Visual Servoing Platform  version 3.6.1 under development (2024-02-13)
vpFeaturePointPolar.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.
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
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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  * 2D point with polar coordinates visual feature.
32  */
33 
34 #ifndef vpFeaturePointPolar_H
35 #define vpFeaturePointPolar_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 
251 class VISP_EXPORT vpFeaturePointPolar : public vpBasicFeature
252 {
253 private:
256  double Z;
257 
258 public:
259  // basic constructor
261 
262  void buildFrom(double rho, double theta, double Z);
263 
264  void display(const vpCameraParameters &cam, const vpImage<unsigned char> &I, const vpColor &color = vpColor::green,
265  unsigned int thickness = 1) const vp_override;
266  void display(const vpCameraParameters &cam, const vpImage<vpRGBa> &I, const vpColor &color = vpColor::green,
267  unsigned int thickness = 1) const vp_override;
268 
269  // feature duplication
270  vpFeaturePointPolar *duplicate() const vp_override;
271 
272  // compute the error between two visual features from a subset
273  // a the possible features
274  vpColVector error(const vpBasicFeature &s_star, unsigned int select = FEATURE_ALL) vp_override;
275 
276  // basic construction
277  void init() vp_override;
278 
279  // get the point rho-coordinates
280  double get_rho() const;
281  // get the point theta-coordinates
282  double get_theta() const;
283  // get the point depth (camera frame)
284  double get_Z() const;
285 
286  // compute the interaction matrix from a subset a the possible features
287  vpMatrix interaction(unsigned int select = FEATURE_ALL) vp_override;
288 
289  // print the name of the feature
290  void print(unsigned int select = FEATURE_ALL) const vp_override;
291 
292  // set the point rho-coordinates
293  void set_rho(double rho);
294  // set the point theta-coordinates
295  void set_theta(double theta);
296  // set the point depth (camera frame)
297  void set_Z(double Z);
298  // set the point rho, theta polar coordinates and Z coordinate
299  void set_rhoThetaZ(double rho, double theta, double Z);
300 
301  /*
302  vpBasicFeature method instantiation
303  */
304  static unsigned int selectRho();
305  static unsigned int selectTheta();
306 
307 };
308 
309 #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 2D image point visual feature with polar coordinates described in .
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:146