Visual Servoing Platform version 3.5.0
vpFeatureEllipse.h
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3 * ViSP, open source Visual Servoing Platform software.
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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 * 2D ellipse visual feature.
33 *
34 * Authors:
35 * Eric Marchand
36 *
37 *****************************************************************************/
38
39#ifndef vpFeatureEllipse_H
40#define vpFeatureEllipse_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
58class VISP_EXPORT vpFeatureEllipse : public vpBasicFeature
59{
60 /*
61 attributes and members directly related to the vpBasicFeature needs
62 other functionalities are useful but not mandatory
63 */
64private:
67 double A, B, C;
68
69public:
73 virtual ~vpFeatureEllipse() {}
74
79 vpFeatureEllipse(double x, double y, double n20, double n11, double n02);
80
81 // void buildFrom(const vpEllipse &p) ;
82 void buildFrom(double x, double y, double n20, double n11, double n02);
83 void buildFrom(double x, double y, double n20, double n11, double n02,
84 double A, double B, double C);
85
86 void display(const vpCameraParameters &cam, const vpImage<unsigned char> &I, const vpColor &color = vpColor::green,
87 unsigned int thickness = 1) const;
88 void display(const vpCameraParameters &cam, const vpImage<vpRGBa> &I, const vpColor &color = vpColor::green,
89 unsigned int thickness = 1) const;
92
95 vpColVector error(const vpBasicFeature &s_star, unsigned int select = FEATURE_ALL);
97 vpColVector error(unsigned int select = FEATURE_ALL);
98
102 double get_x() const { return s[0]; }
106 double get_y() const { return s[1]; }
111 double get_n20() const { return s[2]; }
116 double get_n11() const { return s[3]; }
121 double get_n02() const { return s[4]; }
122
124 void init();
126 vpMatrix interaction(unsigned int select = FEATURE_ALL);
127
129 void print(unsigned int select = FEATURE_ALL) const;
130
131 void set_x(double x);
132 void set_y(double y);
133 void set_xy(double x, double y);
134 void setABC(double A, double B, double C);
135 void setMoments(double n20, double n11, double n02);
136
141 // feature selection
142 static unsigned int selectX();
143 static unsigned int selectY();
144 static unsigned int select_n20();
145 static unsigned int select_n11();
146 static unsigned int select_n02();
147
148#if defined(VISP_BUILD_DEPRECATED_FUNCTIONS)
153 vp_deprecated void setMu(double mu20, double mu11, double mu02);
154 vp_deprecated static unsigned int selectMu20();
155 vp_deprecated static unsigned int selectMu11();
156 vp_deprecated static unsigned int selectMu02();
163 vp_deprecated double getMu20() const { return s[2]; }
170 vp_deprecated double getMu11() const { return s[3]; }
177 vp_deprecated double getMu02() const { return s[4]; }
178
180#endif
181
182};
183
184#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 2D ellipse visual feature.
vp_deprecated double getMu02() const
double get_y() const
vp_deprecated double getMu20() const
vpColVector error(unsigned int select=FEATURE_ALL)
compute the error between a visual features and zero
double get_n20() const
vpFeatureEllipse(double x, double y, double n20, double n11, double n02)
basic constructor
double get_n02() const
double get_n11() const
double get_x() const
virtual ~vpFeatureEllipse()
Destructor.
vp_deprecated double getMu11() const
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:154