#include <visp3/visual_features/vpFeatureLuminanceMapping.h>

Inheritance diagram for vpLuminanceDCT:

Classes
class	vpMatrixZigZagIndex

Public Member Functions
	vpLuminanceDCT (const unsigned int k)

void	init (const unsigned int k)

	vpLuminanceDCT (const vpLuminanceDCT &other)

vpLuminanceDCT &	operator= (const vpLuminanceDCT &)=default

void	map (const vpImage< unsigned char > &I, vpColVector &s) VP_OVERRIDE

void	inverse (const vpColVector &s, vpImage< unsigned char > &I) VP_OVERRIDE

void	interaction (const vpImage< unsigned char > &I, const vpMatrix &LI, const vpColVector &s, vpMatrix &L) VP_OVERRIDE

unsigned int	getProjectionSize () const

unsigned int	getBorder () const

void	setBorder (unsigned border)

Static Public Member Functions
static void	imageAsVector (const vpImage< unsigned char > &I, vpColVector &Ivec, unsigned border)

static void	imageAsMatrix (const vpImage< unsigned char > &I, vpMatrix &Imat, unsigned border)

Protected Attributes
unsigned int	m_Ih

unsigned int	m_Iw

vpMatrix	m_Imat

vpMatrix	m_dct

vpMatrix	m_Dcols

vpMatrix	m_Drows

std::array< vpMatrix, 6 >	m_dIdrPlanes

vpLuminanceDCT::vpMatrixZigZagIndex	m_zigzag

unsigned	m_mappingSize

unsigned	m_border

Detailed Description

Implementation of [36].

Computes the Discrete Cosine Transform (DCT) representation of the image. Only the K first components are preserved and stored into a vector when calling map. These components correspond to the lowest frequencies of the input image.

Examples: catchLuminanceMapping.cpp, and photometricMappingVisualServoing.cpp.

Definition at line 286 of file vpFeatureLuminanceMapping.h.

Constructor & Destructor Documentation

◆ vpLuminanceDCT() [1/2]

vpLuminanceDCT::vpLuminanceDCT ( const unsigned int k )

inline

Build a new DCT object.

Parameters

k	the number of components to keep from the DCT matrix and use as servoing features

Definition at line 335 of file vpFeatureLuminanceMapping.h.

◆ vpLuminanceDCT() [2/2]

vpLuminanceDCT::vpLuminanceDCT ( const vpLuminanceDCT & other )

Copy constructor.

Definition at line 426 of file vpFeatureLuminanceMapping.cpp.

Member Function Documentation

◆ getBorder()

unsigned int vpLuminanceMapping::getBorder ( ) const

inlineinherited

Returns the number of pixels that are removed by the photometric VS computation.

Returns: space size

Examples: catchLuminanceMapping.cpp.

Definition at line 114 of file vpFeatureLuminanceMapping.h.

◆ getProjectionSize()

unsigned int vpLuminanceMapping::getProjectionSize ( ) const

inlineinherited

Returns the size of the space to which an image is mapped to.

Returns: space size

Examples: catchLuminanceMapping.cpp.

Definition at line 107 of file vpFeatureLuminanceMapping.h.

◆ imageAsMatrix()

void vpLuminanceMapping::imageAsMatrix	(	const vpImage< unsigned char > &	I,
		vpMatrix &	Imat,
		unsigned	border
	)

staticinherited

Definition at line 59 of file vpFeatureLuminanceMapping.cpp.

References vpException::dimensionError, vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), and vpArray2D< Type >::resize().

Referenced by map().

◆ imageAsVector()

BEGIN_VISP_NAMESPACE void vpLuminanceMapping::imageAsVector	(	const vpImage< unsigned char > &	I,
		vpColVector &	Ivec,
		unsigned	border
	)

staticinherited

Definition at line 43 of file vpFeatureLuminanceMapping.cpp.

References vpException::dimensionError, vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), and vpColVector::resize().

Referenced by vpLuminancePCA::map().

◆ init()

void vpLuminanceDCT::init ( const unsigned int k )

inline

Initialize the DCT object with the number of required components.

Definition at line 343 of file vpFeatureLuminanceMapping.h.

References vpFeatureLuminance::DEFAULT_BORDER.

◆ interaction()

void vpLuminanceDCT::interaction	(	const vpImage< unsigned char > &	I,
		const vpMatrix &	LI,
		const vpColVector &	s,
		vpMatrix &	L
	)

virtual

Compute the interaction matrix associated with the representation s.

Parameters

I	input image used to compute s
LI	Photometric interaction matrix associated to `I` (see vpFeatureLuminance)
s	the already computed representation
L	The output interaction matrix, of dimensions getProjectionSize() x 6

Implements vpLuminanceMapping.

Definition at line 478 of file vpFeatureLuminanceMapping.cpp.

References vpLuminanceDCT::vpMatrixZigZagIndex::getValues(), m_Dcols, m_dIdrPlanes, m_Drows, m_Ih, m_Iw, vpLuminanceMapping::m_mappingSize, m_zigzag, and vpMatrix::t().

◆ inverse()

void vpLuminanceDCT::inverse	(	const vpColVector &	s,
		vpImage< unsigned char > &	I
	)

virtual

Reconstruct I from a representation s.

Parameters

s	the representation
I	Output lossy reconstruction

Implements vpLuminanceMapping.

Definition at line 465 of file vpFeatureLuminanceMapping.cpp.

References vpArray2D< Type >::getCols(), vpImage< Type >::getCols(), vpArray2D< Type >::getRows(), vpImage< Type >::getRows(), m_Dcols, m_dct, m_Drows, m_zigzag, vpImage< Type >::resize(), vpLuminanceDCT::vpMatrixZigZagIndex::setValues(), and vpMatrix::t().

◆ map()

void vpLuminanceDCT::map	(	const vpImage< unsigned char > &	I,
		vpColVector &	s
	)

virtual

Map an image I to a representation s. This representation s has getProjectionSize() rows.

Note that when combined with vpFeatureLuminanceMapping, The image I does not have the same size as the image input of vpFeatureLuminanceMapping::build. I is the center crop of this image.

Parameters

I	The input image
s	The resulting representation that will serve as visual servoing features.

Implements vpLuminanceMapping.

Definition at line 431 of file vpFeatureLuminanceMapping.cpp.

References vpArray2D< Type >::getCols(), vpImage< Type >::getHeight(), vpArray2D< Type >::getRows(), vpLuminanceDCT::vpMatrixZigZagIndex::getValues(), vpImage< Type >::getWidth(), vpLuminanceMapping::imageAsMatrix(), vpLuminanceDCT::vpMatrixZigZagIndex::init(), vpLuminanceMapping::m_border, m_Dcols, m_dct, m_Drows, m_Ih, m_Imat, m_Iw, vpLuminanceMapping::m_mappingSize, and m_zigzag.

◆ operator=()

vpLuminanceDCT& vpLuminanceDCT::operator= ( const vpLuminanceDCT & )

default

◆ setBorder()

void vpLuminanceMapping::setBorder ( unsigned border )

inlineinherited

Set the number of pixels that are removed by the photometric VS computation This function should be called by vpFeatureLuminanceMapping.

Parameters

border

Examples: catchLuminanceMapping.cpp.

Definition at line 122 of file vpFeatureLuminanceMapping.h.

Member Data Documentation

◆ m_border

unsigned vpLuminanceMapping::m_border

protectedinherited

Final vector size.

Definition at line 129 of file vpFeatureLuminanceMapping.h.

Referenced by vpLuminancePCA::init(), vpLuminancePCA::map(), map(), and vpLuminancePCA::operator=().

◆ m_Dcols

vpMatrix vpLuminanceDCT::m_Dcols

protected

DCT representation of the image.

Definition at line 369 of file vpFeatureLuminanceMapping.h.

Referenced by interaction(), inverse(), and map().

◆ m_dct

vpMatrix vpLuminanceDCT::m_dct

protected

Image as a matrix.

Definition at line 368 of file vpFeatureLuminanceMapping.h.

Referenced by inverse(), and map().

◆ m_dIdrPlanes

std::array<vpMatrix, 6> vpLuminanceDCT::m_dIdrPlanes

protected

the computed DCT matrices. The separable property of DCt is used so that a 1D DCT is computed on rows and another on columns of the result of the first dct;

Definition at line 370 of file vpFeatureLuminanceMapping.h.

Referenced by interaction().