Visual Servoing Platform  version 3.6.1 under development (2024-10-14)
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 
49 BEGIN_VISP_NAMESPACE
281 class VISP_EXPORT vpFeatureTranslation : public vpBasicFeature
282 {
283 public:
288  typedef enum
289  {
301  cMo
302  } vpFeatureTranslationRepresentationType;
303 
304  // basic constructor
306  // basic constructor specifying the type of translation feature
307  VP_EXPLICIT vpFeatureTranslation(vpFeatureTranslationRepresentationType r);
308  // constructor : build from an homogeneous matrix
309  // cdMc is the displacement that the camera has to realize
310  vpFeatureTranslation(vpHomogeneousMatrix &f2Mf1, vpFeatureTranslationRepresentationType r);
311 
312  // build from an homogeneous matrix
313  // cdMc is the displacement that the camera has to realize
314  vpFeatureTranslation &buildFrom(const vpHomogeneousMatrix &f2Mf1);
315 
316  void display(const vpCameraParameters &cam, const vpImage<unsigned char> &I, const vpColor &color = vpColor::green,
317  unsigned int thickness = 1) const VP_OVERRIDE;
318  void display(const vpCameraParameters &cam, const vpImage<vpRGBa> &I, const vpColor &color = vpColor::green,
319  unsigned int thickness = 1) const VP_OVERRIDE;
320 
322  vpFeatureTranslation *duplicate() const VP_OVERRIDE;
323 
324  // compute the error between two visual features from a subset
325  // a the possible features
326  vpColVector error(const vpBasicFeature &s_star, unsigned int select = FEATURE_ALL) VP_OVERRIDE;
327 
328  vpFeatureTranslationRepresentationType getFeatureTranslationType() const;
329 
330  double get_Tx() const;
331  double get_Ty() const;
332  double get_Tz() const;
333 
334  // basic construction
335  void init() VP_OVERRIDE;
336  // compute the interaction matrix from a subset a the possible features
337  vpMatrix interaction(unsigned int select = FEATURE_ALL) VP_OVERRIDE;
338 
339  // print the name of the feature
340  void print(unsigned int select = FEATURE_ALL) const VP_OVERRIDE;
341 
342  void set_Tx(double t_x);
343  void set_Ty(double t_y);
344  void set_Tz(double t_z);
345 
346  void setFeatureTranslationType(const vpFeatureTranslationRepresentationType r);
347 
348  // feature selection
349  static unsigned int selectTx();
350  static unsigned int selectTy();
351  static unsigned int selectTz();
352 
353 private:
355  vpHomogeneousMatrix f2Mf1;
356  vpFeatureTranslationRepresentationType translation;
357 };
358 END_VISP_NAMESPACE
359 #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:191
Class to define RGB colors available for display functionalities.
Definition: vpColor.h:157
static const vpColor green
Definition: vpColor.h:220
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:169
Definition: vpRGBa.h:65