vpFeatureLuminance.h

/****************************************************************************
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2017 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://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * 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:
 * Luminance based feature.
 *
 * Authors:
 * Eric Marchand
 *
 *****************************************************************************/

#ifndef vpFeatureLuminance_h
#define vpFeatureLuminance_h

#include <visp3/core/vpMatrix.h>
#include <visp3/visual_features/vpBasicFeature.h>
#include <visp3/core/vpImage.h>


#ifndef DOXYGEN_SHOULD_SKIP_THIS

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

};
#endif

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

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

 public:
  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 ;

  vpFeatureLuminance *duplicate() 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);

  vpFeatureLuminance &operator=(const vpFeatureLuminance& f) ;

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

  void setCameraParameters(vpCameraParameters &_cam)  ;
  void set_Z(const double Z) ;


 public:
  vpCameraParameters cam ;
} ;

#endif