vpMeTracker.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_TRACKER_H
#define VP_ME_TRACKER_H
 
#include <visp3/core/vpColVector.h>
#include <visp3/core/vpTracker.h>
#include <visp3/me/vpMe.h>
#include <visp3/me/vpMeSite.h>
 
#include <iostream>
#include <list>
#include <math.h>
 
BEGIN_VISP_NAMESPACE

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

  vpMeTracker(const vpMeTracker &meTracker);

  virtual ~vpMeTracker() VP_OVERRIDE;


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

  void display(const vpImage<vpRGBa> &I);

  void display(const vpImage<unsigned char> &I, vpColVector &w, unsigned int &index_w);

  static bool inRoiMask(const vpImage<bool> *mask, unsigned int i, unsigned int j);

  static bool inMeMaskCandidates(const vpImage<bool> *meMaskCandidates, unsigned int i, unsigned int j);

  inline vpMe *getMe() { return m_me; }

  inline std::list<vpMeSite> &getMeList() { return m_meList; }

  inline std::list<vpMeSite> getMeList() const { return m_meList; }

  inline int getNbPoints() const { return m_nGoodElement; }

  void init();

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

  unsigned int numberOfSignal();

  vpMeTracker &operator=(vpMeTracker &meTracker);

  bool outOfImage(int i, int j, int border, int nrows, int ncols);

  bool outOfImage(const vpImagePoint &iP, int border, int nrows, int ncols);

  void reset();

  virtual void sample(const vpImage<unsigned char> &image, bool doNotTrack = false) = 0;

  void setDisplay(vpMeSite::vpMeSiteDisplayType select) { m_selectDisplay = select; }

  virtual void setMask(const vpImage<bool> &mask) { m_mask = &mask; }

  virtual void setMaskCandidates(const vpImage<bool> *maskCandidates) { m_maskCandidates = maskCandidates; }

  void setMe(vpMe *me) { m_me = me; }

  void setMeList(const std::list<vpMeSite> &meList) { m_meList = meList; }

  unsigned int totalNumberOfSignal();

  void track(const vpImage<unsigned char> &I);
 
#if defined(VISP_BUILD_DEPRECATED_FUNCTIONS)

  VP_DEPRECATED static bool inMask(const vpImage<bool> *mask, unsigned int i, unsigned int j)
  {
    return inRoiMask(mask, i, j);
  }

#endif
 
protected:

  std::list<vpMeSite> m_meList;
  vpMe *m_me;
  int m_nGoodElement;
  const vpImage<bool> *m_mask;
  const vpImage<bool> *m_maskCandidates;
  vpMeSite::vpMeSiteDisplayType m_selectDisplay;
 
};
 
END_VISP_NAMESPACE
 
#endif