Visual Servoing Platform version 3.6.0
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vpFeatureVanishingPoint.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 vanishing point visual feature (Z coordinate in 3D space is infinity)
33 *
34 * Authors:
35 * Odile Bourquardez
36 *
37*****************************************************************************/
38
39#ifndef vpFeatureVanishingPoint_H
40#define vpFeatureVanishingPoint_H
41
47#include <visp3/core/vpMatrix.h>
48#include <visp3/core/vpPoint.h>
49#include <visp3/visual_features/vpBasicFeature.h>
50
51#include <visp3/core/vpHomogeneousMatrix.h>
52#include <visp3/core/vpRGBa.h>
53
75class VISP_EXPORT vpFeatureVanishingPoint : public vpBasicFeature
76{
77public:
78 static unsigned int selectAlpha();
79 static unsigned int selectAtanOneOverRho();
80 static unsigned int selectOneOverRho();
81 static unsigned int selectX();
82 static unsigned int selectY();
83
84public:
88
89 void buildFrom(double x, double y);
90
91 void display(const vpCameraParameters &cam, const vpImage<unsigned char> &I, const vpColor &color = vpColor::green,
92 unsigned int thickness = 1) const;
93 void display(const vpCameraParameters &cam, const vpImage<vpRGBa> &I, const vpColor &color = vpColor::green,
94 unsigned int thickness = 1) const;
95
97
98 vpColVector error(const vpBasicFeature &s_star, unsigned int select = (selectX() | selectY()));
99
100 double get_x() const;
101 double get_y() const;
102 double getAtanOneOverRho() const;
103 double getOneOverRho() const;
104 double getAlpha() const;
105
106 void init();
107 vpMatrix interaction(unsigned int select = (selectX() | selectY()));
108
109 void print(unsigned int select = (selectX() | selectY())) const;
110
111 void set_x(double x);
112 void set_y(double y);
113 void set_xy(double x, double y);
114 void setAtanOneOverRho(double atan_one_over_rho);
115 void setOneOverRho(double one_over_rho);
116 void setAlpha(double alpha);
117
118protected:
119 unsigned int m_select; // Memory to know which features are used for display;
120};
121
122#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
virtual ~vpFeatureVanishingPoint()
Destructor.
Definition of the vpImage class member functions.
Definition vpImage.h:135
Implementation of a matrix and operations on matrices.
Definition vpMatrix.h:152