Visual Servoing Platform  version 3.6.0 under development (2023-09-27)
vpFeaturePoint.h
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30  *
31  * Description:
32  * 2D point visual feature.
33  *
34 *****************************************************************************/
35 
36 #ifndef vpFeaturePoint_H
37 #define vpFeaturePoint_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 
178 class VISP_EXPORT vpFeaturePoint : public vpBasicFeature
179 {
180 private:
183  double Z;
184 
185 public:
186  vpFeaturePoint();
188  virtual ~vpFeaturePoint() { }
189 
190  void buildFrom(double x, double y, double Z);
191 
192  void display(const vpCameraParameters &cam, const vpImage<unsigned char> &I, const vpColor &color = vpColor::green,
193  unsigned int thickness = 1) const;
194  void display(const vpCameraParameters &cam, const vpImage<vpRGBa> &I, const vpColor &color = vpColor::green,
195  unsigned int thickness = 1) const;
196 
197  vpFeaturePoint *duplicate() const;
198 
199  vpColVector error(const vpBasicFeature &s_star, unsigned int select = FEATURE_ALL);
200 
201  double get_x() const;
202 
203  double get_y() const;
204 
205  double get_Z() const;
206 
207  void init();
208  vpMatrix interaction(unsigned int select = FEATURE_ALL);
209 
210  void print(unsigned int select = FEATURE_ALL) const;
211 
212  void set_x(double x);
213 
214  void set_y(double y);
215 
216  void set_Z(double Z);
217 
218  void set_xyZ(double x, double y, double Z);
219 
220  // feature selection
221  static unsigned int selectX();
222  static unsigned int selectY();
223 
227  typedef enum
228  {
229  X = 1, // x coordinates
230  Y = 2 // y coordinates
231  } vpFeaturePointType;
232 };
233 
234 #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 a 2D point visual feature which is composed by two parameters that are the cartes...
virtual ~vpFeaturePoint()
Destructor.
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:152