00001 /***************************************************************************
00002  *  fc_accum.h - Header for 'fitted circle' accumulator
00003  *               used by Randomized Stable Circle Fitting Algorithm
00004  *
00005  *  Generated: Fri Sep 09 2005 22:47:55
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_FC_ACCUM_H_
00025 #define __FIREVISION_FC_ACCUM_H_
00026 
00027 #include <utils/math/types.h>
00028 #include <fvutils/base/types.h>
00029 #include <models/shape/circle.h>
00030
00031 class FittedCircle
00032 {
00033 private:
00034         static const float TOO_SMALL_DELTA;
00035
00036 private:
00037         int count;
00038         struct circle_matrix
00039         {
00040                 float A00, A01, A02;
00041                 float A10, A11, A12;
00042                 float A20, A21, A22;
00043
00044                 float  b0,  b1,  b2;
00045         } circle_matrices[2];
00046         int current_circle;
00047         bool point_added;
00048
00049 public:
00050         FittedCircle(void);
00051         ~FittedCircle(void);
00052
00053         void reset(void);
00054         float addPoint(const fawkes::point_t&); // add a new point
00055                 // and return the distance from it to the fitted circle
00056         void removePoint(const fawkes::point_t&); // remove a point
00057
00058         float distanceTo(const fawkes::point_t&, bool current = true);
00059
00060         void commit(void);
00061         int getCount(void) const;
00062         Circle* getCircle(void) const;
00063
00064 private:
00065         Circle* fitCircle(circle_matrix* p) const;
00066 };
00067
00068 #endif // __FIREVISION_FC_ACCUM_H_