ViSP  2.8.0
vpFeatureDepth.h
1 /****************************************************************************
2  *
3  * $Id: vpFeatureDepth.h 4056 2013-01-05 13:04:42Z fspindle $
4  *
5  * This file is part of the ViSP software.
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9  * modify it under the terms of the GNU General Public License
10  * ("GPL") version 2 as published by the Free Software Foundation.
11  * See the file LICENSE.txt at the root directory of this source
12  * distribution for additional information about the GNU GPL.
13  *
14  * For using ViSP with software that can not be combined with the GNU
15  * GPL, please contact INRIA about acquiring a ViSP Professional
16  * Edition License.
17  *
18  * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
19  *
20  * This software was developed at:
21  * INRIA Rennes - Bretagne Atlantique
22  * Campus Universitaire de Beaulieu
23  * 35042 Rennes Cedex
24  * France
25  * http://www.irisa.fr/lagadic
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27  * If you have questions regarding the use of this file, please contact
28  * INRIA at visp@inria.fr
29  *
30  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
31  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
32  *
33  *
34  * Description:
35  * 2D point visual feature.
36  *
37  * Authors:
38  * Nicolas Melchior
39  *
40  *****************************************************************************/
41 
42 
43 #ifndef vpFeatureDepth_H
44 #define vpFeatureDepth_H
45 
51 #include <visp/vpMatrix.h>
52 #include <visp/vpBasicFeature.h>
53 
54 #include <visp/vpHomogeneousMatrix.h>
55 #include <visp/vpRGBa.h>
56 
57 
166 class VISP_EXPORT vpFeatureDepth : public vpBasicFeature
167 {
168 
169 private:
171  double x;
173  double y;
175  double Z;
176 
177 public:
178 
179  void init() ;
180 
181  vpFeatureDepth() ;
183  virtual ~vpFeatureDepth() { if (flags != NULL) delete [] flags; }
184 
185 
186  /*
187  section Set coordinates
188  */
189 
190  void buildFrom(const double x, const double y, const double Z, const double LogZoverZstar) ;
191 
192  void set_x(const double x) ;
193 
194  void set_y(const double y) ;
195 
196  void set_Z(const double Z) ;
197 
198  void set_LogZoverZstar(const double LogZoverZstar);
199 
200  void set_xyZLogZoverZstar(const double x, const double y, const double Z, const double logZZs) ;
201 
202  double get_x() const ;
203 
204  double get_y() const ;
205 
206  double get_Z() const ;
207 
208  double get_LogZoverZstar() const ;
209 
210 
211  /*
212  vpBasicFeature method instantiation
213  */
214 
215 
216  vpMatrix interaction(const unsigned int select = FEATURE_ALL);
217 
218  vpColVector error(const vpBasicFeature &s_star,
219  const unsigned int select = FEATURE_ALL) ;
220 
221  void print(const unsigned int select = FEATURE_ALL ) const ;
222 
223  vpFeatureDepth *duplicate() const ;
224 
225 
226  void display(const vpCameraParameters &cam,
227  const vpImage<unsigned char> &I,
228  const vpColor &color=vpColor::green,
229  unsigned int thickness=1) const ;
230  void display(const vpCameraParameters &cam,
231  const vpImage<vpRGBa> &I,
232  const vpColor &color=vpColor::green,
233  unsigned int thickness=1) const ;
234 
235 } ;
236 
237 
238 
239 #endif
240 
241 /*
242  * Local variables:
243  * c-basic-offset: 2
244  * End:
245  */
Definition of the vpMatrix class.
Definition: vpMatrix.h:96
bool * flags
Ensure that all the parameters needed to compute the iteraction matrix are set.
virtual void print(const unsigned int select=FEATURE_ALL) const =0
Print the name of the feature.
Class to define colors available for display functionnalities.
Definition: vpColor.h:125
Class that defines a 3D point visual feature which is composed by one parameters that is that defin...
virtual vpColVector error(const vpBasicFeature &s_star, const unsigned int select=FEATURE_ALL)
Compute the error between two visual features from a subset of the possible features.
static const vpColor green
Definition: vpColor.h:170
virtual ~vpFeatureDepth()
destructor
class that defines what is a visual feature
virtual vpMatrix interaction(const unsigned int select=FEATURE_ALL)=0
Compute the interaction matrix from a subset of the possible features.
Generic class defining intrinsic camera parameters.
virtual void init()=0
Class that provides a data structure for the column vectors as well as a set of operations on these v...
Definition: vpColVector.h:72
virtual vpBasicFeature * duplicate() const =0
virtual void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const =0