Visual Servoing Platform version 3.5.0
vpSphere.h
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
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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.
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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
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26 * Inria at visp@inria.fr
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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 * Sphere feature.
33 *
34 * Authors:
35 * Eric Marchand
36 *
37 *****************************************************************************/
38
44#ifndef vpSphere_hh
45#define vpSphere_hh
46
47#include <visp3/core/vpDebug.h>
48#include <visp3/core/vpHomogeneousMatrix.h>
49#include <visp3/core/vpMath.h>
50
51#include <math.h>
52#include <visp3/core/vpForwardProjection.h>
82class VISP_EXPORT vpSphere : public vpForwardProjection
83{
84public:
85 vpSphere();
86 explicit vpSphere(const vpColVector &oP);
87 vpSphere(double oX, double oY, double oZ, double R);
88 virtual ~vpSphere();
89
90 void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP) const;
91 void changeFrame(const vpHomogeneousMatrix &cMo);
92
93 void display(const vpImage<unsigned char> &I, const vpCameraParameters &cam, const vpColor &color = vpColor::green,
94 unsigned int thickness = 1);
95 void display(const vpImage<vpRGBa> &I, const vpCameraParameters &cam, const vpColor &color = vpColor::green,
96 unsigned int thickness = 1);
97 void display(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
98 const vpColor &color = vpColor::green, unsigned int thickness = 1);
99 void display(const vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
100 const vpColor &color = vpColor::green, unsigned int thickness = 1);
101
102 vpSphere *duplicate() const;
103
104 double get_x() const { return p[0]; }
105 double get_y() const { return p[1]; }
106
107 double get_n20() const { return p[2]; }
108 double get_n11() const { return p[3]; }
109 double get_n02() const { return p[4]; }
110
111 double getX() const { return cP[0]; }
112 double getY() const { return cP[1]; }
113 double getZ() const { return cP[2]; }
114 double getR() const { return cP[3]; }
115
116 void projection();
117 void projection(const vpColVector &cP, vpColVector &p) const;
118
119 void setWorldCoordinates(const vpColVector &oP);
120 void setWorldCoordinates(double oX, double oY, double oZ, double R);
121
122protected:
123 void init();
124
125public:
126#if defined(VISP_BUILD_DEPRECATED_FUNCTIONS)
137 vp_deprecated double get_mu20() const { return p[2]; }
144 vp_deprecated double get_mu11() const { return p[3]; }
151 vp_deprecated double get_mu02() const { return p[4]; }
153#endif
154};
155
156#endif
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 what is a generic geometric feature.
virtual void projection()=0
virtual vpForwardProjection * duplicate() const =0
virtual void setWorldCoordinates(const vpColVector &oP)=0
virtual void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP) const =0
virtual void init()=0
virtual void display(const vpImage< unsigned char > &I, const vpCameraParameters &cam, const vpColor &color=vpColor::green, unsigned int thickness=1)=0
Implementation of an homogeneous matrix and operations on such kind of matrices.
Class that defines a 3D sphere in the object frame and allows forward projection of a 3D sphere in th...
Definition: vpSphere.h:83
double get_n02() const
Definition: vpSphere.h:109
vp_deprecated double get_mu11() const
Definition: vpSphere.h:144
vp_deprecated double get_mu02() const
Definition: vpSphere.h:151
double get_y() const
Definition: vpSphere.h:105
double get_n11() const
Definition: vpSphere.h:108
double get_x() const
Definition: vpSphere.h:104
double getR() const
Definition: vpSphere.h:114
double getX() const
Definition: vpSphere.h:111
vp_deprecated double get_mu20() const
Definition: vpSphere.h:137
double getZ() const
Definition: vpSphere.h:113
double getY() const
Definition: vpSphere.h:112
double get_n20() const
Definition: vpSphere.h:107