vpMomentObject.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:
 * Object input structure used by moments.
 *
 * Authors:
 * Filip Novotny
 * Manikandan Bakthavatchalam
 *****************************************************************************/
#ifndef __MOMENTOBJECT_H__
#define __MOMENTOBJECT_H__

#include <visp3/core/vpImage.h>
#include <visp3/core/vpMoment.h>
#include <visp3/core/vpPoint.h>
#include <visp3/core/vpMath.h>
#include <cstdlib>
#include <utility>

class vpCameraParameters;

class VISP_EXPORT vpMomentObject
{
public:

  typedef enum{
    DENSE_FULL_OBJECT = 0, 
    DENSE_POLYGON = 1, 
    DISCRETE = 2, 
  } vpObjectType;

   typedef enum{
       BLACK = 0, 
       WHITE = 1, 
    } vpCameraImgBckGrndType;

  bool flg_normalize_intensity;                 // To scale the intensity of each individual pixel in the image by the maximum intensity value present in it

  // Constructors
  vpMomentObject(unsigned int order);
  vpMomentObject(const vpMomentObject& srcobj);
  virtual ~vpMomentObject();

  void fromImage(const vpImage<unsigned char>& image,unsigned char threshold, const vpCameraParameters& cam); // Binary version
  void fromImage(const vpImage<unsigned char>& image, const vpCameraParameters& cam, vpCameraImgBckGrndType bg_type, bool normalize_with_pix_size = true); // Photometric version

  void fromVector(std::vector<vpPoint>& points);
  const std::vector<double>& get() const;
  double get(unsigned int i,unsigned int j) const;

  vpObjectType getType() const {return type;}

  unsigned int getOrder() const {return order-1;}

  // Constructor helpers
  void init(unsigned int orderinp);
  void init(const vpMomentObject& objin);

  friend VISP_EXPORT std::ostream & operator<<(std::ostream & os, const vpMomentObject& v);
  static void printWithIndices(const vpMomentObject& momobj, std::ostream& os);
  void setType(vpObjectType input_type){this->type=input_type;}

  static vpMatrix convertTovpMatrix(const vpMomentObject& momobj);

protected:
  unsigned int order;
  vpObjectType type;
  std::vector<double> values;
  void set(unsigned int i, unsigned int j, const double& value_ij);
  void cacheValues(std::vector<double>& cache,double x, double y);

private:
  void cacheValues(std::vector<double>& cache,double x, double y, double IntensityNormalized);
  double calc_mom_polygon(unsigned int p, unsigned int q, const std::vector<vpPoint>& points);

};

#endif