Visual Servoing Platform  version 3.6.1 under development (2024-05-21)
vpForwardProjection.h
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2  * ViSP, open source Visual Servoing Platform software.
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5  * This software is free software; you can redistribute it and/or modify
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9  * See the file LICENSE.txt at the root directory of this source
10  * distribution for additional information about the GNU GPL.
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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
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28  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29  *
30  * Description:
31  * Forward projection.
32  */
33 
34 #ifndef vpForwardProjection_H
35 #define vpForwardProjection_H
36 
42 #include <visp3/core/vpColor.h>
43 #include <visp3/core/vpMatrix.h>
44 #include <visp3/core/vpTracker.h>
45 
46 #include <visp3/core/vpHomogeneousMatrix.h>
47 
62 class VISP_EXPORT vpForwardProjection : public vpTracker
63 {
64 public:
68  typedef enum { user, vpDisplayForwardProjection } vpForwardProjectionDeallocatorType;
69 
72  vpForwardProjection() : oP(), deallocate(user) { }
73 
91  virtual void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP) const = 0;
92 
108  virtual void changeFrame(const vpHomogeneousMatrix &cMo) = 0;
109 
123  virtual void display(const vpImage<unsigned char> &I, const vpCameraParameters &cam,
124  const vpColor &color = vpColor::green, unsigned int thickness = 1) = 0;
125 
144  virtual void display(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
145  const vpColor &color = vpColor::green, unsigned int thickness = 1) = 0;
146 
150  virtual vpForwardProjection *duplicate() const = 0;
151 
153  vpColVector get_oP() const { return oP; }
154 
156 
157  virtual void print() const;
158 
167  virtual void projection(const vpColVector &cP, vpColVector &p) const = 0;
168 
178  virtual void projection() = 0;
179 
180  void project();
181  void project(const vpHomogeneousMatrix &cMo);
182 
184 
191  virtual void setWorldCoordinates(const vpColVector &oP) = 0;
192 
193  void track(const vpHomogeneousMatrix &cMo);
195 
196 protected:
205  virtual void init() = 0;
207 
208 public:
216 
217 private:
219 };
220 
221 #endif
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 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:59