Visual Servoing Platform version 3.5.0
vpFeatureDepth.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
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 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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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 point visual feature.
33 *
34 * Authors:
35 * Nicolas Melchior
36 *
37 *****************************************************************************/
38
39#ifndef vpFeatureDepth_H
40#define vpFeatureDepth_H
41
47#include <visp3/core/vpMatrix.h>
48#include <visp3/visual_features/vpBasicFeature.h>
49
50#include <visp3/core/vpHomogeneousMatrix.h>
51#include <visp3/core/vpRGBa.h>
52
160class VISP_EXPORT vpFeatureDepth : public vpBasicFeature
161{
162
163private:
166 double x;
169 double y;
172 double Z;
173
174public:
177 virtual ~vpFeatureDepth() {}
178
179 /*
180 section Set coordinates
181 */
182
183 void buildFrom(double x, double y, double Z, double LogZoverZstar);
184
185 void display(const vpCameraParameters &cam, const vpImage<unsigned char> &I, const vpColor &color = vpColor::green,
186 unsigned int thickness = 1) const;
187 void display(const vpCameraParameters &cam, const vpImage<vpRGBa> &I, const vpColor &color = vpColor::green,
188 unsigned int thickness = 1) const;
189 vpFeatureDepth *duplicate() const;
190 vpColVector error(const vpBasicFeature &s_star, unsigned int select = FEATURE_ALL);
191
192 double get_x() const;
193
194 double get_y() const;
195
196 double get_Z() const;
197
198 double get_LogZoverZstar() const;
199
200 void init();
201 vpMatrix interaction(unsigned int select = FEATURE_ALL);
202
203 void print(unsigned int select = FEATURE_ALL) const;
204 void set_x(double x);
205
206 void set_y(double y);
207
208 void set_Z(double Z);
209
210 void set_LogZoverZstar(double LogZoverZstar);
211
212 void set_xyZLogZoverZstar(double x, double y, double Z, double logZZs);
213};
214
215#endif
216
217/*
218 * Local variables:
219 * c-basic-offset: 2
220 * End:
221 */
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.
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 a 3D point visual feature which is composed by one parameters that is that defin...
virtual ~vpFeatureDepth()
Destructor.
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:154