Visual Servoing Platform version 3.5.0
vpCircle.h
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3 * ViSP, open source Visual Servoing Platform software.
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20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
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29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Visual feature circle.
33 *
34 * Authors:
35 * Eric Marchand
36 *
37 *****************************************************************************/
38
44#ifndef vpCircle_hh
45#define vpCircle_hh
46
47#include <math.h>
48#include <visp3/core/vpDebug.h>
49#include <visp3/core/vpForwardProjection.h>
50#include <visp3/core/vpHomogeneousMatrix.h>
51#include <visp3/core/vpMath.h>
52
91class VISP_EXPORT vpCircle : public vpForwardProjection
92{
93public:
94 vpCircle();
95 explicit vpCircle(const vpColVector &oP);
96 vpCircle(double oA, double oB, double oC, double oX, double oY, double oZ, double R);
97 virtual ~vpCircle();
98
99 void changeFrame(const vpHomogeneousMatrix &noMo, vpColVector &noP) const;
100 void changeFrame(const vpHomogeneousMatrix &cMo);
101
102 void display(const vpImage<unsigned char> &I, const vpCameraParameters &cam, const vpColor &color = vpColor::green,
103 unsigned int thickness = 1);
104 void display(const vpImage<vpRGBa> &I, const vpCameraParameters &cam, const vpColor &color = vpColor::green,
105 unsigned int thickness = 1);
106 void display(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
107 const vpColor &color = vpColor::green, unsigned int thickness = 1);
108 void display(const vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
109 const vpColor &color = vpColor::green, unsigned int thickness = 1);
110 vpCircle *duplicate() const;
111
112 double get_x() const { return p[0]; }
113 double get_y() const { return p[1]; }
114
115 double get_n20() const { return p[2]; }
116 double get_n11() const { return p[3]; }
117 double get_n02() const { return p[4]; }
118
119 double getA() const { return cP[0]; }
120 double getB() const { return cP[1]; }
121 double getC() const { return cP[2]; }
122
123 double getX() const { return cP[3]; }
124 double getY() const { return cP[4]; }
125 double getZ() const { return cP[5]; }
126
127 double getR() const { return cP[6]; }
128
129 void projection();
130 void projection(const vpColVector &cP, vpColVector &p) const;
131
132 void setWorldCoordinates(const vpColVector &oP);
133 void setWorldCoordinates(double oA, double oB, double oC, double oX, double oY, double oZ, double R);
134
135 //###################
136 // Static Functions
137 //###################
138 static void computeIntersectionPoint(const vpCircle &circle, const vpCameraParameters &cam, const double &rho,
139 const double &theta, double &i, double &j);
140
141protected:
142 void init();
143
144public:
145#if defined(VISP_BUILD_DEPRECATED_FUNCTIONS)
156 vp_deprecated double get_mu20() const { return p[2]; }
163 vp_deprecated double get_mu11() const { return p[3]; }
170 vp_deprecated double get_mu02() const { return p[4]; }
172#endif
173};
174
175#endif
Generic class defining intrinsic camera parameters.
Class that defines a 3D circle in the object frame and allows forward projection of a 3D circle in th...
Definition: vpCircle.h:92
double get_n02() const
Definition: vpCircle.h:117
double get_n11() const
Definition: vpCircle.h:116
double getR() const
Definition: vpCircle.h:127
double get_n20() const
Definition: vpCircle.h:115
double getC() const
Definition: vpCircle.h:121
double getZ() const
Definition: vpCircle.h:125
double getA() const
Definition: vpCircle.h:119
double getY() const
Definition: vpCircle.h:124
double get_x() const
Definition: vpCircle.h:112
double getB() const
Definition: vpCircle.h:120
double get_y() const
Definition: vpCircle.h:113
vp_deprecated double get_mu11() const
Definition: vpCircle.h:163
vp_deprecated double get_mu02() const
Definition: vpCircle.h:170
double getX() const
Definition: vpCircle.h:123
vp_deprecated double get_mu20() const
Definition: vpCircle.h:156
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
Class to define RGB colors available for display functionnalities.
Definition: vpColor.h:158
static const vpColor green
Definition: vpColor.h:220
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.