Visual Servoing Platform  version 3.2.0 under development (2018-12-13)
vpFeatureLuminance Class Reference

#include <visp3/visual_features/vpFeatureLuminance.h>

+ Inheritance diagram for vpFeatureLuminance:

Public Types

enum  { FEATURE_ALL = 0xffff }
 
enum  vpBasicFeatureDeallocatorType { user, vpServo }
 

Public Member Functions

 vpFeatureLuminance ()
 
 vpFeatureLuminance (const vpFeatureLuminance &f)
 
virtual ~vpFeatureLuminance ()
 
void buildFrom (vpImage< unsigned char > &I)
 
void display (const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const
 
void display (const vpCameraParameters &cam, const vpImage< vpRGBa > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const
 
vpFeatureLuminanceduplicate () const
 
vpColVector error (const vpBasicFeature &s_star, const unsigned int select=FEATURE_ALL)
 
void error (const vpBasicFeature &s_star, vpColVector &e)
 
vpColVector error (const unsigned int select=FEATURE_ALL)
 
double get_Z () const
 
void init ()
 
void init (unsigned int _nbr, unsigned int _nbc, double _Z)
 
vpMatrix interaction (const unsigned int select=FEATURE_ALL)
 
void interaction (vpMatrix &L)
 
vpFeatureLuminanceoperator= (const vpFeatureLuminance &f)
 
void print (const unsigned int select=FEATURE_ALL) const
 
void setCameraParameters (vpCameraParameters &_cam)
 
void set_Z (const double Z)
 
Inherited functionalities from vpBasicFeature
unsigned int dimension_s ()
 
vpColVector get_s (unsigned int select=FEATURE_ALL) const
 
vpBasicFeatureDeallocatorType getDeallocate ()
 
unsigned int getDimension (const unsigned int select=FEATURE_ALL) const
 
virtual double operator[] (const unsigned int i) const
 
void setDeallocate (vpBasicFeatureDeallocatorType d)
 
void setFlags ()
 

Static Public Member Functions

static unsigned int selectAll ()
 

Public Attributes

vpCameraParameters cam
 

Static Public Attributes

static const unsigned int FEATURE_LINE [32]
 

Protected Member Functions

void resetFlags ()
 

Protected Attributes

double Z
 
unsigned int nbr
 
unsigned int nbc
 
unsigned int bord
 
vpLuminance * pixInfo
 
int firstTimeIn
 
vpColVector s
 
unsigned int dim_s
 
bool * flags
 
unsigned int nbParameters
 
vpBasicFeatureDeallocatorType deallocate
 

Detailed Description

Class that defines the image luminance visual feature.

For more details see [6].

Examples:
photometricVisualServoing.cpp.

Definition at line 79 of file vpFeatureLuminance.h.

Member Enumeration Documentation

anonymous enum
inherited
Enumerator
FEATURE_ALL 

Definition at line 82 of file vpBasicFeature.h.

Indicates who should deallocate the feature.

Enumerator
user 
vpServo 

Definition at line 88 of file vpBasicFeature.h.

Constructor & Destructor Documentation

vpFeatureLuminance::vpFeatureLuminance ( )

Default constructor that build a visual feature.

Definition at line 101 of file vpFeatureLuminance.cpp.

References vpBasicFeature::dim_s, vpBasicFeature::flags, init(), and vpBasicFeature::nbParameters.

Referenced by duplicate().

vpFeatureLuminance::vpFeatureLuminance ( const vpFeatureLuminance f)

Copy constructor.

Definition at line 113 of file vpFeatureLuminance.cpp.

vpFeatureLuminance::~vpFeatureLuminance ( )
virtual

Destructor.

Destructor that free allocated memory.

Definition at line 141 of file vpFeatureLuminance.cpp.

References pixInfo.

Member Function Documentation

void vpFeatureLuminance::buildFrom ( vpImage< unsigned char > &  I)
unsigned int vpBasicFeature::dimension_s ( )
inlineinherited

Return the dimension of the feature vector $\bf s$.

Definition at line 110 of file vpBasicFeature.h.

References vpColor::green.

void vpFeatureLuminance::display ( const vpCameraParameters cam,
const vpImage< unsigned char > &  I,
const vpColor color = vpColor::green,
unsigned int  thickness = 1 
) const
virtual

Not implemented.

Implements vpBasicFeature.

Definition at line 316 of file vpFeatureLuminance.cpp.

References vpERROR_TRACE.

void vpFeatureLuminance::display ( const vpCameraParameters cam,
const vpImage< vpRGBa > &  I,
const vpColor color = vpColor::green,
unsigned int  thickness = 1 
) const
virtual

Not implemented.

Implements vpBasicFeature.

Definition at line 334 of file vpFeatureLuminance.cpp.

References vpERROR_TRACE.

vpFeatureLuminance * vpFeatureLuminance::duplicate ( ) const
virtual

Create an object with the same type.

s_star = s.duplicate(); // s_star is now a vpFeatureLuminance

Implements vpBasicFeature.

Definition at line 357 of file vpFeatureLuminance.cpp.

References vpFeatureLuminance().

vpColVector vpFeatureLuminance::error ( const vpBasicFeature s_star,
const unsigned int  select = FEATURE_ALL 
)
virtual

Compute the error $ (I-I^*)$ between the current and the desired

Parameters
s_star: Desired visual feature.
select: Not used.

Reimplemented from vpBasicFeature.

Examples:
photometricVisualServoing.cpp.

Definition at line 284 of file vpFeatureLuminance.cpp.

void vpFeatureLuminance::error ( const vpBasicFeature s_star,
vpColVector e 
)

Compute the error $ (I-I^*)$ between the current and the desired

Parameters
s_star: Desired visual feature.
e: Error between the current and the desired features.

Definition at line 268 of file vpFeatureLuminance.cpp.

References vpBasicFeature::dim_s, vpColVector::resize(), and vpBasicFeature::s.

vpColVector vpFeatureLuminance::error ( const unsigned int  select = FEATURE_ALL)

Compute the error between a visual features and zero.

double vpFeatureLuminance::get_Z ( ) const

Get the value of $ Z $ which represents the depth in the 3D camera frame.

Returns
The value of $ Z $.

Definition at line 165 of file vpFeatureLuminance.cpp.

References Z.

vpBasicFeatureDeallocatorType vpBasicFeature::getDeallocate ( )
inlineinherited

Definition at line 123 of file vpBasicFeature.h.

unsigned int vpBasicFeature::getDimension ( const unsigned int  select = FEATURE_ALL) const
inherited

Get the feature vector dimension.

Definition at line 100 of file vpBasicFeature.cpp.

References vpBasicFeature::dim_s, vpBasicFeature::FEATURE_LINE, vpArray2D< Type >::getRows(), and vpBasicFeature::s.

Referenced by vpFeatureMoment::vpFeatureMoment().

void vpFeatureLuminance::init ( void  )
virtual

Initialize the memory space requested for vpFeatureLuminance visual feature.

Implements vpBasicFeature.

Examples:
photometricVisualServoing.cpp.

Definition at line 59 of file vpFeatureLuminance.cpp.

References firstTimeIn, vpBasicFeature::flags, nbc, vpBasicFeature::nbParameters, nbr, and Z.

Referenced by init(), and vpFeatureLuminance().

void vpFeatureLuminance::init ( unsigned int  _nbr,
unsigned int  _nbc,
double  _Z 
)
vpMatrix vpFeatureLuminance::interaction ( const unsigned int  select = FEATURE_ALL)
virtual

Compute and return the interaction matrix $ L_I $. The computation is made thanks to the values of the luminance features $ I $

Implements vpBasicFeature.

Examples:
photometricVisualServoing.cpp.

Definition at line 253 of file vpFeatureLuminance.cpp.

void vpFeatureLuminance::interaction ( vpMatrix L)

Compute and return the interaction matrix $ L_I $. The computation is made thanks to the values of the luminance features $ I $

Definition at line 226 of file vpFeatureLuminance.cpp.

References vpBasicFeature::dim_s, vpArray2D< Type >::getRows(), pixInfo, and vpArray2D< Type >::resize().

vpFeatureLuminance & vpFeatureLuminance::operator= ( const vpFeatureLuminance f)

Copy operator.

Definition at line 122 of file vpFeatureLuminance.cpp.

References bord, cam, vpBasicFeature::dim_s, firstTimeIn, nbc, nbr, pixInfo, and Z.

virtual double vpBasicFeature::operator[] ( const unsigned int  i) const
inlinevirtualinherited

Return element i in the state vector (usage : x = s[i] )

Definition at line 130 of file vpBasicFeature.h.

void vpFeatureLuminance::print ( const unsigned int  select = FEATURE_ALL) const
virtual

Not implemented.

Implements vpBasicFeature.

Definition at line 299 of file vpFeatureLuminance.cpp.

References vpERROR_TRACE.

static unsigned int vpBasicFeature::selectAll ( )
inlinestaticinherited

Select all the features.

Definition at line 142 of file vpBasicFeature.h.

void vpFeatureLuminance::set_Z ( const double  Z_)

Set the value of $ Z $ which represents the depth in the 3D camera frame.

Parameters
Z_: $ Z $ value to set.

Definition at line 153 of file vpFeatureLuminance.cpp.

References vpBasicFeature::flags, and Z.

void vpFeatureLuminance::setCameraParameters ( vpCameraParameters _cam)
Examples:
photometricVisualServoing.cpp.

Definition at line 167 of file vpFeatureLuminance.cpp.

References cam.

void vpBasicFeature::setDeallocate ( vpBasicFeatureDeallocatorType  d)
inlineinherited

Definition at line 137 of file vpBasicFeature.h.

Referenced by vpServo::addFeature().

void vpBasicFeature::setFlags ( )
inherited

Set feature flags to true to prevent warning when re-computing the interaction matrix without having updated the feature.

Definition at line 141 of file vpBasicFeature.cpp.

References vpBasicFeature::flags, and vpBasicFeature::nbParameters.

Member Data Documentation

unsigned int vpFeatureLuminance::bord
protected

Border size.

Definition at line 91 of file vpFeatureLuminance.h.

Referenced by buildFrom(), init(), and operator=().

vpCameraParameters vpFeatureLuminance::cam

Definition at line 132 of file vpFeatureLuminance.h.

Referenced by buildFrom(), operator=(), and setCameraParameters().

const unsigned int vpBasicFeature::FEATURE_LINE
staticinherited
Initial value:
= {
(unsigned int)(1 << 0), (unsigned int)(1 << 1), (unsigned int)(1 << 2), (unsigned int)(1 << 3),
(unsigned int)(1 << 4), (unsigned int)(1 << 5), (unsigned int)(1 << 6), (unsigned int)(1 << 7),
(unsigned int)(1 << 8), (unsigned int)(1 << 9), (unsigned int)(1 << 10), (unsigned int)(1 << 11),
(unsigned int)(1 << 12), (unsigned int)(1 << 13), (unsigned int)(1 << 14), (unsigned int)(1 << 15),
(unsigned int)(1 << 16), (unsigned int)(1 << 17), (unsigned int)(1 << 18), (unsigned int)(1 << 19),
(unsigned int)(1 << 20), (unsigned int)(1 << 21), (unsigned int)(1 << 22), (unsigned int)(1 << 23),
(unsigned int)(1 << 24), (unsigned int)(1 << 25), (unsigned int)(1 << 26), (unsigned int)(1 << 27),
(unsigned int)(1 << 28), (unsigned int)(1 << 29), (unsigned int)(1 << 30), (unsigned int)(1 << 31)}

Definition at line 80 of file vpBasicFeature.h.

Referenced by vpBasicFeature::error(), vpGenericFeature::error(), vpBasicFeature::get_s(), vpBasicFeature::getDimension(), vpFeatureMoment::getDimension(), vpGenericFeature::interaction(), vpFeatureMoment::interaction(), vpGenericFeature::print(), vpFeatureMoment::print(), vpFeatureSegment::selectAlpha(), vpFeatureSegment::selectL(), vpFeatureEllipse::selectMu02(), vpFeatureEllipse::selectMu11(), vpFeatureEllipse::selectMu20(), vpFeatureLine::selectRho(), vpFeaturePointPolar::selectRho(), vpFeatureLine::selectTheta(), vpFeaturePointPolar::selectTheta(), vpFeatureThetaU::selectTUx(), vpFeatureThetaU::selectTUy(), vpFeatureThetaU::selectTUz(), vpFeatureTranslation::selectTx(), vpFeatureTranslation::selectTy(), vpFeatureTranslation::selectTz(), vpFeatureVanishingPoint::selectX(), vpFeatureEllipse::selectX(), vpFeaturePoint::selectX(), vpFeaturePoint3D::selectX(), vpFeatureSegment::selectXc(), vpFeatureVanishingPoint::selectY(), vpFeatureEllipse::selectY(), vpFeaturePoint::selectY(), vpFeaturePoint3D::selectY(), vpFeatureSegment::selectYc(), and vpFeaturePoint3D::selectZ().

int vpFeatureLuminance::firstTimeIn
protected

Definition at line 95 of file vpFeatureLuminance.h.

Referenced by buildFrom(), init(), and operator=().

bool* vpBasicFeature::flags
protectedinherited

Ensure that all the parameters needed to compute the iteraction matrix are set.

Definition at line 98 of file vpBasicFeature.h.

Referenced by vpFeatureEllipse::buildFrom(), vpFeatureVanishingPoint::buildFrom(), vpFeatureDepth::buildFrom(), vpFeaturePoint::buildFrom(), vpFeatureLine::buildFrom(), vpFeaturePoint3D::buildFrom(), vpFeatureThetaU::buildFrom(), vpFeaturePointPolar::buildFrom(), vpFeatureTranslation::buildFrom(), vpFeatureMoment::duplicate(), vpFeatureVanishingPoint::init(), vpFeatureEllipse::init(), init(), vpFeatureSegment::init(), vpFeatureDepth::init(), vpFeaturePoint::init(), vpFeatureMoment::init(), vpFeatureLine::init(), vpFeaturePoint3D::init(), vpFeatureThetaU::init(), vpFeaturePointPolar::init(), vpFeatureTranslation::init(), vpFeatureVanishingPoint::interaction(), vpFeatureEllipse::interaction(), vpFeatureSegment::interaction(), vpFeatureDepth::interaction(), vpFeaturePoint::interaction(), vpFeatureLine::interaction(), vpFeaturePoint3D::interaction(), vpFeatureThetaU::interaction(), vpFeaturePointPolar::interaction(), vpFeatureTranslation::interaction(), vpBasicFeature::operator=(), vpBasicFeature::resetFlags(), vpFeaturePointPolar::set_rho(), vpFeaturePointPolar::set_rhoThetaZ(), vpFeaturePointPolar::set_theta(), vpFeatureThetaU::set_TUx(), vpFeatureThetaU::set_TUy(), vpFeatureThetaU::set_TUz(), vpFeatureVanishingPoint::set_x(), vpFeatureEllipse::set_x(), vpFeatureDepth::set_x(), vpFeaturePoint::set_x(), vpFeaturePoint3D::set_X(), vpFeatureEllipse::set_xy(), vpFeaturePoint::set_xyZ(), vpFeaturePoint3D::set_XYZ(), vpFeatureDepth::set_xyZLogZoverZstar(), vpFeatureVanishingPoint::set_y(), vpFeatureEllipse::set_y(), vpFeatureDepth::set_y(), vpFeaturePoint::set_y(), vpFeaturePoint3D::set_Y(), set_Z(), vpFeatureDepth::set_Z(), vpFeaturePoint::set_Z(), vpFeaturePoint3D::set_Z(), vpFeaturePointPolar::set_Z(), vpFeatureEllipse::setABC(), vpFeatureLine::setABCD(), vpBasicFeature::setFlags(), vpFeatureEllipse::setMu(), vpFeatureLine::setRhoTheta(), vpFeatureMoment::update(), vpFeatureLuminance(), and vpBasicFeature::~vpBasicFeature().

unsigned int vpFeatureLuminance::nbc
protected

Number of column.

Definition at line 89 of file vpFeatureLuminance.h.

Referenced by buildFrom(), init(), and operator=().

unsigned int vpFeatureLuminance::nbr
protected

Number of rows.

Definition at line 87 of file vpFeatureLuminance.h.

Referenced by buildFrom(), init(), and operator=().

vpLuminance* vpFeatureLuminance::pixInfo
protected

Store the image (as a vector with intensity and gradient I, Ix, Iy)

Definition at line 94 of file vpFeatureLuminance.h.

Referenced by buildFrom(), init(), interaction(), operator=(), and ~vpFeatureLuminance().

vpColVector vpBasicFeature::s
protectedinherited

State of the visual feature.

Definition at line 92 of file vpBasicFeature.h.

Referenced by vpFeatureEllipse::buildFrom(), vpFeatureVanishingPoint::buildFrom(), buildFrom(), vpFeatureDepth::buildFrom(), vpFeaturePoint::buildFrom(), vpFeatureLine::buildFrom(), vpFeaturePoint3D::buildFrom(), vpFeatureThetaU::buildFrom(), vpFeaturePointPolar::buildFrom(), vpFeatureTranslation::buildFrom(), vpFeatureEllipse::display(), vpFeatureMoment::duplicate(), vpFeatureVanishingPoint::error(), vpFeatureEllipse::error(), error(), vpBasicFeature::error(), vpFeatureDepth::error(), vpFeatureMomentAlpha::error(), vpGenericFeature::error(), vpFeaturePoint::error(), vpFeatureLine::error(), vpFeaturePoint3D::error(), vpFeatureThetaU::error(), vpFeaturePointPolar::error(), vpFeatureTranslation::error(), vpFeatureDepth::get_LogZoverZstar(), vpFeaturePointPolar::get_rho(), vpBasicFeature::get_s(), vpGenericFeature::get_s(), vpFeaturePointPolar::get_theta(), vpFeatureThetaU::get_TUx(), vpFeatureThetaU::get_TUy(), vpFeatureThetaU::get_TUz(), vpFeatureTranslation::get_Tx(), vpFeatureTranslation::get_Ty(), vpFeatureTranslation::get_Tz(), vpFeatureVanishingPoint::get_x(), vpFeaturePoint::get_x(), vpFeaturePoint3D::get_X(), vpFeatureVanishingPoint::get_y(), vpFeaturePoint::get_y(), vpFeaturePoint3D::get_Y(), vpFeaturePoint3D::get_Z(), vpBasicFeature::getDimension(), vpFeatureVanishingPoint::init(), vpFeatureEllipse::init(), init(), vpFeatureSegment::init(), vpFeatureDepth::init(), vpGenericFeature::init(), vpFeaturePoint::init(), vpFeatureMoment::init(), vpFeatureLine::init(), vpFeaturePoint3D::init(), vpFeatureThetaU::init(), vpFeaturePointPolar::init(), vpFeatureTranslation::init(), vpFeatureEllipse::interaction(), vpFeatureLine::interaction(), vpFeatureThetaU::interaction(), vpFeatureTranslation::interaction(), vpBasicFeature::operator=(), vpFeatureEllipse::print(), vpFeatureSegment::print(), vpGenericFeature::print(), vpFeatureMoment::print(), vpFeatureLine::print(), vpFeatureThetaU::print(), vpFeatureTranslation::print(), vpFeatureDepth::set_LogZoverZstar(), vpFeaturePointPolar::set_rho(), vpGenericFeature::set_s(), vpFeaturePointPolar::set_theta(), vpFeatureThetaU::set_TUx(), vpFeatureThetaU::set_TUy(), vpFeatureThetaU::set_TUz(), vpFeatureTranslation::set_Tx(), vpFeatureTranslation::set_Ty(), vpFeatureTranslation::set_Tz(), vpFeatureVanishingPoint::set_x(), vpFeatureEllipse::set_x(), vpFeaturePoint::set_x(), vpFeaturePoint3D::set_X(), vpFeatureEllipse::set_xy(), vpFeatureEllipse::set_y(), vpFeatureVanishingPoint::set_y(), vpFeaturePoint::set_y(), vpFeaturePoint3D::set_Y(), vpFeaturePoint3D::set_Z(), vpFeatureEllipse::setMu(), vpFeatureLine::setRhoTheta(), vpFeatureMoment::update(), and vpGenericFeature::vpGenericFeature().

double vpFeatureLuminance::Z
protected

FeaturePoint depth (required to compute the interaction matrix) default Z = 1m

Definition at line 84 of file vpFeatureLuminance.h.

Referenced by buildFrom(), get_Z(), init(), operator=(), and set_Z().