Visual Servoing Platform  version 3.6.1 under development (2024-04-22)
vpLine.h
1 /*
2  * ViSP, open source Visual Servoing Platform software.
3  * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
4  *
5  * This software is free software; you can redistribute it and/or modify
6  * it under the terms of the GNU General Public License as published by
7  * the Free Software Foundation; either version 2 of the License, or
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.
15  *
16  * See https://visp.inria.fr for more information.
17  *
18  * This software was developed at:
19  * Inria Rennes - Bretagne Atlantique
20  * Campus Universitaire de Beaulieu
21  * 35042 Rennes Cedex
22  * France
23  *
24  * If you have questions regarding the use of this file, please contact
25  * Inria at visp@inria.fr
26  *
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  * Line feature.
32  */
33 
34 #ifndef vpLine_H
35 #define vpLine_H
36 
42 #include <visp3/core/vpHomogeneousMatrix.h>
43 #include <visp3/core/vpMatrix.h>
44 
45 #include <visp3/core/vpForwardProjection.h>
46 
100 class VISP_EXPORT vpLine : public vpForwardProjection
101 {
102 public:
103  vpLine();
104 
105  void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP) const vp_override;
106  void changeFrame(const vpHomogeneousMatrix &cMo) vp_override;
107 
108  void display(const vpImage<unsigned char> &I, const vpCameraParameters &cam, const vpColor &color = vpColor::green,
109  unsigned int thickness = 1) vp_override;
110  void display(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
111  const vpColor &color = vpColor::green, unsigned int thickness = 1) vp_override;
112 
113  void display(const vpImage<vpRGBa> &I, const vpCameraParameters &cam, const vpColor &color = vpColor::green,
114  unsigned int thickness = 1);
115  void display(const vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
116  const vpColor &color = vpColor::green, unsigned int thickness = 1);
117 
118  vpLine *duplicate() const vp_override;
119 
120 
130  double getRho() const { return p[0]; }
131 
141  double getTheta() const { return p[1]; }
142 
151  void setRho(double rho) { p[0] = rho; }
152 
161  void setTheta(double theta) { p[1] = theta; }
162 
163  void setWorldCoordinates(const double &oA1, const double &oB1, const double &oC1, const double &oD1,
164  const double &oA2, const double &oB2, const double &oC2, const double &oD2);
165 
166  void setWorldCoordinates(const vpColVector &oP1, const vpColVector &oP2);
167 
168  void setWorldCoordinates(const vpColVector &oP) vp_override;
169  void projection() vp_override;
170  void projection(const vpColVector &cP, vpColVector &p) const vp_override;
171 
172 protected:
173  void init() vp_override;
174 };
175 
176 #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 vpCameraParameters &cam, const vpColor &color=vpColor::green, unsigned int thickness=1)=0
virtual vpForwardProjection * duplicate() const =0
Implementation of an homogeneous matrix and operations on such kind of matrices.
Class that defines a 3D line in the object frame and allows forward projection of the line in the cam...
Definition: vpLine.h:101
double getRho() const
Definition: vpLine.h:130
void setRho(double rho)
Definition: vpLine.h:151
void setTheta(double theta)
Definition: vpLine.h:161
double getTheta() const
Definition: vpLine.h:141