Visual Servoing Platform version 3.5.0
vpFeatureLuminance.h
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See http://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
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
61class VISP_EXPORT vpLuminance
62{
63public:
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
79class VISP_EXPORT vpFeatureLuminance : public vpBasicFeature
80{
81protected:
84 double Z;
85
87 unsigned int nbr;
89 unsigned int nbc;
91 unsigned int bord;
92
94 vpLuminance *pixInfo;
96
97public:
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
124 vpFeatureLuminance &operator=(const vpFeatureLuminance &f);
125
126 void print(unsigned int select = FEATURE_ALL) const;
127
128 void setCameraParameters(vpCameraParameters &_cam);
129 void set_Z(double Z);
130
131public:
133};
134
135#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:131
Class to define RGB colors available for display functionnalities.
Definition: vpColor.h:158
static const vpColor green
Definition: vpColor.h:220
Class that defines the image luminance visual feature.
vpColVector error(unsigned int select=FEATURE_ALL)
Compute the error between a visual features and zero.
unsigned int nbr
Number of rows.
vpCameraParameters cam
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.
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:154