Visual Servoing Platform  version 3.4.1 under development (2021-12-05)
vpCircle.h
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30  *
31  * Description:
32  * Visual feature circle.
33  *
34  * Authors:
35  * Eric Marchand
36  *
37  *****************************************************************************/
38 
44 #ifndef vpCircle_hh
45 #define vpCircle_hh
46 
47 #include <math.h>
48 #include <visp3/core/vpDebug.h>
49 #include <visp3/core/vpForwardProjection.h>
50 #include <visp3/core/vpHomogeneousMatrix.h>
51 #include <visp3/core/vpMath.h>
52 
91 class VISP_EXPORT vpCircle : public vpForwardProjection
92 {
93 public:
94  vpCircle();
95  explicit vpCircle(const vpColVector &oP);
96  vpCircle(double oA, double oB, double oC, double oX, double oY, double oZ, double R);
97  virtual ~vpCircle();
98 
99  void changeFrame(const vpHomogeneousMatrix &noMo, vpColVector &noP) const;
100  void changeFrame(const vpHomogeneousMatrix &cMo);
101 
102  void display(const vpImage<unsigned char> &I, const vpCameraParameters &cam, const vpColor &color = vpColor::green,
103  unsigned int thickness = 1);
104  void display(const vpImage<vpRGBa> &I, const vpCameraParameters &cam, const vpColor &color = vpColor::green,
105  unsigned int thickness = 1);
106  void display(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
107  const vpColor &color = vpColor::green, unsigned int thickness = 1);
108  void display(const vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
109  const vpColor &color = vpColor::green, unsigned int thickness = 1);
110  vpCircle *duplicate() const;
111 
112  double get_x() const { return p[0]; }
113  double get_y() const { return p[1]; }
114 
115  double get_n20() const { return p[2]; }
116  double get_n11() const { return p[3]; }
117  double get_n02() const { return p[4]; }
118 
119  double getA() const { return cP[0]; }
120  double getB() const { return cP[1]; }
121  double getC() const { return cP[2]; }
122 
123  double getX() const { return cP[3]; }
124  double getY() const { return cP[4]; }
125  double getZ() const { return cP[5]; }
126 
127  double getR() const { return cP[6]; }
128 
129  void projection();
130  void projection(const vpColVector &cP, vpColVector &p) const;
131 
132  void setWorldCoordinates(const vpColVector &oP);
133  void setWorldCoordinates(double oA, double oB, double oC, double oX, double oY, double oZ, double R);
134 
135  //###################
136  // Static Functions
137  //###################
138  static void computeIntersectionPoint(const vpCircle &circle, const vpCameraParameters &cam, const double &rho,
139  const double &theta, double &i, double &j);
140 
141 protected:
142  void init();
143 
144 public:
145 #if defined(VISP_BUILD_DEPRECATED_FUNCTIONS)
146 
156  vp_deprecated double get_mu20() const { return p[2]; }
163  vp_deprecated double get_mu11() const { return p[3]; }
170  vp_deprecated double get_mu02() const { return p[4]; }
172 #endif
173 };
174 
175 #endif
virtual void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP) const =0
vp_deprecated double get_mu11() const
Definition: vpCircle.h:163
vp_deprecated double get_mu02() const
Definition: vpCircle.h:170
virtual void display(const vpImage< unsigned char > &I, const vpCameraParameters &cam, const vpColor &color=vpColor::green, unsigned int thickness=1)=0
double getB() const
Definition: vpCircle.h:120
Implementation of an homogeneous matrix and operations on such kind of matrices.
Class to define RGB colors available for display functionnalities.
Definition: vpColor.h:157
double getZ() const
Definition: vpCircle.h:125
virtual void init()=0
double getX() const
Definition: vpCircle.h:123
static const vpColor green
Definition: vpColor.h:220
virtual void projection()=0
double getA() const
Definition: vpCircle.h:119
double get_x() const
Definition: vpCircle.h:112
Class that defines what is a generic geometric feature.
virtual void setWorldCoordinates(const vpColVector &oP)=0
Generic class defining intrinsic camera parameters.
double getR() const
Definition: vpCircle.h:127
vp_deprecated double get_mu20() const
Definition: vpCircle.h:156
double get_n20() const
Definition: vpCircle.h:115
double getY() const
Definition: vpCircle.h:124
double get_y() const
Definition: vpCircle.h:113
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
double get_n11() const
Definition: vpCircle.h:116
double get_n02() const
Definition: vpCircle.h:117
Class that defines a 3D circle in the object frame and allows forward projection of a 3D circle in th...
Definition: vpCircle.h:91
virtual vpForwardProjection * duplicate() const =0
double getC() const
Definition: vpCircle.h:121