libvisp-dev 2.9.0-3+b2 / usr / include / visp / vpForwardProjection.h

/****************************************************************************
 *
 * $Id: vpForwardProjection.h 4632 2014-02-03 17:06:40Z fspindle $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
 * 
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact INRIA about acquiring a ViSP Professional 
 * Edition License.
 *
 * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
 * 
 * This software was developed at:
 * INRIA Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 * http://www.irisa.fr/lagadic
 *
 * If you have questions regarding the use of this file, please contact
 * INRIA at visp@inria.fr
 * 
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 *
 * Description:
 * Forward projection.
 *
 * Authors:
 * Eric Marchand
 *
 *****************************************************************************/

#ifndef vpForwardProjection_H
#define vpForwardProjection_H

/*!
  \file vpForwardProjection.h
  \brief  class that defines what is a generic geometric feature
*/

#include <visp/vpMatrix.h>
#include <visp/vpTracker.h>
#include <visp/vpColor.h>

#include <visp/vpHomogeneousMatrix.h>


/*!
  \class vpForwardProjection
  \brief Class that defines what is a generic geometric feature.

  Each geometric feature has parameters expressed:

  - in the object frame \e oP. These parameters are located in the public
    attribute vpForwardProjection::oP.
  - in the camera frame \e cP. These parameters are located in the public
    attribute vpTracker::cP.
  - in the image plane \e p. These parameters are located in the public
    attribute vpTracker::p. They correspond to normalized coordinates 
    of the feature expressed in meters.
*/
class VISP_EXPORT vpForwardProjection : public vpTracker
{
public:
  /*! 
    Feature coordinates expressed in the object frame, also called world frame.
  */
  vpColVector oP ;

public:
  /*! 
    Default initialisation of the feature parameters:
    - in the object frame: \e oP
    - in the camera frame: \e cP
    - in the image plane: \e p. 
  */
  virtual void init() = 0;

  //! Destructor.
  virtual ~vpForwardProjection() { ; }

public:
  /*! 
    Sets the parameters which define the feature in the object frame.

    \param oP : Feature parameters expressed in the object frame used
    to set the vpForwardProjection::oP public attribute.

  */
  virtual void setWorldCoordinates(const vpColVector &oP) = 0;

  /*!  

    Computes the features parameters in the camera frame (\e cP) thanks
    to the parameters given in the object frame
    (vpForwardProjection::oP) and the homogeneous matrix relative to
    the pose (\e cMo) between the object frame and the camera frame.

    To set the parameters in the object frame you need to call
    setWorldCoordinates().

    \param cMo : The homogeneous matrix corresponding to the pose
    between the camera frame and the object frame.

    \param cP : The vector which will contain the feature parameters
    expressed in the camera frame.
    
    With this method, the vpTracker::cP public attribute is not updated.
    
  */
  virtual void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP)=0;
  /*!

    Computes the features parameters in the camera frame (\e cP) thanks
    to the parameters given in the object frame
    (vpForwardProjection::oP) and the homogeneous matrix relative to
    the pose (\e cMo) between the object frame and the camera frame.

    To set the parameters in the object frame you need to call
    setWorldCoordinates().

    \param cMo : The homogeneous matrix corresponding to the pose
    between the camera frame and the object frame.

    The features parameters in the camera frame (cP) are updated in
    the vpTracker::cP public attribute.
  */
  virtual void changeFrame(const vpHomogeneousMatrix &cMo)  = 0 ;
  /*!  

    Computes the feature parameters in the image plane from the
    parameters expressed in the camera frame.

    \param cP [input] : Feature parameters expressed in the camera frame.

    \param p [output] : Feature parameters expressed in the image plane.
  */
  virtual void projection(const vpColVector &cP, vpColVector &p) =0 ;

  /*!  
    Computes the feature parameters in the image plane. These
    parameters are than updated in the vpTracker::p public attribute.

    \warning To compute these parameters, the method exploit the
    feature parameters in the camera frame. Thus, vpTracker::cP need
    to be updated before the call of this method.  For that, a call to
    changeFrame(const vpHomogeneousMatrix &) is requested.
  */
  virtual void projection() =0 ;

  void project()  ;
  void project(const vpHomogeneousMatrix &cMo) ;
  void track(const vpHomogeneousMatrix &cMo) ;

  /*!
    
    Displays the feature in the image \e I thanks to the 2D feature
    parameters in the image plane (vpTracker::p) and the camera
    parameters which enable to convert the features from meter to pixel.

    \param I : The image where the feature must be displayed in overlay.

    \param cam : The camera parameters to enable the conversion from
    meter to pixel.

    \param color : The desired color to display the line in the image.
    \param thickness : Thickness of the feature representation.
  */
  virtual void display(const vpImage<unsigned char> &I,
                       const vpCameraParameters &cam,
                       const vpColor &color=vpColor::green,
                       const unsigned int thickness=1) =0;

  /*!

    Displays the feature in the image \e I thanks to the features in
    the object frame (vpForwardProjection::oP), the homogeneous matrix relative
    to the pose between the object frame and the camera frame and the
    camera parameters which enable to convert the features from meter
    to pixel.

    \param I : The image where the line must be displayed in overlay.

    \param cMo : The homogeneous matrix corresponding to the pose
    between the camera frame and the object frame.

    \param cam : The camera parameters to enable the conversion from
    meter to pixel.

    \param color : The desired color to display the line in the image.
    \param thickness : Thickness of the feature representation.
   */
  virtual void display(const vpImage<unsigned char> &I,
                       const vpHomogeneousMatrix &cMo,
                       const vpCameraParameters &cam,
                       const vpColor &color=vpColor::green,
                       const unsigned int thickness=1) =0;

  virtual void print() const ;

  /*!
    Create an object with the same type.
  */
  virtual vpForwardProjection *duplicate() const = 0 ;

public:
  /*!
    Used for memory issue especially in the vpServo class.
  */
  typedef enum
    {
      user,
      vpDisplayForwardProjection
    } vpForwardProjectionDeallocatorType;

private:
  vpForwardProjectionDeallocatorType deallocate ;
public:
  vpForwardProjection() : oP(), deallocate(user) {}

  void setDeallocate(vpForwardProjectionDeallocatorType d) { deallocate = d ; }
  vpForwardProjectionDeallocatorType getDeallocate() { return deallocate ; }
} ;


#endif

/*
 * Local variables:
 * c-basic-offset: 2
 * End:
 */