Visual Servoing Platform  version 3.6.1 under development (2024-05-27)
vpMomentObject.h
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2  * ViSP, open source Visual Servoing Platform software.
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5  * This software is free software; you can redistribute it and/or modify
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9  * See the file LICENSE.txt at the root directory of this source
10  * distribution for additional information about the GNU GPL.
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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.
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17  *
18  * This software was developed at:
19  * Inria Rennes - Bretagne Atlantique
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28  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29  *
30  * Description:
31  * Object input structure used by moments.
32  */
37 #ifndef _vpMomentObject_h_
38 #define _vpMomentObject_h_
39 
40 #include <cstdlib>
41 #include <utility>
42 #include <visp3/core/vpImage.h>
43 #include <visp3/core/vpMath.h>
44 #include <visp3/core/vpMoment.h>
45 #include <visp3/core/vpPoint.h>
46 
47 class vpCameraParameters;
48 
217 class VISP_EXPORT vpMomentObject
218 {
219 public:
223  typedef enum
224  {
225  DENSE_FULL_OBJECT = 0,
227  DENSE_POLYGON = 1,
230  DISCRETE = 2,
231  } vpObjectType;
232 
236  typedef enum
237  {
238  BLACK = 0,
239  WHITE = 1,
240  } vpCameraImgBckGrndType;
241 
242  bool flg_normalize_intensity; // To scale the intensity of each individual
243  // pixel in the image by the maximum intensity
244  // value present in it
245 
246  // Constructors
247  explicit vpMomentObject(unsigned int order);
248  vpMomentObject(const vpMomentObject &srcobj);
257  virtual ~vpMomentObject();
258 
259  void fromImage(const vpImage<unsigned char> &image, unsigned char threshold,
260  const vpCameraParameters &cam); // Binary version
261  void fromImage(const vpImage<unsigned char> &image, const vpCameraParameters &cam, vpCameraImgBckGrndType bg_type,
262  bool normalize_with_pix_size = true); // Photometric version
263 
264  void fromVector(std::vector<vpPoint> &points);
265  const std::vector<double> &get() const;
266  double get(unsigned int i, unsigned int j) const;
267 
271  vpObjectType getType() const { return type; }
272 
277  unsigned int getOrder() const { return order - 1; }
278 
279  // Constructor helpers
280  void init(unsigned int orderinp);
281  void init(const vpMomentObject &objin);
282 
283  friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpMomentObject &v);
289  static void printWithIndices(const vpMomentObject &momobj, std::ostream &os);
294  void setType(vpObjectType input_type) { this->type = input_type; }
295 
300  static vpMatrix convertTovpMatrix(const vpMomentObject &momobj);
301 
302 protected:
303  unsigned int order;
305  std::vector<double> values;
306  void set(unsigned int i, unsigned int j, const double &value_ij);
307  void cacheValues(std::vector<double> &cache, double x, double y);
308 
309 private:
310  void cacheValues(std::vector<double> &cache, double x, double y, double IntensityNormalized);
311  double calc_mom_polygon(unsigned int p, unsigned int q, const std::vector<vpPoint> &points);
312 };
313 
314 #endif
Generic class defining intrinsic camera parameters.
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:146
Class for generic objects.
unsigned int getOrder() const
unsigned int order
vpObjectType type
void setType(vpObjectType input_type)
bool flg_normalize_intensity
std::vector< double > values
vpObjectType getType() const