Visual Servoing Platform  version 3.3.1 under development (2020-12-02)
vpFeatureEllipse.h
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30  *
31  * Description:
32  * 2D ellipse visual feature.
33  *
34  * Authors:
35  * Eric Marchand
36  *
37  *****************************************************************************/
38 
39 #ifndef vpFeatureEllipse_H
40 #define vpFeatureEllipse_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 
58 class VISP_EXPORT vpFeatureEllipse : public vpBasicFeature
59 {
60  /*
61  attributes and members directly related to the vpBasicFeature needs
62  other functionalities are useful but not mandatory
63  */
64 private:
67  double A, B, C;
68 
69 public:
73  virtual ~vpFeatureEllipse() {}
74 
78  vpFeatureEllipse(double x, double y, double n20, double n11, double n02);
80 
81  // void buildFrom(const vpEllipse &p) ;
82  void buildFrom(double x, double y, double n20, double n11, double n02);
83  void buildFrom(double x, double y, double n20, double n11, double n02,
84  double A, double B, double C);
85 
86  void display(const vpCameraParameters &cam, const vpImage<unsigned char> &I, const vpColor &color = vpColor::green,
87  unsigned int thickness = 1) const;
88  void display(const vpCameraParameters &cam, const vpImage<vpRGBa> &I, const vpColor &color = vpColor::green,
89  unsigned int thickness = 1) const;
91  vpFeatureEllipse *duplicate() const;
92 
95  vpColVector error(const vpBasicFeature &s_star, unsigned int select = FEATURE_ALL);
97  vpColVector error(unsigned int select = FEATURE_ALL);
98 
102  double get_x() const { return s[0]; }
106  double get_y() const { return s[1]; }
111  double get_n20() const { return s[2]; }
116  double get_n11() const { return s[3]; }
121  double get_n02() const { return s[4]; }
122 
124  void init();
126  vpMatrix interaction(unsigned int select = FEATURE_ALL);
127 
129  void print(unsigned int select = FEATURE_ALL) const;
130 
131  void set_x(double x);
132  void set_y(double y);
133  void set_xy(double x, double y);
134  void setABC(double A, double B, double C);
135  void setMoments(double n20, double n11, double n02);
136 
141  // feature selection
142  static unsigned int selectX();
143  static unsigned int selectY();
144  static unsigned int select_n20();
145  static unsigned int select_n11();
146  static unsigned int select_n02();
147 
148 #if defined(VISP_BUILD_DEPRECATED_FUNCTIONS)
149 
153  vp_deprecated void setMu(double mu20, double mu11, double mu02);
154  vp_deprecated static unsigned int selectMu20();
155  vp_deprecated static unsigned int selectMu11();
156  vp_deprecated static unsigned int selectMu02();
163  vp_deprecated double getMu20() const { return s[2]; }
170  vp_deprecated double getMu11() const { return s[3]; }
177  vp_deprecated double getMu02() const { return s[4]; }
178 
180 #endif
181 
182 };
183 
184 #endif
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:156
double get_x() const
vp_deprecated double getMu02() const
double get_n20() const
Class to define RGB colors available for display functionnalities.
Definition: vpColor.h:157
double get_n11() const
static const vpColor green
Definition: vpColor.h:220
virtual void print(unsigned int select=FEATURE_ALL) const =0
Print the name of the feature.
class that defines what is a visual feature
virtual vpColVector error(const vpBasicFeature &s_star, unsigned int select=FEATURE_ALL)
double get_n02() const
double get_y() const
vp_deprecated double getMu20() const
Generic class defining intrinsic camera parameters.
virtual ~vpFeatureEllipse()
Destructor.
virtual void init()=0
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
vp_deprecated double getMu11() const
virtual vpBasicFeature * duplicate() const =0
Class that defines 2D ellipse visual feature.
virtual vpMatrix interaction(unsigned int select=FEATURE_ALL)=0
Compute the interaction matrix from a subset of the possible features.
virtual void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const =0