Visual Servoing Platform version 3.6.0
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vpForwardProjection.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 * Forward projection.
32 */
33
34#ifndef vpForwardProjection_H
35#define vpForwardProjection_H
36
42#include <visp3/core/vpColor.h>
43#include <visp3/core/vpMatrix.h>
44#include <visp3/core/vpTracker.h>
45
46#include <visp3/core/vpHomogeneousMatrix.h>
47
62class VISP_EXPORT vpForwardProjection : public vpTracker
63{
64public:
68 typedef enum { user, vpDisplayForwardProjection } vpForwardProjectionDeallocatorType;
69
72 vpForwardProjection() : oP(), deallocate(user) {}
73
75 virtual ~vpForwardProjection() { ; }
76
96 virtual void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP) const = 0;
113 virtual void changeFrame(const vpHomogeneousMatrix &cMo) = 0;
114
129 virtual void display(const vpImage<unsigned char> &I, const vpCameraParameters &cam,
130 const vpColor &color = vpColor::green, unsigned int thickness = 1) = 0;
131
151 virtual void display(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
152 const vpColor &color = vpColor::green, unsigned int thickness = 1) = 0;
153
157 virtual vpForwardProjection *duplicate() const = 0;
158
160 vpColVector get_oP() const { return oP; }
161
163
164 virtual void print() const;
165
175 virtual void projection(const vpColVector &cP, vpColVector &p) const = 0;
176
186 virtual void projection() = 0;
187
188 void project();
189 void project(const vpHomogeneousMatrix &cMo);
190
192
200 virtual void setWorldCoordinates(const vpColVector &oP) = 0;
201
202 void track(const vpHomogeneousMatrix &cMo);
204
205protected:
214 virtual void init() = 0;
216
217public:
225
226private:
228};
229
230#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 display(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &color=vpColor::green, unsigned int thickness=1)=0
vpColVector get_oP() const
Return object parameters expressed in the 3D object frame.
virtual void init()=0
virtual void projection(const vpColVector &cP, vpColVector &p) const =0
virtual void display(const vpImage< unsigned char > &I, const vpCameraParameters &cam, const vpColor &color=vpColor::green, unsigned int thickness=1)=0
void setDeallocate(vpForwardProjectionDeallocatorType d)
virtual ~vpForwardProjection()
Destructor that does nothing.
vpForwardProjectionDeallocatorType getDeallocate()
virtual void changeFrame(const vpHomogeneousMatrix &cMo)=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 what is a feature generic tracker.
Definition vpTracker.h:60