Visual Servoing Platform version 3.5.0
vpMeNurbs.h
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3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
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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.
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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.
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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
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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 * Nicolas Melchior
36 *
37 *****************************************************************************/
38
45#ifndef vpMeNurbs_HH
46#define vpMeNurbs_HH
47
48#include <visp3/core/vpMath.h>
49#include <visp3/core/vpMatrix.h>
50#include <visp3/me/vpMeTracker.h>
51#include <visp3/me/vpNurbs.h>
52
53#include <iostream>
54#include <list>
55#include <math.h>
56
130class VISP_EXPORT vpMeNurbs : public vpMeTracker
131{
132#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
133public:
134#else
135private:
136#endif
139
140private:
142 double dist;
144 unsigned int nbControlPoints;
147 int beginPtFound;
150 int endPtFound;
153 bool enableCannyDetection;
155 double cannyTh1;
157 double cannyTh2;
158
159public:
160 vpMeNurbs();
161 vpMeNurbs(const vpMeNurbs &menurbs);
162 virtual ~vpMeNurbs();
163
169 void setNbControlPoints(unsigned int nb_point) { this->nbControlPoints = nb_point; }
170
177 void setEnableCannyDetection(const bool enable_canny) { this->enableCannyDetection = enable_canny; }
178
185 void setCannyThreshold(double th1, double th2)
186 {
187 this->cannyTh1 = th1;
188 this->cannyTh2 = th2;
189 }
190
192 void initTracking(const vpImage<unsigned char> &I, const std::list<vpImagePoint> &ptList);
193
194 void track(const vpImage<unsigned char> &I);
195
196 virtual void sample(const vpImage<unsigned char> &image, bool doNotTrack=false);
197 void reSample(const vpImage<unsigned char> &I);
198 void updateDelta();
200 void seekExtremities(const vpImage<unsigned char> &I);
201 void seekExtremitiesCanny(const vpImage<unsigned char> &I);
202 void suppressPoints();
203
204 void supressNearPoints();
205 void localReSample(const vpImage<unsigned char> &I);
206
210 inline vpNurbs getNurbs() const { return nurbs; }
211
212 void display(const vpImage<unsigned char> &I, vpColor col);
213
214private:
215 bool computeFreemanChainElement(const vpImage<unsigned char> &I, vpImagePoint &iP, unsigned int &element);
216
217 bool hasGoodLevel(const vpImage<unsigned char> &I, const vpImagePoint &iP) const;
218
219 bool isInImage(const vpImage<unsigned char> &I, const vpImagePoint &iP) const;
220
221 void computeFreemanParameters(unsigned int element, vpImagePoint &diP);
222
223 bool farFromImageEdge(const vpImage<unsigned char> &I, const vpImagePoint &iP);
224
225public:
226 static void display(const vpImage<unsigned char> &I, vpNurbs &n, vpColor color = vpColor::green);
227 static void display(const vpImage<vpRGBa> &I, vpNurbs &n, vpColor color = vpColor::green);
228};
229
230#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 edge defined by a Nurbs.
Definition: vpMeNurbs.h:131
void setCannyThreshold(double th1, double th2)
Definition: vpMeNurbs.h:185
vpNurbs nurbs
The Nurbs which represents the tracked edge.
Definition: vpMeNurbs.h:138
void setEnableCannyDetection(const bool enable_canny)
Definition: vpMeNurbs.h:177
void setNbControlPoints(unsigned int nb_point)
Definition: vpMeNurbs.h:169
vpNurbs getNurbs() const
Definition: vpMeNurbs.h:210
void setExtremities()
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
Class that provides tools to compute and manipulate a Non Uniform Rational B-Spline curve.
Definition: vpNurbs.h:98