Visual Servoing Platform  version 3.6.1 under development (2024-12-03)
vpCylinder.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  * Cylinder feature.
32  */
33 
39 #ifndef vpCylinder_hh
40 #define vpCylinder_hh
41 
42 #include <math.h>
43 #include <visp3/core/vpConfig.h>
44 #include <visp3/core/vpHomogeneousMatrix.h>
45 #include <visp3/core/vpMath.h>
46 
47 #include <visp3/core/vpForwardProjection.h>
48 
49 BEGIN_VISP_NAMESPACE
100 class VISP_EXPORT vpCylinder : public vpForwardProjection
101 {
102 public:
103  typedef enum
104  {
106  line2
107  } vpLineCylinderType;
108 
109  vpCylinder();
110  VP_EXPLICIT vpCylinder(const vpColVector &oP);
111  vpCylinder(double oA, double oB, double oC, double oX, double oY, double oZ, double R);
112 
113  void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP) const VP_OVERRIDE;
114  void changeFrame(const vpHomogeneousMatrix &cMo) VP_OVERRIDE;
115 
116  double computeZ(double x, double y) const;
117 
118  void display(const vpImage<unsigned char> &I, const vpCameraParameters &cam, const vpColor &color = vpColor::green,
119  unsigned int thickness = 1) VP_OVERRIDE;
120  void display(const vpImage<vpRGBa> &I, const vpCameraParameters &cam, const vpColor &color = vpColor::green,
121  unsigned int thickness = 1);
122  void display(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
123  const vpColor &color = vpColor::green, unsigned int thickness = 1) VP_OVERRIDE;
124  void display(const vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
125  const vpColor &color = vpColor::green, unsigned int thickness = 1);
126 
127  vpCylinder *duplicate() const VP_OVERRIDE;
128 
134  double getRho1() const { return p[0]; }
140  double getTheta1() const { return p[1]; }
141 
147  double getRho2() const { return p[2]; }
153  double getTheta2() const { return p[3]; }
154 
158  double getA() const { return cP[0]; }
159 
163  double getB() const { return cP[1]; }
164 
168  double getC() const { return cP[2]; }
169 
173  double getX() const { return cP[3]; }
174 
178  double getY() const { return cP[4]; }
179 
183  double getZ() const { return cP[5]; }
184 
188  double getR() const { return cP[6]; }
189 
190  void init() VP_OVERRIDE;
191 
192  void projection() VP_OVERRIDE;
193  void projection(const vpColVector &cP, vpColVector &p) const VP_OVERRIDE;
194 
195  void setWorldCoordinates(const vpColVector &oP) VP_OVERRIDE;
196  void setWorldCoordinates(double oA, double oB, double oC, double oX, double oY, double oZ, double R);
197 };
198 END_VISP_NAMESPACE
199 #endif
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
Definition: vpColVector.h:191
Class to define RGB colors available for display functionalities.
Definition: vpColor.h:157
static const vpColor green
Definition: vpColor.h:220
Class that defines a 3D cylinder in the object frame and allows forward projection of a 3D cylinder i...
Definition: vpCylinder.h:101
double getZ() const
Definition: vpCylinder.h:183
double getB() const
Definition: vpCylinder.h:163
double getX() const
Definition: vpCylinder.h:173
double getY() const
Definition: vpCylinder.h:178
double getA() const
Definition: vpCylinder.h:158
double getTheta1() const
Definition: vpCylinder.h:140
double getR() const
Definition: vpCylinder.h:188
double getC() const
Definition: vpCylinder.h:168
double getTheta2() const
Definition: vpCylinder.h:153
double getRho2() const
Definition: vpCylinder.h:147
Class that defines what is a generic geometric feature.
virtual void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP) const =0
virtual void init()=0
virtual void display(const vpImage< unsigned char > &I, const vpCameraParameters &cam, const vpColor &color=vpColor::green, unsigned int thickness=1)=0
Implementation of an homogeneous matrix and operations on such kind of matrices.
Definition: vpRGBa.h:65