Visual Servoing Platform version 3.6.0
Loading...
Searching...
No Matches
vpPoint.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 * Point feature.
32 */
33
34#ifndef vpPoint_H
35#define vpPoint_H
36
43
44#include <visp3/core/vpColor.h>
45#include <visp3/core/vpForwardProjection.h>
46#include <visp3/core/vpMatrix.h>
47
76class VISP_EXPORT vpPoint : public vpForwardProjection
77{
78
79public:
81 vpPoint();
82 vpPoint(double oX, double oY, double oZ);
83 explicit vpPoint(const vpColVector &oP);
84 explicit vpPoint(const std::vector<double> &oP);
86 virtual ~vpPoint() {}
87
88public:
89 // Compute the 3D coordinates _cP (camera frame)
90 void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP) const;
91 void changeFrame(const vpHomogeneousMatrix &cMo);
92
93 void display(const vpImage<unsigned char> &I, const vpCameraParameters &cam, const vpColor &color = vpColor::green,
94 unsigned int thickness = 1);
95 void display(const vpImage<vpRGBa> &I, const vpCameraParameters &cam, const vpColor &color = vpColor::green,
96 unsigned int thickness = 1);
97 void display(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
98 const vpColor &color = vpColor::green, unsigned int thickness = 1);
99 void display(const vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
100 const vpColor &color = vpColor::green, unsigned int thickness = 1);
101 vpPoint *duplicate() const;
102
103 // Get coordinates
104 double get_X() const;
105 double get_Y() const;
106 double get_Z() const;
107 double get_W() const;
108 double get_oX() const;
109 double get_oY() const;
110 double get_oZ() const;
111 double get_oW() const;
112 double get_x() const;
113 double get_y() const;
114 double get_w() const;
115
116 void getWorldCoordinates(double &oX, double &oY, double &oZ);
117 void getWorldCoordinates(vpColVector &oP);
118 vpColVector getWorldCoordinates(void);
119 void getWorldCoordinates(std::vector<double> &oP);
120
121 friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpPoint &vpp);
122#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
123 vpPoint &operator=(const vpPoint &vpp) = default;
124#else
125 vpPoint &operator=(const vpPoint &vpp);
126#endif
127
130 void projection(const vpColVector &_cP, vpColVector &_p) const;
131
132 void projection();
133
134 // Set coordinates
135 void set_X(double cX);
136 void set_Y(double cY);
137 void set_Z(double cZ);
138 void set_W(double cW);
139 void set_oX(double oX);
140 void set_oY(double oY);
141 void set_oZ(double oZ);
142 void set_oW(double oW);
143 void set_x(double x);
144 void set_y(double y);
145 void set_w(double w);
146
147 void setWorldCoordinates(double oX, double oY, double oZ);
148 void setWorldCoordinates(const vpColVector &oP);
149 void setWorldCoordinates(const std::vector<double> &oP);
150
151protected:
153 void init();
154};
155
156#endif
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 point in the object frame and allows forward projection of a 3D point in the ...
Definition vpPoint.h:77
virtual ~vpPoint()
Destructor.
Definition vpPoint.h:86
vpPoint & operator=(const vpPoint &vpp)=default
vpTracker & operator=(const vpTracker &tracker)
Copy operator.
Definition vpTracker.cpp:50