Visual Servoing Platform  version 3.6.1 under development (2024-04-18)
vpTemplateTrackerZone.h
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30  *
31  * Description:
32  * Template tracker.
33  *
34  * Authors:
35  * Amaury Dame
36  * Aurelien Yol
37  *
38 *****************************************************************************/
39 #ifndef vpTemplateTrackerZone_hh
40 #define vpTemplateTrackerZone_hh
41 
42 #include <vector>
43 
44 #include <visp3/core/vpDisplay.h>
45 #include <visp3/core/vpException.h>
46 #include <visp3/core/vpImage.h>
47 #include <visp3/core/vpRect.h>
48 #include <visp3/tt/vpTemplateTrackerHeader.h>
49 #include <visp3/tt/vpTemplateTrackerTriangle.h>
50 
61 class VISP_EXPORT vpTemplateTrackerZone
62 {
63 protected:
64  std::vector<vpTemplateTrackerTriangle> Zone;
65  int min_x;
66  int min_y;
67  int max_x;
68  int max_y;
69 
70 public:
73  virtual ~vpTemplateTrackerZone();
74 
75  // add a triangle to the zone
76  void add(const vpTemplateTrackerTriangle &t);
77  void clear();
78  void copy(const vpTemplateTrackerZone &z);
79 
80  // display the area on an image
81  void display(const vpImage<unsigned char> &I, const vpColor &col = vpColor::green, unsigned int thickness = 3);
82  void display(const vpImage<vpRGBa> &I, const vpColor &col = vpColor::green, unsigned int thickness = 3);
83 
84  // colorie le tieme triangle
85  void fillTriangle(vpImage<unsigned char> &I, unsigned int id, unsigned char gray_level);
86 
87  double getArea() const;
88  vpImagePoint getCenter() const;
89  vpImagePoint getCenter(int borne_x, int borne_y) const;
90  // get bounds of the area
91  int getMaxx() const;
92  int getMaxy() const;
93  int getMinx() const;
94  int getMiny() const;
95  vpRect getBoundingBox() const;
96 
99  unsigned int getNbTriangle() const { return (unsigned int)Zone.size(); }
100  vpTemplateTrackerZone getPyramidDown() const;
101  // renvoie le ieme triangle de la zone
102  void getTriangle(unsigned int i, vpTemplateTrackerTriangle &T) const;
103  vpTemplateTrackerTriangle getTriangle(unsigned int i) const;
104 
105  // create an area by clicking on an image
106  void initClick(const vpImage<unsigned char> &I, bool delaunay = false);
107  // create an area with a pointer of integer that describes a series of
108  // triangles:
109  // *pt= t0.S1.x,t0.S1.y,t0.S2.x,t0.S2.y,t0.S3.x,t0.S3.y, t1.S1.x ...
110  void initFromPoints(const vpImage<unsigned char> &I, const std::vector<vpImagePoint> &ip, bool delaunay = false);
111 
112  // check if a point is in the area
113  bool inZone(const int &i, const int &j) const;
114  bool inZone(const double &i, const double &j) const;
115  // check if a point is in the area and return the corresponding triangle
116  // id_triangle where the point is.
117  bool inZone(const int &i, const int &j, unsigned int &id_triangle) const;
118  bool inZone(const double &i, const double &j, unsigned int &id_triangle) const;
119 
120  vpTemplateTrackerZone &operator=(const vpTemplateTrackerZone &z);
121 };
122 #endif
Class to define RGB colors available for display functionalities.
Definition: vpColor.h:152
static const vpColor green
Definition: vpColor.h:214
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
std::vector< vpTemplateTrackerTriangle > Zone
Vector of triangles that defines the zone.
int max_y
Bounding box parameter.
unsigned int getNbTriangle() const
int max_x
Bounding box parameter.
int min_y
Bounding box parameter.
int min_x
Bounding box parameter.