Visual Servoing Platform  version 3.2.1 under development (2019-11-19)
vpFeatureDepth.h
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29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * 2D point visual feature.
33  *
34  * Authors:
35  * Nicolas Melchior
36  *
37  *****************************************************************************/
38 
39 #ifndef vpFeatureDepth_H
40 #define vpFeatureDepth_H
41 
47 #include <visp3/core/vpMatrix.h>
48 #include <visp3/visual_features/vpBasicFeature.h>
49 
50 #include <visp3/core/vpHomogeneousMatrix.h>
51 #include <visp3/core/vpRGBa.h>
52 
160 class VISP_EXPORT vpFeatureDepth : public vpBasicFeature
161 {
162 
163 private:
166  double x;
169  double y;
172  double Z;
173 
174 public:
175  vpFeatureDepth();
177  virtual ~vpFeatureDepth() {}
178 
179  /*
180  section Set coordinates
181  */
182 
183  void buildFrom(const double x, const double y, const double Z, const double LogZoverZstar);
184 
185  void display(const vpCameraParameters &cam, const vpImage<unsigned char> &I, const vpColor &color = vpColor::green,
186  unsigned int thickness = 1) const;
187  void display(const vpCameraParameters &cam, const vpImage<vpRGBa> &I, const vpColor &color = vpColor::green,
188  unsigned int thickness = 1) const;
189  vpFeatureDepth *duplicate() const;
190  vpColVector error(const vpBasicFeature &s_star, const unsigned int select = FEATURE_ALL);
191 
192  double get_x() const;
193 
194  double get_y() const;
195 
196  double get_Z() const;
197 
198  double get_LogZoverZstar() const;
199 
200  void init();
201  vpMatrix interaction(const unsigned int select = FEATURE_ALL);
202 
203  void print(const unsigned int select = FEATURE_ALL) const;
204  void set_x(const double x);
205 
206  void set_y(const double y);
207 
208  void set_Z(const double Z);
209 
210  void set_LogZoverZstar(const double LogZoverZstar);
211 
212  void set_xyZLogZoverZstar(const double x, const double y, const double Z, const double logZZs);
213 };
214 
215 #endif
216 
217 /*
218  * Local variables:
219  * c-basic-offset: 2
220  * End:
221  */
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:164
virtual void print(const unsigned int select=FEATURE_ALL) const =0
Print the name of the feature.
Class to define colors available for display functionnalities.
Definition: vpColor.h:120
Class that defines a 3D point visual feature which is composed by one parameters that is that defin...
virtual vpColVector error(const vpBasicFeature &s_star, const unsigned int select=FEATURE_ALL)
static const vpColor green
Definition: vpColor.h:183
virtual ~vpFeatureDepth()
Destructor.
class that defines what is a visual feature
virtual vpMatrix interaction(const unsigned int select=FEATURE_ALL)=0
Compute the interaction matrix from a subset of the possible features.
Generic class defining intrinsic camera parameters.
virtual void init()=0
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
virtual vpBasicFeature * duplicate() const =0
virtual void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const =0