Visual Servoing Platform  version 3.3.1 under development (2020-12-02)
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 &cMo, vpColVector &cP) 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<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
105  const vpColor &color = vpColor::green, unsigned int thickness = 1);
106  vpCircle *duplicate() const;
107 
108  double get_x() const { return p[0]; }
109  double get_y() const { return p[1]; }
110 
111  double get_n20() const { return p[2]; }
112  double get_n11() const { return p[3]; }
113  double get_n02() const { return p[4]; }
114 
115  double getA() const { return cP[0]; }
116  double getB() const { return cP[1]; }
117  double getC() const { return cP[2]; }
118 
119  double getX() const { return cP[3]; }
120  double getY() const { return cP[4]; }
121  double getZ() const { return cP[5]; }
122 
123  double getR() const { return cP[6]; }
124 
125  void projection();
126  void projection(const vpColVector &cP, vpColVector &p) const;
127 
128  void setWorldCoordinates(const vpColVector &oP);
129  void setWorldCoordinates(double oA, double oB, double oC, double oX, double oY, double oZ, double R);
130 
131  //###################
132  // Static Functions
133  //###################
134  static void computeIntersectionPoint(const vpCircle &circle, const vpCameraParameters &cam, const double &rho,
135  const double &theta, double &i, double &j);
136 
137 protected:
138  void init();
139 
140 public:
141 #if defined(VISP_BUILD_DEPRECATED_FUNCTIONS)
142 
152  vp_deprecated double get_mu20() const { return p[2]; }
159  vp_deprecated double get_mu11() const { return p[3]; }
166  vp_deprecated double get_mu02() const { return p[4]; }
168 #endif
169 };
170 
171 #endif
virtual void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP) const =0
vp_deprecated double get_mu11() const
Definition: vpCircle.h:159
vp_deprecated double get_mu02() const
Definition: vpCircle.h:166
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:116
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:121
virtual void init()=0
double getX() const
Definition: vpCircle.h:119
static const vpColor green
Definition: vpColor.h:220
virtual void projection()=0
double getA() const
Definition: vpCircle.h:115
double get_x() const
Definition: vpCircle.h:108
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:123
vp_deprecated double get_mu20() const
Definition: vpCircle.h:152
double get_n20() const
Definition: vpCircle.h:111
double getY() const
Definition: vpCircle.h:120
double get_y() const
Definition: vpCircle.h:109
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
double get_n11() const
Definition: vpCircle.h:112
double get_n02() const
Definition: vpCircle.h:113
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:117