vpMeLine.h

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2023 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 https://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.
 */
 
#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>
 
BEGIN_VISP_NAMESPACE
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 m_PExt[2]; 
 
  double m_rho; 
  double m_theta; 
  double m_delta; 
  double m_delta_1; 
  double m_angle; 
  double m_angle_1; 
  int m_sign; 
 
  bool m_useIntensityForRho;
 
  double m_a; 
  double m_b; 
  double m_c; 
 
public:
  vpMeLine();
 
  vpMeLine(const vpMeLine &meline);
 
  virtual ~vpMeLine() VP_OVERRIDE;
 
  void display(const vpImage<unsigned char> &I, const vpColor &color, unsigned int thickness = 1);
 
  void track(const vpImage<unsigned char> &I);
 
  virtual void sample(const vpImage<unsigned char> &I, bool doNotTrack = false) VP_OVERRIDE;
 
  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 = m_a;
    B = m_b;
    C = m_c;
  }
 
  inline double getA() const { return m_a; }
 
  inline double getB() const { return m_b; }
 
  inline double getC() const { return m_c; }
 
  static bool intersection(const vpMeLine &line1, const vpMeLine &line2, vpImagePoint &ip);
 
  inline void computeRhoSignFromIntensity(bool useIntensityForRho) { m_useIntensityForRho = useIntensityForRho; }
 
  static void displayLine(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 displayLine(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 displayLine(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 displayLine(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);
 
#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
  VP_DEPRECATED 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);
 
  VP_DEPRECATED 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);
 
  VP_DEPRECATED 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);
 
  VP_DEPRECATED 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
};
END_VISP_NAMESPACE
#endif