Visual Servoing Platform  version 3.2.0 under development (2019-01-22)
vpLine.h
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29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Line feature.
33  *
34  * Authors:
35  * Eric Marchand
36  *
37  *****************************************************************************/
38 
39 #ifndef vpLine_H
40 #define vpLine_H
41 
47 #include <visp3/core/vpHomogeneousMatrix.h>
48 #include <visp3/core/vpMatrix.h>
49 
50 #include <visp3/core/vpForwardProjection.h>
51 
105 class VISP_EXPORT vpLine : public vpForwardProjection
106 {
107 
108 public:
109  void init();
110 
111  vpLine();
113  virtual ~vpLine() { ; }
114 
124  void setRho(const double rho) { p[0] = rho; };
125 
134  void setTheta(const double theta) { p[1] = theta; };
135 
146  double getTheta() const { return p[1]; }
147 
157  double getRho() const { return p[0]; }
158 
159  void setWorldCoordinates(const double &A1, const double &B1, const double &C1, const double &D1, const double &A2,
160  const double &B2, const double &C2, const double &D2);
161 
162  void setWorldCoordinates(const vpColVector &oP1, const vpColVector &oP2);
163 
164  void setWorldCoordinates(const vpColVector &oP);
165 
166  void projection();
167  void projection(const vpColVector &cP, vpColVector &p);
168  void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP);
169  void changeFrame(const vpHomogeneousMatrix &cMo);
170 
171  void display(const vpImage<unsigned char> &I, const vpCameraParameters &cam, const vpColor &color = vpColor::green,
172  const unsigned int thickness = 1);
173  void display(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
174  const vpColor &color = vpColor::green, const unsigned int thickness = 1);
175 
176  vpLine *duplicate() const;
177 };
178 
179 #endif
180 
181 /*
182  * Local variables:
183  * c-basic-offset: 2
184  * End:
185  */
virtual void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP)=0
Implementation of an homogeneous matrix and operations on such kind of matrices.
Class to define colors available for display functionnalities.
Definition: vpColor.h:120
virtual void display(const vpImage< unsigned char > &I, const vpCameraParameters &cam, const vpColor &color=vpColor::green, const unsigned int thickness=1)=0
virtual void init()=0
static const vpColor green
Definition: vpColor.h:183
double getTheta() const
Definition: vpLine.h:146
virtual void projection()=0
double getRho() const
Definition: vpLine.h:157
Class that defines a line in the object frame, the camera frame and the image plane. All the parameters must be set in meter.
Definition: vpLine.h:105
Class that defines what is a generic geometric feature.
virtual void setWorldCoordinates(const vpColVector &oP)=0
Generic class defining intrinsic camera parameters.
virtual ~vpLine()
Destructor.
Definition: vpLine.h:113
void setRho(const double rho)
Definition: vpLine.h:124
void setTheta(const double theta)
Definition: vpLine.h:134
Implementation of column vector and the associated operations.
Definition: vpColVector.h:72
virtual vpForwardProjection * duplicate() const =0