Visual Servoing Platform version 3.6.0
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vpFeaturePoint.h
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See https://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * 2D point visual feature.
33 *
34*****************************************************************************/
35
36#ifndef vpFeaturePoint_H
37#define vpFeaturePoint_H
38
44#include <visp3/core/vpMatrix.h>
45#include <visp3/core/vpPoint.h>
46#include <visp3/visual_features/vpBasicFeature.h>
47
48#include <visp3/core/vpHomogeneousMatrix.h>
49#include <visp3/core/vpRGBa.h>
50
178class VISP_EXPORT vpFeaturePoint : public vpBasicFeature
179{
180private:
183 double Z;
184
185public:
188 virtual ~vpFeaturePoint() { }
189
190 void buildFrom(double x, double y, double Z);
191
192 void display(const vpCameraParameters &cam, const vpImage<unsigned char> &I, const vpColor &color = vpColor::green,
193 unsigned int thickness = 1) const;
194 void display(const vpCameraParameters &cam, const vpImage<vpRGBa> &I, const vpColor &color = vpColor::green,
195 unsigned int thickness = 1) const;
196
197 vpFeaturePoint *duplicate() const;
198
199 vpColVector error(const vpBasicFeature &s_star, unsigned int select = FEATURE_ALL);
200
201 double get_x() const;
202
203 double get_y() const;
204
205 double get_Z() const;
206
207 void init();
208 vpMatrix interaction(unsigned int select = FEATURE_ALL);
209
210 void print(unsigned int select = FEATURE_ALL) const;
211
212 void set_x(double x);
213
214 void set_y(double y);
215
216 void set_Z(double Z);
217
218 void set_xyZ(double x, double y, double Z);
219
220 // feature selection
221 static unsigned int selectX();
222 static unsigned int selectY();
223
227 typedef enum
228 {
229 X = 1, // x coordinates
230 Y = 2 // y coordinates
231 } vpFeaturePointType;
232};
233
234#endif
class that defines what is a visual feature
virtual vpColVector error(const vpBasicFeature &s_star, unsigned int select=FEATURE_ALL)
virtual void init()=0
virtual vpMatrix interaction(unsigned int select=FEATURE_ALL)=0
Compute the interaction matrix from a subset of the possible features.
virtual void print(unsigned int select=FEATURE_ALL) const =0
Print the name of the feature.
virtual void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const =0
virtual vpBasicFeature * duplicate() const =0
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
Class to define RGB colors available for display functionalities.
Definition vpColor.h:152
static const vpColor green
Definition vpColor.h:214
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
virtual ~vpFeaturePoint()
Destructor.
Definition of the vpImage class member functions.
Definition vpImage.h:135
Implementation of a matrix and operations on matrices.
Definition vpMatrix.h:152