vpMomentObject.h

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2023 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 as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * 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 https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * 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:
 * Object input structure used by moments.
 */
#ifndef _vpMomentObject_h_
#define _vpMomentObject_h_
 
#include <cstdlib>
#include <utility>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpMath.h>
#include <visp3/core/vpMoment.h>
#include <visp3/core/vpPoint.h>
 
class vpCameraParameters;

class VISP_EXPORT vpMomentObject
{
public:
  typedef enum
  {
    DENSE_FULL_OBJECT = 0, 
    DENSE_POLYGON = 1,     
    DISCRETE = 2,          
  } vpObjectType;

  typedef enum
  {
    BLACK = 0, 
    WHITE = 1, 
  } vpCameraImgBckGrndType;
 
  bool flg_normalize_intensity; // To scale the intensity of each individual
                                // pixel in the image by the maximum intensity
                                // value present in it
 
  // Constructors
  explicit vpMomentObject(unsigned int order);
  vpMomentObject(const vpMomentObject &srcobj);
  virtual ~vpMomentObject();
 
  void fromImage(const vpImage<unsigned char> &image, unsigned char threshold,
                 const vpCameraParameters &cam); // Binary version
  void fromImage(const vpImage<unsigned char> &image, const vpCameraParameters &cam, vpCameraImgBckGrndType bg_type,
                 bool normalize_with_pix_size = true); // Photometric version
 
  void fromVector(std::vector<vpPoint> &points);
  const std::vector<double> &get() const;
  double get(unsigned int i, unsigned int j) const;

  vpObjectType getType() const { return type; }

  unsigned int getOrder() const { return order - 1; }
 
  // Constructor helpers
  void init(unsigned int orderinp);
  void init(const vpMomentObject &objin);
 
  friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpMomentObject &v);
  static void printWithIndices(const vpMomentObject &momobj, std::ostream &os);
  void setType(vpObjectType input_type) { this->type = input_type; }

  static vpMatrix convertTovpMatrix(const vpMomentObject &momobj);
 
protected:
  unsigned int order;
  vpObjectType type;
  std::vector<double> values;
  void set(unsigned int i, unsigned int j, const double &value_ij);
  void cacheValues(std::vector<double> &cache, double x, double y);
 
private:
  void cacheValues(std::vector<double> &cache, double x, double y, double IntensityNormalized);
  double calc_mom_polygon(unsigned int p, unsigned int q, const std::vector<vpPoint> &points);
};
 
#endif