Visual Servoing Platform version 3.5.0
vpPoint.h
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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
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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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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
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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 * Point feature.
33 *
34 * Authors:
35 * Eric Marchand
36 *
37 *****************************************************************************/
38
39#ifndef vpPoint_H
40#define vpPoint_H
41
48
49#include <visp3/core/vpColor.h>
50#include <visp3/core/vpForwardProjection.h>
51#include <visp3/core/vpMatrix.h>
52
81class VISP_EXPORT vpPoint : public vpForwardProjection
82{
83
84public:
86 vpPoint();
87 vpPoint(double oX, double oY, double oZ);
88 explicit vpPoint(const vpColVector &oP);
89 explicit vpPoint(const std::vector<double> &oP);
91 virtual ~vpPoint() {}
92
93public:
94 // Compute the 3D coordinates _cP (camera frame)
95 void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP) const;
96 void changeFrame(const vpHomogeneousMatrix &cMo);
97
98 void display(const vpImage<unsigned char> &I, const vpCameraParameters &cam, const vpColor &color = vpColor::green,
99 unsigned int thickness = 1);
100 void display(const vpImage<vpRGBa> &I, const vpCameraParameters &cam, const vpColor &color = vpColor::green,
101 unsigned int thickness = 1);
102 void display(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
103 const vpColor &color = vpColor::green, unsigned int thickness = 1);
104 void display(const vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
105 const vpColor &color = vpColor::green, unsigned int thickness = 1);
106 vpPoint *duplicate() const;
107
108 // Get coordinates
109 double get_X() const;
110 double get_Y() const;
111 double get_Z() const;
112 double get_W() const;
113 double get_oX() const;
114 double get_oY() const;
115 double get_oZ() const;
116 double get_oW() const;
117 double get_x() const;
118 double get_y() const;
119 double get_w() const;
120
121 void getWorldCoordinates(double &oX, double &oY, double &oZ);
122 void getWorldCoordinates(vpColVector &oP);
123 vpColVector getWorldCoordinates(void);
124 void getWorldCoordinates(std::vector<double> &oP);
125
126 friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpPoint &vpp);
127#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
128 vpPoint &operator=(const vpPoint &vpp) = default;
129#else
130 vpPoint &operator=(const vpPoint &vpp);
131#endif
132
135 void projection(const vpColVector &_cP, vpColVector &_p) const;
136
137 void projection();
138
139 // Set coordinates
140 void set_X(double cX);
141 void set_Y(double cY);
142 void set_Z(double cZ);
143 void set_W(double cW);
144 void set_oX(double oX);
145 void set_oY(double oY);
146 void set_oZ(double oZ);
147 void set_oW(double oW);
148 void set_x(double x);
149 void set_y(double y);
150 void set_w(double w);
151
152 void setWorldCoordinates(double oX, double oY, double oZ);
153 void setWorldCoordinates(const vpColVector &oP);
154 void setWorldCoordinates(const std::vector<double> &oP);
155
156protected:
158 void init();
159};
160
161#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 point in the object frame and allows forward projection of a 3D point in the ...
Definition: vpPoint.h:82
virtual ~vpPoint()
Destructor.
Definition: vpPoint.h:91
vpPoint & operator=(const vpPoint &vpp)=default
vpTracker & operator=(const vpTracker &tracker)
Copy operator.
Definition: vpTracker.cpp:53