Visual Servoing Platform  version 3.2.1 under development (2019-07-16)
vpFeatureVanishingPoint.h
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30  *
31  * Description:
32  * 2D vanishing point visual feature (Z coordinate in 3D space is infinity)
33  *
34  * Authors:
35  * Odile Bourquardez
36  *
37  *****************************************************************************/
38 
39 #ifndef vpFeatureVanishingPoint_H
40 #define vpFeatureVanishingPoint_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 
61 class VISP_EXPORT vpFeatureVanishingPoint : public vpBasicFeature
62 {
63 public:
64  typedef enum {
65  X = 1, // x coordinates
66  Y = 2 // y coordinates
68 
69  /*
70  attributes and members directly related to the vpBasicFeature needs
71  other functionalities ar useful but not mandatory
72  */
73  // no Z required
74 
75 public:
80 
81  // void buildFrom(const vpPoint &p) ;
82  void buildFrom(const double _x, const double _y);
83 
84  void display(const vpCameraParameters &cam, const vpImage<unsigned char> &I, const vpColor &color = vpColor::green,
85  unsigned int thickness = 1) const;
86  void display(const vpCameraParameters &cam, const vpImage<vpRGBa> &I, const vpColor &color = vpColor::green,
87  unsigned int thickness = 1) const;
88 
91 
94  vpColVector error(const vpBasicFeature &s_star, const unsigned int select = FEATURE_ALL);
96  vpColVector error(const unsigned int select = FEATURE_ALL);
97 
99  double get_x() const;
101  double get_y() const;
102 
104  void init();
106  vpMatrix interaction(const unsigned int select = FEATURE_ALL);
107 
109  void print(const unsigned int select = FEATURE_ALL) const;
110 
112  void set_x(const double _x);
114  void set_y(const double _y);
116  void set_xy(const double _x, const double _y);
117 
118 public:
119  /*
120  vpBasicFeature method instantiation
121  */
122  // feature selection
123  static unsigned int selectX();
124  static unsigned int selectY();
125 };
126 
127 #endif
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:164
virtual ~vpFeatureVanishingPoint()
Destructor.
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 2D vanishing point visual feature (Z coordinate in 3D space is infinity)...
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