vpCylinder.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:
 * Cylinder feature.
 *
 * Authors:
 * Eric Marchand
 *
 *****************************************************************************/

#ifndef vpCylinder_hh
#define vpCylinder_hh

#include <math.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpMath.h>

#include <visp3/core/vpForwardProjection.h>

class VISP_EXPORT vpCylinder : public vpForwardProjection
{
public:
  typedef enum {
    line1, 
    line2  
  } vpLineCylinderType;

  vpCylinder();
  explicit vpCylinder(const vpColVector &oP);
  vpCylinder(double oA, double oB, double oC, double oX, double oY, double oZ, double R);
  virtual ~vpCylinder();

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

  double computeZ(double x, double y) const;

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

  vpCylinder *duplicate() const;

  double getRho1() const { return p[0]; }
  double getTheta1() const { return p[1]; }

  double getRho2() const { return p[2]; }
  double getTheta2() const { return p[3]; }

  double getA() const { return cP[0]; }
  double getB() const { return cP[1]; }
  double getC() const { return cP[2]; }
  double getX() const { return cP[3]; }
  double getY() const { return cP[4]; }
  double getZ() const { return cP[5]; }
  double getR() const { return cP[6]; }

  void init();

  void projection();
  void projection(const vpColVector &cP, vpColVector &p) const;

  void setWorldCoordinates(const vpColVector &oP);
  void setWorldCoordinates(double oA, double oB, double oC, double oX, double oY, double oZ, double R);
};

#endif