Visual Servoing Platform  version 3.6.0 under development (2023-09-25)
vpFeatureLine.h
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30  *
31  * Description:
32  * 2D line visual feature.
33  *
34 *****************************************************************************/
35 
36 #ifndef _vpFeatureLine_h_
37 #define _vpFeatureLine_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 
192 class VISP_EXPORT vpFeatureLine : public vpBasicFeature
193 {
198 private:
201  double A, B, C, D;
202 
203 public:
204  vpFeatureLine();
206  virtual ~vpFeatureLine() { }
207 
208  // void buildFrom(const vpLine &l) ;
209  // void buildFrom(const vpCylinder &c, int l) ;
210  void buildFrom(double rho, double theta);
211  void buildFrom(double rho, double theta, double A, double B, double C, double D);
212 
213  void display(const vpCameraParameters &cam, const vpImage<unsigned char> &I, const vpColor &color = vpColor::green,
214  unsigned int thickness = 1) const;
215  void display(const vpCameraParameters &cam, const vpImage<vpRGBa> &I, const vpColor &color = vpColor::green,
216  unsigned int thickness = 1) const;
217  vpFeatureLine *duplicate() const;
218 
219  vpColVector error(const vpBasicFeature &s_star, unsigned int select = FEATURE_ALL);
220  // vpColVector error(const int select = FEATURE_ALL) ;
221 
225  double getRho() const { return s[0]; }
226 
230  double getTheta() const { return s[1]; }
231 
232  void init();
233  vpMatrix interaction(unsigned int select = FEATURE_ALL);
234 
235  void print(unsigned int select = FEATURE_ALL) const;
236 
237  void setRhoTheta(double rho, double theta);
238  void setABCD(double A, double B, double C, double D);
239 
240 public:
241  static unsigned int selectRho();
242  static unsigned int selectTheta();
243 };
244 
245 #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 a 2D line visual feature which is composed by two parameters that are and ,...
double getTheta() const
virtual ~vpFeatureLine()
Destructor.
double getRho() const
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:152