Visual Servoing Platform version 3.6.0
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vpCircle.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 * Visual feature circle.
32 */
33
39#ifndef vpCircle_hh
40#define vpCircle_hh
41
42#include <math.h>
43#include <visp3/core/vpDebug.h>
44#include <visp3/core/vpForwardProjection.h>
45#include <visp3/core/vpHomogeneousMatrix.h>
46#include <visp3/core/vpMath.h>
47
86class VISP_EXPORT vpCircle : public vpForwardProjection
87{
88public:
89 vpCircle();
90 explicit vpCircle(const vpColVector &oP);
91 vpCircle(double oA, double oB, double oC, double oX, double oY, double oZ, double R);
92 virtual ~vpCircle();
93
94 void changeFrame(const vpHomogeneousMatrix &noMo, vpColVector &noP) const;
95 void changeFrame(const vpHomogeneousMatrix &cMo);
96
97 void display(const vpImage<unsigned char> &I, const vpCameraParameters &cam, const vpColor &color = vpColor::green,
98 unsigned int thickness = 1);
99 void display(const vpImage<vpRGBa> &I, const vpCameraParameters &cam, const vpColor &color = vpColor::green,
100 unsigned int thickness = 1);
101 void display(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
102 const vpColor &color = vpColor::green, unsigned int thickness = 1);
103 void display(const vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
104 const vpColor &color = vpColor::green, unsigned int thickness = 1);
105 vpCircle *duplicate() const;
106
107 double get_x() const { return p[0]; }
108 double get_y() const { return p[1]; }
109
110 double get_n20() const { return p[2]; }
111 double get_n11() const { return p[3]; }
112 double get_n02() const { return p[4]; }
113
114 double getA() const { return cP[0]; }
115 double getB() const { return cP[1]; }
116 double getC() const { return cP[2]; }
117
118 double getX() const { return cP[3]; }
119 double getY() const { return cP[4]; }
120 double getZ() const { return cP[5]; }
121
122 double getR() const { return cP[6]; }
123
124 void projection();
125 void projection(const vpColVector &cP, vpColVector &p) const;
126
127 void setWorldCoordinates(const vpColVector &oP);
128 void setWorldCoordinates(double oA, double oB, double oC, double oX, double oY, double oZ, double R);
129
130 //###################
131 // Static Functions
132 //###################
133 static void computeIntersectionPoint(const vpCircle &circle, const vpCameraParameters &cam, const double &rho,
134 const double &theta, double &i, double &j);
135
136protected:
137 void init();
138
139public:
140#if defined(VISP_BUILD_DEPRECATED_FUNCTIONS)
151 vp_deprecated double get_mu20() const { return p[2]; }
158 vp_deprecated double get_mu11() const { return p[3]; }
165 vp_deprecated double get_mu02() const { return p[4]; }
167#endif
168};
169
170#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:87
double get_n02() const
Definition vpCircle.h:112
double get_n11() const
Definition vpCircle.h:111
double getR() const
Definition vpCircle.h:122
double get_n20() const
Definition vpCircle.h:110
double getC() const
Definition vpCircle.h:116
double getZ() const
Definition vpCircle.h:120
double getA() const
Definition vpCircle.h:114
double getY() const
Definition vpCircle.h:119
double get_x() const
Definition vpCircle.h:107
double getB() const
Definition vpCircle.h:115
double get_y() const
Definition vpCircle.h:108
vp_deprecated double get_mu11() const
Definition vpCircle.h:158
vp_deprecated double get_mu02() const
Definition vpCircle.h:165
double getX() const
Definition vpCircle.h:118
vp_deprecated double get_mu20() const
Definition vpCircle.h:151
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