePoint &ic, double n20_p, double n11_p, double n02_p,
69  bool doNotTrack, vpImagePoint *pt1 = nullptr, const vpImagePoint *pt2 = nullptr);
70 
71  void track(const vpImage<unsigned char> &I);
72  void updateParameters(const vpImage<unsigned char> &I, const vpImagePoint &center_p, double n20_p, double n11_p,
73  double n02_p);
74 
75 private:
76  void reSample(const vpImage<unsigned char> &I);
77  void sample(const vpImage<unsigned char> &I, bool doNotTrack = false) vp_override;
78  void suppressPoints();
79 };
80 
81 #endif // #ifndef DOXYGEN_SHOULD_SKIP_THIS
82 #endif
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:82
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:146
Class that tracks an ellipse using moving edges.
Definition: vpMeEllipse.h:94
void initTracking(const vpImage< unsigned char > &I, bool trackCircle=false, bool trackArc=false)
virtual void sample(const vpImage< unsigned char > &I, bool doNotTrack=false) vp_override
void track(const vpImage< unsigned char > &I)
void display(const vpImage< unsigned char > &I)