Visual Servoing Platform  version 3.6.1 under development (2023-12-07)
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.
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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  *
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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/vpHomogeneousMatrix.h>
44 #include <visp3/core/vpMath.h>
45 
46 #include <visp3/core/vpForwardProjection.h>
47 
98 class VISP_EXPORT vpCylinder : public vpForwardProjection
99 {
100 public:
101  typedef enum
102  {
104  line2
105  } vpLineCylinderType;
106 
107  vpCylinder();
108  explicit vpCylinder(const vpColVector &oP);
109  vpCylinder(double oA, double oB, double oC, double oX, double oY, double oZ, double R);
110 
111  void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP) const override;
112  void changeFrame(const vpHomogeneousMatrix &cMo) override;
113 
114  double computeZ(double x, double y) const;
115 
116  void display(const vpImage<unsigned char> &I, const vpCameraParameters &cam, const vpColor &color = vpColor::green,
117  unsigned int thickness = 1) override;
118  void display(const vpImage<vpRGBa> &I, const vpCameraParameters &cam, const vpColor &color = vpColor::green,
119  unsigned int thickness = 1);
120  void display(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
121  const vpColor &color = vpColor::green, unsigned int thickness = 1) override;
122  void display(const vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
123  const vpColor &color = vpColor::green, unsigned int thickness = 1);
124 
125  vpCylinder *duplicate() const override;
126 
132  double getRho1() const { return p[0]; }
138  double getTheta1() const { return p[1]; }
139 
145  double getRho2() const { return p[2]; }
151  double getTheta2() const { return p[3]; }
152 
156  double getA() const { return cP[0]; }
157 
161  double getB() const { return cP[1]; }
162 
166  double getC() const { return cP[2]; }
167 
171  double getX() const { return cP[3]; }
172 
176  double getY() const { return cP[4]; }
177 
181  double getZ() const { return cP[5]; }
182 
186  double getR() const { return cP[6]; }
187 
188  void init() override;
189 
190  void projection() override;
191  void projection(const vpColVector &cP, vpColVector &p) const override;
192 
193  void setWorldCoordinates(const vpColVector &oP) override;
194  void setWorldCoordinates(double oA, double oB, double oC, double oX, double oY, double oZ, double R);
195 };
196 
197 #endif
Generic class defining intrinsic camera parameters.
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 a 3D cylinder in the object frame and allows forward projection of a 3D cylinder i...
Definition: vpCylinder.h:99
double getZ() const
Definition: vpCylinder.h:181
double getRho1() const
Definition: vpCylinder.h:132
double getB() const
Definition: vpCylinder.h:161
double getX() const
Definition: vpCylinder.h:171
double getY() const
Definition: vpCylinder.h:176
double getA() const
Definition: vpCylinder.h:156
double getTheta1() const
Definition: vpCylinder.h:138
double getR() const
Definition: vpCylinder.h:186
double getC() const
Definition: vpCylinder.h:166
double getTheta2() const
Definition: vpCylinder.h:151
double getRho2() const
Definition: vpCylinder.h:145
Class that defines what is a generic geometric feature.
virtual void projection()=0
virtual void setWorldCoordinates(const vpColVector &oP)=0
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
virtual vpForwardProjection * duplicate() const =0
Implementation of an homogeneous matrix and operations on such kind of matrices.