vpSphere.h

/****************************************************************************
 *
 * $Id: vpSphere.h 4574 2014-01-09 08:48:51Z 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:
 * Sphere feature.
 *
 * Authors:
 * Eric Marchand
 *
 *****************************************************************************/

#ifndef vpSphere_hh
#define vpSphere_hh


#include <visp/vpMath.h>
#include <visp/vpDebug.h>
#include <visp/vpHomogeneousMatrix.h>

#include <visp/vpForwardProjection.h>
#include <math.h>
class VISP_EXPORT vpSphere : public vpForwardProjection
{
public:
  void init() ;
  vpSphere() ;
  virtual ~vpSphere() ;

public:
  vpSphere(const vpColVector& oP) ;
  vpSphere(const double X0, const double Y0,
       const double Z0,
       const double R) ;


  void setWorldCoordinates(const vpColVector& oP) ;
  void setWorldCoordinates(const double X0, const double Y0,
               const double Z0,
               const double R) ;

  double get_x() const { return p[0] ; }
  double get_y() const { return p[1] ; }
  double get_mu20() const { return p[2] ; }
  double get_mu11() const { return p[3] ; }
  double get_mu02() const { return p[4] ; }

  double getX() const { return cP[0] ; }
  double getY() const { return cP[1] ; }
  double getZ() const { return cP[2] ; }

  double getR() const { return cP[3] ; }

  void projection() ;
  void projection(const vpColVector &cP, vpColVector &p) ;
  void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP) ;
  void changeFrame(const vpHomogeneousMatrix &cMo) ;

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

  vpSphere *duplicate() const ;
} ;


#endif