/usr/include/visp/vpFeatureVanishingPoint.h is in libvisp-dev 2.8.0-4.
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*
* $Id: vpFeatureVanishingPoint.h 4056 2013-01-05 13:04:42Z fspindle $
*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2013 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:
* 2D vanishing point visual feature (Z coordinate in 3D space is infinity)
*
* Authors:
* Odile Bourquardez
*
*****************************************************************************/
#ifndef vpFeatureVanishingPoint_H
#define vpFeatureVanishingPoint_H
/*!
\file vpFeatureVanishingPoint.h \brief Class that defines 2D vanishing
point visual feature (Z coordinate in 3D space is infinity)
*/
#include <visp/vpMatrix.h>
#include <visp/vpBasicFeature.h>
#include <visp/vpPoint.h>
#include <visp/vpHomogeneousMatrix.h>
#include <visp/vpRGBa.h>
/*!
\class vpFeatureVanishingPoint
\ingroup VsFeature2
\brief Class that defines 2D vanishing point visual feature (Z
coordinate in 3D space is infinity).
*/
class VISP_EXPORT vpFeatureVanishingPoint : public vpBasicFeature
{
public:
typedef enum
{
X = 1, // x coordinates
Y = 2 // y coordinates
} vpFeatureVanishingPointType;
/*
attributes and members directly related to the vpBasicFeature needs
other functionalities ar useful but not mandatory
*/
//no Z required
public:
//! basic construction
void init() ;
//! basic constructor
vpFeatureVanishingPoint() ;
//! destructor
virtual ~vpFeatureVanishingPoint() { if (flags != NULL) delete [] flags; }
public:
/*
/section Set coordinates
*/
//! set the point x-coordinates
void set_x(const double _x) ;
//! get the point x-coordinates
double get_x() const ;
//! set the point y-coordinates
void set_y(const double _y) ;
//! get the point y-coordinates
double get_y() const ;
//! set the point xy coordinates
void set_xy(const double _x, const double _y) ;
// void buildFrom(const vpPoint &p) ;
void buildFrom(const double _x, const double _y) ;
public:
/*
vpBasicFeature method instantiation
*/
// feature selection
inline static unsigned int selectX() { return FEATURE_LINE[0] ; }
inline static unsigned int selectY() { return FEATURE_LINE[1] ; }
//! compute the interaction matrix from a subset a the possible features
vpMatrix interaction(const unsigned int select = FEATURE_ALL);
//! compute the error between two visual features from a subset
//! a the possible features
vpColVector error(const vpBasicFeature &s_star,
const unsigned int select = FEATURE_ALL) ;
//! compute the error between a visual features and zero
vpColVector error(const unsigned int select = FEATURE_ALL) ;
//! print the name of the feature
void print(const unsigned int select = FEATURE_ALL ) const ;
//! feature duplication
vpFeatureVanishingPoint *duplicate() const ;
public:
void display(const vpCameraParameters &cam,
const vpImage<unsigned char> &I,
const vpColor &color=vpColor::green,
unsigned int thickness=1) const;
void display(const vpCameraParameters &cam,
const vpImage<vpRGBa> &I,
const vpColor &color=vpColor::green,
unsigned int thickness=1) const;
} ;
#endif
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