Visual Servoing Platform version 3.5.0
vpFeaturePoint3D.h
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3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
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20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
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26 * Inria at visp@inria.fr
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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 * 3D point visual feature.
33 *
34 * Authors:
35 * Eric Marchand
36 * Fabien Spindler
37 *
38 *****************************************************************************/
39
40#ifndef vpFeaturePoint3d_H
41#define vpFeaturePoint3d_H
42
48#include <visp3/core/vpMatrix.h>
49#include <visp3/core/vpPoint.h>
50#include <visp3/visual_features/vpBasicFeature.h>
51
52#include <visp3/core/vpHomogeneousMatrix.h>
53#include <visp3/core/vpRGBa.h>
54
208class VISP_EXPORT vpFeaturePoint3D : public vpBasicFeature
209
210{
211
212public:
213 // basic constructor
216 virtual ~vpFeaturePoint3D() {}
217
218 /*
219 /section Set coordinates
220 */
221
222 // build feature from a point (vpPoint)
223 void buildFrom(const vpPoint &p);
224 // set the point XY and Z-coordinates
225 void buildFrom(double X, double Y, double Z);
226
227 void display(const vpCameraParameters &cam, const vpImage<unsigned char> &I, const vpColor &color = vpColor::green,
228 unsigned int thickness = 1) const;
229 void display(const vpCameraParameters &cam, const vpImage<vpRGBa> &I, const vpColor &color = vpColor::green,
230 unsigned int thickness = 1) const;
231
232 // feature duplication
234
235 // compute the error between two visual features from a subset
236 // a the possible features
237 vpColVector error(const vpBasicFeature &s_star, unsigned int select = FEATURE_ALL);
238
239 // get the point X-coordinates
240 double get_X() const;
241 // get the point Y-coordinates
242 double get_Y() const;
243 // get the point depth (camera frame)
244 double get_Z() const;
245
246 // basic construction
247 void init();
248 // compute the interaction matrix from a subset a the possible features
249 vpMatrix interaction(unsigned int select = FEATURE_ALL);
250
251 // print the name of the feature
252 void print(unsigned int select = FEATURE_ALL) const;
253
254 // set the point X-coordinates
255 void set_X(double X);
256 // set the point Y-coordinates
257 void set_Y(double Y);
258 // set the point depth (camera frame)
259 void set_Z(double Z);
260 // set the point XY and Z-coordinates
261 void set_XYZ(double X, double Y, double Z);
262
263 static unsigned int selectX();
264 static unsigned int selectY();
265 static unsigned int selectZ();
266};
267
268#endif
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 the 3D point visual feature.
virtual ~vpFeaturePoint3D()
Destructor. Does nothing.
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:154
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition: vpPoint.h:82