Visual Servoing Platform  version 3.6.1 under development (2023-10-03)
vpFeaturePointPolar.h
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30  *
31  * Description:
32  * 2D point with polar coordinates visual feature.
33  *
34 *****************************************************************************/
35 
36 #ifndef vpFeaturePointPolar_H
37 #define vpFeaturePointPolar_H
38 
44 #include <visp3/core/vpMatrix.h>
45 #include <visp3/core/vpPoint.h>
46 #include <visp3/visual_features/vpBasicFeature.h>
47 
48 #include <visp3/core/vpHomogeneousMatrix.h>
49 #include <visp3/core/vpRGBa.h>
50 
255 class VISP_EXPORT vpFeaturePointPolar : public vpBasicFeature
256 {
257 private:
260  double Z;
261 
262 public:
263  // basic constructor
266  virtual ~vpFeaturePointPolar() { }
267 
268  void buildFrom(double rho, double theta, double Z);
269 
270  void display(const vpCameraParameters &cam, const vpImage<unsigned char> &I, const vpColor &color = vpColor::green,
271  unsigned int thickness = 1) const;
272  void display(const vpCameraParameters &cam, const vpImage<vpRGBa> &I, const vpColor &color = vpColor::green,
273  unsigned int thickness = 1) const;
274 
275  // feature duplication
277 
278  // compute the error between two visual features from a subset
279  // a the possible features
280  vpColVector error(const vpBasicFeature &s_star, unsigned int select = FEATURE_ALL);
281 
282  // basic construction
283  void init();
284 
285  // get the point rho-coordinates
286  double get_rho() const;
287  // get the point theta-coordinates
288  double get_theta() const;
289  // get the point depth (camera frame)
290  double get_Z() const;
291 
292  // compute the interaction matrix from a subset a the possible features
293  vpMatrix interaction(unsigned int select = FEATURE_ALL);
294 
295  // print the name of the feature
296  void print(unsigned int select = FEATURE_ALL) const;
297 
298  // set the point rho-coordinates
299  void set_rho(double rho);
300  // set the point theta-coordinates
301  void set_theta(double theta);
302  // set the point depth (camera frame)
303  void set_Z(double Z);
304  // set the point rho, theta polar coordinates and Z coordinate
305  void set_rhoThetaZ(double rho, double theta, double Z);
306 
307  /*
308  vpBasicFeature method instantiation
309  */
310  static unsigned int selectRho();
311  static unsigned int selectTheta();
312 
313 };
314 
315 #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:167
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 .
virtual ~vpFeaturePointPolar()
Destructor. Does nothing.
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:152