Visual Servoing Platform  version 3.6.1 under development (2024-05-27)
vpPoint.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  * Point feature.
32  */
33 
34 #ifndef vpPoint_H
35 #define vpPoint_H
36 
43 
44 #include <visp3/core/vpColor.h>
45 #include <visp3/core/vpForwardProjection.h>
46 #include <visp3/core/vpMatrix.h>
47 
76 class VISP_EXPORT vpPoint : public vpForwardProjection
77 {
78 
79 public:
81  vpPoint();
82  vpPoint(double oX, double oY, double oZ);
83  explicit vpPoint(const vpColVector &oP);
84  explicit vpPoint(const std::vector<double> &oP);
85 
86 public:
87  // Compute the 3D coordinates _cP (camera frame)
88  void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP) const vp_override;
89  void changeFrame(const vpHomogeneousMatrix &cMo) vp_override;
90 
91  void display(const vpImage<unsigned char> &I, const vpCameraParameters &cam, const vpColor &color = vpColor::green,
92  unsigned int thickness = 1) vp_override;
93  void display(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
94  const vpColor &color = vpColor::green, unsigned int thickness = 1) vp_override;
95 
96  void display(const vpImage<vpRGBa> &I, const vpCameraParameters &cam, const vpColor &color = vpColor::green,
97  unsigned int thickness = 1);
98  void display(const vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
99  const vpColor &color = vpColor::green, unsigned int thickness = 1);
100 
101  vpPoint *duplicate() const vp_override;
102 
103  // Get coordinates
104  double get_X() const;
105  double get_Y() const;
106  double get_Z() const;
107  double get_W() const;
108  double get_oX() const;
109  double get_oY() const;
110  double get_oZ() const;
111  double get_oW() const;
112  double get_x() const;
113  double get_y() const;
114  double get_w() const;
115 
116  void getWorldCoordinates(double &oX, double &oY, double &oZ);
117  void getWorldCoordinates(vpColVector &oP);
118  vpColVector getWorldCoordinates(void);
119  void getWorldCoordinates(std::vector<double> &oP);
120 
121  friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpPoint &vpp);
122 
125 
126  void projection(const vpColVector &_cP, vpColVector &_p) const vp_override;
127  void projection() vp_override;
128 
129  // Set coordinates
130  void set_X(double cX);
131  void set_Y(double cY);
132  void set_Z(double cZ);
133  void set_W(double cW);
134  void set_oX(double oX);
135  void set_oY(double oY);
136  void set_oZ(double oZ);
137  void set_oW(double oW);
138  void set_x(double x);
139  void set_y(double y);
140  void set_w(double w);
141 
142  void setWorldCoordinates(double oX, double oY, double oZ);
143 
144  void setWorldCoordinates(const vpColVector &oP) vp_override;
145  void setWorldCoordinates(const std::vector<double> &oP);
146 
147 protected:
149  void init() vp_override;
150 };
151 
152 #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 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 point in the object frame and allows forward projection of a 3D point in the ...
Definition: vpPoint.h:77