Visual Servoing Platform version 3.5.0
vpTemplateTrackerZone.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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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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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
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26 * Inria at visp@inria.fr
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29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Template tracker.
33 *
34 * Authors:
35 * Amaury Dame
36 * Aurelien Yol
37 * Fabien Spindler
38 *
39 *****************************************************************************/
40#ifndef vpTemplateTrackerZone_hh
41#define vpTemplateTrackerZone_hh
42
43#include <vector>
44
45#include <visp3/core/vpDisplay.h>
46#include <visp3/core/vpException.h>
47#include <visp3/core/vpImage.h>
48#include <visp3/core/vpRect.h>
49#include <visp3/tt/vpTemplateTrackerHeader.h>
50#include <visp3/tt/vpTemplateTrackerTriangle.h>
51
62class VISP_EXPORT vpTemplateTrackerZone
63{
64protected:
65 std::vector<vpTemplateTrackerTriangle> Zone;
66 int min_x;
67 int min_y;
68 int max_x;
69 int max_y;
70
71public:
74 virtual ~vpTemplateTrackerZone();
75
76 // add a triangle to the zone
77 void add(const vpTemplateTrackerTriangle &t);
78 void clear();
79 void copy(const vpTemplateTrackerZone &z);
80
81 // display the area on an image
82 void display(const vpImage<unsigned char> &I, const vpColor &col = vpColor::green, unsigned int thickness = 3);
83 void display(const vpImage<vpRGBa> &I, const vpColor &col = vpColor::green, unsigned int thickness = 3);
84
85 // colorie le tieme triangle
86 void fillTriangle(vpImage<unsigned char> &I, unsigned int id, unsigned char gray_level);
87
88 double getArea() const;
89 vpImagePoint getCenter() const;
90 vpImagePoint getCenter(int borne_x, int borne_y) const;
91 // get bounds of the area
92 int getMaxx() const;
93 int getMaxy() const;
94 int getMinx() const;
95 int getMiny() const;
96 vpRect getBoundingBox() const;
97
100 unsigned int getNbTriangle() const { return (unsigned int)Zone.size(); }
101 vpTemplateTrackerZone getPyramidDown() const;
102 // renvoie le ieme triangle de la zone
103 void getTriangle(unsigned int i, vpTemplateTrackerTriangle &T) const;
104 vpTemplateTrackerTriangle getTriangle(unsigned int i) const;
105
106 // create an area by clicking on an image
107 void initClick(const vpImage<unsigned char> &I, bool delaunay = false);
108 // create an area with a pointer of integer that describes a series of
109 // triangles:
110 // *pt= t0.S1.x,t0.S1.y,t0.S2.x,t0.S2.y,t0.S3.x,t0.S3.y, t1.S1.x ...
111 void initFromPoints(const vpImage<unsigned char> &I, const std::vector<vpImagePoint> &ip, bool delaunay = false);
112
113 // check if a point is in the area
114 bool inZone(const int &i, const int &j) const;
115 bool inZone(const double &i, const double &j) const;
116 // check if a point is in the area and return the corresponding triangle
117 // id_triangle where the point is.
118 bool inZone(const int &i, const int &j, unsigned int &id_triangle) const;
119 bool inZone(const double &i, const double &j, unsigned int &id_triangle) const;
120
121 vpTemplateTrackerZone &operator=(const vpTemplateTrackerZone &z);
122};
123#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
Defines a rectangle in the plane.
Definition: vpRect.h:80
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.