Visual Servoing Platform version 3.5.0
vpMbtMeLine.h
1/****************************************************************************
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 * Implementation of a line used by the model-based tracker.
33 *
34 * Authors:
35 * Nicolas Melchior
36 * Romain Tallonneau
37 * Eric Marchand
38 *
39 *****************************************************************************/
40
46#ifndef vpMbtMeLine_HH
47#define vpMbtMeLine_HH
48
49#include <visp3/core/vpPoint.h>
50#include <visp3/me/vpMe.h>
51#include <visp3/me/vpMeTracker.h>
52
53#ifndef DOXYGEN_SHOULD_SKIP_THIS
54
61class VISP_EXPORT vpMbtMeLine : public vpMeTracker
62{
63private:
64 vpMeSite PExt[2];
65 double rho, theta, theta_1;
66 double delta, delta_1;
67 int sign;
68 double a, b, c;
69
70public:
71 int imin, imax;
72 int jmin, jmax;
73 double expecteddensity;
74
75public:
76 vpMbtMeLine();
77 virtual ~vpMbtMeLine();
78
79 void computeProjectionError(const vpImage<unsigned char> &_I, double &_sumErrorRad, unsigned int &_nbFeatures,
80 const vpMatrix &SobelX, const vpMatrix &SobelY, bool display,
81 unsigned int length, unsigned int thickness);
82
83 void display(const vpImage<unsigned char> & /*I*/, vpColor /*col*/) { ; }
85
92 inline double get_a() const { return this->a; }
93
100 inline double get_b() const { return this->b; }
101
108 inline double get_c() const { return this->c; }
109
110 void initTracking(const vpImage<unsigned char> &I, const vpImagePoint &ip1, const vpImagePoint &ip2, double rho,
111 double theta, bool doNoTrack);
112
113 void track(const vpImage<unsigned char> &I);
114
115 void updateParameters(const vpImage<unsigned char> &I, double rho, double theta);
116 void updateParameters(const vpImage<unsigned char> &I, const vpImagePoint &ip1, const vpImagePoint &ip2, double rho,
117 double theta);
118
119private:
120 void bubbleSortI();
121 void bubbleSortJ();
122 virtual void sample(const vpImage<unsigned char> &image, bool doNotTrack = false);
123 void seekExtremities(const vpImage<unsigned char> &I);
124 void setExtremities();
125 void suppressPoints(const vpImage<unsigned char> &I);
126 void reSample(const vpImage<unsigned char> &image);
127 void reSample(const vpImage<unsigned char> &image, const vpImagePoint &ip1, const vpImagePoint &ip2);
128 void updateDelta();
129};
130
131#endif // #ifndef DOXYGEN_SHOULD_SKIP_THIS
132
133#endif
Class to define RGB colors available for display functionnalities.
Definition: vpColor.h:158
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:88
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:154
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