Visual Servoing Platform  version 3.2.1 under development (2019-11-19)
vpFeaturePointPolar.h
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30  *
31  * Description:
32  * 2D point with polar coordinates visual feature.
33  *
34  * Authors:
35  * Fabien Spindler
36  *
37  *****************************************************************************/
38 
39 #ifndef vpFeaturePointPolar_H
40 #define vpFeaturePointPolar_H
41 
47 #include <visp3/core/vpMatrix.h>
48 #include <visp3/core/vpPoint.h>
49 #include <visp3/visual_features/vpBasicFeature.h>
50 
51 #include <visp3/core/vpHomogeneousMatrix.h>
52 #include <visp3/core/vpRGBa.h>
53 
260 class VISP_EXPORT vpFeaturePointPolar : public vpBasicFeature
261 {
262 private:
265  double Z;
266 
267 public:
268  // basic constructor
271  virtual ~vpFeaturePointPolar() {}
272 
273  void buildFrom(const double rho, const double theta, const double Z);
274 
275  void display(const vpCameraParameters &cam, const vpImage<unsigned char> &I, const vpColor &color = vpColor::green,
276  unsigned int thickness = 1) const;
277  void display(const vpCameraParameters &cam, const vpImage<vpRGBa> &I, const vpColor &color = vpColor::green,
278  unsigned int thickness = 1) const;
279 
280  // feature duplication
282 
283  // compute the error between two visual features from a subset
284  // a the possible features
285  vpColVector error(const vpBasicFeature &s_star, const unsigned int select = FEATURE_ALL);
286 
287  // basic construction
288  void init();
289 
290  // get the point rho-coordinates
291  double get_rho() const;
292  // get the point theta-coordinates
293  double get_theta() const;
294  // get the point depth (camera frame)
295  double get_Z() const;
296 
297  // compute the interaction matrix from a subset a the possible features
298  vpMatrix interaction(const unsigned int select = FEATURE_ALL);
299 
300  // print the name of the feature
301  void print(const unsigned int select = FEATURE_ALL) const;
302 
303  // set the point rho-coordinates
304  void set_rho(const double rho);
305  // set the point theta-coordinates
306  void set_theta(const double theta);
307  // set the point depth (camera frame)
308  void set_Z(const double Z);
309  // set the point rho, theta polar coordinates and Z coordinate
310  void set_rhoThetaZ(const double rho, const double theta, const double Z);
311 
312  /*
313  vpBasicFeature method instantiation
314  */
315  static unsigned int selectRho();
316  static unsigned int selectTheta();
317 
321  vpColVector error(const unsigned int select = FEATURE_ALL);
323 };
324 
325 #endif
326 
327 /*
328  * Local variables:
329  * c-basic-offset: 2
330  * End:
331  */
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 2D image point visual feature with polar coordinates described in ...
class that defines what is a 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
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
virtual ~vpFeaturePointPolar()
Destructor. Does nothing.