Visual Servoing Platform  version 3.3.1 under development (2020-09-18)
vpForwardProjection.h
1 /****************************************************************************
2  *
3  * ViSP, open source Visual Servoing Platform software.
4  * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
5  *
6  * This software is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2 of the License, or
9  * (at your option) any later version.
10  * See the file LICENSE.txt at the root directory of this source
11  * distribution for additional information about the GNU GPL.
12  *
13  * For using ViSP with software that can not be combined with the GNU
14  * GPL, please contact Inria about acquiring a ViSP Professional
15  * Edition License.
16  *
17  * See http://visp.inria.fr for more information.
18  *
19  * This software was developed at:
20  * Inria Rennes - Bretagne Atlantique
21  * Campus Universitaire de Beaulieu
22  * 35042 Rennes Cedex
23  * France
24  *
25  * If you have questions regarding the use of this file, please contact
26  * Inria at visp@inria.fr
27  *
28  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
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:
73  typedef enum { user, vpDisplayForwardProjection } vpForwardProjectionDeallocatorType;
74 
77  vpForwardProjection() : oP(), deallocate(user) {}
78 
80  virtual ~vpForwardProjection() { ; }
81 
101  virtual void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP) const = 0;
118  virtual void changeFrame(const vpHomogeneousMatrix &cMo) = 0;
119 
134  virtual void display(const vpImage<unsigned char> &I, const vpCameraParameters &cam,
135  const vpColor &color = vpColor::green, unsigned int thickness = 1) = 0;
136 
156  virtual void display(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
157  const vpColor &color = vpColor::green, unsigned int thickness = 1) = 0;
158 
162  virtual vpForwardProjection *duplicate() const = 0;
163 
165  vpColVector get_oP() const { return oP; }
166 
167  vpForwardProjectionDeallocatorType getDeallocate() { return deallocate; }
168 
169  virtual void print() const;
170 
180  virtual void projection(const vpColVector &cP, vpColVector &p) const = 0;
181 
191  virtual void projection() = 0;
192 
193  void project();
194  void project(const vpHomogeneousMatrix &cMo);
195 
196  void setDeallocate(vpForwardProjectionDeallocatorType d) { deallocate = d; }
197 
205  virtual void setWorldCoordinates(const vpColVector &oP) = 0;
206 
207  void track(const vpHomogeneousMatrix &cMo);
209 
210 protected:
219  virtual void init() = 0;
221 
222 public:
230 
231 private:
232  vpForwardProjectionDeallocatorType deallocate;
233 };
234 
235 #endif
virtual ~vpForwardProjection()
Destructor that does nothing.
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpForwardProjectionDeallocatorType getDeallocate()
Class to define RGB colors available for display functionnalities.
Definition: vpColor.h:157
vpColVector get_oP() const
Return object parameters expressed in the 3D object frame.
static const vpColor green
Definition: vpColor.h:220
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