Visual Servoing Platform  version 3.6.1 under development (2024-05-21)
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
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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.
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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  *
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17  *
18  * This software was developed at:
19  * Inria Rennes - Bretagne Atlantique
20  * Campus Universitaire de Beaulieu
21  * 35042 Rennes Cedex
22  * France
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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  * 3D point visual feature.
32  */
33 
34 #ifndef vpFeaturePoint3d_H
35 #define vpFeaturePoint3d_H
36 
42 #include <visp3/core/vpMatrix.h>
43 #include <visp3/core/vpPoint.h>
44 #include <visp3/visual_features/vpBasicFeature.h>
45 
46 #include <visp3/core/vpHomogeneousMatrix.h>
47 #include <visp3/core/vpRGBa.h>
48 
201 class VISP_EXPORT vpFeaturePoint3D : public vpBasicFeature
202 {
203 public:
204  // basic constructor
206 
207  /*
208  * Set coordinates
209  */
210 
211  // build feature from a point (vpPoint)
212  void buildFrom(const vpPoint &p);
213  // set the point XY and Z-coordinates
214  void buildFrom(double X, double Y, double Z);
215 
216  void display(const vpCameraParameters &cam, const vpImage<unsigned char> &I, const vpColor &color = vpColor::green,
217  unsigned int thickness = 1) const vp_override;
218  void display(const vpCameraParameters &cam, const vpImage<vpRGBa> &I, const vpColor &color = vpColor::green,
219  unsigned int thickness = 1) const vp_override;
220 
221  // feature duplication
222  vpFeaturePoint3D *duplicate() const vp_override;
223 
224  // compute the error between two visual features from a subset
225  // a the possible features
226  vpColVector error(const vpBasicFeature &s_star, unsigned int select = FEATURE_ALL) vp_override;
227 
228  // get the point X-coordinates
229  double get_X() const;
230  // get the point Y-coordinates
231  double get_Y() const;
232  // get the point depth (camera frame)
233  double get_Z() const;
234 
235  // basic construction
236  void init() vp_override;
237  // compute the interaction matrix from a subset a the possible features
238  vpMatrix interaction(unsigned int select = FEATURE_ALL) vp_override;
239 
240  // print the name of the feature
241  void print(unsigned int select = FEATURE_ALL) const vp_override;
242 
243 // set the point X-coordinates
244  void set_X(double X);
245  // set the point Y-coordinates
246  void set_Y(double Y);
247  // set the point depth (camera frame)
248  void set_Z(double Z);
249  // set the point XY and Z-coordinates
250  void set_XYZ(double X, double Y, double Z);
251 
252  static unsigned int selectX();
253  static unsigned int selectY();
254  static unsigned int selectZ();
255 };
256 
257 #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: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 the 3D point visual feature.
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:146
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition: vpPoint.h:77