Visual Servoing Platform  version 3.6.1 under development (2024-07-17)
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 
39 #ifndef vpFeatureEllipse_H
40 #define vpFeatureEllipse_H
41 
42 #include <visp3/core/vpConfig.h>
43 #include <visp3/core/vpMatrix.h>
44 #include <visp3/visual_features/vpBasicFeature.h>
45 
46 #include <visp3/core/vpHomogeneousMatrix.h>
47 #include <visp3/core/vpRGBa.h>
48 
55 class VISP_EXPORT vpFeatureEllipse : public vpBasicFeature
56 {
57  /*
58  attributes and members directly related to the vpBasicFeature needs
59  other functionalities are useful but not mandatory
60  */
61 private:
64  double A, B, C;
65 
66 public:
69 
74  vpFeatureEllipse(double x, double y, double n20, double n11, double n02);
75 
76 #ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
77  void buildFrom(double x, double y, double n20, double n11, double n02);
78  void buildFrom(double x, double y, double n20, double n11, double n02, double A, double B, double C);
79 #endif
80  vpFeatureEllipse &build(const double &x, const double &y, const double &n20, const double &n11, const double &n02);
81  vpFeatureEllipse &build(const double &x, const double &y, const double &n20, const double &n11, const double &n02, const double &A, const double &B, const double &C);
82 
83  void display(const vpCameraParameters &cam, const vpImage<unsigned char> &I, const vpColor &color = vpColor::green,
84  unsigned int thickness = 1) const VP_OVERRIDE;
85  void display(const vpCameraParameters &cam, const vpImage<vpRGBa> &I, const vpColor &color = vpColor::green,
86  unsigned int thickness = 1) const VP_OVERRIDE;
88  vpFeatureEllipse *duplicate() const VP_OVERRIDE;
89 
92  vpColVector error(const vpBasicFeature &s_star, unsigned int select = FEATURE_ALL) VP_OVERRIDE;
93 
97  double get_x() const { return s[0]; }
101  double get_y() const { return s[1]; }
106  double get_n20() const { return s[2]; }
111  double get_n11() const { return s[3]; }
116  double get_n02() const { return s[4]; }
117 
119  void init() VP_OVERRIDE;
121  vpMatrix interaction(unsigned int select = FEATURE_ALL) VP_OVERRIDE;
122 
124  void print(unsigned int select = FEATURE_ALL) const VP_OVERRIDE;
125 
126  void set_x(double x);
127  void set_y(double y);
128  void set_xy(double x, double y);
129  void setABC(double A, double B, double C);
130  void setMoments(double n20, double n11, double n02);
131 
136  // feature selection
137  static unsigned int selectX();
138  static unsigned int selectY();
139  static unsigned int select_n20();
140  static unsigned int select_n11();
141  static unsigned int select_n02();
142 
143 #if defined(VISP_BUILD_DEPRECATED_FUNCTIONS)
148  VP_DEPRECATED void setMu(double mu20, double mu11, double mu02);
149  VP_DEPRECATED static unsigned int selectMu20();
150  VP_DEPRECATED static unsigned int selectMu11();
151  VP_DEPRECATED static unsigned int selectMu02();
158  VP_DEPRECATED double getMu20() const { return s[2]; }
165  VP_DEPRECATED double getMu11() const { return s[3]; }
172  VP_DEPRECATED double getMu02() const { return s[4]; }
173 
175 #endif
176 };
177 END_VISP_NAMESPACE
178 #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:191
Class to define RGB colors available for display functionalities.
Definition: vpColor.h:157
static const vpColor green
Definition: vpColor.h:220
Class that defines 2D ellipse visual feature.
VP_DEPRECATED double getMu20() const
double get_y() const
double get_n20() const
double get_n02() const
double get_n11() const
double get_x() const
VP_DEPRECATED double getMu02() const
VP_DEPRECATED double getMu11() const
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:169