Visual Servoing Platform version 3.6.0
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vpFeatureLine.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 * 2D line visual feature.
33 *
34*****************************************************************************/
35
36#ifndef _vpFeatureLine_h_
37#define _vpFeatureLine_h_
38
44#include <visp3/core/vpMatrix.h>
45#include <visp3/visual_features/vpBasicFeature.h>
46
47#include <visp3/core/vpHomogeneousMatrix.h>
48#include <visp3/core/vpRGBa.h>
49
192class VISP_EXPORT vpFeatureLine : public vpBasicFeature
193{
198private:
201 double A, B, C, D;
202
203public:
206 virtual ~vpFeatureLine() { }
207
208 // void buildFrom(const vpLine &l) ;
209 // void buildFrom(const vpCylinder &c, int l) ;
210 void buildFrom(double rho, double theta);
211 void buildFrom(double rho, double theta, double A, double B, double C, double D);
212
213 void display(const vpCameraParameters &cam, const vpImage<unsigned char> &I, const vpColor &color = vpColor::green,
214 unsigned int thickness = 1) const;
215 void display(const vpCameraParameters &cam, const vpImage<vpRGBa> &I, const vpColor &color = vpColor::green,
216 unsigned int thickness = 1) const;
217 vpFeatureLine *duplicate() const;
218
219 vpColVector error(const vpBasicFeature &s_star, unsigned int select = FEATURE_ALL);
220 // vpColVector error(const int select = FEATURE_ALL) ;
221
225 double getRho() const { return s[0]; }
226
230 double getTheta() const { return s[1]; }
231
232 void init();
233 vpMatrix interaction(unsigned int select = FEATURE_ALL);
234
235 void print(unsigned int select = FEATURE_ALL) const;
236
237 void setRhoTheta(double rho, double theta);
238 void setABCD(double A, double B, double C, double D);
239
240public:
241 static unsigned int selectRho();
242 static unsigned int selectTheta();
243};
244
245#endif
class that defines what is a visual feature
virtual vpColVector error(const vpBasicFeature &s_star, unsigned int select=FEATURE_ALL)
virtual void init()=0
virtual vpMatrix interaction(unsigned int select=FEATURE_ALL)=0
Compute the interaction matrix from a subset of the possible features.
virtual void print(unsigned int select=FEATURE_ALL) const =0
Print the name of the feature.
virtual void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const =0
virtual vpBasicFeature * duplicate() const =0
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 a 2D line visual feature which is composed by two parameters that are and ,...
double getTheta() const
virtual ~vpFeatureLine()
Destructor.
double getRho() const
Definition of the vpImage class member functions.
Definition vpImage.h:135
Implementation of a matrix and operations on matrices.
Definition vpMatrix.h:152