Visual Servoing Platform version 3.6.0
Loading...
Searching...
No Matches
vpFeatureLuminance.h
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 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 https://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*****************************************************************************/
35
36#ifndef vpFeatureLuminance_h
37#define vpFeatureLuminance_h
38
39#include <visp3/core/vpImage.h>
40#include <visp3/core/vpMatrix.h>
41#include <visp3/visual_features/vpBasicFeature.h>
42
50#ifndef DOXYGEN_SHOULD_SKIP_THIS
51
58class VISP_EXPORT vpLuminance
59{
60public:
61 double x, y; // point coordinates (in meter)
62 double I; // pixel intensity
63 double Ix, Iy; // pixel gradient
64 double Z; // pixel depth
65};
66#endif
67
76class VISP_EXPORT vpFeatureLuminance : public vpBasicFeature
77{
78protected:
81 double Z;
82
84 unsigned int nbr;
86 unsigned int nbc;
88 unsigned int bord;
89
91 vpLuminance *pixInfo;
93
94public:
98 virtual ~vpFeatureLuminance();
99
100 void buildFrom(vpImage<unsigned char> &I);
101
102 void display(const vpCameraParameters &cam, const vpImage<unsigned char> &I, const vpColor &color = vpColor::green,
103 unsigned int thickness = 1) const;
104 void display(const vpCameraParameters &cam, const vpImage<vpRGBa> &I, const vpColor &color = vpColor::green,
105 unsigned int thickness = 1) const;
106
107 vpFeatureLuminance *duplicate() const;
108
109 vpColVector error(const vpBasicFeature &s_star, unsigned int select = FEATURE_ALL);
110 void error(const vpBasicFeature &s_star, vpColVector &e);
111
112 double get_Z() const;
113
114 void init();
115 void init(unsigned int _nbr, unsigned int _nbc, double _Z);
116 vpMatrix interaction(unsigned int select = FEATURE_ALL);
117 void interaction(vpMatrix &L);
118
119 vpFeatureLuminance &operator=(const vpFeatureLuminance &f);
120
121 void print(unsigned int select = FEATURE_ALL) const;
122
123 void setCameraParameters(vpCameraParameters &_cam);
124 void set_Z(double Z);
125
126public:
128};
129
130#endif
class that defines what is a visual feature
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
Class to define RGB colors available for display functionalities.
Definition vpColor.h:152
static const vpColor green
Definition vpColor.h:214
Class that defines the image luminance visual feature.
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.
Definition of the vpImage class member functions.
Definition vpImage.h:135
Implementation of a matrix and operations on matrices.
Definition vpMatrix.h:152