Visual Servoing Platform  version 3.4.1 under development (2021-04-20)
vpFeatureLuminance.h
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29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Luminance based feature.
33  *
34  * Authors:
35  * Eric Marchand
36  *
37  *****************************************************************************/
38 
39 #ifndef vpFeatureLuminance_h
40 #define vpFeatureLuminance_h
41 
42 #include <visp3/core/vpImage.h>
43 #include <visp3/core/vpMatrix.h>
44 #include <visp3/visual_features/vpBasicFeature.h>
45 
53 #ifndef DOXYGEN_SHOULD_SKIP_THIS
54 
61 class VISP_EXPORT vpLuminance
62 {
63 public:
64  double x, y; // point coordinates (in meter)
65  double I; // pixel intensity
66  double Ix, Iy; // pixel gradient
67  double Z; // pixel depth
68 };
69 #endif
70 
79 class VISP_EXPORT vpFeatureLuminance : public vpBasicFeature
80 {
81 protected:
84  double Z;
85 
87  unsigned int nbr;
89  unsigned int nbc;
91  unsigned int bord;
92 
94  vpLuminance *pixInfo;
96 
97 public:
101  virtual ~vpFeatureLuminance();
102 
103  void buildFrom(vpImage<unsigned char> &I);
104 
105  void display(const vpCameraParameters &cam, const vpImage<unsigned char> &I, const vpColor &color = vpColor::green,
106  unsigned int thickness = 1) const;
107  void display(const vpCameraParameters &cam, const vpImage<vpRGBa> &I, const vpColor &color = vpColor::green,
108  unsigned int thickness = 1) const;
109 
110  vpFeatureLuminance *duplicate() const;
111 
112  vpColVector error(const vpBasicFeature &s_star, unsigned int select = FEATURE_ALL);
113  void error(const vpBasicFeature &s_star, vpColVector &e);
115  vpColVector error(unsigned int select = FEATURE_ALL);
116 
117  double get_Z() const;
118 
119  void init();
120  void init(unsigned int _nbr, unsigned int _nbc, double _Z);
121  vpMatrix interaction(unsigned int select = FEATURE_ALL);
122  void interaction(vpMatrix &L);
123 
125 
126  void print(unsigned int select = FEATURE_ALL) const;
127 
128  void setCameraParameters(vpCameraParameters &_cam);
129  void set_Z(double Z);
130 
131 public:
133 };
134 
135 #endif
vpBasicFeature & operator=(const vpBasicFeature &f)
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:153
vpLuminance * pixInfo
Store the image (as a vector with intensity and gradient I, Ix, Iy)
unsigned int bord
Border size.
Class to define RGB colors available for display functionnalities.
Definition: vpColor.h:157
static const vpColor green
Definition: vpColor.h:220
unsigned int nbr
Number of rows.
virtual void print(unsigned int select=FEATURE_ALL) const =0
Print the name of the feature.
class that defines what is a visual feature
virtual vpColVector error(const vpBasicFeature &s_star, unsigned int select=FEATURE_ALL)
Class that defines the image luminance visual feature.
Generic class defining intrinsic camera parameters.
virtual void init()=0
vpCameraParameters cam
unsigned int nbc
Number of column.
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
virtual vpBasicFeature * duplicate() const =0
virtual vpMatrix interaction(unsigned int select=FEATURE_ALL)=0
Compute the interaction matrix from a subset of the possible features.
virtual void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const =0