Visual Servoing Platform version 3.6.0
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vpMbtMeEllipse.h
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 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 https://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*****************************************************************************/
35
41#ifndef vpMbtMeEllipse_HH
42#define vpMbtMeEllipse_HH
43
44#include <list>
45#include <math.h>
46
47#include <visp3/me/vpMeEllipse.h>
48
49#ifndef DOXYGEN_SHOULD_SKIP_THIS
50
58class VISP_EXPORT vpMbtMeEllipse : public vpMeEllipse
59{
60public:
62
63 vpMbtMeEllipse();
64 vpMbtMeEllipse(const vpMbtMeEllipse &me_ellipse);
65 virtual ~vpMbtMeEllipse();
66
67 void computeProjectionError(const vpImage<unsigned char> &_I, double &_sumErrorRad, unsigned int &_nbFeatures,
68 const vpMatrix &SobelX, const vpMatrix &SobelY, bool display, unsigned int length,
69 unsigned int thickness);
70
71 void initTracking(const vpImage<unsigned char> &I, const vpImagePoint &ic, double n20_p, double n11_p, double n02_p,
72 bool doNotTrack, vpImagePoint *pt1 = NULL, const vpImagePoint *pt2 = NULL);
73
74 void track(const vpImage<unsigned char> &I);
75 void updateParameters(const vpImage<unsigned char> &I, const vpImagePoint &center_p, double n20_p, double n11_p,
76 double n02_p);
77
78private:
79 void reSample(const vpImage<unsigned char> &I);
80 void sample(const vpImage<unsigned char> &I, bool doNotTrack = false);
81 void suppressPoints();
82};
83
84#endif // #ifndef DOXYGEN_SHOULD_SKIP_THIS
85#endif
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition of the vpImage class member functions.
Definition vpImage.h:135
Implementation of a matrix and operations on matrices.
Definition vpMatrix.h:152
Class that tracks an ellipse using moving edges.
Definition vpMeEllipse.h:90
virtual void sample(const vpImage< unsigned char > &I, bool doNotTrack=false) override
void initTracking(const vpImage< unsigned char > &I, bool trackCircle=false, bool trackArc=false)
void track(const vpImage< unsigned char > &I)
void display(const vpImage< unsigned char > &I)