vpFeatureTranslation.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:
 * 3D translation visual feature.
 *
 * Authors:
 * Eric Marchand
 * Fabien Spindler
 *
 *****************************************************************************/

#ifndef vpFeatureTranslation_H
#define vpFeatureTranslation_H

#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpMatrix.h>
#include <visp3/core/vpRGBa.h>
#include <visp3/core/vpTranslationVector.h>
#include <visp3/visual_features/vpBasicFeature.h>

class VISP_EXPORT vpFeatureTranslation : public vpBasicFeature
{
public:
  typedef enum {
    cdMc,
    cMcd,
    cMo
  } vpFeatureTranslationRepresentationType;

  // basic contructor
  vpFeatureTranslation();
  // basic constructor specifying the type of translation feature
  explicit vpFeatureTranslation(vpFeatureTranslationRepresentationType r);
  // constructor : build from an homogeneous matrix
  // cdMc is the displacement that the camera has to realize
  vpFeatureTranslation(vpHomogeneousMatrix &f2Mf1, vpFeatureTranslationRepresentationType r);
  virtual ~vpFeatureTranslation() {}

  // build from an homogeneous matrix
  // cdMc is the displacement that the camera has to realize
  void buildFrom(const vpHomogeneousMatrix &f2Mf1);

  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;

  vpFeatureTranslation *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);

  vpFeatureTranslationRepresentationType getFeatureTranslationType() const;

  double get_Tx() const;
  double get_Ty() const;
  double get_Tz() const;

  // basic construction
  void init();
  // 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;

  void set_Tx(const double t_x);
  void set_Ty(const double t_y);
  void set_Tz(const double t_z);

  void setFeatureTranslationType(const vpFeatureTranslationRepresentationType r);

  // feature selection
  static unsigned int selectTx();
  static unsigned int selectTy();
  static unsigned int selectTz();

private:
  vpHomogeneousMatrix f2Mf1;
  vpFeatureTranslationRepresentationType translation;
};

#endif