Visual Servoing Platform  version 3.0.0
vpFeatureDepth.h
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2  *
3  * This file is part of the ViSP software.
4  * Copyright (C) 2005 - 2015 by Inria. All rights reserved.
5  *
6  * This software is free software; you can redistribute it and/or
7  * modify it under the terms of the GNU General Public License
8  * ("GPL") version 2 as published by the Free Software Foundation.
9  * See the file LICENSE.txt at the root directory of this source
10  * distribution for additional information about the GNU GPL.
11  *
12  * For using ViSP with software that can not be combined with the GNU
13  * GPL, please contact Inria about acquiring a ViSP Professional
14  * Edition License.
15  *
16  * See http://visp.inria.fr for more information.
17  *
18  * This software was developed at:
19  * Inria Rennes - Bretagne Atlantique
20  * Campus Universitaire de Beaulieu
21  * 35042 Rennes Cedex
22  * France
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24  * If you have questions regarding the use of this file, please contact
25  * Inria at visp@inria.fr
26  *
27  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
28  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29  *
30  * Description:
31  * 2D point visual feature.
32  *
33  * Authors:
34  * Nicolas Melchior
35  *
36  *****************************************************************************/
37 
38 
39 #ifndef vpFeatureDepth_H
40 #define vpFeatureDepth_H
41 
47 #include <visp3/core/vpMatrix.h>
48 #include <visp3/visual_features/vpBasicFeature.h>
49 
50 #include <visp3/core/vpHomogeneousMatrix.h>
51 #include <visp3/core/vpRGBa.h>
52 
53 
162 class VISP_EXPORT vpFeatureDepth : public vpBasicFeature
163 {
164 
165 private:
167  double x;
169  double y;
171  double Z;
172 
173 public:
174  void init() ;
175  vpFeatureDepth() ;
177  virtual ~vpFeatureDepth() {}
178 
179  /*
180  section Set coordinates
181  */
182 
183  void buildFrom(const double x, const double y, const double Z, const double LogZoverZstar) ;
184 
185  void set_x(const double x) ;
186 
187  void set_y(const double y) ;
188 
189  void set_Z(const double Z) ;
190 
191  void set_LogZoverZstar(const double LogZoverZstar);
192 
193  void set_xyZLogZoverZstar(const double x, const double y, const double Z, const double logZZs) ;
194 
195  double get_x() const ;
196 
197  double get_y() const ;
198 
199  double get_Z() const ;
200 
201  double get_LogZoverZstar() const ;
202 
203 
204  /*
205  vpBasicFeature method instantiation
206  */
207 
208 
209  vpMatrix interaction(const unsigned int select = FEATURE_ALL);
210 
211  vpColVector error(const vpBasicFeature &s_star,
212  const unsigned int select = FEATURE_ALL) ;
213 
214  void print(const unsigned int select = FEATURE_ALL ) const ;
215 
216  vpFeatureDepth *duplicate() const ;
217 
218 
219  void display(const vpCameraParameters &cam,
220  const vpImage<unsigned char> &I,
221  const vpColor &color=vpColor::green,
222  unsigned int thickness=1) const ;
223  void display(const vpCameraParameters &cam,
224  const vpImage<vpRGBa> &I,
225  const vpColor &color=vpColor::green,
226  unsigned int thickness=1) const ;
227 
228 } ;
229 
230 
231 
232 #endif
233 
234 /*
235  * Local variables:
236  * c-basic-offset: 2
237  * End:
238  */
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:92
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:121
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:166
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
Implementation of column vector and the associated operations.
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