vpMeEllipse.h

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2025 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 as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * 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 https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * 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.
 */

 
#ifndef VP_ME_ELLIPSE_H
#define VP_ME_ELLIPSE_H
 
#include <visp3/core/vpColVector.h>
#include <visp3/core/vpMatrix.h>
 
#include <visp3/core/vpImagePoint.h>
#include <visp3/me/vpMeSite.h>
#include <visp3/me/vpMeTracker.h>
 
#include <visp3/core/vpColor.h>
#include <visp3/core/vpImage.h>
 
#include <list>
#include <math.h>
 
#if ((__cplusplus >= 201703L) || (defined(_MSVC_LANG) && (_MSVC_LANG >= 201703L))) // Check if cxx17 or higher
#include <optional>
#endif
 
BEGIN_VISP_NAMESPACE

class VISP_EXPORT vpMeEllipse : public vpMeTracker
{
public:
  vpMeEllipse();

  vpMeEllipse(const vpMeEllipse &me_ellipse);

  virtual ~vpMeEllipse() VP_OVERRIDE;

  vpMeEllipse &operator=(const vpMeEllipse &me_ellipse);

  void display(const vpImage<unsigned char> &I, const vpColor &col, unsigned int thickness = 1);

  void display(const vpImage<vpRGBa> &I, const vpColor &col, unsigned int thickness = 1);

  inline vpColVector get_nij() const
  {
    vpColVector nij(3);
    const unsigned int index_0 = 0;
    const unsigned int index_1 = 1;
    const unsigned int index_2 = 2;
    nij[index_0] = m_n20;
    nij[index_1] = m_n11;
    nij[index_2] = m_n02;
 
    return nij;
  }

  inline vpColVector get_ABE() const
  {
    vpColVector ABE(3);
    const unsigned int index_0 = 0;
    const unsigned int index_1 = 1;
    const unsigned int index_2 = 2;
    ABE[index_0] = m_a;
    ABE[index_1] = m_b;
    ABE[index_2] = m_e;
 
    return ABE;
  }

  inline double getArea() const { return m_m00; }

  inline vpImagePoint getCenter() const { return m_iPc; }

  unsigned int getExpectedDensity() const { return m_expectedDensity; }

  unsigned int getNumberOfGoodPoints() const { return m_numberOfGoodPoints; }

  inline vpImagePoint getFirstEndpoint() const { return m_iP1; }

  inline double getHighestAngle() const { return m_alphamax; }

  inline vpImagePoint getSecondEndpoint() const { return m_iP2; }

  inline double getSmallestAngle() const { return m_alphamin; }

  void initTracking(const vpImage<unsigned char> &I, bool trackCircle = false, bool trackArc = false);

#if ((__cplusplus >= 201703L) || (defined(_MSVC_LANG) && (_MSVC_LANG >= 201703L))) // Check if cxx17 or higher
  inline void initTracking(const vpImage<unsigned char> &I, std::optional<std::vector<vpImagePoint>> &opt_ips,
                           bool trackCircle = false, bool trackArc = false)
#else
  inline void initTracking(const vpImage<unsigned char> &I, std::vector<vpImagePoint> *opt_ips,
                           bool trackCircle = false, bool trackArc = false)
#endif
  {
#if ((__cplusplus >= 201703L) || (defined(_MSVC_LANG) && (_MSVC_LANG >= 201703L))) // Check if cxx17 or higher
    if (!opt_ips.has_value())
#else
    if (opt_ips == nullptr)
#endif
    {
      initTracking(I, trackCircle, trackArc);
      return;
    }
 
    if (opt_ips->size() != 0) {
      initTracking(I, *opt_ips, trackCircle, trackArc);
      return;
    }
 
    unsigned int n = 5; // by default, 5 points for an ellipse
    const unsigned int nForCircle = 3;
    m_trackCircle = trackCircle;
    if (trackCircle) {
      n = nForCircle;
    }
    opt_ips->resize(n);
    m_trackArc = trackArc;
 
    vpDisplay::flush(I);
 
    if (m_trackCircle) {
      if (m_trackArc) {
        std::cout << "First and third points specify the extremities of the arc of circle (clockwise)" << std::endl;
      }
      for (unsigned int k = 0; k < n; ++k) {
        std::cout << "Click point " << (k + 1) << "/" << n << " on the circle " << std::endl;
        vpDisplay::getClick(I, (*opt_ips)[k], true);
        const unsigned int crossSize = 10;
        vpDisplay::displayCross(I, (*opt_ips)[k], crossSize, vpColor::red);
        vpDisplay::flush(I);
        std::cout << (*opt_ips)[k] << std::endl;
      }
    }
    else {
      if (m_trackArc) {
        std::cout << "First and fifth points specify the extremities of the arc of ellipse (clockwise)" << std::endl;
      }
      for (unsigned int k = 0; k < n; ++k) {
        std::cout << "Click point " << (k + 1) << "/" << n << " on the ellipse " << std::endl;
        vpDisplay::getClick(I, (*opt_ips)[k], true);
        const unsigned int crossSize = 10;
        vpDisplay::displayCross(I, (*opt_ips)[k], crossSize, vpColor::red);
        vpDisplay::flush(I);
        std::cout << (*opt_ips)[k] << std::endl;
      }
    }
    initTracking(I, *opt_ips, trackCircle, trackArc);
  }

  void initTracking(const vpImage<unsigned char> &I, const std::vector<vpImagePoint> &iP, bool trackCircle = false,
                    bool trackArc = false);

  void initTracking(const vpImage<unsigned char> &I, const vpColVector &param, vpImagePoint *pt1 = nullptr,
                    const vpImagePoint *pt2 = nullptr, bool trackCircle = false);

  void printParameters() const;

  void setEndpoints(const vpImagePoint &pt1, const vpImagePoint &pt2)
  {
    m_iP1 = pt1;
    m_iP2 = pt2;
  }

  void setThresholdRobust(double threshold)
  {
    if (threshold < 0) {
      m_thresholdWeight = 0;
    }
    else if (threshold > 1) {
      m_thresholdWeight = 1;
    }
    else {
      m_thresholdWeight = threshold;
    }
  }

  void track(const vpImage<unsigned char> &I);

  static void displayEllipse(const vpImage<unsigned char> &I, const vpImagePoint &center, const double &A, const double &B,
                             const double &E, const double &smallalpha, const double &highalpha,
                             const vpColor &color = vpColor::green, unsigned int thickness = 1);

  static void displayEllipse(const vpImage<vpRGBa> &I, const vpImagePoint &center, const double &A, const double &B,
                             const double &E, const double &smallalpha, const double &highalpha,
                             const vpColor &color = vpColor::green, unsigned int thickness = 1);
 
#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
  // Marked deprecated since they override vpMeTracker::display(). Warning detected by mingw64
  VP_DEPRECATED static void display(const vpImage<unsigned char> &I, const vpImagePoint &center, const double &A, const double &B,
                                    const double &E, const double &smallalpha, const double &highalpha,
                                    const vpColor &color = vpColor::green, unsigned int thickness = 1);

  VP_DEPRECATED static void display(const vpImage<vpRGBa> &I, const vpImagePoint &center, const double &A, const double &B,
                                    const double &E, const double &smallalpha, const double &highalpha,
                                    const vpColor &color = vpColor::green, unsigned int thickness = 1);
#endif
 
protected:
  vpColVector m_K;
  vpImagePoint m_iPc;
  double m_a;
  double m_b;
  double m_e;

  vpImagePoint m_iP1;
  vpImagePoint m_iP2;
  double m_alpha1;
  double m_alpha2;
  double m_ce;
  double m_se;
  std::list<double> m_angleList;
  double m_m00;

  double m_thresholdWeight;

  double m_alphamin;
  double m_alphamax;
  double m_uc;
  double m_vc;
  double m_n20;
  double m_n11;
  double m_n02;
  unsigned int m_expectedDensity;
  unsigned int m_numberOfGoodPoints;
  bool m_trackCircle;
  bool m_trackArc;
  double m_arcEpsilon;

  void computeAbeFromNij();

  double computeAngleOnEllipse(const vpImagePoint &pt) const;

  void computeKiFromNij();

  void computeNijFromAbe();

  void computePointOnEllipse(const double angle, vpImagePoint &iP);

  double computeTheta(const vpImagePoint &iP) const;

  double computeTheta(double u, double v) const;

  void getParameters();

  void leastSquare(const vpImage<unsigned char> &I, const std::vector<vpImagePoint> &iP);

  unsigned int leastSquareRobust(const vpImage<unsigned char> &I);

  void leastSquareRobustCircle(const double &um, const double &vm, unsigned int &k, vpColVector &w);

  void leastSquareRobustEllipse(const double &um, const double &vm, unsigned int &k, vpColVector &w);

  unsigned int plugHoles(const vpImage<unsigned char> &I);

  virtual void sample(const vpImage<unsigned char> &I, bool doNotTrack = false) VP_OVERRIDE;

  void updateTheta();
};
 
END_VISP_NAMESPACE
 
#endif