vpFeatureBuilder.h

/****************************************************************************
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2017 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://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * 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:
 * Conversion between tracker and visual feature.
 *
 * Authors:
 * Eric Marchand
 * Fabien Spindler
 *
 *****************************************************************************/

#ifndef vpFeatureBuilder_H
#define vpFeatureBuilder_H

#include <visp3/core/vpConfig.h>

// tracker
#ifdef VISP_HAVE_MODULE_BLOB
#  include <visp3/blob/vpDot.h>
#  include <visp3/blob/vpDot2.h>
#endif

#ifdef VISP_HAVE_MODULE_ME
#  include <visp3/me/vpMeLine.h>
#  include <visp3/me/vpMeEllipse.h>
#endif

// forward projection tracker
#include <visp3/core/vpPoint.h>
#include <visp3/core/vpLine.h>
#include <visp3/core/vpSphere.h>
#include <visp3/core/vpCircle.h>
#include <visp3/core/vpCylinder.h>

// visual feature
#include <visp3/visual_features/vpFeaturePoint.h>
#include <visp3/visual_features/vpFeaturePointPolar.h>
#include <visp3/visual_features/vpFeatureLine.h>
#include <visp3/visual_features/vpFeatureEllipse.h>
#include <visp3/visual_features/vpFeaturePoint3D.h>
#include <visp3/visual_features/vpFeatureThetaU.h>
#include <visp3/visual_features/vpFeatureTranslation.h>
#include <visp3/visual_features/vpFeatureVanishingPoint.h>
#include <visp3/visual_features/vpFeatureSegment.h>

// others
#include <visp3/core/vpImagePoint.h>

//pixel / meter conversion
#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpPixelMeterConversion.h>
#include <visp3/core/vpMeterPixelConversion.h>


class VISP_EXPORT vpFeatureBuilder
{
public:
  // create vpFeaturePoint feature
#ifdef VISP_HAVE_MODULE_BLOB
  static void create(vpFeaturePoint &s, const vpCameraParameters &cam,
                     const vpDot &d) ;
  static void create(vpFeaturePoint &s, const vpCameraParameters &cam,
                     const vpDot2 &d) ;
#endif
  static void create(vpFeaturePoint &s, const vpCameraParameters &cam,
                     const vpImagePoint &t) ;
  static void create(vpFeaturePoint &s, const vpPoint &p) ;
  static void create(vpFeaturePoint &s,
                     const vpCameraParameters &goodCam,
                     const vpCameraParameters &wrongCam,
                     const vpPoint &p) ;

#ifdef VISP_HAVE_MODULE_BLOB
  static void create(vpFeatureSegment &s, const vpCameraParameters &cam, const vpDot &d1, const vpDot &d2 ) ;
  static void create(vpFeatureSegment &s, const vpCameraParameters &cam, const vpDot2 &d1, const vpDot2 &d2) ;
#endif
  static void create(vpFeatureSegment &s, const vpCameraParameters &cam,
                     const vpImagePoint &ip1, const vpImagePoint &ip2);
  static void create(vpFeatureSegment &s, vpPoint& P1, vpPoint& P2);

  // create vpFeaturePointPolar feature
#ifdef VISP_HAVE_MODULE_BLOB
  static void create(vpFeaturePointPolar &s,
             const vpCameraParameters &cam,
             const vpDot &dot) ;
  static void create(vpFeaturePointPolar &s, 
             const vpCameraParameters &cam,
             const vpDot2 &dot) ;
#endif
  static void create(vpFeaturePointPolar &s, 
             const vpCameraParameters &cam,
             const vpImagePoint &iP) ;
  static void create(vpFeaturePointPolar &s, const vpPoint &p) ;
  static void create(vpFeaturePointPolar &s,
             const vpCameraParameters &goodCam,
             const vpCameraParameters &wrongCam,
             const vpPoint &p) ;

  // create vpFeaturePoint3D feature
  static void create(vpFeaturePoint3D &s, const vpPoint &p ) ;

  // create vpFeatureLine feature
  static void create(vpFeatureLine &s, const vpLine &l ) ;
  static void create(vpFeatureLine &s, const vpCylinder &c, const int line) ;

#ifdef VISP_HAVE_MODULE_ME
  static  void create(vpFeatureLine &s,
                      const vpCameraParameters &cam,
                      const vpMeLine &mel) ;
#endif

  static void create(vpFeatureEllipse &s, const vpCircle &c) ;
  static void create(vpFeatureEllipse &s, const vpSphere &sphere) ;
#ifdef VISP_HAVE_MODULE_BLOB
  static void create(vpFeatureEllipse &s,
             const vpCameraParameters &cam,
             const vpDot &d ) ;
  static void create(vpFeatureEllipse &s,
             const vpCameraParameters &cam,
             const vpDot2 &d ) ;
#endif

#ifdef VISP_HAVE_MODULE_ME
  static void create(vpFeatureEllipse &s,
             const vpCameraParameters &cam,
             const vpMeEllipse &d ) ;
#endif

  static void create(vpFeatureVanishingPoint &s, const vpPoint &p);
  static void create(vpFeatureVanishingPoint &s, const vpFeatureLine &l1, const vpFeatureLine &l2 );
  static void create(vpFeatureVanishingPoint &s, const vpLine &l1, const vpLine &l2 );
} ;

#endif