vpFeatureDepth.h

/****************************************************************************
 *
 * $Id: vpFeatureDepth.h 5237 2015-01-30 13:52:04Z fspindle $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
 * 
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact INRIA about acquiring a ViSP Professional 
 * Edition License.
 *
 * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
 * 
 * This software was developed at:
 * INRIA Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 * http://www.irisa.fr/lagadic
 *
 * If you have questions regarding the use of this file, please contact
 * INRIA at visp@inria.fr
 * 
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 *
 * Description:
 * 2D point visual feature.
 *
 * Authors:
 * Nicolas Melchior
 *
 *****************************************************************************/


#ifndef vpFeatureDepth_H
#define vpFeatureDepth_H

#include <visp/vpMatrix.h>
#include <visp/vpBasicFeature.h>

#include <visp/vpHomogeneousMatrix.h>
#include <visp/vpRGBa.h>


class VISP_EXPORT vpFeatureDepth : public vpBasicFeature
{

private:
  double x;
  double y;
  double Z;

public:
  void init() ;
  vpFeatureDepth() ;
  virtual ~vpFeatureDepth() {}

  /*
    section Set coordinates
  */

  void buildFrom(const double x, const double y, const double Z, const double LogZoverZstar) ;

  void set_x(const double x) ;

  void set_y(const double y) ;

  void set_Z(const double Z) ;

  void set_LogZoverZstar(const double LogZoverZstar);

  void set_xyZLogZoverZstar(const double x, const double y, const double Z, const double logZZs) ;

  double get_x()  const ;

  double get_y()   const ;

  double get_Z() const  ;

  double get_LogZoverZstar() const  ;


  /*
    vpBasicFeature method instantiation
  */


  vpMatrix  interaction(const unsigned int select = FEATURE_ALL);

  vpColVector error(const vpBasicFeature &s_star,
                    const unsigned int select = FEATURE_ALL)  ;

  void print(const unsigned int select = FEATURE_ALL ) const ;

  vpFeatureDepth *duplicate() const ;


  void display(const vpCameraParameters &cam,
               const vpImage<unsigned char> &I,
               const vpColor &color=vpColor::green,
               unsigned int thickness=1) const ;
  void display(const vpCameraParameters &cam,
               const vpImage<vpRGBa> &I,
               const vpColor &color=vpColor::green,
               unsigned int thickness=1) const ;

} ;



#endif

/*
 * Local variables:
 * c-basic-offset: 2
 * End:
 */