Visual Servoing Platform version 3.5.0
vpMbtMeEllipse.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.
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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
23 * France
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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 vpMbtMeEllipse_HH
45#define vpMbtMeEllipse_HH
46
47#include <list>
48#include <math.h>
49
50#include <visp3/me/vpMeEllipse.h>
51
52#ifndef DOXYGEN_SHOULD_SKIP_THIS
53
61class VISP_EXPORT vpMbtMeEllipse : public vpMeEllipse
62{
63public:
65
66 vpMbtMeEllipse();
67 vpMbtMeEllipse(const vpMbtMeEllipse &me_ellipse);
68 virtual ~vpMbtMeEllipse();
69
70 void computeProjectionError(const vpImage<unsigned char> &_I, double &_sumErrorRad, unsigned int &_nbFeatures,
71 const vpMatrix &SobelX, const vpMatrix &SobelY, bool display,
72 unsigned int length, unsigned int thickness);
73
75 const vpImagePoint &ic, double n20_p, double n11_p, double n02_p, bool doNotTrack,
76 vpImagePoint *pt1 = NULL, const vpImagePoint *pt2 = NULL);
77
78 void track(const vpImage<unsigned char> &I);
79 void updateParameters(const vpImage<unsigned char> &I,
80 const vpImagePoint &center_p, double n20_p, double n11_p, double n02_p);
81
82private:
83 void reSample(const vpImage<unsigned char> &I);
84 void sample(const vpImage<unsigned char> &I, bool doNotTrack=false);
85 void suppressPoints();
86};
87
88#endif // #ifndef DOXYGEN_SHOULD_SKIP_THIS
89#endif
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
Class that tracks an ellipse using moving edges.
Definition: vpMeEllipse.h:98
void initTracking(const vpImage< unsigned char > &I, bool trackArc=false)
void track(const vpImage< unsigned char > &I)
virtual void sample(const vpImage< unsigned char > &I, bool doNotTrack=false)
virtual void display(const vpImage< unsigned char > &I, vpColor col)=0