Visual Servoing Platform  version 3.6.1 under development (2024-12-04)
vpPoint.h
1 /*
2  * ViSP, open source Visual Servoing Platform software.
3  * Copyright (C) 2005 - 2024 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 
39 #ifndef VP_POINT_H
40 #define VP_POINT_H
41 
42 #include <visp3/core/vpConfig.h>
43 #include <visp3/core/vpColor.h>
44 #include <visp3/core/vpForwardProjection.h>
45 #include <visp3/core/vpMatrix.h>
46 
47 BEGIN_VISP_NAMESPACE
49 
78 class VISP_EXPORT vpPoint : public vpForwardProjection
79 {
80 
81 public:
83  vpPoint();
84  vpPoint(double oX, double oY, double oZ);
85  VP_EXPLICIT vpPoint(const vpColVector &oP);
86  VP_EXPLICIT vpPoint(const std::vector<double> &oP);
87 
88 public:
89  // Compute the 3D coordinates _cP (camera frame)
90  void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP) const VP_OVERRIDE;
91  void changeFrame(const vpHomogeneousMatrix &cMo) VP_OVERRIDE;
92 
93  void display(const vpImage<unsigned char> &I, const vpCameraParameters &cam, const vpColor &color = vpColor::green,
94  unsigned int thickness = 1) VP_OVERRIDE;
95  void display(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
96  const vpColor &color = vpColor::green, unsigned int thickness = 1) VP_OVERRIDE;
97 
98  void display(const vpImage<vpRGBa> &I, const vpCameraParameters &cam, const vpColor &color = vpColor::green,
99  unsigned int thickness = 1);
100  void display(const vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
101  const vpColor &color = vpColor::green, unsigned int thickness = 1);
102 
103  vpPoint *duplicate() const VP_OVERRIDE;
104 
105  // Get coordinates
106  double get_X() const;
107  double get_Y() const;
108  double get_Z() const;
109  double get_W() const;
110  double get_oX() const;
111  double get_oY() const;
112  double get_oZ() const;
113  double get_oW() const;
114  double get_x() const;
115  double get_y() const;
116  double get_w() const;
117 
118  void getWorldCoordinates(double &oX, double &oY, double &oZ);
119  void getWorldCoordinates(vpColVector &oP);
120  vpColVector getWorldCoordinates(void);
121  void getWorldCoordinates(std::vector<double> &oP);
122 
123  friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpPoint &vpp);
124 
127 
128  void projection(const vpColVector &_cP, vpColVector &_p) const VP_OVERRIDE;
129  void projection() VP_OVERRIDE;
130 
131  // Set coordinates
132  void set_X(double cX);
133  void set_Y(double cY);
134  void set_Z(double cZ);
135  void set_W(double cW);
136  void set_oX(double oX);
137  void set_oY(double oY);
138  void set_oZ(double oZ);
139  void set_oW(double oW);
140  void set_x(double x);
141  void set_y(double y);
142  void set_w(double w);
143 
144  void setWorldCoordinates(double oX, double oY, double oZ);
145 
146  void setWorldCoordinates(const vpColVector &oP) VP_OVERRIDE;
147  void setWorldCoordinates(const std::vector<double> &oP);
148 
149 protected:
151  void init() VP_OVERRIDE;
152 };
153 END_VISP_NAMESPACE
154 #endif
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
Definition: vpColVector.h:191
Class to define RGB colors available for display functionalities.
Definition: vpColor.h:157
static const vpColor green
Definition: vpColor.h:220
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:79