Visual Servoing Platform  version 3.6.1 under development (2024-04-16)
vpFeatureLine.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  *
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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 line visual feature.
32  */
33 
34 #ifndef _vpFeatureLine_h_
35 #define _vpFeatureLine_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 
189 class VISP_EXPORT vpFeatureLine : public vpBasicFeature
190 {
195 private:
198  double A, B, C, D;
199 
200 public:
201  vpFeatureLine();
202 
203  void buildFrom(double rho, double theta);
204  void buildFrom(double rho, double theta, double A, double B, double C, double D);
205 
206  void display(const vpCameraParameters &cam, const vpImage<unsigned char> &I, const vpColor &color = vpColor::green,
207  unsigned int thickness = 1) const vp_override;
208  void display(const vpCameraParameters &cam, const vpImage<vpRGBa> &I, const vpColor &color = vpColor::green,
209  unsigned int thickness = 1) const vp_override;
210  vpFeatureLine *duplicate() const vp_override;
211  vpColVector error(const vpBasicFeature &s_star, unsigned int select = FEATURE_ALL) vp_override;
212 
216  double getRho() const { return s[0]; }
217 
221  double getTheta() const { return s[1]; }
222 
223  void init() vp_override;
224  vpMatrix interaction(unsigned int select = FEATURE_ALL) vp_override;
225  void print(unsigned int select = FEATURE_ALL) const vp_override;
226 
227  void setRhoTheta(double rho, double theta);
228  void setABCD(double A, double B, double C, double D);
229 
230 public:
231  static unsigned int selectRho();
232  static unsigned int selectTheta();
233 };
234 
235 #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 a 2D line visual feature which is composed by two parameters that are and ,...
double getTheta() const
double getRho() const
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:146