Visual Servoing Platform  version 3.2.1 under development (2019-07-16)
vpFeaturePoint3D.h
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30  *
31  * Description:
32  * 3D point visual feature.
33  *
34  * Authors:
35  * Eric Marchand
36  * Fabien Spindler
37  *
38  *****************************************************************************/
39 
40 #ifndef vpFeaturePoint3d_H
41 #define vpFeaturePoint3d_H
42 
48 #include <visp3/core/vpMatrix.h>
49 #include <visp3/core/vpPoint.h>
50 #include <visp3/visual_features/vpBasicFeature.h>
51 
52 #include <visp3/core/vpHomogeneousMatrix.h>
53 #include <visp3/core/vpRGBa.h>
54 
208 class VISP_EXPORT vpFeaturePoint3D : public vpBasicFeature
209 
210 {
211 
212 public:
213  // basic constructor
216  virtual ~vpFeaturePoint3D() {}
217 
218  /*
219  /section Set coordinates
220  */
221 
222  // build feature from a point (vpPoint)
223  void buildFrom(const vpPoint &p);
224  // set the point XY and Z-coordinates
225  void buildFrom(const double X, const double Y, const double Z);
226 
227  void display(const vpCameraParameters &cam, const vpImage<unsigned char> &I, const vpColor &color = vpColor::green,
228  unsigned int thickness = 1) const;
229  void display(const vpCameraParameters &cam, const vpImage<vpRGBa> &I, const vpColor &color = vpColor::green,
230  unsigned int thickness = 1) const;
231 
232  // feature duplication
233  vpFeaturePoint3D *duplicate() const;
234 
235  // compute the error between two visual features from a subset
236  // a the possible features
237  vpColVector error(const vpBasicFeature &s_star, const unsigned int select = FEATURE_ALL);
238 
239  // get the point X-coordinates
240  double get_X() const;
241  // get the point Y-coordinates
242  double get_Y() const;
243  // get the point depth (camera frame)
244  double get_Z() const;
245 
246  // basic construction
247  void init();
248  // compute the interaction matrix from a subset a the possible features
249  vpMatrix interaction(const unsigned int select = FEATURE_ALL);
250 
251  // print the name of the feature
252  void print(const unsigned int select = FEATURE_ALL) const;
253 
254  // set the point X-coordinates
255  void set_X(const double X);
256  // set the point Y-coordinates
257  void set_Y(const double Y);
258  // set the point depth (camera frame)
259  void set_Z(const double Z);
260  // set the point XY and Z-coordinates
261  void set_XYZ(const double X, const double Y, const double Z);
262 
263  static unsigned int selectX();
264  static unsigned int selectY();
265  static unsigned int selectZ();
266 };
267 
268 #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
virtual vpColVector error(const vpBasicFeature &s_star, const unsigned int select=FEATURE_ALL)
static const vpColor green
Definition: vpColor.h:183
Class that defines what is a point.
Definition: vpPoint.h:58
class that defines what is a visual feature
Class that defines the 3D point 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.
virtual void init()=0
virtual ~vpFeaturePoint3D()
Destructor. Does nothing.
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