vpFeatureLine.h

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2025 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 line visual feature.
 */

 
#ifndef _vpFeatureLine_h_
#define _vpFeatureLine_h_
 
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpMatrix.h>
#include <visp3/visual_features/vpBasicFeature.h>
 
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpRGBa.h>
 
BEGIN_VISP_NAMESPACE
class VISP_EXPORT vpFeatureLine : public vpBasicFeature
{
private:
  double A, B, C, D;
 
public:
  vpFeatureLine();
 
  vpFeatureLine &buildFrom(const double &rho, const double &theta);
  vpFeatureLine &buildFrom(const double &rho, const double &theta, const double &A, const double &B, const double &C, const double &D);
 
  void display(const vpCameraParameters &cam, const vpImage<unsigned char> &I, const vpColor &color = vpColor::green,
               unsigned int thickness = 1) const VP_OVERRIDE;
  void display(const vpCameraParameters &cam, const vpImage<vpRGBa> &I, const vpColor &color = vpColor::green,
               unsigned int thickness = 1) const VP_OVERRIDE;
  vpFeatureLine *duplicate() const VP_OVERRIDE;
  vpColVector error(const vpBasicFeature &s_star, unsigned int select = FEATURE_ALL) VP_OVERRIDE;

  double getRho() const { return s[0]; }

  double getTheta() const { return s[1]; }
 
  void init() VP_OVERRIDE;
  vpMatrix interaction(unsigned int select = FEATURE_ALL) VP_OVERRIDE;
  void print(unsigned int select = FEATURE_ALL) const VP_OVERRIDE;
 
  void setRhoTheta(double rho, double theta);
  void setABCD(double A, double B, double C, double D);
 
public:
  static unsigned int selectRho();
  static unsigned int selectTheta();
};
END_VISP_NAMESPACE
#endif