libvisp-me-dev 3.0.0-4 / usr / include / x86_64-linux-gnu / visp3 / me / vpMeEllipse.h

/****************************************************************************
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2015 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
 * ("GPL") version 2 as published by the Free Software Foundation.
 * 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 http://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.
 *
 * Authors:
 * Eric Marchand
 *
 *****************************************************************************/

/*!
  \file vpMeEllipse.h
  \brief Moving edges on an ellipse
*/

#ifndef vpMeEllipse_HH
#define vpMeEllipse_HH

#include <visp3/core/vpMatrix.h>
#include <visp3/core/vpColVector.h>

#include <visp3/me/vpMeTracker.h>
#include <visp3/me/vpMeSite.h>
#include <visp3/core/vpImagePoint.h>

#include <visp3/core/vpImage.h>
#include <visp3/core/vpColor.h>

#include <math.h>
#include <list>

/*!
  \class vpMeEllipse 
  \ingroup module_me

  \brief Class that tracks an ellipse moving edges.

  In this class, an ellipse is defined as the set of points \f$ (i,j) \f$ of the image frame (For more information about the image frame see the vpImagePoint documentation) that satisfy the implicit equation :

  \f[ i^2 + K_0j^2 + 2K_1ij + 2K_2i + 2K_3j + K4 = 0 \f]

  If \f$ K_0 \f$ is equal to 1 and \f$ K_1 \f$ is equal to 0 the the set of points \f$ (i,j) \f$ represents a circle.

  The five parameters are stored in the public attribute K.

  An ellipse is also defined thanks to three other parameter which are \f$ a \f$, \f$ b \f$ and \f$ e \f$. \f$ a \f$ represents the semiminor axis and \f$ b \f$ is the semimajor axis. Here \f$ e \f$ is the angle made by the
  major axis and the i axis of the image frame \f$ (i,j) \f$. The following figure shows better meaning of those parameters.

  \image html vpMeEllipse.gif
  \image latex vpMeEllipse.ps  width=10cm

  It is possible to compute the coordinates \f$ (i,j) \f$ of a point which belongs to the ellipse thanks to the following equations :

  \f[ i = i_c + b cos(e) cos(\alpha) - a sin(e) sin(\alpha) \f]
  \f[ j = j_c + b sin(e) cos(\alpha) + a cos(e) sin(\alpha) \f]

  Here the coordinates \f$ (i_c,j_c) \f$ are the coordinates of the ellipse center in the image frame and \f$ \alpha \f$ is an angle beetween \f$ [0,2\pi] \f$ and which enables to describe all the points of the ellipse.

  \image html vpMeEllipse2.gif
  \image latex vpMeEllipse2.ps  width=10cm

  The example below available in tutorial-me-ellipse-tracker.cpp and described
  in \ref tutorial-tracking-me, section \ref tracking_me_ellipse shows how to use this class.

  \include tutorial-me-ellipse-tracker.cpp

*/
class VISP_EXPORT vpMeEllipse : public vpMeTracker
{
public:
  vpMeEllipse() ;
  vpMeEllipse(const vpMeEllipse &meellipse) ;
  virtual ~vpMeEllipse() ;

  /*!
    \return Expected number of moving edges to track along the ellipse.
   */
  int getExpectedDensity() {return (int)expecteddensity;};
  void track(const vpImage<unsigned char>& Im);

  void initTracking(const vpImage<unsigned char> &I) ;
  void initTracking(const vpImage<unsigned char> &I, const unsigned int n, vpImagePoint* iP);
  void initTracking(const vpImage<unsigned char> &I, const std::vector<vpImagePoint> &iP);
  void initTracking(const vpImage<unsigned char> &I, const vpImagePoint &ic, double a_p, double b_p, double e_p, double low_alpha, double high_alpha) ;
  void display(const vpImage<unsigned char>&I, vpColor col) ;
  void display(const vpImage<unsigned char>& I) {vpMeTracker::display(I);} //Shouldn't be here since it's already in vpMeTracker
  void printParameters() ;

#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
  /*!
    @name Deprecated functions
  */
  //@{
  void initTracking(const vpImage<unsigned char> &I, const unsigned int n,
		    unsigned *i, unsigned *j) ;
  //@}
#endif //VISP_BUILD_DEPRECATED_FUNCTIONS
  
  /*!
    Gets the 0 order moment \f$ m_{00} \f$ which represents the area of the ellipse.
    
    \return the value of \f$ m_{00} \f$.
  */
  inline double get_m00() const {return m00;}
  
  /*!
    Gets the 1 order raw moment \f$ m_{10} \f$ with \f$ m_{nm} = \sum_{i,j}i^n j^m \f$.
    
    \return the value of \f$ m_{10} \f$.
  */
  inline double get_m10() const {return m10;}
  
  /*!
    Gets the 1 order raw moment \f$ m_{01} \f$ with \f$ m_{nm} = \sum_{i,j}i^n j^m \f$.
    
    \return the value of \f$ m_{01} \f$.
  */
  inline double get_m01() const {return m01;}
  
  /*!
    Gets the 2 order raw moment \f$ m_{11} \f$ with \f$ m_{nm} = \sum_{i,j}i^n j^m \f$.
    
    \return the value of \f$ m_{11} \f$.
  */
  inline double get_m11() const {return m11;}
  
  /*!
    Gets the 2 order raw moment \f$ m_{20} \f$ with \f$ m_{nm} = \sum_{i,j}i^n j^m \f$.
    
    \return the value of \f$ m_{11} \f$.
  */
  inline double get_m20() const {return m20;}
  
  /*!
    Gets the 2 order raw moment \f$ m_{02} \f$ with \f$ m_{nm} = \sum_{i,j}i^n j^m \f$.
    
    \return the value of \f$ m_{11} \f$.
  */
  inline double get_m02() const {return m02;}
  
  /*!
    Gets the 2 order central moment \f$ \mu_{11} \f$.
    
    \return the value of \f$ \mu_{11} \f$.
  */
  inline double get_mu11() const {return mu11;}
  
  /*!
    Gets the 2 order central moment \f$ \mu_{02} \f$.
    
    \return the value of \f$ \mu_{02} \f$.
  */
  inline double get_mu02() const {return mu02;}
  
  /*!
    Gets the 2 order central moment \f$ \mu_{20} \f$.
    
    \return the value of \f$ \mu_{20} \f$.
  */
  inline double get_mu20() const {return mu20;}
  
  /*!
    Gets the center of the ellipse.
  */
  inline vpImagePoint getCenter() const {return iPc; }
  
  /*!
    Gets the semiminor axis of the ellipse.
  */
  inline double getA() const {return a; }
  
  /*!
    Gets the semimajor axis of the ellipse.
  */
  inline double getB() const {return b; }
  
  /*!
    Gets the angle made by the major axis and the i axis of the image frame \f$ (i,j) \f$
  */
  inline double getE() const {return e; }
  
  /*!
    Gets the equation parameters of the ellipse
  */
  void getEquationParam(double &A, double &B, double &E) { A = a; B = b; E = e; }
  
  /*!
    Gets the smallest \f$ alpha \f$ angle
  */
  inline double getSmallestAngle() { return alpha1; }
  
  /*!
    Gets the highest \f$ alpha \f$ angle
  */
  inline double getHighestAngle() { return alpha2; }
  
	/*!
		Set the new threshold for the robust estimation of the parameters of the
		ellipse equation.
		If the weight of a point is below this threshold, this one is removed from
		the list of tracked meSite.
		Value must be between 0 (never rejected) and 1 (always rejected).

		\param threshold : The new value of the threshold.
	*/
	void setThresholdRobust(const double threshold){
		if(threshold<0){
			thresholdWeight = 0;
		}else if(threshold>1){
			thresholdWeight = 1;
		}else{
			thresholdWeight = threshold;
		}
	}

#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
public:
#else
protected:
#endif
  /*! Parameters of the ellipse to define the set of points that satisfy the implicit equation :
   \f[ i^2 + K_0j^2 + 2K_1ij + 2K_2i + 2K_3j + K4 = 0 \f]
  */
  vpColVector K ;
  //! The coordinates of the ellipse center.
  vpImagePoint iPc;
  //! \f$ a \f$ is the semiminor axis of the ellipse.
  double a;
  //! \f$ b \f$ is the semimajor axis of the ellipse.
  double b;
  //! \f$ e \f$ is the angle made by the major axis and the i axis of the image frame \f$ (i,j) \f$.
  double e;

protected:
  //! The coordinates of the point corresponding to the smallest \f$ alpha \f$ angle. More things about the \f$ alpha \f$ are given at the beginning of the class description.
  vpImagePoint iP1;
  //! The coordinates of the point corresponding to the highest \f$ alpha \f$ angle. More things about the \f$ alpha \f$ are given at the beginning of the class description.
  vpImagePoint iP2;
  //! The smallest \f$ alpha \f$ angle.
  double alpha1 ;
  //! The highest \f$ alpha \f$ angle.
  double alpha2 ;
  //! Value of cos(e).
  double ce;
  //! Value of sin(e).
  double se;
  //! Stores the value of the \f$ alpha \f$ angle for each vpMeSite.
  std::list<double> angle;
  //! Surface
  double m00;
  //! Second order central moments
  double mu11,mu20, mu02;
  //! First order raw moments
  double m10,m01;
  //! Second order raw moments
  double m11,m02,m20;
  //! Threshold for the robust least square.
  double thresholdWeight;
  //! Expected number of me to track along the ellipse.
  double expecteddensity;

private:
  void computeAngle(vpImagePoint pt1, vpImagePoint pt2);
  void sample(const vpImage<unsigned char>&image);
  void reSample(const vpImage<unsigned char> &I) ;
  void leastSquare() ;
  void updateTheta();
  void suppressPoints() ;
  void seekExtremities(const vpImage<unsigned char> &I) ;
  void setExtremities();
  void getParameters() ;
  void computeMoments();

#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
  /*!
    @name Deprecated functions
  */
  //@{
  void computeAngle(int ip1, int jp1,int ip2, int jp2) ;
  void computeAngle(int ip1, int jp1, double &alpha1,
		    int ip2, int jp2, double &alpha2) ;
  /*!
      \deprecated This function does nothing and shouldn't be used since we modify
      the code to detect automatically if the object to track becomes a circle
      rather an ellipse.
  */
  vp_deprecated void setCircle(bool ) { }

  //@}
#endif //VISP_BUILD_DEPRECATED_FUNCTIONS

//Static Function
public:	
  static void display(const vpImage<unsigned char>& I, const vpImagePoint &center,
                      const double &A, const double &B, const double &E,
                      const double & smallalpha, const double &highalpha,
                      const vpColor &color = vpColor::green,
                      unsigned int thickness=1);
  static void display(const vpImage<vpRGBa>& I, const vpImagePoint &center,
                      const double &A, const double &B, const double &E,
                      const double & smallalpha, const double &highalpha,
                      const vpColor &color = vpColor::green,
                      unsigned int thickness=1);

};

#endif