Visual Servoing Platform  version 3.6.1 under development (2024-11-14)
vpFeatureBuilder.h
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30  *
31  * Description:
32  * Conversion between tracker and visual feature.
33  *
34 *****************************************************************************/
35 
41 #ifndef vpFeatureBuilder_H
42 #define vpFeatureBuilder_H
43 
44 
45 #include <visp3/core/vpConfig.h>
46 
47 // tracker
48 #ifdef VISP_HAVE_MODULE_BLOB
49 #include <visp3/blob/vpDot.h>
50 #include <visp3/blob/vpDot2.h>
51 #endif
52 
53 #ifdef VISP_HAVE_MODULE_ME
54 #include <visp3/me/vpMeEllipse.h>
55 #include <visp3/me/vpMeLine.h>
56 #endif
57 
58 // forward projection tracker
59 #include <visp3/core/vpCircle.h>
60 #include <visp3/core/vpCylinder.h>
61 #include <visp3/core/vpLine.h>
62 #include <visp3/core/vpPoint.h>
63 #include <visp3/core/vpSphere.h>
64 
65 // visual feature
66 #include <visp3/visual_features/vpFeatureEllipse.h>
67 #include <visp3/visual_features/vpFeatureLine.h>
68 #include <visp3/visual_features/vpFeaturePoint.h>
69 #include <visp3/visual_features/vpFeaturePoint3D.h>
70 #include <visp3/visual_features/vpFeaturePointPolar.h>
71 #include <visp3/visual_features/vpFeatureSegment.h>
72 #include <visp3/visual_features/vpFeatureThetaU.h>
73 #include <visp3/visual_features/vpFeatureTranslation.h>
74 #include <visp3/visual_features/vpFeatureVanishingPoint.h>
75 
76 // others
77 #include <visp3/core/vpImagePoint.h>
78 
79 // pixel / meter conversion
80 #include <visp3/core/vpCameraParameters.h>
81 #include <visp3/core/vpMeterPixelConversion.h>
82 #include <visp3/core/vpPixelMeterConversion.h>
83 
84 BEGIN_VISP_NAMESPACE
91 class VISP_EXPORT vpFeatureBuilder
92 {
93 public:
94 // create vpFeaturePoint feature
95 #ifdef VISP_HAVE_MODULE_BLOB
96  static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d);
97  static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot2 &d);
98 #endif
99  static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpImagePoint &t);
100  static void create(vpFeaturePoint &s, const vpPoint &p);
101  static void create(vpFeaturePoint &s, const vpCameraParameters &goodCam, const vpCameraParameters &wrongCam,
102  const vpPoint &p);
103 
104 #ifdef VISP_HAVE_MODULE_BLOB
105  static void create(vpFeatureSegment &s, const vpCameraParameters &cam, const vpDot &d1, const vpDot &d2);
106  static void create(vpFeatureSegment &s, const vpCameraParameters &cam, const vpDot2 &d1, const vpDot2 &d2);
107 #endif
108  static void create(vpFeatureSegment &s, const vpCameraParameters &cam, const vpImagePoint &ip1,
109  const vpImagePoint &ip2);
110  static void create(vpFeatureSegment &s, vpPoint &P1, vpPoint &P2);
111 
112 // create vpFeaturePointPolar feature
113 #ifdef VISP_HAVE_MODULE_BLOB
114  static void create(vpFeaturePointPolar &s, const vpCameraParameters &cam, const vpDot &dot);
115  static void create(vpFeaturePointPolar &s, const vpCameraParameters &cam, const vpDot2 &dot);
116 #endif
117  static void create(vpFeaturePointPolar &s, const vpCameraParameters &cam, const vpImagePoint &iP);
118  static void create(vpFeaturePointPolar &s, const vpPoint &p);
119  static void create(vpFeaturePointPolar &s, const vpCameraParameters &goodCam, const vpCameraParameters &wrongCam,
120  const vpPoint &p);
121 
122  // create vpFeaturePoint3D feature
123  static void create(vpFeaturePoint3D &s, const vpPoint &p);
124 
125  // create vpFeatureLine feature
126  static void create(vpFeatureLine &s, const vpLine &l);
127  static void create(vpFeatureLine &s, const vpCylinder &c, int line);
128 
129 #ifdef VISP_HAVE_MODULE_ME
130  static void create(vpFeatureLine &s, const vpCameraParameters &cam, const vpMeLine &mel);
131 #endif
132 
134  static void create(vpFeatureEllipse &s, const vpCircle &c);
135  static void create(vpFeatureEllipse &s, const vpSphere &sphere);
136 #ifdef VISP_HAVE_MODULE_BLOB
137  static void create(vpFeatureEllipse &s, const vpCameraParameters &cam, const vpDot &blob);
138  static void create(vpFeatureEllipse &s, const vpCameraParameters &cam, const vpDot2 &blob);
139 #endif
140 
141 #ifdef VISP_HAVE_MODULE_ME
142  static void create(vpFeatureEllipse &s, const vpCameraParameters &cam, const vpMeEllipse &ellipse);
143 #endif
144 
145  // To keep compat with previous releases, we set cartesian coordinates as default initialising select var to selectX()
146  // or selectY()
147  static void create(vpFeatureVanishingPoint &s, const vpPoint &p,
148  unsigned int select = (vpFeatureVanishingPoint::selectX() | vpFeatureVanishingPoint::selectY()));
149  static void create(vpFeatureVanishingPoint &s, const vpFeatureLine &l1, const vpFeatureLine &l2,
150  unsigned int select = (vpFeatureVanishingPoint::selectX() | vpFeatureVanishingPoint::selectY()));
151  static void create(vpFeatureVanishingPoint &s, const vpLine &l1, const vpLine &l2,
152  unsigned int select = (vpFeatureVanishingPoint::selectX() | vpFeatureVanishingPoint::selectY()));
153  // This function is new that's why select is not initialized
154  static void create(vpFeatureVanishingPoint &s, const vpCameraParameters &cam, const vpImagePoint &line1_ip1,
155  const vpImagePoint &line1_ip2, const vpImagePoint &line2_ip1, const vpImagePoint &line2_ip2,
156  unsigned int select);
157 };
158 END_VISP_NAMESPACE
159 #endif
vpCameraParameters
Generic class defining intrinsic camera parameters.
Definition: vpCameraParameters.h:310
vpCircle
Class that defines a 3D circle in the object frame and allows forward projection of a 3D circle in th...
Definition: vpCircle.h:87
vpCylinder
Class that defines a 3D cylinder in the object frame and allows forward projection of a 3D cylinder i...
Definition: vpCylinder.h:101
vpDot2
This tracker is meant to track a blob (connex pixels with same gray level) on a vpImage.
Definition: vpDot2.h:125
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:92
vpFeatureEllipse
Class that defines 2D ellipse visual feature.
Definition: vpFeatureEllipse.h:56
vpFeatureLine
Class that defines a 2D line visual feature which is composed by two parameters that are and ,...
Definition: vpFeatureLine.h:200
vpFeaturePoint3D
Class that defines the 3D point visual feature.
Definition: vpFeaturePoint3D.h:212
vpFeaturePointPolar
Class that defines 2D image point visual feature with polar coordinates described in .
Definition: vpFeaturePointPolar.h:262
vpFeaturePoint
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
Definition: vpFeaturePoint.h:185
vpFeatureSegment
Class that defines a 2D segment visual features. This class allow to consider two sets of visual feat...
Definition: vpFeatureSegment.h:68
vpFeatureVanishingPoint::selectX
static unsigned int selectX()
Select visual feature .
Definition: vpFeatureVanishingPoint.cpp:434
vpFeatureVanishingPoint::selectY
static unsigned int selectY()
Select visual feature .
Definition: vpFeatureVanishingPoint.cpp:437
vpImagePoint
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:82
vpLine
Class that defines a 3D line in the object frame and allows forward projection of the line in the cam...
Definition: vpLine.h:103
vpMeEllipse
Class that tracks an ellipse using moving edges.
Definition: vpMeEllipse.h:96
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:79
vpSphere
Class that defines a 3D sphere in the object frame and allows forward projection of a 3D sphere in th...
Definition: vpSphere.h:80