libvisp-dev 2.8.0-4 / usr / include / visp / vpMeSite.h

/****************************************************************************
 *
 * $Id: vpMeSite.h 4062 2013-01-09 10:30:06Z fspindle $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
 * 
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact INRIA about acquiring a ViSP Professional 
 * Edition License.
 *
 * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
 * 
 * This software was developed at:
 * INRIA Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 * http://www.irisa.fr/lagadic
 *
 * If you have questions regarding the use of this file, please contact
 * INRIA at visp@inria.fr
 * 
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 *
 * Description:
 * Moving edges.
 *
 * Authors:
 * Eric Marchand
 * Andrew Comport
 * Aurelien Yol
 *
 *****************************************************************************/

/*!
	\file vpMeSite.h
	\brief Moving edges
*/



#ifndef vpMeSite_H
#define vpMeSite_H

#include <visp/vpMatrix.h>
#include <visp/vpImage.h>
#include <visp/vpDisplay.h>
#include <visp/vpMe.h>

/*!
  \class vpMeSite
  \ingroup TrackingImageME

  \brief Performs search in a given direction(normal) for a given
   distance(pixels) for a given 'site'. Gives the most likely site
   given the probablility from an ME mask

  - Bug fix: rewrote application of masks to use the temporal
    information instead of applying both temporal masks to the same
    image. ie: spatial -> spatio/temporal
  
  - Added new tracking function to choose the most similar edge
    amongst all edges found.

  - sample step.
 */
class VISP_EXPORT vpMeSite
{
public:
  typedef enum
    {
      NONE,
      RANGE,
      RESULT,
      RANGE_RESULT
    } vpMeSiteDisplayType;

  typedef enum
  {
    NO_SUPPRESSION = 0,
    CONSTRAST = 1,
    THRESHOLD = 2,
    M_ESTIMATOR = 3,
    TOO_NEAR = 4,
    UNKNOW = 5
  } vpMeSiteState;
  
public:
  int i,j ;
  int i_1, j_1 ;
  double ifloat, jfloat ;
  unsigned char v ;
  int mask_sign ;
  // Angle of tangent at site
  double alpha;
  // Convolution of Site in previous image
  double convlt ;
 // Convolution of Site in previous image
  double normGradient ;
  // Uncertainty of point given as a probability between 0 and 1
  double weight;
  
private:
  vpMeSiteDisplayType selectDisplay ;
  vpMeSiteState state;

public:
  void init() ;
  void init(double ip, double jp, double alphap) ;
  void init(double ip, double jp, double alphap, double convltp) ;
  void init(double ip, double jp, double alphap, double convltp, int sign) ;

  vpMeSite () ;
  vpMeSite(double ip, double jp) ;
  vpMeSite (const vpMeSite &mesite) ;
  virtual ~vpMeSite() {} ;
  
  void display(const vpImage<unsigned char>& I);

  double convolution(const vpImage<unsigned char>& ima, const vpMe *me) ;

  vpMeSite *getQueryList(const vpImage<unsigned char> &I, const int range) ;

  void track(const vpImage<unsigned char>& im,
	     const vpMe *me,
	     const  bool test_contraste=true);
  
  /*!
    Set the angle of tangent at site

    \param a : new value of alpha
  */
  void setAlpha(const double &a) { alpha = a; }
  
  /*!
    Get the angle of tangent at site

    \return value of alpha
  */
  inline double getAlpha() const { return alpha; }
  
  
  void setDisplay(vpMeSiteDisplayType select) { selectDisplay = select ; }
  
  /*!
    Get the i coordinate (integer)

    \return value of i
  */
  inline int get_i() const { return i; }
  
  /*!
    Get the j coordinate (f)

    \return value of j
  */
  inline int get_j() const { return j; }
  
  /*!
    Get the i coordinate (double)

    \return value of i
  */
  inline double get_ifloat() const { return ifloat; }
  
  /*!
    Get the j coordinate (double)

    \return value of j
  */
  inline double get_jfloat() const { return jfloat; }
  
  /*!
    Set the state of the site

    \param flag : flag corresponding to vpMeSiteState
    
    \sa vpMeSiteState
  */
  void setState(const vpMeSiteState &flag){ 
    state = flag; 
    
    #ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
    suppress = (int)flag;
    #endif
  }
  
  /*!
    Get the state of the site

    \return flag corresponding to vpMeSiteState
  */
  inline vpMeSiteState getState() const { return state; }
  
  /*!
    Set the weight of the site

    \param w : new value of weight
  */
  void setWeight(const double &w) { weight = w; }
  
  /*!
    Get the weight of the site

    \return value of weight
  */
  inline double getWeight() const { return weight; }
  
//Opérators
  vpMeSite &operator=(const vpMeSite &m) ;
  int       operator!=(const vpMeSite  &m) ;
  
  friend VISP_EXPORT std::ostream& operator<<(std::ostream& os, vpMeSite& vpMeS);
  
//Static functions 
  /*!
    Compute the distance \f$ |S1 - S2| = \sqrt{(i_1-i_2)^2+(j_1-j_2)^2} \f$

    \param S1 : First site
    \param S2 : Second site

    \return the distance between the two sites.
  */
  static double distance (const vpMeSite S1, const vpMeSite S2) {
    return(sqrt(vpMath::sqr(S1.ifloat-S2.ifloat)+vpMath::sqr(S1.jfloat-S2.jfloat)));}
    
  /*!
    Compute the distance \f$ |S1 - S2| = (i_1-i_2)^2+(j_1-j_2)^2 \f$

    \param S1 : First site
    \param S2 : Second site

    \return the distance between the two sites.
  */
  static double sqrDistance (const vpMeSite S1, const vpMeSite S2) {
    return(vpMath::sqr(S1.ifloat-S2.ifloat)+vpMath::sqr(S1.jfloat-S2.jfloat));}
    
  static void display(const vpImage<unsigned char>& I, const double &i, const double &j,
                      const vpMeSiteState &state = NO_SUPPRESSION);
  static void display(const vpImage<vpRGBa>& I, const double &i, const double &j,
                      const vpMeSiteState &state = NO_SUPPRESSION);

//Deprecated 
#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
public:
  //! Flag to indicate whether point is rejected or not
  //! 1 = contrast, 2 = threshold, 3 = M-estimator, 0 = nosupp
  int suppress;
  
  vp_deprecated void getSign(const vpImage<unsigned char> &I, const int range) ;
#endif
} ;

#endif