Visual Servoing Platform  version 3.6.0 under development (2023-09-25)
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 
99 class VISP_EXPORT vpLine : public vpForwardProjection
100 {
101 public:
102  vpLine();
104  virtual ~vpLine() { ; }
105 
106  void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP) const;
107  void changeFrame(const vpHomogeneousMatrix &cMo);
108 
109  void display(const vpImage<unsigned char> &I, const vpCameraParameters &cam, const vpColor &color = vpColor::green,
110  unsigned int thickness = 1);
111  void display(const vpImage<vpRGBa> &I, const vpCameraParameters &cam, const vpColor &color = vpColor::green,
112  unsigned int thickness = 1);
113  void display(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
114  const vpColor &color = vpColor::green, 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;
119 
129  double getRho() const { return p[0]; }
130 
141  double getTheta() const { return p[1]; }
142 
152  void setRho(double rho) { p[0] = rho; }
153 
162  void setTheta(double theta) { p[1] = theta; }
163 
164  void setWorldCoordinates(const double &oA1, const double &oB1, const double &oC1, const double &oD1,
165  const double &oA2, const double &oB2, const double &oC2, const double &oD2);
166 
167  void setWorldCoordinates(const vpColVector &oP1, const vpColVector &oP2);
168 
169  void setWorldCoordinates(const vpColVector &oP);
170 
171  void projection();
172  void projection(const vpColVector &cP, vpColVector &p) const;
173 
174 protected:
175  void init();
176 };
177 
178 #endif
179 
180 /*
181  * Local variables:
182  * c-basic-offset: 2
183  * End:
184  */
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
Definition: vpColVector.h:167
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 init()=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:100
double getRho() const
Definition: vpLine.h:129
void setRho(double rho)
Definition: vpLine.h:152
void setTheta(double theta)
Definition: vpLine.h:162
double getTheta() const
Definition: vpLine.h:141
virtual ~vpLine()
Destructor.
Definition: vpLine.h:104