vpFeatureLine.h

/****************************************************************************
 *
 * $Id: vpFeatureLine.h 4056 2013-01-05 13:04:42Z fspindle $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2013 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 line visual feature.
 *
 * Authors:
 * Eric Marchand
 *
 *****************************************************************************/


#ifndef vpFeatureLine_H
#define vpFeatureLine_H

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


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


class VISP_EXPORT vpFeatureLine : public vpBasicFeature
{
private:
  double A,B,C,D ;

public:

  void init() ;
  vpFeatureLine() ;
  virtual ~vpFeatureLine() { if (flags != NULL) delete [] flags; }

public:

  void setRhoTheta(const double rho, const double theta) ;
  void setABCD(const double A, const double B,
           const double C, const double D) ;

  //  void buildFrom(const vpLine &l) ;
  //  void buildFrom(const vpCylinder &c, const int l) ;
  void buildFrom(const double rho, const double theta) ;
  void buildFrom(const double rho, const double theta,
         const double A, const double B,
         const double C, const double D) ;


  double getRho() const  { return s[0] ; }

  double getTheta() const { return s[1] ; }


public:

  inline static unsigned int selectRho()  { return FEATURE_LINE[0] ; }

  inline static unsigned int selectTheta()  { return FEATURE_LINE[1] ; }

  vpMatrix  interaction(const unsigned int select = FEATURE_ALL);

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

  //vpColVector error(const int select = FEATURE_ALL)  ;

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

  vpFeatureLine *duplicate() const ;


public:
  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:
 */