Visual Servoing Platform version 3.6.0
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vpSphere.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 * Sphere feature.
32 */
33
39#ifndef vpSphere_hh
40#define vpSphere_hh
41
42#include <visp3/core/vpDebug.h>
43#include <visp3/core/vpHomogeneousMatrix.h>
44#include <visp3/core/vpMath.h>
45
46#include <math.h>
47#include <visp3/core/vpForwardProjection.h>
77class VISP_EXPORT vpSphere : public vpForwardProjection
78{
79public:
80 vpSphere();
81 explicit vpSphere(const vpColVector &oP);
82 vpSphere(double oX, double oY, double oZ, double R);
83 virtual ~vpSphere();
84
85 void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP) const;
86 void changeFrame(const vpHomogeneousMatrix &cMo);
87
88 void display(const vpImage<unsigned char> &I, const vpCameraParameters &cam, const vpColor &color = vpColor::green,
89 unsigned int thickness = 1);
90 void display(const vpImage<vpRGBa> &I, const vpCameraParameters &cam, const vpColor &color = vpColor::green,
91 unsigned int thickness = 1);
92 void display(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
93 const vpColor &color = vpColor::green, unsigned int thickness = 1);
94 void display(const vpImage<vpRGBa> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
95 const vpColor &color = vpColor::green, unsigned int thickness = 1);
96
97 vpSphere *duplicate() const;
98
99 double get_x() const { return p[0]; }
100 double get_y() const { return p[1]; }
101
102 double get_n20() const { return p[2]; }
103 double get_n11() const { return p[3]; }
104 double get_n02() const { return p[4]; }
105
106 double getX() const { return cP[0]; }
107 double getY() const { return cP[1]; }
108 double getZ() const { return cP[2]; }
109 double getR() const { return cP[3]; }
110
111 void projection();
112 void projection(const vpColVector &cP, vpColVector &p) const;
113
114 void setWorldCoordinates(const vpColVector &oP);
115 void setWorldCoordinates(double oX, double oY, double oZ, double R);
116
117protected:
118 void init();
119
120public:
121#if defined(VISP_BUILD_DEPRECATED_FUNCTIONS)
132 vp_deprecated double get_mu20() const { return p[2]; }
139 vp_deprecated double get_mu11() const { return p[3]; }
146 vp_deprecated double get_mu02() const { return p[4]; }
148#endif
149};
150
151#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 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
Class that defines a 3D sphere in the object frame and allows forward projection of a 3D sphere in th...
Definition vpSphere.h:78
double get_n02() const
Definition vpSphere.h:104
vp_deprecated double get_mu11() const
Definition vpSphere.h:139
vp_deprecated double get_mu02() const
Definition vpSphere.h:146
double get_y() const
Definition vpSphere.h:100
double get_n11() const
Definition vpSphere.h:103
double get_x() const
Definition vpSphere.h:99
double getR() const
Definition vpSphere.h:109
double getX() const
Definition vpSphere.h:106
vp_deprecated double get_mu20() const
Definition vpSphere.h:132
double getZ() const
Definition vpSphere.h:108
double getY() const
Definition vpSphere.h:107
double get_n20() const
Definition vpSphere.h:102