Visual Servoing Platform  version 3.6.1 under development (2024-12-17)
vpForwardProjection.h
1 /*
2  * ViSP, open source Visual Servoing Platform software.
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4  *
5  * This software is free software; you can redistribute it and/or modify
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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.
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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
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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  * Forward projection.
32  */
33 
39 #ifndef VP_FORWARD_PROJECTION_H
40 #define VP_FORWARD_PROJECTION_H
41 
42 #include <visp3/core/vpConfig.h>
43 #include <visp3/core/vpColor.h>
44 #include <visp3/core/vpMatrix.h>
45 #include <visp3/core/vpTracker.h>
46 
47 #include <visp3/core/vpHomogeneousMatrix.h>
48 
49 BEGIN_VISP_NAMESPACE
64 class VISP_EXPORT vpForwardProjection : public vpTracker
65 {
66 public:
70  typedef enum { user, vpDisplayForwardProjection } vpForwardProjectionDeallocatorType;
71 
74  vpForwardProjection() : oP(), deallocate(user) { }
75 
93  virtual void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP) const = 0;
94 
110  virtual void changeFrame(const vpHomogeneousMatrix &cMo) = 0;
111 
125  virtual void display(const vpImage<unsigned char> &I, const vpCameraParameters &cam,
126  const vpColor &color = vpColor::green, unsigned int thickness = 1) = 0;
127 
146  virtual void display(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
147  const vpColor &color = vpColor::green, unsigned int thickness = 1) = 0;
148 
152  virtual vpForwardProjection *duplicate() const = 0;
153 
155  vpColVector get_oP() const { return oP; }
156 
158 
159  virtual void print() const;
160 
169  virtual void projection(const vpColVector &cP, vpColVector &p) const = 0;
170 
180  virtual void projection() = 0;
181 
182  void project();
183  void project(const vpHomogeneousMatrix &cMo);
184 
186 
193  virtual void setWorldCoordinates(const vpColVector &oP) = 0;
194 
195  void track(const vpHomogeneousMatrix &cMo);
197 
198 
199 public:
207 
208 protected:
217  virtual void init() = 0;
219 
220 private:
222 };
223 END_VISP_NAMESPACE
224 #endif
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 what is a generic geometric feature.
virtual void projection()=0
virtual void setWorldCoordinates(const vpColVector &oP)=0
virtual void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP) const =0
virtual void display(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &color=vpColor::green, unsigned int thickness=1)=0
vpColVector get_oP() const
Return object parameters expressed in the 3D object frame.
virtual void init()=0
virtual void projection(const vpColVector &cP, vpColVector &p) const =0
virtual void display(const vpImage< unsigned char > &I, const vpCameraParameters &cam, const vpColor &color=vpColor::green, unsigned int thickness=1)=0
virtual vpForwardProjection * duplicate() const =0
void setDeallocate(vpForwardProjectionDeallocatorType d)
vpForwardProjectionDeallocatorType getDeallocate()
virtual void changeFrame(const vpHomogeneousMatrix &cMo)=0
Implementation of an homogeneous matrix and operations on such kind of matrices.
Class that defines what is a feature generic tracker.
Definition: vpTracker.h:61