Visual Servoing Platform  version 3.2.1 under development (2019-11-19)
vpFeaturePoint.h
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30  *
31  * Description:
32  * 2D point visual feature.
33  *
34  * Authors:
35  * Eric Marchand
36  *
37  *****************************************************************************/
38 
39 #ifndef vpFeaturePoint_H
40 #define vpFeaturePoint_H
41 
47 #include <visp3/core/vpMatrix.h>
48 #include <visp3/core/vpPoint.h>
49 #include <visp3/visual_features/vpBasicFeature.h>
50 
51 #include <visp3/core/vpHomogeneousMatrix.h>
52 #include <visp3/core/vpRGBa.h>
53 
181 class VISP_EXPORT vpFeaturePoint : public vpBasicFeature
182 {
183 private:
186  double Z;
187 
188 public:
189  vpFeaturePoint();
191  virtual ~vpFeaturePoint() {}
192 
193  void buildFrom(const double x, const double y, const double Z);
194 
195  void display(const vpCameraParameters &cam, const vpImage<unsigned char> &I, const vpColor &color = vpColor::green,
196  unsigned int thickness = 1) const;
197  void display(const vpCameraParameters &cam, const vpImage<vpRGBa> &I, const vpColor &color = vpColor::green,
198  unsigned int thickness = 1) const;
199 
200  vpFeaturePoint *duplicate() const;
201 
202  vpColVector error(const vpBasicFeature &s_star, const unsigned int select = FEATURE_ALL);
204  vpColVector error(const unsigned int select = FEATURE_ALL);
205 
206  double get_x() const;
207 
208  double get_y() const;
209 
210  double get_Z() const;
211 
212  void init();
213  vpMatrix interaction(const unsigned int select = FEATURE_ALL);
214 
215  void print(const unsigned int select = FEATURE_ALL) const;
216 
217  void set_x(const double x);
218 
219  void set_y(const double y);
220 
221  void set_Z(const double Z);
222 
223  void set_xyZ(const double x, const double y, const double Z);
224 
225  // feature selection
226  static unsigned int selectX();
227  static unsigned int selectY();
228 
232  typedef enum {
233  X = 1, // x coordinates
234  Y = 2 // y coordinates
236 };
237 
238 #endif
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:164
virtual void print(const unsigned int select=FEATURE_ALL) const =0
Print the name of the feature.
Class to define colors available for display functionnalities.
Definition: vpColor.h:120
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
virtual vpColVector error(const vpBasicFeature &s_star, const unsigned int select=FEATURE_ALL)
static const vpColor green
Definition: vpColor.h:183
class that defines what is a visual feature
virtual vpMatrix interaction(const unsigned int select=FEATURE_ALL)=0
Compute the interaction matrix from a subset of the possible features.
Generic class defining intrinsic camera parameters.
virtual void init()=0
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
virtual vpBasicFeature * duplicate() const =0
virtual void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const =0
virtual ~vpFeaturePoint()
Destructor.