vpFeatureEllipse.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:
 * 2D ellipse visual feature.
 */

 
#ifndef vpFeatureEllipse_H
#define vpFeatureEllipse_H
 
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpMatrix.h>
#include <visp3/visual_features/vpBasicFeature.h>
 
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpRGBa.h>
 
BEGIN_VISP_NAMESPACE
class VISP_EXPORT vpFeatureEllipse : public vpBasicFeature
{
  /*
    attributes and members directly related to the vpBasicFeature needs
    other functionalities are useful but not mandatory
  */
private:
  double A, B, C;
 
public:
  vpFeatureEllipse();

  vpFeatureEllipse(double x, double y, double n20, double n11, double n02);
 
  vpFeatureEllipse &buildFrom(const double &x, const double &y, const double &n20, const double &n11, const double &n02);
  vpFeatureEllipse &buildFrom(const double &x, const double &y, const double &n20, const double &n11, const double &n02, const double &A, const double &B, const double &C);
 
  void display(const vpCameraParameters &cam, const vpImage<unsigned char> &I, const vpColor &color = vpColor::green,
               unsigned int thickness = 1) const VP_OVERRIDE;
  void display(const vpCameraParameters &cam, const vpImage<vpRGBa> &I, const vpColor &color = vpColor::green,
               unsigned int thickness = 1) const VP_OVERRIDE;
  vpFeatureEllipse *duplicate() const VP_OVERRIDE;

  vpColVector error(const vpBasicFeature &s_star, unsigned int select = FEATURE_ALL) VP_OVERRIDE;

  double get_x() const { return s[0]; }
  double get_y() const { return s[1]; }
  double get_n20() const { return s[2]; }
  double get_n11() const { return s[3]; }
  double get_n02() const { return s[4]; }

  void init() VP_OVERRIDE;
  vpMatrix interaction(unsigned int select = FEATURE_ALL) VP_OVERRIDE;

  void print(unsigned int select = FEATURE_ALL) const VP_OVERRIDE;
 
  void set_x(double x);
  void set_y(double y);
  void set_xy(double x, double y);
  void setABC(double A, double B, double C);
  void setMoments(double n20, double n11, double n02);

 
  // feature selection
  static unsigned int selectX();
  static unsigned int selectY();
  static unsigned int select_n20();
  static unsigned int select_n11();
  static unsigned int select_n02();
 
#if defined(VISP_BUILD_DEPRECATED_FUNCTIONS)
  VP_DEPRECATED void setMu(double mu20, double mu11, double mu02);
  VP_DEPRECATED static unsigned int selectMu20();
  VP_DEPRECATED static unsigned int selectMu11();
  VP_DEPRECATED static unsigned int selectMu02();
  VP_DEPRECATED double getMu20() const { return s[2]; }
  VP_DEPRECATED double getMu11() const { return s[3]; }
  VP_DEPRECATED double getMu02() const { return s[4]; }

#endif
};
END_VISP_NAMESPACE
#endif