Visual Servoing Platform  version 3.5.0 under development (2022-02-15)
vpFeatureVanishingPoint.h
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30  *
31  * Description:
32  * 2D vanishing point visual feature (Z coordinate in 3D space is infinity)
33  *
34  * Authors:
35  * Odile Bourquardez
36  *
37  *****************************************************************************/
38 
39 #ifndef vpFeatureVanishingPoint_H
40 #define vpFeatureVanishingPoint_H
41 
47 #include <visp3/core/vpMatrix.h>
48 #include <visp3/core/vpPoint.h>
49 #include <visp3/visual_features/vpBasicFeature.h>
50 
51 #include <visp3/core/vpHomogeneousMatrix.h>
52 #include <visp3/core/vpRGBa.h>
53 
75 class VISP_EXPORT vpFeatureVanishingPoint : public vpBasicFeature
76 {
77 public:
78  static unsigned int selectAlpha();
79  static unsigned int selectAtanOneOverRho();
80  static unsigned int selectOneOverRho();
81  static unsigned int selectX();
82  static unsigned int selectY();
83 
84 public:
88 
89  void buildFrom(double x, double y);
90 
91  void display(const vpCameraParameters &cam, const vpImage<unsigned char> &I, const vpColor &color = vpColor::green,
92  unsigned int thickness = 1) const;
93  void display(const vpCameraParameters &cam, const vpImage<vpRGBa> &I, const vpColor &color = vpColor::green,
94  unsigned int thickness = 1) const;
95 
97 
98  vpColVector error(const vpBasicFeature &s_star, unsigned int select = (selectX() | selectY()));
99 
100  double get_x() const;
101  double get_y() const;
102  double getAtanOneOverRho() const;
103  double getOneOverRho() const;
104  double getAlpha() const;
105 
106  void init();
107  vpMatrix interaction(unsigned int select = (selectX() | selectY()));
108 
109  void print(unsigned int select = (selectX() | selectY())) const;
110 
111  void set_x(double x);
112  void set_y(double y);
113  void set_xy(double x, double y);
114  void setAtanOneOverRho(double atan_one_over_rho);
115  void setOneOverRho(double one_over_rho);
116  void setAlpha(double alpha);
117 
118 protected:
119  unsigned int m_select; // Memory to know which features are used for display;
120 };
121 
122 #endif
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:153
virtual ~vpFeatureVanishingPoint()
Destructor.
Class to define RGB colors available for display functionnalities.
Definition: vpColor.h:157
static const vpColor green
Definition: vpColor.h:220
virtual void print(unsigned int select=FEATURE_ALL) const =0
Print the name of the feature.
class that defines what is a visual feature
virtual vpColVector error(const vpBasicFeature &s_star, unsigned int select=FEATURE_ALL)
Generic class defining intrinsic camera parameters.
virtual void init()=0
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
virtual vpBasicFeature * duplicate() const =0
virtual vpMatrix interaction(unsigned int select=FEATURE_ALL)=0
Compute the interaction matrix from a subset of the possible features.
virtual void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const =0