Visual Servoing Platform  version 3.6.1 under development (2024-02-13)
vpFeatureLuminance.h
1 /*
2  * ViSP, open source Visual Servoing Platform software.
3  * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
4  *
5  * This software is free software; you can redistribute it and/or modify
6  * it under the terms of the GNU General Public License as published by
7  * the Free Software Foundation; either version 2 of the License, or
8  * (at your option) any later version.
9  * See the file LICENSE.txt at the root directory of this source
10  * distribution for additional information about the GNU GPL.
11  *
12  * For using ViSP with software that can not be combined with the GNU
13  * GPL, please contact Inria about acquiring a ViSP Professional
14  * Edition License.
15  *
16  * See https://visp.inria.fr for more information.
17  *
18  * This software was developed at:
19  * Inria Rennes - Bretagne Atlantique
20  * Campus Universitaire de Beaulieu
21  * 35042 Rennes Cedex
22  * France
23  *
24  * If you have questions regarding the use of this file, please contact
25  * Inria at visp@inria.fr
26  *
27  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
28  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29  *
30  * Description:
31  * Luminance based feature.
32  */
33 
34 #ifndef vpFeatureLuminance_h
35 #define vpFeatureLuminance_h
36 
37 #include <visp3/core/vpImage.h>
38 #include <visp3/core/vpMatrix.h>
39 #include <visp3/visual_features/vpBasicFeature.h>
40 
48 #ifndef DOXYGEN_SHOULD_SKIP_THIS
49 
56 class VISP_EXPORT vpLuminance
57 {
58 public:
59  double x, y; // point coordinates (in meter)
60  double I; // pixel intensity
61  double Ix, Iy; // pixel gradient
62  double Z; // pixel depth
63 };
64 #endif
65 
73 class VISP_EXPORT vpFeatureLuminance : public vpBasicFeature
74 {
75 protected:
78  double Z;
79 
81  unsigned int nbr;
83  unsigned int nbc;
85  unsigned int bord;
86 
88  vpLuminance *pixInfo;
90 
91 public:
94 
96  virtual ~vpFeatureLuminance() vp_override;
97 
98  void buildFrom(vpImage<unsigned char> &I);
99 
100  void display(const vpCameraParameters &cam, const vpImage<unsigned char> &I, const vpColor &color = vpColor::green,
101  unsigned int thickness = 1) const vp_override;
102  void display(const vpCameraParameters &cam, const vpImage<vpRGBa> &I, const vpColor &color = vpColor::green,
103  unsigned int thickness = 1) const vp_override;
104 
105  vpFeatureLuminance *duplicate() const vp_override;
106 
107  vpColVector error(const vpBasicFeature &s_star, unsigned int select = FEATURE_ALL) vp_override;
108  void error(const vpBasicFeature &s_star, vpColVector &e);
109 
110  double get_Z() const;
111 
112  void init(unsigned int _nbr, unsigned int _nbc, double _Z);
113 
114  void init() vp_override;
115  vpMatrix interaction(unsigned int select = FEATURE_ALL) vp_override;
116  void interaction(vpMatrix &L);
117  void print(unsigned int select = FEATURE_ALL) const vp_override;
118 
119  vpFeatureLuminance &operator=(const vpFeatureLuminance &f);
120 
121 
122  void setCameraParameters(vpCameraParameters &_cam);
123  void set_Z(double Z);
124 
125 public:
127 };
128 
129 #endif
class that defines what is a visual feature
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
Definition: vpColVector.h:163
Class to define RGB colors available for display functionalities.
Definition: vpColor.h:152
Class that defines the image luminance visual feature.
unsigned int nbr
Number of rows.
vpLuminance * pixInfo
Store the image (as a vector with intensity and gradient I, Ix, Iy)
unsigned int nbc
Number of column.
unsigned int bord
Border size.
Definition of the vpImage class member functions.
Definition: vpImage.h:69
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:146
Definition: vpRGBa.h:61