Visual Servoing Platform  version 3.2.1 under development (2019-08-21) under development (2019-08-21)
vpForwardProjection.h
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30  *
31  * Description:
32  * Forward projection.
33  *
34  * Authors:
35  * Eric Marchand
36  *
37  *****************************************************************************/
38 
39 #ifndef vpForwardProjection_H
40 #define vpForwardProjection_H
41 
47 #include <visp3/core/vpColor.h>
48 #include <visp3/core/vpMatrix.h>
49 #include <visp3/core/vpTracker.h>
50 
51 #include <visp3/core/vpHomogeneousMatrix.h>
52 
67 class VISP_EXPORT vpForwardProjection : public vpTracker
68 {
69 public:
75 
76 public:
83  virtual void init() = 0;
84 
86  virtual ~vpForwardProjection() { ; }
87 
88 public:
96  virtual void setWorldCoordinates(const vpColVector &oP) = 0;
97 
117  virtual void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP) = 0;
134  virtual void changeFrame(const vpHomogeneousMatrix &cMo) = 0;
144  virtual void projection(const vpColVector &cP, vpColVector &p) = 0;
145 
155  virtual void projection() = 0;
156 
157  void project();
158  void project(const vpHomogeneousMatrix &cMo);
159  void track(const vpHomogeneousMatrix &cMo);
160 
175  virtual void display(const vpImage<unsigned char> &I, const vpCameraParameters &cam,
176  const vpColor &color = vpColor::green, const unsigned int thickness = 1) = 0;
177 
197  virtual void display(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
198  const vpColor &color = vpColor::green, const unsigned int thickness = 1) = 0;
199 
200  virtual void print() const;
201 
205  virtual vpForwardProjection *duplicate() const = 0;
206 
207 public:
211  typedef enum { user, vpDisplayForwardProjection } vpForwardProjectionDeallocatorType;
212 
213 private:
214  vpForwardProjectionDeallocatorType deallocate;
215 
216 public:
217  vpForwardProjection() : oP(), deallocate(user) {}
218 
219  void setDeallocate(vpForwardProjectionDeallocatorType d) { deallocate = d; }
220  vpForwardProjectionDeallocatorType getDeallocate() { return deallocate; }
221 };
222 
223 #endif
224 
225 /*
226  * Local variables:
227  * c-basic-offset: 2
228  * End:
229  */
virtual ~vpForwardProjection()
Destructor.
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpForwardProjectionDeallocatorType getDeallocate()
Class to define colors available for display functionnalities.
Definition: vpColor.h:120
static const vpColor green
Definition: vpColor.h:183
Class that defines what is a feature generic tracker.
Definition: vpTracker.h:64
Class that defines what is a generic geometric feature.
Generic class defining intrinsic camera parameters.
void setDeallocate(vpForwardProjectionDeallocatorType d)
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
void init()
Default initialization.
Definition: vpTracker.cpp:47