Visual Servoing Platform version 3.5.0
vpCylinder.h
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3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
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9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
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14 * GPL, please contact Inria about acquiring a ViSP Professional
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19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
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26 * Inria at visp@inria.fr
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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 * Cylinder feature.
33 *
34 * Authors:
35 * Eric Marchand
36 *
37 *****************************************************************************/
38
44#ifndef vpCylinder_hh
45#define vpCylinder_hh
46
47#include <math.h>
48#include <visp3/core/vpHomogeneousMatrix.h>
49#include <visp3/core/vpMath.h>
50
51#include <visp3/core/vpForwardProjection.h>
52
102class VISP_EXPORT vpCylinder : public vpForwardProjection
103{
104public:
105 typedef enum {
107 line2
108 } vpLineCylinderType;
109
110 vpCylinder();
111 explicit vpCylinder(const vpColVector &oP);
112 vpCylinder(double oA, double oB, double oC, double oX, double oY, double oZ, double R);
113 virtual ~vpCylinder();
114
115 void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP) const;
116 void changeFrame(const vpHomogeneousMatrix &cMo);
117
118 double computeZ(double x, double y) const;
119
120 void display(const vpImage<unsigned char> &I, const vpCameraParameters &cam, const vpColor &color = vpColor::green,
121 unsigned int thickness = 1);
122 void display(const vpImage<vpRGBa> &I, const vpCameraParameters &cam, const vpColor &color = vpColor::green,
123 unsigned int thickness = 1);
124 void display(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
125 const vpColor &color = vpColor::green, unsigned int thickness = 1);
126 void display(const vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
127 const vpColor &color = vpColor::green, unsigned int thickness = 1);
128
129 vpCylinder *duplicate() const;
130
136 double getRho1() const { return p[0]; }
142 double getTheta1() const { return p[1]; }
143
149 double getRho2() const { return p[2]; }
155 double getTheta2() const { return p[3]; }
156
160 double getA() const { return cP[0]; }
164 double getB() const { return cP[1]; }
168 double getC() const { return cP[2]; }
172 double getX() const { return cP[3]; }
176 double getY() const { return cP[4]; }
180 double getZ() const { return cP[5]; }
184 double getR() const { return cP[6]; }
185
186 void init();
187
188 void projection();
189 void projection(const vpColVector &cP, vpColVector &p) const;
190
191 void setWorldCoordinates(const vpColVector &oP);
192 void setWorldCoordinates(double oA, double oB, double oC, double oX, double oY, double oZ, double R);
193};
194
195#endif
Generic class defining intrinsic camera parameters.
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 a 3D cylinder in the object frame and allows forward projection of a 3D cylinder i...
Definition: vpCylinder.h:103
double getZ() const
Definition: vpCylinder.h:180
double getRho1() const
Definition: vpCylinder.h:136
double getB() const
Definition: vpCylinder.h:164
double getX() const
Definition: vpCylinder.h:172
double getY() const
Definition: vpCylinder.h:176
double getA() const
Definition: vpCylinder.h:160
double getTheta1() const
Definition: vpCylinder.h:142
double getR() const
Definition: vpCylinder.h:184
double getC() const
Definition: vpCylinder.h:168
double getTheta2() const
Definition: vpCylinder.h:155
double getRho2() const
Definition: vpCylinder.h:149
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.