Visual Servoing Platform  version 3.5.1 under development (2023-03-29)
vpFeatureBuilder.h
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29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Conversion between tracker and visual feature.
33  *
34  * Authors:
35  * Eric Marchand
36  * Fabien Spindler
37  *
38  *****************************************************************************/
39 
40 #ifndef vpFeatureBuilder_H
41 #define vpFeatureBuilder_H
42 
47 #include <visp3/core/vpConfig.h>
48 
49 // tracker
50 #ifdef VISP_HAVE_MODULE_BLOB
51 #include <visp3/blob/vpDot.h>
52 #include <visp3/blob/vpDot2.h>
53 #endif
54 
55 #ifdef VISP_HAVE_MODULE_ME
56 #include <visp3/me/vpMeEllipse.h>
57 #include <visp3/me/vpMeLine.h>
58 #endif
59 
60 // forward projection tracker
61 #include <visp3/core/vpCircle.h>
62 #include <visp3/core/vpCylinder.h>
63 #include <visp3/core/vpLine.h>
64 #include <visp3/core/vpPoint.h>
65 #include <visp3/core/vpSphere.h>
66 
67 // visual feature
68 #include <visp3/visual_features/vpFeatureEllipse.h>
69 #include <visp3/visual_features/vpFeatureLine.h>
70 #include <visp3/visual_features/vpFeaturePoint.h>
71 #include <visp3/visual_features/vpFeaturePoint3D.h>
72 #include <visp3/visual_features/vpFeaturePointPolar.h>
73 #include <visp3/visual_features/vpFeatureSegment.h>
74 #include <visp3/visual_features/vpFeatureThetaU.h>
75 #include <visp3/visual_features/vpFeatureTranslation.h>
76 #include <visp3/visual_features/vpFeatureVanishingPoint.h>
77 
78 // others
79 #include <visp3/core/vpImagePoint.h>
80 
81 // pixel / meter conversion
82 #include <visp3/core/vpCameraParameters.h>
83 #include <visp3/core/vpMeterPixelConversion.h>
84 #include <visp3/core/vpPixelMeterConversion.h>
85 
92 class VISP_EXPORT vpFeatureBuilder
93 {
94 public:
95 // create vpFeaturePoint feature
96 #ifdef VISP_HAVE_MODULE_BLOB
97  static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d);
98  static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot2 &d);
99 #endif
100  static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpImagePoint &t);
101  static void create(vpFeaturePoint &s, const vpPoint &p);
102  static void create(vpFeaturePoint &s, const vpCameraParameters &goodCam, const vpCameraParameters &wrongCam,
103  const vpPoint &p);
104 
105 #ifdef VISP_HAVE_MODULE_BLOB
106  static void create(vpFeatureSegment &s, const vpCameraParameters &cam, const vpDot &d1, const vpDot &d2);
107  static void create(vpFeatureSegment &s, const vpCameraParameters &cam, const vpDot2 &d1, const vpDot2 &d2);
108 #endif
109  static void create(vpFeatureSegment &s, const vpCameraParameters &cam, const vpImagePoint &ip1,
110  const vpImagePoint &ip2);
111  static void create(vpFeatureSegment &s, vpPoint &P1, vpPoint &P2);
112 
113 // create vpFeaturePointPolar feature
114 #ifdef VISP_HAVE_MODULE_BLOB
115  static void create(vpFeaturePointPolar &s, const vpCameraParameters &cam, const vpDot &dot);
116  static void create(vpFeaturePointPolar &s, const vpCameraParameters &cam, const vpDot2 &dot);
117 #endif
118  static void create(vpFeaturePointPolar &s, const vpCameraParameters &cam, const vpImagePoint &iP);
119  static void create(vpFeaturePointPolar &s, const vpPoint &p);
120  static void create(vpFeaturePointPolar &s, const vpCameraParameters &goodCam, const vpCameraParameters &wrongCam,
121  const vpPoint &p);
122 
123  // create vpFeaturePoint3D feature
124  static void create(vpFeaturePoint3D &s, const vpPoint &p);
125 
126  // create vpFeatureLine feature
127  static void create(vpFeatureLine &s, const vpLine &l);
128  static void create(vpFeatureLine &s, const vpCylinder &c, int line);
129 
130 #ifdef VISP_HAVE_MODULE_ME
131  static void create(vpFeatureLine &s, const vpCameraParameters &cam, const vpMeLine &mel);
132 #endif
133 
135  static void create(vpFeatureEllipse &s, const vpCircle &c);
136  static void create(vpFeatureEllipse &s, const vpSphere &sphere);
137 #ifdef VISP_HAVE_MODULE_BLOB
138  static void create(vpFeatureEllipse &s, const vpCameraParameters &cam, const vpDot &blob);
139  static void create(vpFeatureEllipse &s, const vpCameraParameters &cam, const vpDot2 &blob);
140 #endif
141 
142 #ifdef VISP_HAVE_MODULE_ME
143  static void create(vpFeatureEllipse &s, const vpCameraParameters &cam, const vpMeEllipse &ellipse);
144 #endif
145 
146  // To keep compat with previous releases, we set cartesian coordinates as default initialising select var to selectX()
147  // or selectY()
148  static void create(vpFeatureVanishingPoint &s, const vpPoint &p,
149  unsigned int select = (vpFeatureVanishingPoint::selectX() | vpFeatureVanishingPoint::selectY()));
150  static void create(vpFeatureVanishingPoint &s, const vpFeatureLine &l1, const vpFeatureLine &l2,
151  unsigned int select = (vpFeatureVanishingPoint::selectX() | vpFeatureVanishingPoint::selectY()));
152  static void create(vpFeatureVanishingPoint &s, const vpLine &l1, const vpLine &l2,
153  unsigned int select = (vpFeatureVanishingPoint::selectX() | vpFeatureVanishingPoint::selectY()));
154  // This function is new that's why select is not initialized
155  static void create(vpFeatureVanishingPoint &s, const vpCameraParameters &cam, const vpImagePoint &line1_ip1,
156  const vpImagePoint &line1_ip2, const vpImagePoint &line2_ip1, const vpImagePoint &line2_ip2,
157  unsigned int select);
158 };
159 #endif
vpCameraParameters
Generic class defining intrinsic camera parameters.
Definition: vpCameraParameters.h:259
vpCircle
Class that defines a 3D circle in the object frame and allows forward projection of a 3D circle in th...
Definition: vpCircle.h:92
vpCylinder
Class that defines a 3D cylinder in the object frame and allows forward projection of a 3D cylinder i...
Definition: vpCylinder.h:103
vpDot2
This tracker is meant to track a blob (connex pixels with same gray level) on a vpImage.
Definition: vpDot2.h:127
vpDot
This tracker is meant to track a dot (connected pixels with same gray level) on a vpImage.
Definition: vpDot.h:116
vpFeatureBuilder
Class that defines conversion between trackers and visual features.
Definition: vpFeatureBuilder.h:93
vpFeatureEllipse
Class that defines 2D ellipse visual feature.
Definition: vpFeatureEllipse.h:59
vpFeatureLine
Class that defines a 2D line visual feature which is composed by two parameters that are and ,...
Definition: vpFeatureLine.h:196
vpFeaturePoint3D
Class that defines the 3D point visual feature.
Definition: vpFeaturePoint3D.h:210
vpFeaturePointPolar
Class that defines 2D image point visual feature with polar coordinates described in .
Definition: vpFeaturePointPolar.h:259
vpFeaturePoint
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
Definition: vpFeaturePoint.h:182
vpFeatureSegment
Class that defines a 2D segment visual features. This class allow to consider two sets of visual feat...
Definition: vpFeatureSegment.h:74
vpFeatureVanishingPoint::selectX
static unsigned int selectX()
Select visual feature .
Definition: vpFeatureVanishingPoint.cpp:425
vpFeatureVanishingPoint::selectY
static unsigned int selectY()
Select visual feature .
Definition: vpFeatureVanishingPoint.cpp:428
vpImagePoint
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:89
vpLine
Class that defines a 3D line in the object frame and allows forward projection of the line in the cam...
Definition: vpLine.h:105
vpMeEllipse
Class that tracks an ellipse using moving edges.
Definition: vpMeEllipse.h:98
vpMeLine
Class that tracks in an image a line moving edges.
Definition: vpMeLine.h:152
vpPoint
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition: vpPoint.h:82
vpSphere
Class that defines a 3D sphere in the object frame and allows forward projection of a 3D sphere in th...
Definition: vpSphere.h:83