Visual Servoing Platform  version 3.6.1 under development (2024-06-15)
vpFeatureTranslation.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
23  *
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  * 3D translation visual feature.
32  */
33 
39 #ifndef vpFeatureTranslation_H
40 #define vpFeatureTranslation_H
41 
42 #include <visp3/core/vpConfig.h>
43 #include <visp3/core/vpHomogeneousMatrix.h>
44 #include <visp3/core/vpMatrix.h>
45 #include <visp3/core/vpRGBa.h>
46 #include <visp3/core/vpTranslationVector.h>
47 #include <visp3/visual_features/vpBasicFeature.h>
48 
269 class VISP_EXPORT vpFeatureTranslation : public vpBasicFeature
270 {
271 public:
276  typedef enum
277  {
289  cMo
290  } vpFeatureTranslationRepresentationType;
291 
292  // basic constructor
294  // basic constructor specifying the type of translation feature
295  explicit vpFeatureTranslation(vpFeatureTranslationRepresentationType r);
296  // constructor : build from an homogeneous matrix
297  // cdMc is the displacement that the camera has to realize
298  vpFeatureTranslation(vpHomogeneousMatrix &f2Mf1, vpFeatureTranslationRepresentationType r);
299 
300 #ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
301  // build from an homogeneous matrix
302  // cdMc is the displacement that the camera has to realize
303  void buildFrom(const vpHomogeneousMatrix &f2Mf1);
304 #endif
305  // build from an homogeneous matrix
306  // cdMc is the displacement that the camera has to realize
307  vpFeatureTranslation &build(const vpHomogeneousMatrix &f2Mf1);
308 
309  void display(const vpCameraParameters &cam, const vpImage<unsigned char> &I, const vpColor &color = vpColor::green,
310  unsigned int thickness = 1) const vp_override;
311  void display(const vpCameraParameters &cam, const vpImage<vpRGBa> &I, const vpColor &color = vpColor::green,
312  unsigned int thickness = 1) const vp_override;
313 
315  vpFeatureTranslation *duplicate() const vp_override;
316 
317  // compute the error between two visual features from a subset
318  // a the possible features
319  vpColVector error(const vpBasicFeature &s_star, unsigned int select = FEATURE_ALL) vp_override;
320 
321  vpFeatureTranslationRepresentationType getFeatureTranslationType() const;
322 
323  double get_Tx() const;
324  double get_Ty() const;
325  double get_Tz() const;
326 
327  // basic construction
328  void init() vp_override;
329  // compute the interaction matrix from a subset a the possible features
330  vpMatrix interaction(unsigned int select = FEATURE_ALL) vp_override;
331 
332  // print the name of the feature
333  void print(unsigned int select = FEATURE_ALL) const vp_override;
334 
335  void set_Tx(double t_x);
336  void set_Ty(double t_y);
337  void set_Tz(double t_z);
338 
339  void setFeatureTranslationType(const vpFeatureTranslationRepresentationType r);
340 
341  // feature selection
342  static unsigned int selectTx();
343  static unsigned int selectTy();
344  static unsigned int selectTz();
345 
346 private:
348  vpHomogeneousMatrix f2Mf1;
349  vpFeatureTranslationRepresentationType translation;
350 };
352 #endif
class that defines what is a visual feature
virtual void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) 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 the translation visual feature .
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:151
Definition: vpRGBa.h:63