Visual Servoing Platform version 3.6.0
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vpBSpline.h
1/*
2 * ViSP, open source Visual Servoing Platform software.
3 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
4 *
5 * This software is free software; you can redistribute it and/or modify
6 * it under the terms of the GNU General Public License as published by
7 * the Free Software Foundation; either version 2 of the License, or
8 * (at your option) any later version.
9 * See the file LICENSE.txt at the root directory of this source
10 * distribution for additional information about the GNU GPL.
11 *
12 * For using ViSP with software that can not be combined with the GNU
13 * GPL, please contact Inria about acquiring a ViSP Professional
14 * Edition License.
15 *
16 * See https://visp.inria.fr for more information.
17 *
18 * This software was developed at:
19 * Inria Rennes - Bretagne Atlantique
20 * Campus Universitaire de Beaulieu
21 * 35042 Rennes Cedex
22 * France
23 *
24 * If you have questions regarding the use of this file, please contact
25 * Inria at visp@inria.fr
26 *
27 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
28 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29 *
30 * Description:
31 * This class implements the B-Spline
32 */
33
34#ifndef vpBSpline_H
35#define vpBSpline_H
36
42#include <visp3/core/vpImagePoint.h>
43
44#include <list>
45#include <vector>
46#include <visp3/core/vpMatrix.h>
47
48#ifndef DOXYGEN_SHOULD_SKIP_THIS
49
60typedef struct vpBasisFunction {
61 unsigned int i;
62 unsigned int p;
63 double u;
64 unsigned int k;
65 double value;
66} vpBasisFunction;
67#endif
68
105class VISP_EXPORT vpBSpline
106{
107 public /*protected*/:
109 std::vector<vpImagePoint> controlPoints;
111 std::vector<double> knots;
113 unsigned int p;
115 std::vector<vpImagePoint> crossingPoints;
116
117public:
118 vpBSpline();
119 vpBSpline(const vpBSpline &bspline);
120 virtual ~vpBSpline();
121
127 inline unsigned int get_p() const { return p; }
128
135 inline void get_controlPoints(std::list<vpImagePoint> &list) const
136 {
137 list.clear();
138 for (unsigned int i = 0; i < controlPoints.size(); i++) {
139 list.push_back(*(&(controlPoints[0]) + i));
140 }
141 }
142
148 inline void get_knots(std::list<double> &list) const
149 {
150 list.clear();
151 for (unsigned int i = 0; i < knots.size(); i++) {
152 list.push_back(*(&(knots[0]) + i));
153 }
154 }
155
162 inline void get_crossingPoints(std::list<vpImagePoint> &list) const
163 {
164 list.clear();
165 for (unsigned int i = 0; i < crossingPoints.size(); i++) {
166 list.push_back(*(&(crossingPoints[0]) + i));
167 }
168 }
169
175 inline void set_p(unsigned int degree) { this->p = degree; }
176
182 inline void set_controlPoints(const std::list<vpImagePoint> &list)
183 {
184 controlPoints.clear();
185 for (std::list<vpImagePoint>::const_iterator it = list.begin(); it != list.end(); ++it) {
186 controlPoints.push_back(*it);
187 }
188 }
189
195 inline void set_knots(const std::list<double> &list)
196 {
197 knots.clear();
198 for (std::list<double>::const_iterator it = list.begin(); it != list.end(); ++it) {
199 knots.push_back(*it);
200 }
201 }
202
209 inline void set_crossingPoints(const std::list<vpImagePoint> &list)
210 {
211 crossingPoints.clear();
212 for (std::list<vpImagePoint>::const_iterator it = list.begin(); it != list.end(); ++it) {
213 crossingPoints.push_back(*it);
214 }
215 }
216
217 static unsigned int findSpan(double l_u, unsigned int l_p, std::vector<double> &l_knots);
218 unsigned int findSpan(double u);
219
220 static vpBasisFunction *computeBasisFuns(double l_u, unsigned int l_i, unsigned int l_p,
221 std::vector<double> &l_knots);
222 vpBasisFunction *computeBasisFuns(double u);
223
224 static vpBasisFunction **computeDersBasisFuns(double l_u, unsigned int l_i, unsigned int l_p, unsigned int l_der,
225 std::vector<double> &l_knots);
226 vpBasisFunction **computeDersBasisFuns(double u, unsigned int der);
227
228 static vpImagePoint computeCurvePoint(double l_u, unsigned int l_i, unsigned int l_p, std::vector<double> &l_knots,
229 std::vector<vpImagePoint> &l_controlPoints);
230 vpImagePoint computeCurvePoint(double u);
231
232 static vpImagePoint *computeCurveDers(double l_u, unsigned int l_i, unsigned int l_p, unsigned int l_der,
233 std::vector<double> &l_knots, std::vector<vpImagePoint> &l_controlPoints);
234 vpImagePoint *computeCurveDers(double u, unsigned int der);
235};
236
237#endif
Class that provides tools to compute and manipulate a B-Spline curve.
Definition vpBSpline.h:106
void get_controlPoints(std::list< vpImagePoint > &list) const
Definition vpBSpline.h:135
void set_p(unsigned int degree)
Definition vpBSpline.h:175
void set_crossingPoints(const std::list< vpImagePoint > &list)
Definition vpBSpline.h:209
unsigned int p
Degree of the B-Spline basis functions.
Definition vpBSpline.h:113
unsigned int get_p() const
Definition vpBSpline.h:127
void get_crossingPoints(std::list< vpImagePoint > &list) const
Definition vpBSpline.h:162
void set_controlPoints(const std::list< vpImagePoint > &list)
Definition vpBSpline.h:182
void get_knots(std::list< double > &list) const
Definition vpBSpline.h:148
void set_knots(const std::list< double > &list)
Definition vpBSpline.h:195
std::vector< vpImagePoint > crossingPoints
Vector wich contains the points used during the interpolation method.
Definition vpBSpline.h:115
std::vector< double > knots
Vector which contain the knots .
Definition vpBSpline.h:111
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...