Visual Servoing Platform  version 3.6.0 under development (2023-09-25)
vpFeatureEllipse.h
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30  *
31  * Description:
32  * 2D ellipse visual feature.
33  *
34 *****************************************************************************/
35 
36 #ifndef vpFeatureEllipse_H
37 #define vpFeatureEllipse_H
38 
44 #include <visp3/core/vpMatrix.h>
45 #include <visp3/visual_features/vpBasicFeature.h>
46 
47 #include <visp3/core/vpHomogeneousMatrix.h>
48 #include <visp3/core/vpRGBa.h>
49 
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:
70  virtual ~vpFeatureEllipse() { }
71 
76  vpFeatureEllipse(double x, double y, double n20, double n11, double n02);
77 
78  // void buildFrom(const vpEllipse &p) ;
79  void buildFrom(double x, double y, double n20, double n11, double n02);
80  void buildFrom(double x, double y, double n20, double n11, double n02, double A, double B, double C);
81 
82  void display(const vpCameraParameters &cam, const vpImage<unsigned char> &I, const vpColor &color = vpColor::green,
83  unsigned int thickness = 1) const;
84  void display(const vpCameraParameters &cam, const vpImage<vpRGBa> &I, const vpColor &color = vpColor::green,
85  unsigned int thickness = 1) const;
87  vpFeatureEllipse *duplicate() const;
88 
91  vpColVector error(const vpBasicFeature &s_star, unsigned int select = FEATURE_ALL);
92 
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();
121  vpMatrix interaction(unsigned int select = FEATURE_ALL);
122 
124  void print(unsigned int select = FEATURE_ALL) const;
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 
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 vpMatrix interaction(unsigned int select=FEATURE_ALL)=0
Compute the interaction matrix from a subset of the possible features.
virtual void print(unsigned int select=FEATURE_ALL) const =0
Print the name of the feature.
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:167
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
virtual ~vpFeatureEllipse()
Destructor.
vp_deprecated double getMu11() const
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:152