Visual Servoing Platform  version 3.6.1 under development (2024-02-13)
vpFeatureEllipse.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.
11  *
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  *
24  * If you have questions regarding the use of this file, please contact
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  * 2D ellipse visual feature.
32  */
33 
34 #ifndef vpFeatureEllipse_H
35 #define vpFeatureEllipse_H
36 
42 #include <visp3/core/vpMatrix.h>
43 #include <visp3/visual_features/vpBasicFeature.h>
44 
45 #include <visp3/core/vpHomogeneousMatrix.h>
46 #include <visp3/core/vpRGBa.h>
47 
53 class VISP_EXPORT vpFeatureEllipse : public vpBasicFeature
54 {
55  /*
56  attributes and members directly related to the vpBasicFeature needs
57  other functionalities are useful but not mandatory
58  */
59 private:
62  double A, B, C;
63 
64 public:
67 
72  vpFeatureEllipse(double x, double y, double n20, double n11, double n02);
73 
74  // void buildFrom(const vpEllipse &p) ;
75  void buildFrom(double x, double y, double n20, double n11, double n02);
76  void buildFrom(double x, double y, double n20, double n11, double n02, double A, double B, double C);
77 
78  void display(const vpCameraParameters &cam, const vpImage<unsigned char> &I, const vpColor &color = vpColor::green,
79  unsigned int thickness = 1) const vp_override;
80  void display(const vpCameraParameters &cam, const vpImage<vpRGBa> &I, const vpColor &color = vpColor::green,
81  unsigned int thickness = 1) const vp_override;
83  vpFeatureEllipse *duplicate() const vp_override;
84 
87  vpColVector error(const vpBasicFeature &s_star, unsigned int select = FEATURE_ALL) vp_override;
88 
92  double get_x() const { return s[0]; }
96  double get_y() const { return s[1]; }
101  double get_n20() const { return s[2]; }
106  double get_n11() const { return s[3]; }
111  double get_n02() const { return s[4]; }
112 
114  void init() vp_override;
116  vpMatrix interaction(unsigned int select = FEATURE_ALL) vp_override;
117 
119  void print(unsigned int select = FEATURE_ALL) const vp_override;
120 
121  void set_x(double x);
122  void set_y(double y);
123  void set_xy(double x, double y);
124  void setABC(double A, double B, double C);
125  void setMoments(double n20, double n11, double n02);
126 
131  // feature selection
132  static unsigned int selectX();
133  static unsigned int selectY();
134  static unsigned int select_n20();
135  static unsigned int select_n11();
136  static unsigned int select_n02();
137 
138 #if defined(VISP_BUILD_DEPRECATED_FUNCTIONS)
143  vp_deprecated void setMu(double mu20, double mu11, double mu02);
144  vp_deprecated static unsigned int selectMu20();
145  vp_deprecated static unsigned int selectMu11();
146  vp_deprecated static unsigned int selectMu02();
153  vp_deprecated double getMu20() const { return s[2]; }
160  vp_deprecated double getMu11() const { return s[3]; }
167  vp_deprecated double getMu02() const { return s[4]; }
168 
170 #endif
171 };
172 
173 #endif
class that defines what is a visual feature
virtual vpColVector error(const vpBasicFeature &s_star, unsigned int select=FEATURE_ALL)
virtual void init()=0
virtual void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const =0
virtual vpBasicFeature * duplicate() const =0
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 2D ellipse visual feature.
vp_deprecated double getMu02() const
double get_y() const
vp_deprecated double getMu20() const
double get_n20() const
double get_n02() const
double get_n11() const
double get_x() const
vp_deprecated double getMu11() const
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:146