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vpForwardProjection.h
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8  * ("GPL") version 2 as published by the Free Software Foundation.
9  * See the file LICENSE.txt at the root directory of this source
10  * distribution for additional information about the GNU GPL.
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12  * For using ViSP with software that can not be combined with the GNU
13  * GPL, please contact Inria about acquiring a ViSP Professional
14  * Edition License.
15  *
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17  *
18  * This software was developed at:
19  * Inria Rennes - Bretagne Atlantique
20  * Campus Universitaire de Beaulieu
21  * 35042 Rennes Cedex
22  * France
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25  * Inria at visp@inria.fr
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27  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
28  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29  *
30  * Description:
31  * Forward projection.
32  *
33  * Authors:
34  * Eric Marchand
35  *
36  *****************************************************************************/
37 
38 #ifndef vpForwardProjection_H
39 #define vpForwardProjection_H
40 
46 #include <visp3/core/vpMatrix.h>
47 #include <visp3/core/vpTracker.h>
48 #include <visp3/core/vpColor.h>
49 
50 #include <visp3/core/vpHomogeneousMatrix.h>
51 
52 
67 class VISP_EXPORT vpForwardProjection : public vpTracker
68 {
69 public:
74 
75 public:
82  virtual void init() = 0;
83 
85  virtual ~vpForwardProjection() { ; }
86 
87 public:
95  virtual void setWorldCoordinates(const vpColVector &oP) = 0;
96 
116  virtual void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP)=0;
133  virtual void changeFrame(const vpHomogeneousMatrix &cMo) = 0 ;
143  virtual void projection(const vpColVector &cP, vpColVector &p) =0 ;
144 
154  virtual void projection() =0 ;
155 
156  void project() ;
157  void project(const vpHomogeneousMatrix &cMo) ;
158  void track(const vpHomogeneousMatrix &cMo) ;
159 
174  virtual void display(const vpImage<unsigned char> &I,
175  const vpCameraParameters &cam,
176  const vpColor &color=vpColor::green,
177  const unsigned int thickness=1) =0;
178 
198  virtual void display(const vpImage<unsigned char> &I,
199  const vpHomogeneousMatrix &cMo,
200  const vpCameraParameters &cam,
201  const vpColor &color=vpColor::green,
202  const unsigned int thickness=1) =0;
203 
204  virtual void print() const ;
205 
209  virtual vpForwardProjection *duplicate() const = 0 ;
210 
211 public:
215  typedef enum
216  {
218  vpDisplayForwardProjection
219  } vpForwardProjectionDeallocatorType;
220 
221 private:
222  vpForwardProjectionDeallocatorType deallocate ;
223 public:
224  vpForwardProjection() : oP(), deallocate(user) {}
225 
228 } ;
229 
230 
231 #endif
232 
233 /*
234  * Local variables:
235  * c-basic-offset: 2
236  * End:
237  */
virtual ~vpForwardProjection()
Destructor.
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpForwardProjectionDeallocatorType getDeallocate()
Class to define colors available for display functionnalities.
Definition: vpColor.h:121
static const vpColor green
Definition: vpColor.h:166
Class that defines what is a feature generic tracker.
Definition: vpTracker.h:66
Class that defines what is a generic geometric feature.
Generic class defining intrinsic camera parameters.
void setDeallocate(vpForwardProjectionDeallocatorType d)
Implementation of column vector and the associated operations.
Definition: vpColVector.h:72
void init()
Default initialization.
Definition: vpTracker.cpp:50