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vpFeatureTranslation.h
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13  * GPL, please contact Inria about acquiring a ViSP Professional
14  * Edition License.
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18  * This software was developed at:
19  * Inria Rennes - Bretagne Atlantique
20  * Campus Universitaire de Beaulieu
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28  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29  *
30  * Description:
31  * 3D translation visual feature.
32  *
33  * Authors:
34  * Eric Marchand
35  * Fabien Spindler
36  *
37  *****************************************************************************/
38 
39 
40 #ifndef vpFeatureTranslation_H
41 #define vpFeatureTranslation_H
42 
48 #include <visp3/core/vpMatrix.h>
49 #include <visp3/visual_features/vpBasicFeature.h>
50 #include <visp3/core/vpTranslationVector.h>
51 #include <visp3/core/vpHomogeneousMatrix.h>
52 #include <visp3/core/vpRGBa.h>
53 
54 
274 class VISP_EXPORT vpFeatureTranslation : public vpBasicFeature
275 {
276 public:
277 
282  typedef enum {
294  cMo
295  } vpFeatureTranslationRepresentationType;
296 
297  // basic contructor
299  // basic constructor specifying the type of translation feature
300  vpFeatureTranslation(vpFeatureTranslationRepresentationType r) ;
301  // constructor : build from an homogeneous matrix
302  // cdMc is the displacement that the camera has to realize
303  vpFeatureTranslation(vpHomogeneousMatrix &f2Mf1, vpFeatureTranslationRepresentationType r) ;
306 
307  // build from an homogeneous matrix
308  // cdMc is the displacement that the camera has to realize
309  void buildFrom(const vpHomogeneousMatrix &f2Mf1) ;
310 
311  void display(const vpCameraParameters &cam,
312  const vpImage<unsigned char> &I,
313  const vpColor &color=vpColor::green,
314  unsigned int thickness=1) const ;
315  void display(const vpCameraParameters &cam,
316  const vpImage<vpRGBa> &I,
317  const vpColor &color=vpColor::green,
318  unsigned int thickness=1) const ;
319 
322 
323  // compute the error between two visual features from a subset
324  // a the possible features
325  vpColVector error(const vpBasicFeature &s_star,
326  const unsigned int select = FEATURE_ALL) ;
327 
328  vpFeatureTranslationRepresentationType getFeatureTranslationType() const;
329 
330  double get_Tx() const ;
331  double get_Ty() const ;
332  double get_Tz() const ;
333 
334  // basic construction
335  void init() ;
336  // compute the interaction matrix from a subset a the possible features
337  vpMatrix interaction(const unsigned int select = FEATURE_ALL);
338 
339  // print the name of the feature
340  void print(const unsigned int select= FEATURE_ALL) const ;
341 
342  void set_Tx(const double t_x) ;
343  void set_Ty(const double t_y) ;
344  void set_Tz(const double t_z) ;
345 
346  void setFeatureTranslationType(const vpFeatureTranslationRepresentationType r);
347 
348 
349  // feature selection
350  static unsigned int selectTx();
351  static unsigned int selectTy();
352  static unsigned int selectTz();
353 
354 private:
356  vpHomogeneousMatrix f2Mf1;
357  vpFeatureTranslationRepresentationType translation;
358 } ;
359 
360 
361 #endif
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:97
Class that defines the translation visual feature .
Implementation of an homogeneous matrix and operations on such kind of matrices.
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
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
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
virtual ~vpFeatureTranslation()
Destructor. Does nothing.