vpFeaturePointPolar.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 point with polar coordinates visual feature.
 *
 * Authors:
 * Fabien Spindler
 *
 *****************************************************************************/


#ifndef vpFeaturePointPolar_H
#define vpFeaturePointPolar_H

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

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


class VISP_EXPORT vpFeaturePointPolar : public vpBasicFeature
{
private:
  double Z ;

public:
  // basic constructor
  vpFeaturePointPolar() ;
  virtual ~vpFeaturePointPolar() { }

  void buildFrom(const double rho, const double theta, const double Z) ;

  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 ;

  // feature duplication
  vpFeaturePointPolar *duplicate() const ;

  // compute the error between two visual features from a subset
  // a the possible features
  vpColVector error(const vpBasicFeature &s_star,
                    const unsigned int select = FEATURE_ALL)  ;

  // basic construction
  void init() ;

  // get the point rho-coordinates
  double get_rho()  const ;
  // get the point theta-coordinates
  double get_theta()   const ;
  // get the point depth (camera frame)
  double get_Z() const  ;

  // compute the interaction matrix from a subset a the possible features
  vpMatrix  interaction(const unsigned int select = FEATURE_ALL);

  // print the name of the feature
  void print(const unsigned int select = FEATURE_ALL ) const ;

  // set the point rho-coordinates
  void set_rho(const double rho) ;
  // set the point theta-coordinates
  void set_theta(const double theta) ;
  // set the point depth (camera frame)
  void set_Z(const double Z) ;
  // set the point rho, theta polar coordinates and Z coordinate
  void set_rhoThetaZ(const double rho, const double theta, const double Z) ;

  /*
    vpBasicFeature method instantiation
  */
  static unsigned int selectRho();
  static unsigned int selectTheta();

  vpColVector error(const unsigned int select = FEATURE_ALL)  ;
} ;



#endif

/*
 * Local variables:
 * c-basic-offset: 2
 * End:
 */