vpLine.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:
 * Line feature.
 *
 * Authors:
 * Eric Marchand
 *
 *****************************************************************************/


#ifndef vpLine_H
#define vpLine_H

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

#include <visp3/core/vpForwardProjection.h>

class VISP_EXPORT vpLine : public vpForwardProjection
{

public:

  void init() ;

  vpLine() ;
  virtual ~vpLine() { ; }

  void setRho(const double rho) {  p[0] = rho ; };

  void setTheta(const double theta) {  p[1] = theta ;};

  double getTheta()   const {  return p[1] ; }

  double getRho()  const  {  return p[0] ; }



  void setWorldCoordinates(const double &A1, const double &B1,
               const double &C1, const double &D1,
               const double &A2, const double &B2,
               const double &C2, const double &D2) ;


  void setWorldCoordinates(const vpColVector &oP1,
               const vpColVector &oP2) ;


  void setWorldCoordinates(const vpColVector &oP) ;


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

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

  vpLine *duplicate() const ;
} ;


#endif

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