vpCircle.h

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2024 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 https://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:
 * Visual feature circle.
 */
 
#ifndef VP_CIRCLE_H
#define VP_CIRCLE_H
 
#include <math.h>
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpForwardProjection.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpMath.h>
 
BEGIN_VISP_NAMESPACE
class VISP_EXPORT vpCircle : public vpForwardProjection
{
public:
  vpCircle();
  VP_EXPLICIT vpCircle(const vpColVector &oP);
  vpCircle(double oA, double oB, double oC, double oX, double oY, double oZ, double R);
  virtual ~vpCircle() VP_OVERRIDE;
  void changeFrame(const vpHomogeneousMatrix &noMo, vpColVector &noP) const VP_OVERRIDE;
  void changeFrame(const vpHomogeneousMatrix &cMo) VP_OVERRIDE;
 
  void display(const vpImage<unsigned char> &I, const vpCameraParameters &cam, const vpColor &color = vpColor::green,
               unsigned int thickness = 1) VP_OVERRIDE;
  void display(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
               const vpColor &color = vpColor::green, unsigned int thickness = 1) VP_OVERRIDE;
 
  void display(const vpImage<vpRGBa> &I, 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);
 
  vpCircle *duplicate() const VP_OVERRIDE;
 
  double get_x() const { return p[0]; }
  double get_y() const { return p[1]; }
 
  double get_n20() const { const unsigned int index_2 = 2; return p[index_2]; }
  double get_n11() const { const unsigned int index_3 = 3; return p[index_3]; }
  double get_n02() const { const unsigned int index_4 = 4; return p[index_4]; }
 
  double getA() const { const unsigned int index_0 = 0; return cP[index_0]; }
  double getB() const { const unsigned int index_1 = 1; return cP[index_1]; }
  double getC() const { const unsigned int index_2 = 2; return cP[index_2]; }
 
  double getX() const { const unsigned int index_3 = 3; return cP[index_3]; }
  double getY() const { const unsigned int index_4 = 4; return cP[index_4]; }
  double getZ() const { const unsigned int index_5 = 5; return cP[index_5]; }
 
  double getR() const { const unsigned int index_6 = 6; return cP[index_6]; }
 
  void projection() VP_OVERRIDE;
  void projection(const vpColVector &cP, vpColVector &p) const VP_OVERRIDE;
  void setWorldCoordinates(const vpColVector &oP) VP_OVERRIDE;
 
  void setWorldCoordinates(double oA, double oB, double oC, double oX, double oY, double oZ, double R);
 
  //###################
  // Static Functions
  //###################
  static void computeIntersectionPoint(const vpCircle &circle, const vpCameraParameters &cam, const double &rho,
                                       const double &theta, double &i, double &j);
 
public:
#if defined(VISP_BUILD_DEPRECATED_FUNCTIONS)
  VP_DEPRECATED double get_mu20() const { const unsigned int index_2 = 2; return p[index_2]; }
  VP_DEPRECATED double get_mu11() const { const unsigned int index_3 = 3; return p[index_3]; }
  VP_DEPRECATED double get_mu02() const { const unsigned int index_4 = 4; return p[index_4]; }
#endif
protected:
  void init() VP_OVERRIDE;
};
END_VISP_NAMESPACE
#endif