Visual Servoing Platform version 3.5.0
vpMeLine.h
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2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See http://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Moving edges.
33 *
34 * Authors:
35 * Eric Marchand
36 *
37 *****************************************************************************/
38
44#ifndef vpMeLine_HH
45#define vpMeLine_HH
46
47#include <visp3/core/vpMath.h>
48#include <visp3/core/vpMatrix.h>
49#include <visp3/me/vpMeTracker.h>
50
51#include <iostream>
52#include <math.h>
53
151class VISP_EXPORT vpMeLine : public vpMeTracker
152{
153private:
154 static void update_indices(double theta, int incr, int i, int j, int &i1, int &i2, int &j1, int &j2);
155
156protected:
157 vpMeSite PExt[2];
158
159 double rho, theta;
160 double delta, delta_1;
161 double angle, angle_1;
162 int sign;
163
167
168#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
169public:
170#else
171protected:
172#endif
173
174 double a;
175 double b;
176 double c;
177
178public:
179 vpMeLine();
180 vpMeLine(const vpMeLine &meline);
181 virtual ~vpMeLine();
182
183 void display(const vpImage<unsigned char> &I, vpColor col);
184
185 void track(const vpImage<unsigned char> &Im);
186
187 virtual void sample(const vpImage<unsigned char> &image, bool doNotTrack=false);
188 void reSample(const vpImage<unsigned char> &I);
189 void leastSquare();
190 void updateDelta();
191 void setExtremities();
192 void seekExtremities(const vpImage<unsigned char> &I);
193 void suppressPoints();
194
196 void initTracking(const vpImage<unsigned char> &I, const vpImagePoint &ip1, const vpImagePoint &ip2);
197
198 void computeRhoTheta(const vpImage<unsigned char> &I);
199 double getRho() const;
200 double getTheta() const;
201 void getExtremities(vpImagePoint &ip1, vpImagePoint &ip2);
202
206 void getEquationParam(double &A, double &B, double &C)
207 {
208 A = a;
209 B = b;
210 C = c;
211 }
212
216 inline double getA() const { return a; }
217
221 inline double getB() const { return b; }
222
226 inline double getC() const { return c; }
227
228 static bool intersection(const vpMeLine &line1, const vpMeLine &line2, vpImagePoint &ip);
229
239 inline void computeRhoSignFromIntensity(bool useIntensityForRho) { _useIntensityForRho = useIntensityForRho; }
240
241 // Static Functions
242public:
243 static void display(const vpImage<unsigned char> &I, const vpMeSite &PExt1, const vpMeSite &PExt2, const double &A,
244 const double &B, const double &C, const vpColor &color = vpColor::green,
245 unsigned int thickness = 1);
246 static void display(const vpImage<vpRGBa> &I, const vpMeSite &PExt1, const vpMeSite &PExt2, const double &A,
247 const double &B, const double &C, const vpColor &color = vpColor::green,
248 unsigned int thickness = 1);
249
250 static void display(const vpImage<unsigned char> &I, const vpMeSite &PExt1, const vpMeSite &PExt2,
251 const std::list<vpMeSite> &site_list, const double &A, const double &B, const double &C,
252 const vpColor &color = vpColor::green, unsigned int thickness = 1);
253 static void display(const vpImage<vpRGBa> &I, const vpMeSite &PExt1, const vpMeSite &PExt2,
254 const std::list<vpMeSite> &site_list, const double &A, const double &B, const double &C,
255 const vpColor &color = vpColor::green, unsigned int thickness = 1);
256};
257
258#endif
Class to define RGB colors available for display functionnalities.
Definition: vpColor.h:158
static const vpColor green
Definition: vpColor.h:220
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:88
Class that tracks in an image a line moving edges.
Definition: vpMeLine.h:152
double getA() const
Definition: vpMeLine.h:216
double a
Parameter a of the line equation a*i + b*j + c = 0.
Definition: vpMeLine.h:174
double getB() const
Definition: vpMeLine.h:221
double angle
Definition: vpMeLine.h:161
double c
Parameter c of the line equation a*i + b*j + c = 0.
Definition: vpMeLine.h:176
double rho
Definition: vpMeLine.h:159
int sign
Definition: vpMeLine.h:162
void computeRhoSignFromIntensity(bool useIntensityForRho)
Definition: vpMeLine.h:239
void getEquationParam(double &A, double &B, double &C)
Definition: vpMeLine.h:206
double delta
Definition: vpMeLine.h:160
double b
Parameter b of the line equation a*i + b*j + c = 0.
Definition: vpMeLine.h:175
bool _useIntensityForRho
Definition: vpMeLine.h:166
double getC() const
Definition: vpMeLine.h:226
Performs search in a given direction(normal) for a given distance(pixels) for a given 'site'....
Definition: vpMeSite.h:72
Contains abstract elements for a Distance to Feature type feature.
Definition: vpMeTracker.h:66
void initTracking(const vpImage< unsigned char > &I)
virtual void sample(const vpImage< unsigned char > &image, bool doNotTrack=false)=0
Sample pixels at a given interval.
void track(const vpImage< unsigned char > &I)
Track sampled pixels.
virtual void display(const vpImage< unsigned char > &I, vpColor col)=0