Visual Servoing Platform  version 3.6.1 under development (2024-11-21)
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.
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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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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 
39 #ifndef vpFeaturePointPolar_H
40 #define vpFeaturePointPolar_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
261 class VISP_EXPORT vpFeaturePointPolar : public vpBasicFeature
262 {
263 private:
266  double Z;
267 
268 public:
269  // basic constructor
271 
272  vpFeaturePointPolar &buildFrom(const double &rho, const double &theta, const double &Z);
273 
274  void display(const vpCameraParameters &cam, const vpImage<unsigned char> &I, const vpColor &color = vpColor::green,
275  unsigned int thickness = 1) const VP_OVERRIDE;
276  void display(const vpCameraParameters &cam, const vpImage<vpRGBa> &I, const vpColor &color = vpColor::green,
277  unsigned int thickness = 1) const VP_OVERRIDE;
278 
279  // feature duplication
280  vpFeaturePointPolar *duplicate() const VP_OVERRIDE;
281 
282  // compute the error between two visual features from a subset
283  // a the possible features
284  vpColVector error(const vpBasicFeature &s_star, unsigned int select = FEATURE_ALL) VP_OVERRIDE;
285 
286  // basic construction
287  void init() VP_OVERRIDE;
288 
289  // get the point rho-coordinates
290  double get_rho() const;
291  // get the point theta-coordinates
292  double get_theta() const;
293  // get the point depth (camera frame)
294  double get_Z() const;
295 
296  // compute the interaction matrix from a subset a the possible features
297  vpMatrix interaction(unsigned int select = FEATURE_ALL) VP_OVERRIDE;
298 
299  // print the name of the feature
300  void print(unsigned int select = FEATURE_ALL) const VP_OVERRIDE;
301 
302  // set the point rho-coordinates
303  void set_rho(double rho);
304  // set the point theta-coordinates
305  void set_theta(double theta);
306  // set the point depth (camera frame)
307  void set_Z(double Z);
308  // set the point rho, theta polar coordinates and Z coordinate
309  void set_rhoThetaZ(double rho, double theta, double Z);
310 
311  /*
312  vpBasicFeature method instantiation
313  */
314  static unsigned int selectRho();
315  static unsigned int selectTheta();
316 
317 };
318 END_VISP_NAMESPACE
319 #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 2D image point visual feature with polar coordinates described in .
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:169