vpLine.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:
 * Line feature.
 *
 * Authors:
 * Eric Marchand
 *
 *****************************************************************************/

#ifndef vpLine_H
#define vpLine_H

#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpMatrix.h>

#include <visp3/core/vpForwardProjection.h>

class VISP_EXPORT vpLine : public vpForwardProjection
{
public:
  vpLine();
  virtual ~vpLine() { ; }

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

  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);

  vpLine *duplicate() const;

  double getRho() const { return p[0]; }

  double getTheta() const { return p[1]; }

  void setRho(double rho) { p[0] = rho; }

  void setTheta(double theta) { p[1] = theta; }

  void setWorldCoordinates(const double &oA1, const double &oB1, const double &oC1, const double &oD1,
                           const double &oA2, const double &oB2, const double &oC2, const double &oD2);

  void setWorldCoordinates(const vpColVector &oP1, const vpColVector &oP2);

  void setWorldCoordinates(const vpColVector &oP);

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

protected:
  void init();
};

#endif

/*
 * Local variables:
 * c-basic-offset: 2
 * End:
 */