/usr/include/visp/vpFeatureLuminance.h is in libvisp-dev 2.8.0-4.
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*
* $Id: vpFeatureLuminance.h 4056 2013-01-05 13:04:42Z fspindle $
*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* ("GPL") version 2 as published by the Free Software Foundation.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact INRIA about acquiring a ViSP Professional
* Edition License.
*
* See http://www.irisa.fr/lagadic/visp/visp.html for more information.
*
* This software was developed at:
* INRIA Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
* http://www.irisa.fr/lagadic
*
* If you have questions regarding the use of this file, please contact
* INRIA at visp@inria.fr
*
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
*
* Description:
* Luninance based feature .
*
* Authors:
* Eric Marchand
*
*****************************************************************************/
#ifndef vpFeatureLuminance_h
#define vpFeatureLuminance_h
#include <visp/vpMatrix.h>
#include <visp/vpBasicFeature.h>
#include <visp/vpImage.h>
/*!
\file vpFeatureLuminance.h
\brief Class that defines the image luminance visual feature
for more details see
C. Collewet, E. Marchand, F. Chaumette. Visual
servoing set free from image processing. In IEEE Int. Conf. on
Robotics and Automation, ICRA'08, Pages 81-86, Pasadena, Californie,
Mai 2008.
*/
/*!
\class vpLuminance
\brief Class that defines the luminance and gradient of a point
\sa vpFeatureLuminance
*/
class VISP_EXPORT vpLuminance
{
public:
double x, y; // point coordinates (in meter)
double I ; // pixel intensity
double Ix,Iy ; // pixel gradient
double Z; // pixel depth
};
/*!
\class vpFeatureLuminance
\brief Class that defines the image luminance visual feature
For more details see
C. Collewet, E. Marchand, F. Chaumette. Visual
servoing set free from image processing. In IEEE Int. Conf. on
Robotics and Automation, ICRA'08, Pages 81-86, Pasadena, Californie,
Mai 2008.
*/
class VISP_EXPORT vpFeatureLuminance : public vpBasicFeature
{
protected:
//! FeaturePoint depth (required to compute the interaction matrix)
//! default Z = 1m
double Z ;
//! Number of rows.
unsigned int nbr ;
//! Number of column.
unsigned int nbc ;
//! Border size.
unsigned int bord ;
//! Store the image (as a vector with intensity and gradient I, Ix, Iy)
vpLuminance *pixInfo ;
int firstTimeIn ;
public:
void buildFrom(vpImage<unsigned char> &I) ;
public:
void init() ;
void init(unsigned int _nbr, unsigned int _nbc, double _Z) ;
vpFeatureLuminance() ;
//! Destructor.
virtual ~vpFeatureLuminance() ;
public:
vpCameraParameters cam ;
void setCameraParameters(vpCameraParameters &_cam) ;
/*
section Set/get Z
*/
void set_Z(const double Z) ;
double get_Z() const ;
/*
vpBasicFeature method instantiation
*/
vpMatrix interaction(const unsigned int select = FEATURE_ALL);
void interaction(vpMatrix &L);
vpColVector error(const vpBasicFeature &s_star,
const unsigned int select = FEATURE_ALL) ;
void error(const vpBasicFeature &s_star,
vpColVector &e) ;
void print(const unsigned int select = FEATURE_ALL ) const ;
vpFeatureLuminance *duplicate() const ;
void display(const vpCameraParameters &cam,
const vpImage<unsigned char> &I,
const vpColor &color=vpColor::green, unsigned int thickness=1) const ;
void display(const vpCameraParameters &cam,
const vpImage<vpRGBa> &I,
const vpColor &color=vpColor::green, unsigned int thickness=1) const ;
//! Compute the error between a visual features and zero
vpColVector error(const unsigned int select = FEATURE_ALL) ;
} ;
#endif
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