Visual Servoing Platform  version 3.6.1 under development (2024-03-04)
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
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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.
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  *
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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 visual feature.
32  */
33 
34 #ifndef vpFeaturePoint_H
35 #define vpFeaturePoint_H
36 
42 #include <visp3/core/vpMatrix.h>
43 #include <visp3/core/vpPoint.h>
44 #include <visp3/visual_features/vpBasicFeature.h>
45 
46 #include <visp3/core/vpHomogeneousMatrix.h>
47 #include <visp3/core/vpRGBa.h>
48 
174 class VISP_EXPORT vpFeaturePoint : public vpBasicFeature
175 {
176 private:
179  double Z;
180 
181 public:
182  vpFeaturePoint();
183 
184  void buildFrom(double x, double y, double Z);
185 
186  void display(const vpCameraParameters &cam, const vpImage<unsigned char> &I, const vpColor &color = vpColor::green,
187  unsigned int thickness = 1) const vp_override;
188  void display(const vpCameraParameters &cam, const vpImage<vpRGBa> &I, const vpColor &color = vpColor::green,
189  unsigned int thickness = 1) const vp_override;
190 
191  vpFeaturePoint *duplicate() const vp_override;
192 
193  vpColVector error(const vpBasicFeature &s_star, unsigned int select = FEATURE_ALL) vp_override;
194 
195  double get_x() const;
196 
197  double get_y() const;
198 
199  double get_Z() const;
200 
201  void init() vp_override;
202  vpMatrix interaction(unsigned int select = FEATURE_ALL) vp_override;
203  void print(unsigned int select = FEATURE_ALL) const vp_override;
204 
205  void set_x(double x);
206 
207  void set_y(double y);
208 
209  void set_Z(double Z);
210 
211  void set_xyZ(double x, double y, double Z);
212 
213  // feature selection
214  static unsigned int selectX();
215  static unsigned int selectY();
216 
220  typedef enum
221  {
222  X = 1, // x coordinates
223  Y = 2 // y coordinates
224  } vpFeaturePointType;
225 };
226 
227 #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:163
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...
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:146