Visual Servoing Platform  version 3.2.0 under development (2019-01-22)
vpFeatureEllipse.h
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30  *
31  * Description:
32  * 2D ellipse visual feature.
33  *
34  * Authors:
35  * Eric Marchand
36  *
37  *****************************************************************************/
38 
39 #ifndef vpFeatureEllipse_H
40 #define vpFeatureEllipse_H
41 
47 #include <visp3/core/vpMatrix.h>
48 #include <visp3/visual_features/vpBasicFeature.h>
49 
50 #include <visp3/core/vpHomogeneousMatrix.h>
51 #include <visp3/core/vpRGBa.h>
52 
58 class VISP_EXPORT vpFeatureEllipse : public vpBasicFeature
59 {
60  /*
61  attributes and members directly related to the vpBasicFeature needs
62  other functionalities are useful but not mandatory
63  */
64 private:
67  double A, B, C;
68 
69 public:
73  virtual ~vpFeatureEllipse() {}
74 
78  vpFeatureEllipse(const double x, const double y, const double mu20, const double mu11, const double mu02);
80 
81  // void buildFrom(const vpEllipse &p) ;
82  void buildFrom(const double x, const double y, const double mu20, const double mu11, const double mu02);
83  void buildFrom(const double x, const double y, const double mu20, const double mu11, const double mu02,
84  const double A, const double B, const double C);
85 
86  void display(const vpCameraParameters &cam, const vpImage<unsigned char> &I, const vpColor &color = vpColor::green,
87  unsigned int thickness = 1) const;
88  void display(const vpCameraParameters &cam, const vpImage<vpRGBa> &I, const vpColor &color = vpColor::green,
89  unsigned int thickness = 1) const;
91  vpFeatureEllipse *duplicate() const;
92 
95  vpColVector error(const vpBasicFeature &s_star, const unsigned int select = FEATURE_ALL);
97  vpColVector error(const unsigned int select = FEATURE_ALL);
98 
99  double get_x() const { return s[0]; }
100  double get_y() const { return s[1]; }
101  double getMu20() const { return s[2]; }
102  double getMu11() const { return s[3]; }
103  double getMu02() const { return s[4]; }
104 
106  void init();
108  vpMatrix interaction(const unsigned int select = FEATURE_ALL);
109 
111  void print(const unsigned int select = FEATURE_ALL) const;
112 
113  void set_x(const double x);
114  void set_y(const double y);
115  void set_xy(const double x, const double y);
116  void setABC(const double A, const double B, const double C);
117  void setMu(const double mu20, const double mu11, const double mu02);
118 
119 public:
124  // feature selection
125  static unsigned int selectX();
126  static unsigned int selectY();
127  static unsigned int selectMu20();
128  static unsigned int selectMu11();
129  static unsigned int selectMu02();
130 };
131 
132 #endif
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:104
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:120
double getMu02() const
double get_y() const
double getMu20() const
virtual vpColVector error(const vpBasicFeature &s_star, const unsigned int select=FEATURE_ALL)
static const vpColor green
Definition: vpColor.h:183
double getMu11() const
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 ~vpFeatureEllipse()
Destructor.
virtual void init()=0
Implementation of column vector and the associated operations.
Definition: vpColVector.h:72
double get_x() const
virtual vpBasicFeature * duplicate() const =0
Class that defines 2D ellipse visual feature.
virtual void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const =0