vpFeatureLine.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:
 * 2D line visual feature.
 *
 * Authors:
 * Eric Marchand
 *
 *****************************************************************************/


#ifndef vpFeatureLine_H
#define vpFeatureLine_H

#include <visp3/core/vpMatrix.h>
#include <visp3/visual_features/vpBasicFeature.h>


#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpRGBa.h>


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

public:
  vpFeatureLine() ;
  virtual ~vpFeatureLine() {}


  //  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) ;

  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 ;
  vpFeatureLine *duplicate() const ;

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


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

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

  void init() ;
  vpMatrix  interaction(const unsigned int select = FEATURE_ALL);

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

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


public:

  static unsigned int selectRho();
  static unsigned int selectTheta();
} ;

#endif