Visual Servoing Platform  version 3.6.1 under development (2024-06-15)
vpFeaturePoint.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
6  * it under the terms of the GNU General Public License as published by
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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24  * If you have questions regarding the use of this file, please contact
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 visual feature.
32  */
33 
39 #ifndef vpFeaturePoint_H
40 #define vpFeaturePoint_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 
176 class VISP_EXPORT vpFeaturePoint : public vpBasicFeature
177 {
178 private:
181  double Z;
182 
183 public:
184  vpFeaturePoint();
185 
186 #ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
187  void buildFrom(double x, double y, double Z);
188 #endif
189  vpFeaturePoint &build(const double &x, const double &y, const double &Z);
190 
191  void display(const vpCameraParameters &cam, const vpImage<unsigned char> &I, const vpColor &color = vpColor::green,
192  unsigned int thickness = 1) const vp_override;
193  void display(const vpCameraParameters &cam, const vpImage<vpRGBa> &I, const vpColor &color = vpColor::green,
194  unsigned int thickness = 1) const vp_override;
195 
196  vpFeaturePoint *duplicate() const vp_override;
197 
198  vpColVector error(const vpBasicFeature &s_star, unsigned int select = FEATURE_ALL) vp_override;
199 
200  double get_x() const;
201 
202  double get_y() const;
203 
204  double get_Z() const;
205 
206  void init() vp_override;
207  vpMatrix interaction(unsigned int select = FEATURE_ALL) vp_override;
208  void print(unsigned int select = FEATURE_ALL) const vp_override;
209 
210  void set_x(double x);
211 
212  void set_y(double y);
213 
214  void set_Z(double Z);
215 
216  void set_xyZ(double x, double y, double Z);
217 
218  // feature selection
219  static unsigned int selectX();
220  static unsigned int selectY();
221 
225  typedef enum
226  {
227  X = 1, // x coordinates
228  Y = 2 // y coordinates
229  } vpFeaturePointType;
230 };
232 #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:171
Class to define RGB colors available for display functionalities.
Definition: vpColor.h:153
static const vpColor green
Definition: vpColor.h:216
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:151