Bullseye.h

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/*
 * Copyright (c) Meta Platforms, Inc. and affiliates.
 *
 * This source code is licensed under the MIT license found in the
 * LICENSE file in the root directory of this source tree.
 */
 
#ifndef OCEAN_CV_DETECTOR_BULLSEYES_BULLSEYE_H
#define OCEAN_CV_DETECTOR_BULLSEYES_BULLSEYE_H
 
#include "ocean/cv/detector/bullseyes/Bullseyes.h"
 
#include "ocean/math/Vector2.h"
 
namespace Ocean
{
 
namespace CV
{
 
namespace Detector
{
 
namespace Bullseyes
{
 
/**
 * Definition of a bullseye composed of a location and a radius.
 * @ingroup cvdetectorbullseyes
 */
class OCEAN_CV_DETECTOR_BULLSEYES_EXPORT Bullseye
{
    public:
 
        /**
         * Creates an invalid bullseye object.
         */
        Bullseye() = default;
 
        /**
         * Creates a new bullseye object by a given position and radius.
         * @param position The (center) position of the bullseye within the camera frame
         * @param radius The radius of the bullseye in pixels, with range (0, infinity)
         * @param grayThreshold Threshold that was used during the detection, range [1, 255]
         * @param pyramidLayer The pyramid layer at which this bullseye was detected, with range [0, infinity)
         */
        Bullseye(const Vector2& position, const Scalar& radius, const unsigned int grayThreshold, const unsigned int pyramidLayer = 0u);
 
        /**
         * Returns whether this bullseye is valid.
         * @return True, if so
         */
        bool isValid() const;
 
        /**
         * Returns the (center) position of the bullseye.
         * @return The Bullseye's position within the camera frame
         */
        const Vector2& position() const;
 
        /**
         * Returns the radius of the bullseye.
         * @return The Bullseye's radius, with range (0, infinity), 0 for an invalid object
         */
        Scalar radius() const;
 
        /**
         * Returns the threshold that was used for the detection of this bullseye
         * @return The threshold value
         */
        unsigned int grayThreshold() const;
 
        /**
         * Returns the pyramid layer at which this bullseye was detected.
         * @return The pyramid layer index, with range [0, infinity)
         */
        unsigned int pyramidLayer() const;
 
        /**
         * Returns an invalid bullseye position.
         * @return Invalid bullseye position
         */
        static Vector2 invalidPosition();
 
        /**
         * Returns an invalid bullseye radius.
         * @return Invalid bullseye radius
         */
        static constexpr Scalar invalidRadius();
 
        /**
         * Returns an invalid bullseye threshold.
         * @return Invalid bullseye threshold
         */
        static constexpr unsigned int invalidGrayThreshold();
 
    protected:
 
        /// The (center) position of the bullseye within the camera frame.
        Vector2 position_ = invalidPosition();
 
        /// The radius of the bullseye in pixels, with range (0, infinity).
        Scalar radius_ = invalidRadius();
 
        /// The threshold that was used during the detection of this bullseye
        unsigned int grayThreshold_ = invalidGrayThreshold();
 
        /// The pyramid layer at which this bullseye was detected, with range [0, infinity).
        unsigned int pyramidLayer_ = 0u;
};
 
/// Definition of a vector holding bullseyes.
using Bullseyes = std::vector<Bullseye>;
 
constexpr Scalar Bullseye::invalidRadius()
{
    return Scalar(-1);
}
 
constexpr unsigned int Bullseye::invalidGrayThreshold()
{
    return (unsigned int)(-1);
}
 
} // namespace Bullseyes
 
} // namespace Detector
 
} // namespace CV
 
} // namespace Ocean
 
#endif // OCEAN_CV_DETECTOR_BULLSEYES_BULLSEYE_H