Visual Servoing Platform version 3.5.0
vpForwardProjection.h
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30 *
31 * Description:
32 * Forward projection.
33 *
34 * Authors:
35 * Eric Marchand
36 *
37 *****************************************************************************/
38
39#ifndef vpForwardProjection_H
40#define vpForwardProjection_H
41
47#include <visp3/core/vpColor.h>
48#include <visp3/core/vpMatrix.h>
49#include <visp3/core/vpTracker.h>
50
51#include <visp3/core/vpHomogeneousMatrix.h>
52
67class VISP_EXPORT vpForwardProjection : public vpTracker
68{
69public:
73 typedef enum { user, vpDisplayForwardProjection } vpForwardProjectionDeallocatorType;
74
77 vpForwardProjection() : oP(), deallocate(user) {}
78
80 virtual ~vpForwardProjection() { ; }
81
101 virtual void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP) const = 0;
118 virtual void changeFrame(const vpHomogeneousMatrix &cMo) = 0;
119
134 virtual void display(const vpImage<unsigned char> &I, const vpCameraParameters &cam,
135 const vpColor &color = vpColor::green, unsigned int thickness = 1) = 0;
136
156 virtual void display(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
157 const vpColor &color = vpColor::green, unsigned int thickness = 1) = 0;
158
162 virtual vpForwardProjection *duplicate() const = 0;
163
165 vpColVector get_oP() const { return oP; }
166
168
169 virtual void print() const;
170
180 virtual void projection(const vpColVector &cP, vpColVector &p) const = 0;
181
191 virtual void projection() = 0;
192
193 void project();
194 void project(const vpHomogeneousMatrix &cMo);
195
197
205 virtual void setWorldCoordinates(const vpColVector &oP) = 0;
206
207 void track(const vpHomogeneousMatrix &cMo);
209
210protected:
219 virtual void init() = 0;
221
222public:
230
231private:
233};
234
235#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 display(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &color=vpColor::green, unsigned int thickness=1)=0
vpColVector get_oP() const
Return object parameters expressed in the 3D object frame.
virtual void init()=0
virtual void projection(const vpColVector &cP, vpColVector &p) const =0
virtual void display(const vpImage< unsigned char > &I, const vpCameraParameters &cam, const vpColor &color=vpColor::green, unsigned int thickness=1)=0
void setDeallocate(vpForwardProjectionDeallocatorType d)
virtual ~vpForwardProjection()
Destructor that does nothing.
vpForwardProjectionDeallocatorType getDeallocate()
virtual void changeFrame(const vpHomogeneousMatrix &cMo)=0
Implementation of an homogeneous matrix and operations on such kind of matrices.
Class that defines what is a feature generic tracker.
Definition: vpTracker.h:65