Visual Servoing Platform version 3.6.0
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vpFeatureEllipse.h
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See https://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
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 * 2D ellipse visual feature.
33 *
34*****************************************************************************/
35
36#ifndef vpFeatureEllipse_H
37#define vpFeatureEllipse_H
38
44#include <visp3/core/vpMatrix.h>
45#include <visp3/visual_features/vpBasicFeature.h>
46
47#include <visp3/core/vpHomogeneousMatrix.h>
48#include <visp3/core/vpRGBa.h>
49
55class VISP_EXPORT vpFeatureEllipse : public vpBasicFeature
56{
57 /*
58 attributes and members directly related to the vpBasicFeature needs
59 other functionalities are useful but not mandatory
60 */
61private:
64 double A, B, C;
65
66public:
70 virtual ~vpFeatureEllipse() { }
71
76 vpFeatureEllipse(double x, double y, double n20, double n11, double n02);
77
78 // void buildFrom(const vpEllipse &p) ;
79 void buildFrom(double x, double y, double n20, double n11, double n02);
80 void buildFrom(double x, double y, double n20, double n11, double n02, double A, double B, double C);
81
82 void display(const vpCameraParameters &cam, const vpImage<unsigned char> &I, const vpColor &color = vpColor::green,
83 unsigned int thickness = 1) const;
84 void display(const vpCameraParameters &cam, const vpImage<vpRGBa> &I, const vpColor &color = vpColor::green,
85 unsigned int thickness = 1) const;
88
91 vpColVector error(const vpBasicFeature &s_star, unsigned int select = FEATURE_ALL);
92
93
97 double get_x() const { return s[0]; }
101 double get_y() const { return s[1]; }
106 double get_n20() const { return s[2]; }
111 double get_n11() const { return s[3]; }
116 double get_n02() const { return s[4]; }
117
119 void init();
121 vpMatrix interaction(unsigned int select = FEATURE_ALL);
122
124 void print(unsigned int select = FEATURE_ALL) const;
125
126 void set_x(double x);
127 void set_y(double y);
128 void set_xy(double x, double y);
129 void setABC(double A, double B, double C);
130 void setMoments(double n20, double n11, double n02);
131
136 // feature selection
137 static unsigned int selectX();
138 static unsigned int selectY();
139 static unsigned int select_n20();
140 static unsigned int select_n11();
141 static unsigned int select_n02();
142
143#if defined(VISP_BUILD_DEPRECATED_FUNCTIONS)
148 vp_deprecated void setMu(double mu20, double mu11, double mu02);
149 vp_deprecated static unsigned int selectMu20();
150 vp_deprecated static unsigned int selectMu11();
151 vp_deprecated static unsigned int selectMu02();
158 vp_deprecated double getMu20() const { return s[2]; }
165 vp_deprecated double getMu11() const { return s[3]; }
172 vp_deprecated double getMu02() const { return s[4]; }
173
175#endif
176};
177
178#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.
Class to define RGB colors available for display functionalities.
Definition vpColor.h:152
static const vpColor green
Definition vpColor.h:214
Class that defines 2D ellipse visual feature.
vp_deprecated double getMu02() const
double get_y() const
vp_deprecated double getMu20() const
double get_n20() const
double get_n02() const
double get_n11() const
double get_x() const
virtual ~vpFeatureEllipse()
Destructor.
vp_deprecated double getMu11() const
Definition of the vpImage class member functions.
Definition vpImage.h:135
Implementation of a matrix and operations on matrices.
Definition vpMatrix.h:152