vpFeatureTranslation.h

/****************************************************************************
 *
 * $Id: vpFeatureTranslation.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:
 * 3D translation visual feature.
 *
 * Authors:
 * Eric Marchand
 * Fabien Spindler
 *
 *****************************************************************************/


#ifndef vpFeatureTranslation_H
#define vpFeatureTranslation_H

#include <visp/vpMatrix.h>
#include <visp/vpBasicFeature.h>
#include <visp/vpTranslationVector.h>
#include <visp/vpHomogeneousMatrix.h>
#include <visp/vpRGBa.h>


class VISP_EXPORT vpFeatureTranslation : public vpBasicFeature
{
public:

  typedef enum {
    cdMc, 
    cMcd, 
    cMo 
  } vpFeatureTranslationRepresentationType;

  // basic construction
  void init() ;
  // basic constructor
  vpFeatureTranslation(vpFeatureTranslationRepresentationType r) ;
  // constructor : build from an homogeneous matrix
  // cdMc is the displacement that the camera has to realize
  vpFeatureTranslation(vpHomogeneousMatrix &f2Mf1, vpFeatureTranslationRepresentationType r) ;
  virtual ~vpFeatureTranslation() {}

  // build from an homogeneous matrix
  // cdMc is the displacement that the camera has to realize
  void buildFrom(const vpHomogeneousMatrix &f2Mf1) ;

  void set_Tx(const double t_x) ;
  void set_Ty(const double t_y) ;
  void set_Tz(const double t_z) ;

  double get_Tx() const ;
  double get_Ty() const ;
  double get_Tz() const ;


  // feature selection
  inline static unsigned int selectTx()  { return FEATURE_LINE[0] ; }
  inline static unsigned int selectTy()  { return FEATURE_LINE[1] ; }
  inline static unsigned int selectTz()  { return FEATURE_LINE[2] ; }
  // compute the interaction matrix from a subset a the possible features
  vpMatrix  interaction(const unsigned int select = FEATURE_ALL);
  // compute the error between two visual features from a subset
  // a the possible features
  vpColVector error(const vpBasicFeature &s_star,
                    const unsigned int select = FEATURE_ALL)  ;
  // print the name of the feature
  void print(const unsigned int select= FEATURE_ALL) const ;


  vpFeatureTranslation *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 ;

private:
  vpHomogeneousMatrix f2Mf1;
  vpFeatureTranslationRepresentationType translation;
} ;


#endif

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