Visual Servoing Platform version 3.5.0
vpFeatureTranslation.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
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 * 3D translation visual feature.
33 *
34 * Authors:
35 * Eric Marchand
36 * Fabien Spindler
37 *
38 *****************************************************************************/
39
40#ifndef vpFeatureTranslation_H
41#define vpFeatureTranslation_H
42
48#include <visp3/core/vpHomogeneousMatrix.h>
49#include <visp3/core/vpMatrix.h>
50#include <visp3/core/vpRGBa.h>
51#include <visp3/core/vpTranslationVector.h>
52#include <visp3/visual_features/vpBasicFeature.h>
53
276class VISP_EXPORT vpFeatureTranslation : public vpBasicFeature
277{
278public:
283 typedef enum {
295 cMo
296 } vpFeatureTranslationRepresentationType;
297
298 // basic contructor
300 // basic constructor specifying the type of translation feature
301 explicit vpFeatureTranslation(vpFeatureTranslationRepresentationType r);
302 // constructor : build from an homogeneous matrix
303 // cdMc is the displacement that the camera has to realize
304 vpFeatureTranslation(vpHomogeneousMatrix &f2Mf1, vpFeatureTranslationRepresentationType r);
307
308 // build from an homogeneous matrix
309 // cdMc is the displacement that the camera has to realize
310 void buildFrom(const vpHomogeneousMatrix &f2Mf1);
311
312 void display(const vpCameraParameters &cam, const vpImage<unsigned char> &I, const vpColor &color = vpColor::green,
313 unsigned int thickness = 1) const;
314 void display(const vpCameraParameters &cam, const vpImage<vpRGBa> &I, const vpColor &color = vpColor::green,
315 unsigned int thickness = 1) const;
316
319
320 // compute the error between two visual features from a subset
321 // a the possible features
322 vpColVector error(const vpBasicFeature &s_star, unsigned int select = FEATURE_ALL);
323
324 vpFeatureTranslationRepresentationType getFeatureTranslationType() const;
325
326 double get_Tx() const;
327 double get_Ty() const;
328 double get_Tz() const;
329
330 // basic construction
331 void init();
332 // compute the interaction matrix from a subset a the possible features
333 vpMatrix interaction(unsigned int select = FEATURE_ALL);
334
335 // print the name of the feature
336 void print(unsigned int select = FEATURE_ALL) const;
337
338 void set_Tx(double t_x);
339 void set_Ty(double t_y);
340 void set_Tz(double t_z);
341
342 void setFeatureTranslationType(const vpFeatureTranslationRepresentationType r);
343
344 // feature selection
345 static unsigned int selectTx();
346 static unsigned int selectTy();
347 static unsigned int selectTz();
348
349private:
352 vpFeatureTranslationRepresentationType translation;
353};
354
355#endif
class that defines what is a visual feature
virtual vpColVector error(const vpBasicFeature &s_star, unsigned int select=FEATURE_ALL)
virtual void init()=0
virtual vpMatrix interaction(unsigned int select=FEATURE_ALL)=0
Compute the interaction matrix from a subset of the possible features.
virtual void print(unsigned int select=FEATURE_ALL) const =0
Print the name of the feature.
virtual void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const =0
virtual vpBasicFeature * duplicate() const =0
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 the translation visual feature .
virtual ~vpFeatureTranslation()
Destructor. Does nothing.
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:154