Visual Servoing Platform  version 3.6.1 under development (2024-11-14)
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 
41 #ifndef vpFeatureLuminance_h
42 #define vpFeatureLuminance_h
43 
44 #include <visp3/core/vpConfig.h>
45 #include <visp3/core/vpImage.h>
46 #include <visp3/core/vpMatrix.h>
47 #include <visp3/visual_features/vpBasicFeature.h>
48 
49 BEGIN_VISP_NAMESPACE
50 #ifndef DOXYGEN_SHOULD_SKIP_THIS
57 class VISP_EXPORT vpLuminance
58 {
59 public:
60  double x, y; // point coordinates (in meter)
61  double I; // pixel intensity
62  double Ix, Iy; // pixel gradient
63  double Z; // pixel depth
64 };
65 #endif
66 
74 class VISP_EXPORT vpFeatureLuminance : public vpBasicFeature
75 {
76 protected:
79  double Z;
80 
82  unsigned int nbr;
84  unsigned int nbc;
86  unsigned int bord;
87 
89  vpLuminance *pixInfo;
91 
92 public:
95 
97  virtual ~vpFeatureLuminance() VP_OVERRIDE;
98 
99  vpFeatureLuminance &buildFrom(vpImage<unsigned char> &I);
100 
101  void display(const vpCameraParameters &cam, const vpImage<unsigned char> &I, const vpColor &color = vpColor::green,
102  unsigned int thickness = 1) const VP_OVERRIDE;
103  void display(const vpCameraParameters &cam, const vpImage<vpRGBa> &I, const vpColor &color = vpColor::green,
104  unsigned int thickness = 1) const VP_OVERRIDE;
105 
106  vpFeatureLuminance *duplicate() const VP_OVERRIDE;
107 
108  vpColVector error(const vpBasicFeature &s_star, unsigned int select = FEATURE_ALL) VP_OVERRIDE;
109  void error(const vpBasicFeature &s_star, vpColVector &e);
110 
111  double get_Z() const;
112  unsigned int getBorder() const;
113 
114 
115  void init(unsigned int _nbr, unsigned int _nbc, double _Z);
116 
117  void init() VP_OVERRIDE;
118  vpMatrix interaction(unsigned int select = FEATURE_ALL) VP_OVERRIDE;
119  void interaction(vpMatrix &L);
120  void print(unsigned int select = FEATURE_ALL) const VP_OVERRIDE;
121 
122  vpFeatureLuminance &operator=(const vpFeatureLuminance &f);
123 
124 
125  void setCameraParameters(const vpCameraParameters &_cam);
126  void set_Z(double Z);
127 
128  static const int DEFAULT_BORDER;
129 
130 public:
132 };
133 END_VISP_NAMESPACE
134 #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:191
Class to define RGB colors available for display functionalities.
Definition: vpColor.h:157
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:131
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:169
Definition: vpRGBa.h:65