Visual Servoing Platform  version 3.6.1 under development (2024-02-13)
vpBasicFeature.h
1 /****************************************************************************
2  *
3  * ViSP, open source Visual Servoing Platform software.
4  * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
5  *
6  * This software is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2 of the License, or
9  * (at your option) any later version.
10  * See the file LICENSE.txt at the root directory of this source
11  * distribution for additional information about the GNU GPL.
12  *
13  * For using ViSP with software that can not be combined with the GNU
14  * GPL, please contact Inria about acquiring a ViSP Professional
15  * Edition License.
16  *
17  * See https://visp.inria.fr for more information.
18  *
19  * This software was developed at:
20  * Inria Rennes - Bretagne Atlantique
21  * Campus Universitaire de Beaulieu
22  * 35042 Rennes Cedex
23  * France
24  *
25  * If you have questions regarding the use of this file, please contact
26  * Inria at visp@inria.fr
27  *
28  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Visual feature.
33  *
34  * Authors:
35  * Nicolas Mansard
36  *
37 *****************************************************************************/
38 
39 #ifndef vpBasicFeature_H
40 #define vpBasicFeature_H
41 
47 #include <visp3/core/vpColVector.h>
48 #include <visp3/core/vpMatrix.h>
49 
50 // Display Issue
51 
52 // Meter/pixel conversion
53 #include <visp3/core/vpCameraParameters.h>
54 
55 // Color / image / display
56 #include <visp3/core/vpColor.h>
57 #include <visp3/core/vpImage.h>
58 #include <visp3/core/vpRGBa.h>
59 
60 // #define FEATURE_ALL 0xff
61 
62 // #define FEATURE_LINE1 0x1
63 // #define FEATURE_LINE2 0x2
64 // #define FEATURE_LINE3 0x4
65 // #define FEATURE_LINE4 0x8
66 // #define FEATURE_LINE5 0x10
67 // #define FEATURE_LINE6 0x20
68 // #define FEATURE_LINE7 0x40
69 // #define FEATURE_LINE8 0x80
70 
76 class VISP_EXPORT vpBasicFeature
77 {
78 public:
79  static const unsigned int FEATURE_LINE[32];
80 
81  enum vpBasicFeatureSelect { FEATURE_ALL = 0xffff };
86  typedef enum { user, vpServo } vpBasicFeatureDeallocatorType;
87 
88 protected:
92  unsigned int dim_s;
93  // int featureLine[8] ;
96  bool *flags;
98  unsigned int nbParameters;
99 
100 public:
101  vpBasicFeature();
102  vpBasicFeature(const vpBasicFeature &f);
103  virtual ~vpBasicFeature();
104 
108  unsigned int dimension_s() { return dim_s; }
109 
110  virtual void display(const vpCameraParameters &cam, const vpImage<unsigned char> &I,
111  const vpColor &color = vpColor::green, unsigned int thickness = 1) const = 0;
112  virtual void display(const vpCameraParameters &cam, const vpImage<vpRGBa> &I, const vpColor &color = vpColor::green,
113  unsigned int thickness = 1) const = 0;
114 
115  virtual void init() = 0;
116 
117  virtual vpColVector error(const vpBasicFeature &s_star, unsigned int select = FEATURE_ALL);
118 
119  // Get the feature vector.
120  vpColVector get_s(unsigned int select = FEATURE_ALL) const;
122 
123  // Get the feature vector dimension.
124  unsigned int getDimension(unsigned int select = FEATURE_ALL) const;
126  virtual vpMatrix interaction(unsigned int select = FEATURE_ALL) = 0;
128  virtual inline double operator[](unsigned int i) const { return s[i]; }
129  vpBasicFeature &operator=(const vpBasicFeature &f);
131  virtual void print(unsigned int select = FEATURE_ALL) const = 0;
132 
133  virtual vpBasicFeature *duplicate() const = 0;
134 
135  void setDeallocate(vpBasicFeatureDeallocatorType d) { deallocate = d; }
136  void setFlags();
138 
140  static unsigned int selectAll() { return FEATURE_ALL; }
141 
142 protected:
143  void resetFlags();
144 
145 protected:
147 };
148 
149 #endif
class that defines what is a visual feature
vpColVector s
State of the visual feature.
vpBasicFeatureDeallocatorType getDeallocate()
virtual void init()=0
unsigned int nbParameters
Number of parameters needed to compute the interaction matrix.
virtual void display(const vpCameraParameters &cam, const vpImage< vpRGBa > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const =0
virtual vpMatrix interaction(unsigned int select=FEATURE_ALL)=0
Compute the interaction matrix from a subset of the possible features.
static unsigned int selectAll()
Select all the features.
void setDeallocate(vpBasicFeatureDeallocatorType d)
virtual void print(unsigned int select=FEATURE_ALL) const =0
Print the name of the feature.
virtual double operator[](unsigned int i) const
Return element i in the state vector (usage : x = s[i] )
virtual void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const =0
unsigned int dimension_s()
virtual vpBasicFeature * duplicate() const =0
unsigned int dim_s
Dimension of the visual feature.
vpBasicFeatureDeallocatorType deallocate
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
Definition: vpColVector.h:163
Class to define RGB colors available for display functionalities.
Definition: vpColor.h:152
static const vpColor green
Definition: vpColor.h:214
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:146