vpFeatureVanishingPoint.h

/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2023 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 as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * 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 https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * 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

 
#include <visp3/core/vpMatrix.h>
#include <visp3/core/vpPoint.h>
#include <visp3/visual_features/vpBasicFeature.h>
 
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpRGBa.h>

class VISP_EXPORT vpFeatureVanishingPoint : public vpBasicFeature
{
public:
  static unsigned int selectAlpha();
  static unsigned int selectAtanOneOverRho();
  static unsigned int selectOneOverRho();
  static unsigned int selectX();
  static unsigned int selectY();
 
public:
  vpFeatureVanishingPoint();
  virtual ~vpFeatureVanishingPoint() {}
 
  void buildFrom(double x, double y);
 
  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;
 
  vpFeatureVanishingPoint *duplicate() const;
 
  vpColVector error(const vpBasicFeature &s_star, unsigned int select = (selectX() | selectY()));
 
  double get_x() const;
  double get_y() const;
  double getAtanOneOverRho() const;
  double getOneOverRho() const;
  double getAlpha() const;
 
  void init();
  vpMatrix interaction(unsigned int select = (selectX() | selectY()));
 
  void print(unsigned int select = (selectX() | selectY())) const;
 
  void set_x(double x);
  void set_y(double y);
  void set_xy(double x, double y);
  void setAtanOneOverRho(double atan_one_over_rho);
  void setOneOverRho(double one_over_rho);
  void setAlpha(double alpha);
 
protected:
  unsigned int m_select; // Memory to know which features are used for display;
};
 
#endif