Visual Servoing Platform  version 3.6.1 under development (2024-06-22)
vpSphere.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
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24  * If you have questions regarding the use of this file, please contact
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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 VP_SPHERE_H
40 #define VP_SPHERE_H
41 
42 #include <visp3/core/vpConfig.h>
43 #include <visp3/core/vpHomogeneousMatrix.h>
44 #include <visp3/core/vpMath.h>
45 
46 #include <math.h>
47 #include <visp3/core/vpForwardProjection.h>
48 
79 class VISP_EXPORT vpSphere : public vpForwardProjection
80 {
81 public:
82  vpSphere();
83  explicit vpSphere(const vpColVector &oP);
84  vpSphere(double oX, double oY, double oZ, double R);
85 
86  void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP) const vp_override;
87  void changeFrame(const vpHomogeneousMatrix &cMo) vp_override;
88 
89  void display(const vpImage<unsigned char> &I, const vpCameraParameters &cam, const vpColor &color = vpColor::green,
90  unsigned int thickness = 1) vp_override;
91  void display(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
92  const vpColor &color = vpColor::green, unsigned int thickness = 1) vp_override;
93 
94  void display(const vpImage<vpRGBa> &I, const vpCameraParameters &cam, const vpColor &color = vpColor::green,
95  unsigned int thickness = 1);
96  void display(const vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
97  const vpColor &color = vpColor::green, unsigned int thickness = 1);
98 
99  vpSphere *duplicate() const vp_override;
100 
101  double get_x() const { return p[0]; }
102  double get_y() const { return p[1]; }
103 
104  double get_n20() const { const unsigned int index_2 = 2; return p[index_2]; }
105  double get_n11() const { const unsigned int index_3 = 3; return p[index_3]; }
106  double get_n02() const { const unsigned int index_4 = 4; return p[index_4]; }
107 
108  double getX() const { const unsigned int index_0 = 0; return cP[index_0]; }
109  double getY() const { const unsigned int index_1 = 1; return cP[index_1]; }
110  double getZ() const { const unsigned int index_2 = 2; return cP[index_2]; }
111  double getR() const { const unsigned int index_3 = 3; return cP[index_3]; }
112 
113 
114  void projection() vp_override;
115  void projection(const vpColVector &cP, vpColVector &p) const vp_override;
116  void setWorldCoordinates(const vpColVector &oP) vp_override;
117 
118  void setWorldCoordinates(double oX, double oY, double oZ, double R);
119 
120 public:
121 #if defined(VISP_BUILD_DEPRECATED_FUNCTIONS)
132  vp_deprecated double get_mu20() const { const unsigned int index_2 = 2; return p[index_2]; }
139  vp_deprecated double get_mu11() const { const unsigned int index_3 = 3; return p[index_3]; }
146  vp_deprecated double get_mu02() const { const unsigned int index_4 = 4; return p[index_4]; }
148 #endif
149 protected:
150  void init() vp_override;
151 
152 };
154 #endif
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
Definition: vpColVector.h:171
Class to define RGB colors available for display functionalities.
Definition: vpColor.h:153
static const vpColor green
Definition: vpColor.h:216
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 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 sphere in the object frame and allows forward projection of a 3D sphere in th...
Definition: vpSphere.h:80
double get_n02() const
Definition: vpSphere.h:106
vp_deprecated double get_mu11() const
Definition: vpSphere.h:139
vp_deprecated double get_mu02() const
Definition: vpSphere.h:146
double get_y() const
Definition: vpSphere.h:102
double get_n11() const
Definition: vpSphere.h:105
double get_x() const
Definition: vpSphere.h:101
double getR() const
Definition: vpSphere.h:111
double getX() const
Definition: vpSphere.h:108
vp_deprecated double get_mu20() const
Definition: vpSphere.h:132
double getZ() const
Definition: vpSphere.h:110
double getY() const
Definition: vpSphere.h:109
double get_n20() const
Definition: vpSphere.h:104