vpFeatureLuminance.h

/****************************************************************************
 *
 * $Id: vpFeatureLuminance.h 4664 2014-02-16 16:17:54Z fspindle $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
 * 
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact INRIA about acquiring a ViSP Professional 
 * Edition License.
 *
 * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
 * 
 * This software was developed at:
 * INRIA Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 * http://www.irisa.fr/lagadic
 *
 * If you have questions regarding the use of this file, please contact
 * INRIA at visp@inria.fr
 * 
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 *
 * Description:
 *   Luninance based feature .
 *
 * Authors:
 * Eric Marchand
 *
 *****************************************************************************/

#ifndef vpFeatureLuminance_h
#define vpFeatureLuminance_h

#include <visp/vpMatrix.h>
#include <visp/vpBasicFeature.h>
#include <visp/vpImage.h>


class VISP_EXPORT vpLuminance
{
 public:
  double x, y;   // point coordinates (in meter)
  double I ; // pixel intensity
  double Ix,Iy ; // pixel gradient
  double Z; // pixel depth

};


class VISP_EXPORT vpFeatureLuminance : public vpBasicFeature
{
 protected:
  double Z ;

  unsigned int nbr ;
  unsigned int nbc ;
  unsigned int bord ;
  
  vpLuminance *pixInfo ;
  int  firstTimeIn  ;

 public:
  void buildFrom(vpImage<unsigned char> &I) ;

public: 

  void init() ;
  void init(unsigned int _nbr, unsigned int _nbc, double _Z) ;

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

  virtual ~vpFeatureLuminance()  ;

 public:
  vpCameraParameters cam ;
  void setCameraParameters(vpCameraParameters &_cam)  ;
  /*
    section Set/get Z
  */


  void set_Z(const double Z) ;
  double get_Z() const  ;


  /*
    vpBasicFeature method instantiation
  */

 
  vpMatrix  interaction(const unsigned int select = FEATURE_ALL);
  void      interaction(vpMatrix &L);

  vpColVector error(const vpBasicFeature &s_star,
                    const unsigned int select = FEATURE_ALL)  ;
  void error(const vpBasicFeature &s_star,
             vpColVector &e)  ;

  void print(const unsigned int select = FEATURE_ALL ) const ;

  vpFeatureLuminance *duplicate() const ;


  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 ;

  vpColVector error(const unsigned int select = FEATURE_ALL)  ;
} ;



#endif