Visual Servoing Platform  version 3.2.1 under development (2019-05-20)
vpFeatureLine.h
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30  *
31  * Description:
32  * 2D line visual feature.
33  *
34  * Authors:
35  * Eric Marchand
36  *
37  *****************************************************************************/
38 
39 #ifndef vpFeatureLine_H
40 #define vpFeatureLine_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 
195 class VISP_EXPORT vpFeatureLine : public vpBasicFeature
196 {
201 private:
204  double A, B, C, D;
205 
206 public:
207  vpFeatureLine();
209  virtual ~vpFeatureLine() {}
210 
211  // void buildFrom(const vpLine &l) ;
212  // void buildFrom(const vpCylinder &c, const int l) ;
213  void buildFrom(const double rho, const double theta);
214  void buildFrom(const double rho, const double theta, const double A, const double B, const double C, const double D);
215 
216  void display(const vpCameraParameters &cam, const vpImage<unsigned char> &I, const vpColor &color = vpColor::green,
217  unsigned int thickness = 1) const;
218  void display(const vpCameraParameters &cam, const vpImage<vpRGBa> &I, const vpColor &color = vpColor::green,
219  unsigned int thickness = 1) const;
220  vpFeatureLine *duplicate() const;
221 
222  vpColVector error(const vpBasicFeature &s_star, const unsigned int select = FEATURE_ALL);
223  // vpColVector error(const int select = FEATURE_ALL) ;
224 
228  double getRho() const { return s[0]; }
229 
233  double getTheta() const { return s[1]; }
234 
235  void init();
236  vpMatrix interaction(const unsigned int select = FEATURE_ALL);
237 
238  void print(const unsigned int select = FEATURE_ALL) const;
239 
240  void setRhoTheta(const double rho, const double theta);
241  void setABCD(const double A, const double B, const double C, const double D);
242 
243 public:
244  static unsigned int selectRho();
245  static unsigned int selectTheta();
246 };
247 
248 #endif
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
double getRho() const
virtual vpColVector error(const vpBasicFeature &s_star, const unsigned int select=FEATURE_ALL)
static const vpColor green
Definition: vpColor.h:183
double getTheta() const
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.
Class that defines a 2D line visual feature which is composed by two parameters that are and ...
virtual void init()=0
virtual ~vpFeatureLine()
Destructor.
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