Visual Servoing Platform  version 3.6.1 under development (2024-02-13)
vpSphere.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
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22  * France
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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  * Sphere feature.
32  */
33 
39 #ifndef vpSphere_hh
40 #define vpSphere_hh
41 
42 #include <visp3/core/vpDebug.h>
43 #include <visp3/core/vpHomogeneousMatrix.h>
44 #include <visp3/core/vpMath.h>
45 
46 #include <math.h>
47 #include <visp3/core/vpForwardProjection.h>
77 class VISP_EXPORT vpSphere : public vpForwardProjection
78 {
79 public:
80  vpSphere();
81  explicit vpSphere(const vpColVector &oP);
82  vpSphere(double oX, double oY, double oZ, double R);
83 
84  void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP) const vp_override;
85  void changeFrame(const vpHomogeneousMatrix &cMo) vp_override;
86 
87  void display(const vpImage<unsigned char> &I, const vpCameraParameters &cam, const vpColor &color = vpColor::green,
88  unsigned int thickness = 1) vp_override;
89  void display(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
90  const vpColor &color = vpColor::green, unsigned int thickness = 1) vp_override;
91 
92  void display(const vpImage<vpRGBa> &I, const vpCameraParameters &cam, const vpColor &color = vpColor::green,
93  unsigned int thickness = 1);
94  void display(const vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
95  const vpColor &color = vpColor::green, unsigned int thickness = 1);
96 
97  vpSphere *duplicate() const vp_override;
98 
99  double get_x() const { return p[0]; }
100  double get_y() const { return p[1]; }
101 
102  double get_n20() const { return p[2]; }
103  double get_n11() const { return p[3]; }
104  double get_n02() const { return p[4]; }
105 
106  double getX() const { return cP[0]; }
107  double getY() const { return cP[1]; }
108  double getZ() const { return cP[2]; }
109  double getR() const { return cP[3]; }
110 
111 
112  void projection() vp_override;
113  void projection(const vpColVector &cP, vpColVector &p) const vp_override;
114  void setWorldCoordinates(const vpColVector &oP) vp_override;
115 
116  void setWorldCoordinates(double oX, double oY, double oZ, double R);
117 
118 protected:
119  void init() vp_override;
120 
121 public:
122 #if defined(VISP_BUILD_DEPRECATED_FUNCTIONS)
133  vp_deprecated double get_mu20() const { return p[2]; }
140  vp_deprecated double get_mu11() const { return p[3]; }
147  vp_deprecated double get_mu02() const { return p[4]; }
149 #endif
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 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 sphere in the object frame and allows forward projection of a 3D sphere in th...
Definition: vpSphere.h:78
double get_n02() const
Definition: vpSphere.h:104
vp_deprecated double get_mu11() const
Definition: vpSphere.h:140
vp_deprecated double get_mu02() const
Definition: vpSphere.h:147
double get_y() const
Definition: vpSphere.h:100
double get_n11() const
Definition: vpSphere.h:103
double get_x() const
Definition: vpSphere.h:99
double getR() const
Definition: vpSphere.h:109
double getX() const
Definition: vpSphere.h:106
vp_deprecated double get_mu20() const
Definition: vpSphere.h:133
double getZ() const
Definition: vpSphere.h:108
double getY() const
Definition: vpSphere.h:107
double get_n20() const
Definition: vpSphere.h:102