Visual Servoing Platform version 3.6.0
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vpLine.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
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 * Line feature.
32 */
33
34#ifndef vpLine_H
35#define vpLine_H
36
42#include <visp3/core/vpHomogeneousMatrix.h>
43#include <visp3/core/vpMatrix.h>
44
45#include <visp3/core/vpForwardProjection.h>
46
99class VISP_EXPORT vpLine : public vpForwardProjection
100{
101public:
102 vpLine();
104 virtual ~vpLine() { ; }
105
106 void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP) const;
107 void changeFrame(const vpHomogeneousMatrix &cMo);
108
109 void display(const vpImage<unsigned char> &I, const vpCameraParameters &cam, const vpColor &color = vpColor::green,
110 unsigned int thickness = 1);
111 void display(const vpImage<vpRGBa> &I, const vpCameraParameters &cam, const vpColor &color = vpColor::green,
112 unsigned int thickness = 1);
113 void display(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
114 const vpColor &color = vpColor::green, unsigned int thickness = 1);
115 void display(const vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
116 const vpColor &color = vpColor::green, unsigned int thickness = 1);
117
118 vpLine *duplicate() const;
119
129 double getRho() const { return p[0]; }
130
141 double getTheta() const { return p[1]; }
142
152 void setRho(double rho) { p[0] = rho; }
153
162 void setTheta(double theta) { p[1] = theta; }
163
164 void setWorldCoordinates(const double &oA1, const double &oB1, const double &oC1, const double &oD1,
165 const double &oA2, const double &oB2, const double &oC2, const double &oD2);
166
167 void setWorldCoordinates(const vpColVector &oP1, const vpColVector &oP2);
168
169 void setWorldCoordinates(const vpColVector &oP);
170
171 void projection();
172 void projection(const vpColVector &cP, vpColVector &p) const;
173
174protected:
175 void init();
176};
177
178#endif
179
180/*
181 * Local variables:
182 * c-basic-offset: 2
183 * End:
184 */
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 what is a generic geometric feature.
virtual void projection()=0
virtual vpForwardProjection * duplicate() const =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
Implementation of an homogeneous matrix and operations on such kind of matrices.
Definition of the vpImage class member functions.
Definition vpImage.h:135
Class that defines a 3D line in the object frame and allows forward projection of the line in the cam...
Definition vpLine.h:100
double getRho() const
Definition vpLine.h:129
void setRho(double rho)
Definition vpLine.h:152
void setTheta(double theta)
Definition vpLine.h:162
double getTheta() const
Definition vpLine.h:141
virtual ~vpLine()
Destructor.
Definition vpLine.h:104