Visual Servoing Platform version 3.5.0
vpBasicFeature.h
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 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
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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.
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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
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 * Visual feature.
33 *
34 * Authors:
35 * Eric Marchand
36 * Nicolas Mansard
37 *
38 *****************************************************************************/
39
40#ifndef vpBasicFeature_H
41#define vpBasicFeature_H
42
48#include <visp3/core/vpColVector.h>
49#include <visp3/core/vpMatrix.h>
50
51// Display Issue
52
53// Meter/pixel conversion
54#include <visp3/core/vpCameraParameters.h>
55
56// Color / image / display
57#include <visp3/core/vpColor.h>
58#include <visp3/core/vpImage.h>
59#include <visp3/core/vpRGBa.h>
60
61// #define FEATURE_ALL 0xff
62
63// #define FEATURE_LINE1 0x1
64// #define FEATURE_LINE2 0x2
65// #define FEATURE_LINE3 0x4
66// #define FEATURE_LINE4 0x8
67// #define FEATURE_LINE5 0x10
68// #define FEATURE_LINE6 0x20
69// #define FEATURE_LINE7 0x40
70// #define FEATURE_LINE8 0x80
71
77class VISP_EXPORT vpBasicFeature
78{
79public: // Public constantes
80 static const unsigned int FEATURE_LINE[32];
81
82 enum { FEATURE_ALL = 0xffff };
88 typedef enum { user, vpServo } vpBasicFeatureDeallocatorType;
89
90protected:
94 unsigned int dim_s;
95 // int featureLine[8] ;
98 bool *flags;
100 unsigned int nbParameters;
101
102public:
105 virtual ~vpBasicFeature();
106
110 unsigned int dimension_s() { return dim_s; }
111
112 virtual void display(const vpCameraParameters &cam, const vpImage<unsigned char> &I,
113 const vpColor &color = vpColor::green, unsigned int thickness = 1) const = 0;
114 virtual void display(const vpCameraParameters &cam, const vpImage<vpRGBa> &I, const vpColor &color = vpColor::green,
115 unsigned int thickness = 1) const = 0;
116
117 virtual void init() = 0;
118
119 virtual vpColVector error(const vpBasicFeature &s_star, unsigned int select = FEATURE_ALL);
120
121 // Get the feature vector.
122 vpColVector get_s(unsigned int select = FEATURE_ALL) const;
124
125 // Get the feature vector dimension.
126 unsigned int getDimension(unsigned int select = FEATURE_ALL) const;
128 virtual vpMatrix interaction(unsigned int select = FEATURE_ALL) = 0;
130 virtual inline double operator[](unsigned int i) const { return s[i]; }
131 vpBasicFeature &operator=(const vpBasicFeature &f);
133 virtual void print(unsigned int select = FEATURE_ALL) const = 0;
134
135 virtual vpBasicFeature *duplicate() const = 0;
136
138 void setFlags();
140
142 static unsigned int selectAll() { return FEATURE_ALL; }
143
144protected:
145 void resetFlags();
146
147protected:
149};
150
151#endif
class that defines what is a visual feature
vpColVector s
State of the visual feature.
vpBasicFeatureDeallocatorType getDeallocate()
virtual void init()=0
unsigned int nbParameters
Number of parameters needed to compute the interaction matrix.
virtual void display(const vpCameraParameters &cam, const vpImage< vpRGBa > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const =0
virtual vpMatrix interaction(unsigned int select=FEATURE_ALL)=0
Compute the interaction matrix from a subset of the possible features.
static unsigned int selectAll()
Select all the features.
void setDeallocate(vpBasicFeatureDeallocatorType d)
virtual void print(unsigned int select=FEATURE_ALL) const =0
Print the name of the feature.
virtual double operator[](unsigned int i) const
Return element i in the state vector (usage : x = s[i] )
virtual void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const =0
unsigned int dimension_s()
virtual vpBasicFeature * duplicate() const =0
unsigned int dim_s
Dimension of the visual feature.
vpBasicFeatureDeallocatorType deallocate
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
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:154