vpForwardProjection.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:
 * Forward projection.
 *
 * Authors:
 * Eric Marchand
 *
 *****************************************************************************/

#ifndef vpForwardProjection_H
#define vpForwardProjection_H

#include <visp3/core/vpColor.h>
#include <visp3/core/vpMatrix.h>
#include <visp3/core/vpTracker.h>

#include <visp3/core/vpHomogeneousMatrix.h>

class VISP_EXPORT vpForwardProjection : public vpTracker
{
public:
  typedef enum { user, vpDisplayForwardProjection } vpForwardProjectionDeallocatorType;

  vpForwardProjection() : oP(), deallocate(user) {}

  virtual ~vpForwardProjection() { ; }

  virtual void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP) const = 0;
  virtual void changeFrame(const vpHomogeneousMatrix &cMo) = 0;

  virtual void display(const vpImage<unsigned char> &I, const vpCameraParameters &cam,
                       const vpColor &color = vpColor::green, unsigned int thickness = 1) = 0;

  virtual void display(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
                       const vpColor &color = vpColor::green, unsigned int thickness = 1) = 0;

  virtual vpForwardProjection *duplicate() const = 0;

  vpColVector get_oP() const { return oP; }

  vpForwardProjectionDeallocatorType getDeallocate() { return deallocate; }

  virtual void print() const;

  virtual void projection(const vpColVector &cP, vpColVector &p) const = 0;

  virtual void projection() = 0;

  void project();
  void project(const vpHomogeneousMatrix &cMo);

  void setDeallocate(vpForwardProjectionDeallocatorType d) { deallocate = d; }

  virtual void setWorldCoordinates(const vpColVector &oP) = 0;

  void track(const vpHomogeneousMatrix &cMo);

protected:
  virtual void init() = 0;

public:
  vpColVector oP;

private:
  vpForwardProjectionDeallocatorType deallocate;
};

#endif