ViSP  2.8.0
vpForwardProjection.h
1 /****************************************************************************
2  *
3  * $Id: vpForwardProjection.h 4056 2013-01-05 13:04:42Z fspindle $
4  *
5  * This file is part of the ViSP software.
6  * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
7  *
8  * This software is free software; you can redistribute it and/or
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
26  *
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  * Forward projection.
36  *
37  * Authors:
38  * Eric Marchand
39  *
40  *****************************************************************************/
41 
42 #ifndef vpForwardProjection_H
43 #define vpForwardProjection_H
44 
50 #include <visp/vpMatrix.h>
51 #include <visp/vpTracker.h>
52 #include <visp/vpColor.h>
53 
54 #include <visp/vpHomogeneousMatrix.h>
55 
56 
71 class VISP_EXPORT vpForwardProjection : public vpTracker
72 {
73 public:
78 
79 public:
86  virtual void init() = 0;
87 
89  virtual ~vpForwardProjection() { ; }
90 
91 public:
99  virtual void setWorldCoordinates(const vpColVector &oP) = 0;
100 
120  virtual void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP)=0;
137  virtual void changeFrame(const vpHomogeneousMatrix &cMo) = 0 ;
147  virtual void projection(const vpColVector &cP, vpColVector &p) =0 ;
148 
158  virtual void projection() =0 ;
159 
160  void project() ;
161  void project(const vpHomogeneousMatrix &cMo) ;
162  void track(const vpHomogeneousMatrix &cMo) ;
163 
178  virtual void display(const vpImage<unsigned char> &I,
179  const vpCameraParameters &cam,
180  const vpColor &color=vpColor::green,
181  const unsigned int thickness=1) =0;
182 
202  virtual void display(const vpImage<unsigned char> &I,
203  const vpHomogeneousMatrix &cMo,
204  const vpCameraParameters &cam,
205  const vpColor &color=vpColor::green,
206  const unsigned int thickness=1) =0;
207 
208  virtual void print() const ;
209 
213  virtual vpForwardProjection *duplicate() const = 0 ;
214 
215 public:
219  typedef enum
220  {
222  vpDisplayForwardProjection
223  } vpForwardProjectionDeallocatorType;
224 
225 private:
226  vpForwardProjectionDeallocatorType deallocate ;
227 public:
230 } ;
231 
232 
233 #endif
234 
235 /*
236  * Local variables:
237  * c-basic-offset: 2
238  * End:
239  */
virtual ~vpForwardProjection()
Destructor.
The class provides a data structure for the homogeneous matrices as well as a set of operations on th...
vpForwardProjectionDeallocatorType getDeallocate()
Class to define colors available for display functionnalities.
Definition: vpColor.h:125
static const vpColor green
Definition: vpColor.h:170
Class that defines what is a feature generic tracker.
Definition: vpTracker.h:69
Class that defines what is a generic geometric feature.
Generic class defining intrinsic camera parameters.
void setDeallocate(vpForwardProjectionDeallocatorType d)
Class that provides a data structure for the column vectors as well as a set of operations on these v...
Definition: vpColVector.h:72
void init()
Default initialization.
Definition: vpTracker.cpp:54