Visual Servoing Platform  version 3.6.1 under development (2024-12-12)
vpFeaturePoint3D.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  *
24  * If you have questions regarding the use of this file, please contact
25  * Inria at visp@inria.fr
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  * 3D point visual feature.
32  */
33 
39 #ifndef vpFeaturePoint3d_H
40 #define vpFeaturePoint3d_H
41 
42 #include <visp3/core/vpConfig.h>
43 #include <visp3/core/vpMatrix.h>
44 #include <visp3/core/vpPoint.h>
45 #include <visp3/visual_features/vpBasicFeature.h>
46 
47 #include <visp3/core/vpHomogeneousMatrix.h>
48 #include <visp3/core/vpRGBa.h>
49 
50 BEGIN_VISP_NAMESPACE
211 class VISP_EXPORT vpFeaturePoint3D : public vpBasicFeature
212 {
213 public:
214  // basic constructor
216 
217  /*
218  * Set coordinates
219  */
220 
221  // build feature from a point (vpPoint)
222  vpFeaturePoint3D &buildFrom(const vpPoint &p);
223  // set the point XY and Z-coordinates
224  vpFeaturePoint3D &buildFrom(const double &X, const double &Y, const double &Z);
225 
226  void display(const vpCameraParameters &cam, const vpImage<unsigned char> &I, const vpColor &color = vpColor::green,
227  unsigned int thickness = 1) const VP_OVERRIDE;
228  void display(const vpCameraParameters &cam, const vpImage<vpRGBa> &I, const vpColor &color = vpColor::green,
229  unsigned int thickness = 1) const VP_OVERRIDE;
230 
231  // feature duplication
232  vpFeaturePoint3D *duplicate() const VP_OVERRIDE;
233 
234  // compute the error between two visual features from a subset
235  // a the possible features
236  vpColVector error(const vpBasicFeature &s_star, unsigned int select = FEATURE_ALL) VP_OVERRIDE;
237 
238  // get the point X-coordinates
239  double get_X() const;
240  // get the point Y-coordinates
241  double get_Y() const;
242  // get the point depth (camera frame)
243  double get_Z() const;
244 
245  // basic construction
246  void init() VP_OVERRIDE;
247  // compute the interaction matrix from a subset a the possible features
248  vpMatrix interaction(unsigned int select = FEATURE_ALL) VP_OVERRIDE;
249 
250  // print the name of the feature
251  void print(unsigned int select = FEATURE_ALL) const VP_OVERRIDE;
252 
253 // set the point X-coordinates
254  void set_X(double X);
255  // set the point Y-coordinates
256  void set_Y(double Y);
257  // set the point depth (camera frame)
258  void set_Z(double Z);
259  // set the point XY and Z-coordinates
260  void set_XYZ(double X, double Y, double Z);
261 
262  static unsigned int selectX();
263  static unsigned int selectY();
264  static unsigned int selectZ();
265 };
266 END_VISP_NAMESPACE
267 
268 #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:191
Class to define RGB colors available for display functionalities.
Definition: vpColor.h:157
static const vpColor green
Definition: vpColor.h:220
Class that defines the 3D point visual feature.
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:169
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition: vpPoint.h:79