vpFeaturePointPolar.h

/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2019 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 as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * 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:
 * 2D point with polar coordinates visual feature.
 *
 * Authors:
 * Fabien Spindler
 *
 *****************************************************************************/

#ifndef vpFeaturePointPolar_H
#define vpFeaturePointPolar_H

#include <visp3/core/vpMatrix.h>
#include <visp3/core/vpPoint.h>
#include <visp3/visual_features/vpBasicFeature.h>

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

class VISP_EXPORT vpFeaturePointPolar : public vpBasicFeature
{
private:
  double Z;

public:
  // basic constructor
  vpFeaturePointPolar();
  virtual ~vpFeaturePointPolar() {}

  void buildFrom(const double rho, const double theta, const double Z);

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

  // feature duplication
  vpFeaturePointPolar *duplicate() const;

  // compute the error between two visual features from a subset
  // a the possible features
  vpColVector error(const vpBasicFeature &s_star, const unsigned int select = FEATURE_ALL);

  // basic construction
  void init();

  // get the point rho-coordinates
  double get_rho() const;
  // get the point theta-coordinates
  double get_theta() const;
  // get the point depth (camera frame)
  double get_Z() const;

  // compute the interaction matrix from a subset a the possible features
  vpMatrix interaction(const unsigned int select = FEATURE_ALL);

  // print the name of the feature
  void print(const unsigned int select = FEATURE_ALL) const;

  // set the point rho-coordinates
  void set_rho(const double rho);
  // set the point theta-coordinates
  void set_theta(const double theta);
  // set the point depth (camera frame)
  void set_Z(const double Z);
  // set the point rho, theta polar coordinates and Z coordinate
  void set_rhoThetaZ(const double rho, const double theta, const double Z);

  /*
    vpBasicFeature method instantiation
  */
  static unsigned int selectRho();
  static unsigned int selectTheta();

  vpColVector error(const unsigned int select = FEATURE_ALL);
};

#endif

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