Visual Servoing Platform version 3.5.0
vpLine.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
24 *
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 * Line feature.
33 *
34 * Authors:
35 * Eric Marchand
36 *
37 *****************************************************************************/
38
39#ifndef vpLine_H
40#define vpLine_H
41
47#include <visp3/core/vpHomogeneousMatrix.h>
48#include <visp3/core/vpMatrix.h>
49
50#include <visp3/core/vpForwardProjection.h>
51
104class VISP_EXPORT vpLine : public vpForwardProjection
105{
106public:
107 vpLine();
109 virtual ~vpLine() { ; }
110
111 void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP) const;
112 void changeFrame(const vpHomogeneousMatrix &cMo);
113
114 void display(const vpImage<unsigned char> &I, const vpCameraParameters &cam, const vpColor &color = vpColor::green,
115 unsigned int thickness = 1);
116 void display(const vpImage<vpRGBa> &I, const vpCameraParameters &cam, const vpColor &color = vpColor::green,
117 unsigned int thickness = 1);
118 void display(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
119 const vpColor &color = vpColor::green, unsigned int thickness = 1);
120 void display(const vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
121 const vpColor &color = vpColor::green, unsigned int thickness = 1);
122
123 vpLine *duplicate() const;
124
134 double getRho() const { return p[0]; }
135
146 double getTheta() const { return p[1]; }
147
157 void setRho(double rho) { p[0] = rho; }
158
167 void setTheta(double theta) { p[1] = theta; }
168
169 void setWorldCoordinates(const double &oA1, const double &oB1, const double &oC1, const double &oD1,
170 const double &oA2, const double &oB2, const double &oC2, const double &oD2);
171
172 void setWorldCoordinates(const vpColVector &oP1, const vpColVector &oP2);
173
174 void setWorldCoordinates(const vpColVector &oP);
175
176 void projection();
177 void projection(const vpColVector &cP, vpColVector &p) const;
178
179protected:
180 void init();
181};
182
183#endif
184
185/*
186 * Local variables:
187 * c-basic-offset: 2
188 * End:
189 */
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 line in the object frame and allows forward projection of the line in the cam...
Definition: vpLine.h:105
double getRho() const
Definition: vpLine.h:134
void setRho(double rho)
Definition: vpLine.h:157
void setTheta(double theta)
Definition: vpLine.h:167
double getTheta() const
Definition: vpLine.h:146
virtual ~vpLine()
Destructor.
Definition: vpLine.h:109