vpMeLine.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.
 *
 * Description:
 * Moving edges.
 */

 
#ifndef VP_ME_LINE_H
#define VP_ME_LINE_H
 
#include <visp3/core/vpMath.h>
#include <visp3/core/vpMatrix.h>
#include <visp3/me/vpMeTracker.h>
 
#include <iostream>
#include <math.h>
 
BEGIN_VISP_NAMESPACE

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

  vpMeLine(const vpMeLine &meline);

  virtual ~vpMeLine() VP_OVERRIDE;

  vpMeLine &operator=(const vpMeLine &meline);

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

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

  vpColVector get_ABC() const
  {
    vpColVector abc(3);
    abc[0] = m_a;
    abc[1] = m_b;
    abc[2] = m_c;
    return abc;
  }

  void getExtremities(vpImagePoint &ip1, vpImagePoint &ip2) const;

  inline double getRho() const
  {
    return m_rho;
  }

  inline vpColVector getRhoTheta() const
  {
    vpColVector rho_theta(2);
    rho_theta[0] = m_rho;
    rho_theta[1] = m_theta;
    return rho_theta;
  }

  inline double getTheta() const
  {
    return m_theta;
  }

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

  void initTracking(const vpImage<unsigned char> &I, const vpImagePoint &ip1, const vpImagePoint &ip2);

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

  static void displayLine(const vpImage<unsigned char> &I, const vpMeSite &PExt1, const vpMeSite &PExt2, const double &A,
                          const double &B, const double &C, const vpColor &color = vpColor::green,
                          unsigned int thickness = 1);

  static void displayLine(const vpImage<vpRGBa> &I, const vpMeSite &PExt1, const vpMeSite &PExt2, const double &A,
                          const double &B, const double &C, const vpColor &color = vpColor::green,
                          unsigned int thickness = 1);

  static void displayLine(const vpImage<unsigned char> &I, const vpMeSite &PExt1, const vpMeSite &PExt2,
                          const std::list<vpMeSite> &site_list, const double &A, const double &B, const double &C,
                          const vpColor &color = vpColor::green, unsigned int thickness = 1);

  static void displayLine(const vpImage<vpRGBa> &I, const vpMeSite &PExt1, const vpMeSite &PExt2,
                          const std::list<vpMeSite> &site_list, const double &A, const double &B, const double &C,
                          const vpColor &color = vpColor::green, unsigned int thickness = 1);

  static bool intersection(const vpMeLine &line1, const vpMeLine &line2, vpImagePoint &iP);
 
  static void project(double a, double b, double c, const vpMeSite &P, vpImagePoint &iP);
 
protected:
  void computeDelta(double &delta, double i1, double j1, double i2, double j2);

  void computeRhoTheta();

  void leastSquare(const vpImage<unsigned char> &I);
 
  void normalizeAngle(double &delta);

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

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

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

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

  void setExtremities();

  void updateDelta();
 
private:
  static void update_indices(double theta, int incr, int i, int j, int &i1, int &i2, int &j1, int &j2);
 
protected:
  vpMeSite m_PExt[2]; 
 
  double m_rho;     
  double m_theta;   
  double m_delta;   
  int m_sign;       
 
  double m_a; 
  double m_b; 
  double m_c; 
 
#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
public:

  VP_DEPRECATED inline void setRhoSignFromIntensity(bool unused)
  {
    (void)unused;
  }

  VP_DEPRECATED inline void computeRhoSignFromIntensity(bool unused)
  {
    (void)unused;
  }

  VP_DEPRECATED inline double getA() const { return m_a; }

  VP_DEPRECATED inline double getB() const { return m_b; }

  VP_DEPRECATED inline double getC() const { return m_c; }

  VP_DEPRECATED void getEquationParam(double &A, double &B, double &C) const
  {
    A = m_a;
    B = m_b;
    C = m_c;
  }

  VP_DEPRECATED static void display(const vpImage<unsigned char> &I, const vpMeSite &PExt1, const vpMeSite &PExt2, const double &A,
                                    const double &B, const double &C, const vpColor &color = vpColor::green,
                                    unsigned int thickness = 1);

  VP_DEPRECATED static void display(const vpImage<vpRGBa> &I, const vpMeSite &PExt1, const vpMeSite &PExt2, const double &A,
                                    const double &B, const double &C, const vpColor &color = vpColor::green,
                                    unsigned int thickness = 1);

  VP_DEPRECATED static void display(const vpImage<unsigned char> &I, const vpMeSite &PExt1, const vpMeSite &PExt2,
                                    const std::list<vpMeSite> &site_list, const double &A, const double &B, const double &C,
                                    const vpColor &color = vpColor::green, unsigned int thickness = 1);

  VP_DEPRECATED static void display(const vpImage<vpRGBa> &I, const vpMeSite &PExt1, const vpMeSite &PExt2,
                                    const std::list<vpMeSite> &site_list, const double &A, const double &B, const double &C,
                                    const vpColor &color = vpColor::green, unsigned int thickness = 1);
#endif
};
END_VISP_NAMESPACE
#endif