Visual Servoing Platform  version 3.3.1 under development (2020-09-18)
vpLine.h
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20  * Inria Rennes - Bretagne Atlantique
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29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Line feature.
33  *
34  * Authors:
35  * Eric Marchand
36  *
37  *****************************************************************************/
38 
39 #ifndef vpLine_H
40 #define vpLine_H
41 
47 #include <visp3/core/vpHomogeneousMatrix.h>
48 #include <visp3/core/vpMatrix.h>
49 
50 #include <visp3/core/vpForwardProjection.h>
51 
104 class VISP_EXPORT vpLine : public vpForwardProjection
105 {
106 public:
107  vpLine();
109  virtual ~vpLine() { ; }
110 
111  void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP) const;
112  void changeFrame(const vpHomogeneousMatrix &cMo);
113 
114  void display(const vpImage<unsigned char> &I, const vpCameraParameters &cam, const vpColor &color = vpColor::green,
115  unsigned int thickness = 1);
116  void display(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
117  const vpColor &color = vpColor::green, unsigned int thickness = 1);
118 
119  vpLine *duplicate() const;
120 
130  double getRho() const { return p[0]; }
131 
142  double getTheta() const { return p[1]; }
143 
153  void setRho(double rho) { p[0] = rho; }
154 
163  void setTheta(double theta) { p[1] = theta; }
164 
165  void setWorldCoordinates(const double &oA1, const double &oB1, const double &oC1, const double &oD1,
166  const double &oA2, const double &oB2, const double &oC2, const double &oD2);
167 
168  void setWorldCoordinates(const vpColVector &oP1, const vpColVector &oP2);
169 
170  void setWorldCoordinates(const vpColVector &oP);
171 
172  void projection();
173  void projection(const vpColVector &cP, vpColVector &p) const;
174 
175 protected:
176  void init();
177 };
178 
179 #endif
180 
181 /*
182  * Local variables:
183  * c-basic-offset: 2
184  * End:
185  */
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
Implementation of an homogeneous matrix and operations on such kind of matrices.
void setRho(double rho)
Definition: vpLine.h:153
Class to define RGB colors available for display functionnalities.
Definition: vpColor.h:157
void setTheta(double theta)
Definition: vpLine.h:163
virtual void init()=0
static const vpColor green
Definition: vpColor.h:220
virtual void projection()=0
Class that defines a 3D line in the object frame and allows forward projection of the line in the cam...
Definition: vpLine.h:104
Class that defines what is a generic geometric feature.
virtual void setWorldCoordinates(const vpColVector &oP)=0
Generic class defining intrinsic camera parameters.
virtual ~vpLine()
Destructor.
Definition: vpLine.h:109
double getTheta() const
Definition: vpLine.h:142
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
double getRho() const
Definition: vpLine.h:130
virtual vpForwardProjection * duplicate() const =0