vpForwardProjection.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:
 * Forward projection.
 *
 * Authors:
 * Eric Marchand
 *
 *****************************************************************************/

#ifndef vpForwardProjection_H
#define vpForwardProjection_H

#include <visp3/core/vpMatrix.h>
#include <visp3/core/vpTracker.h>
#include <visp3/core/vpColor.h>

#include <visp3/core/vpHomogeneousMatrix.h>


class VISP_EXPORT vpForwardProjection : public vpTracker
{
public:
  vpColVector oP ;

public:
  virtual void init() = 0;

  virtual ~vpForwardProjection() { ; }

public:
  virtual void setWorldCoordinates(const vpColVector &oP) = 0;

  virtual void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP)=0;
  virtual void changeFrame(const vpHomogeneousMatrix &cMo)  = 0 ;
  virtual void projection(const vpColVector &cP, vpColVector &p) =0 ;

  virtual void projection() =0 ;

  void project()  ;
  void project(const vpHomogeneousMatrix &cMo) ;
  void track(const vpHomogeneousMatrix &cMo) ;

  virtual void display(const vpImage<unsigned char> &I,
                       const vpCameraParameters &cam,
                       const vpColor &color=vpColor::green,
                       const unsigned int thickness=1) =0;

  virtual void display(const vpImage<unsigned char> &I,
                       const vpHomogeneousMatrix &cMo,
                       const vpCameraParameters &cam,
                       const vpColor &color=vpColor::green,
                       const unsigned int thickness=1) =0;

  virtual void print() const ;

  virtual vpForwardProjection *duplicate() const = 0 ;

public:
  typedef enum
    {
      user,
      vpDisplayForwardProjection
    } vpForwardProjectionDeallocatorType;

private:
  vpForwardProjectionDeallocatorType deallocate ;
public:
  vpForwardProjection() : oP(), deallocate(user) {}

  void setDeallocate(vpForwardProjectionDeallocatorType d) { deallocate = d ; }
  vpForwardProjectionDeallocatorType getDeallocate() { return deallocate ; }
} ;


#endif

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