Fawkes API
Fawkes Development Version
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00001 /*************************************************************************** 00002 * fc_accum.h - Header for 'fitted circle' accumulator 00003 * used by Randomized Stable Circle Fitting Algorithm 00004 * 00005 * Created: Fri Sep 09 22:47:55 2005 00006 * Copyright 2005 Hu Yuxiao <Yuxiao.Hu@rwth-aachen.de> 00007 * 00008 ****************************************************************************/ 00009 00010 /* This program is free software; you can redistribute it and/or modify 00011 * it under the terms of the GNU General Public License as published by 00012 * the Free Software Foundation; either version 2 of the License, or 00013 * (at your option) any later version. A runtime exception applies to 00014 * this software (see LICENSE.GPL_WRE file mentioned below for details). 00015 * 00016 * This program is distributed in the hope that it will be useful, 00017 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00018 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00019 * GNU Library General Public License for more details. 00020 * 00021 * Read the full text in the LICENSE.GPL_WRE file in the doc directory. 00022 */ 00023 00024 #ifndef __FIREVISION_MODELS_SHAPE_ACCUMULATORS_FC_ACCUM_H_ 00025 #define __FIREVISION_MODELS_SHAPE_ACCUMULATORS_FC_ACCUM_H_ 00026 00027 #include <utils/math/types.h> 00028 #include <fvutils/base/types.h> 00029 #include <fvmodels/shape/circle.h> 00030 00031 namespace firevision { 00032 #if 0 /* just to make Emacs auto-indent happy */ 00033 } 00034 #endif 00035 00036 class FittedCircle 00037 { 00038 private: 00039 static const float TOO_SMALL_DELTA; 00040 00041 private: 00042 int count; 00043 /// @cond INTERNALS 00044 struct circle_matrix 00045 { 00046 float A00, A01, A02; 00047 float A10, A11, A12; 00048 float A20, A21, A22; 00049 00050 float b0, b1, b2; 00051 } circle_matrices[2]; 00052 /// @endcond 00053 int current_circle; 00054 bool point_added; 00055 00056 public: 00057 FittedCircle(void); 00058 ~FittedCircle(void); 00059 00060 void reset(void); 00061 float addPoint(const fawkes::point_t&); // add a new point 00062 // and return the distance from it to the fitted circle 00063 void removePoint(const fawkes::point_t&); // remove a point 00064 00065 float distanceTo(const fawkes::point_t&, bool current = true); 00066 00067 void commit(void); 00068 int getCount(void) const; 00069 Circle* getCircle(void) const; 00070 00071 private: 00072 Circle* fitCircle(circle_matrix* p) const; 00073 }; 00074 00075 } // end namespace firevision 00076 00077 #endif