Visual Servoing Platform version 3.6.0
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vpCylinder.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 * Cylinder feature.
32 */
33
39#ifndef vpCylinder_hh
40#define vpCylinder_hh
41
42#include <math.h>
43#include <visp3/core/vpHomogeneousMatrix.h>
44#include <visp3/core/vpMath.h>
45
46#include <visp3/core/vpForwardProjection.h>
47
97class VISP_EXPORT vpCylinder : public vpForwardProjection
98{
99public:
100 typedef enum {
102 line2
103 } vpLineCylinderType;
104
105 vpCylinder();
106 explicit vpCylinder(const vpColVector &oP);
107 vpCylinder(double oA, double oB, double oC, double oX, double oY, double oZ, double R);
108 virtual ~vpCylinder();
109
110 void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP) const;
111 void changeFrame(const vpHomogeneousMatrix &cMo);
112
113 double computeZ(double x, double y) const;
114
115 void display(const vpImage<unsigned char> &I, const vpCameraParameters &cam, const vpColor &color = vpColor::green,
116 unsigned int thickness = 1);
117 void display(const vpImage<vpRGBa> &I, const vpCameraParameters &cam, const vpColor &color = vpColor::green,
118 unsigned int thickness = 1);
119 void display(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
120 const vpColor &color = vpColor::green, unsigned int thickness = 1);
121 void display(const vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
122 const vpColor &color = vpColor::green, unsigned int thickness = 1);
123
124 vpCylinder *duplicate() const;
125
131 double getRho1() const { return p[0]; }
137 double getTheta1() const { return p[1]; }
138
144 double getRho2() const { return p[2]; }
150 double getTheta2() const { return p[3]; }
151
155 double getA() const { return cP[0]; }
159 double getB() const { return cP[1]; }
163 double getC() const { return cP[2]; }
167 double getX() const { return cP[3]; }
171 double getY() const { return cP[4]; }
175 double getZ() const { return cP[5]; }
179 double getR() const { return cP[6]; }
180
181 void init();
182
183 void projection();
184 void projection(const vpColVector &cP, vpColVector &p) const;
185
186 void setWorldCoordinates(const vpColVector &oP);
187 void setWorldCoordinates(double oA, double oB, double oC, double oX, double oY, double oZ, double R);
188};
189
190#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 a 3D cylinder in the object frame and allows forward projection of a 3D cylinder i...
Definition vpCylinder.h:98
double getZ() const
Definition vpCylinder.h:175
double getRho1() const
Definition vpCylinder.h:131
double getB() const
Definition vpCylinder.h:159
double getX() const
Definition vpCylinder.h:167
double getY() const
Definition vpCylinder.h:171
double getA() const
Definition vpCylinder.h:155
double getTheta1() const
Definition vpCylinder.h:137
double getR() const
Definition vpCylinder.h:179
double getC() const
Definition vpCylinder.h:163
double getTheta2() const
Definition vpCylinder.h:150
double getRho2() const
Definition vpCylinder.h:144
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