Visual Servoing Platform  version 3.6.1 under development (2024-04-22)
vpCircle.h
1 /*
2  * ViSP, open source Visual Servoing Platform software.
3  * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
4  *
5  * This software is free software; you can redistribute it and/or modify
6  * it under the terms of the GNU General Public License as published by
7  * the Free Software Foundation; either version 2 of the License, or
8  * (at your option) any later version.
9  * See the file LICENSE.txt at the root directory of this source
10  * distribution for additional information about the GNU GPL.
11  *
12  * For using ViSP with software that can not be combined with the GNU
13  * GPL, please contact Inria about acquiring a ViSP Professional
14  * Edition License.
15  *
16  * See https://visp.inria.fr for more information.
17  *
18  * This software was developed at:
19  * Inria Rennes - Bretagne Atlantique
20  * Campus Universitaire de Beaulieu
21  * 35042 Rennes Cedex
22  * France
23  *
24  * If you have questions regarding the use of this file, please contact
25  * Inria at visp@inria.fr
26  *
27  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
28  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29  *
30  * Description:
31  * Visual feature circle.
32  */
33 
39 #ifndef vpCircle_hh
40 #define vpCircle_hh
41 
42 #include <math.h>
43 #include <visp3/core/vpDebug.h>
44 #include <visp3/core/vpForwardProjection.h>
45 #include <visp3/core/vpHomogeneousMatrix.h>
46 #include <visp3/core/vpMath.h>
47 
85 class VISP_EXPORT vpCircle : public vpForwardProjection
86 {
87 public:
88  vpCircle();
89  explicit vpCircle(const vpColVector &oP);
90  vpCircle(double oA, double oB, double oC, double oX, double oY, double oZ, double R);
91  virtual ~vpCircle() vp_override;
92  void changeFrame(const vpHomogeneousMatrix &noMo, vpColVector &noP) const vp_override;
93  void changeFrame(const vpHomogeneousMatrix &cMo) vp_override;
94 
95  void display(const vpImage<unsigned char> &I, const vpCameraParameters &cam, const vpColor &color = vpColor::green,
96  unsigned int thickness = 1) vp_override;
97  void display(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
98  const vpColor &color = vpColor::green, unsigned int thickness = 1) vp_override;
99 
100  void display(const vpImage<vpRGBa> &I, const vpCameraParameters &cam, const vpColor &color = vpColor::green,
101  unsigned int thickness = 1);
102  void display(const vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
103  const vpColor &color = vpColor::green, unsigned int thickness = 1);
104 
105  vpCircle *duplicate() const vp_override;
106 
107  double get_x() const { return p[0]; }
108  double get_y() const { return p[1]; }
109 
110  double get_n20() const { return p[2]; }
111  double get_n11() const { return p[3]; }
112  double get_n02() const { return p[4]; }
113 
114  double getA() const { return cP[0]; }
115  double getB() const { return cP[1]; }
116  double getC() const { return cP[2]; }
117 
118  double getX() const { return cP[3]; }
119  double getY() const { return cP[4]; }
120  double getZ() const { return cP[5]; }
121 
122  double getR() const { return cP[6]; }
123 
124  void projection() vp_override;
125  void projection(const vpColVector &cP, vpColVector &p) const vp_override;
126  void setWorldCoordinates(const vpColVector &oP) vp_override;
127 
128  void setWorldCoordinates(double oA, double oB, double oC, double oX, double oY, double oZ, double R);
129 
130  //###################
131  // Static Functions
132  //###################
133  static void computeIntersectionPoint(const vpCircle &circle, const vpCameraParameters &cam, const double &rho,
134  const double &theta, double &i, double &j);
135 
136 protected:
137  void init() vp_override;
138 
139 public:
140 #if defined(VISP_BUILD_DEPRECATED_FUNCTIONS)
151  vp_deprecated double get_mu20() const { return p[2]; }
158  vp_deprecated double get_mu11() const { return p[3]; }
165  vp_deprecated double get_mu02() const { return p[4]; }
167 #endif
168 };
169 
170 #endif
Generic class defining intrinsic camera parameters.
Class that defines a 3D circle in the object frame and allows forward projection of a 3D circle in th...
Definition: vpCircle.h:86
double get_n02() const
Definition: vpCircle.h:112
double get_n11() const
Definition: vpCircle.h:111
double getR() const
Definition: vpCircle.h:122
double get_n20() const
Definition: vpCircle.h:110
double getC() const
Definition: vpCircle.h:116
double getZ() const
Definition: vpCircle.h:120
double getA() const
Definition: vpCircle.h:114
double getY() const
Definition: vpCircle.h:119
double get_x() const
Definition: vpCircle.h:107
double getB() const
Definition: vpCircle.h:115
double get_y() const
Definition: vpCircle.h:108
vp_deprecated double get_mu11() const
Definition: vpCircle.h:158
vp_deprecated double get_mu02() const
Definition: vpCircle.h:165
double getX() const
Definition: vpCircle.h:118
vp_deprecated double get_mu20() const
Definition: vpCircle.h:151
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
Class that defines what is a generic geometric feature.
virtual void projection()=0
virtual void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP) const =0
virtual void display(const vpImage< unsigned char > &I, const vpCameraParameters &cam, const vpColor &color=vpColor::green, unsigned int thickness=1)=0
virtual vpForwardProjection * duplicate() const =0
Implementation of an homogeneous matrix and operations on such kind of matrices.