vpFeatureTranslation.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:
 * 3D translation visual feature.
 *
 * Authors:
 * Eric Marchand
 * Fabien Spindler
 *
 *****************************************************************************/


#ifndef vpFeatureTranslation_H
#define vpFeatureTranslation_H

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


class VISP_EXPORT vpFeatureTranslation : public vpBasicFeature
{
public:

  typedef enum {
    cdMc, 
    cMcd, 
    cMo 
  } vpFeatureTranslationRepresentationType;

  // basic contructor
  vpFeatureTranslation() ;
  // basic constructor specifying the type of translation feature
  vpFeatureTranslation(vpFeatureTranslationRepresentationType r) ;
  // constructor : build from an homogeneous matrix
  // cdMc is the displacement that the camera has to realize
  vpFeatureTranslation(vpHomogeneousMatrix &f2Mf1, vpFeatureTranslationRepresentationType r) ;
  virtual ~vpFeatureTranslation() {}

  // build from an homogeneous matrix
  // cdMc is the displacement that the camera has to realize
  void buildFrom(const vpHomogeneousMatrix &f2Mf1) ;

  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 ;

  vpFeatureTranslation *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)  ;

  vpFeatureTranslationRepresentationType getFeatureTranslationType() const;

  double get_Tx() const ;
  double get_Ty() const ;
  double get_Tz() const ;

  // basic construction
  void init() ;
  // 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 ;

  void set_Tx(const double t_x) ;
  void set_Ty(const double t_y) ;
  void set_Tz(const double t_z) ;

  void setFeatureTranslationType(const vpFeatureTranslationRepresentationType r);


  // feature selection
  static unsigned int selectTx();
  static unsigned int selectTy();
  static unsigned int selectTz();

private:
  vpHomogeneousMatrix f2Mf1;
  vpFeatureTranslationRepresentationType translation;
} ;


#endif