/usr/include/visp/vpBasicFeature.h is in libvisp-dev 2.8.0-4.
This file is owned by root:root, with mode 0o644.
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*
* $Id: vpBasicFeature.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:
* Visual feature.
*
* Authors:
* Eric Marchand
* Nicolas Mansard
*
*****************************************************************************/
#ifndef vpBasicFeature_H
#define vpBasicFeature_H
/*!
\file vpBasicFeature.h
\brief class that defines what is a visual feature
*/
#include <visp/vpMatrix.h>
#include <visp/vpColVector.h>
// Display Issue
// Meter/pixel conversion
#include <visp/vpCameraParameters.h>
//Color / image / display
#include <visp/vpColor.h>
#include <visp/vpImage.h>
#include <visp/vpRGBa.h>
// #define FEATURE_ALL 0xff
// #define FEATURE_LINE1 0x1
// #define FEATURE_LINE2 0x2
// #define FEATURE_LINE3 0x4
// #define FEATURE_LINE4 0x8
// #define FEATURE_LINE5 0x10
// #define FEATURE_LINE6 0x20
// #define FEATURE_LINE7 0x40
// #define FEATURE_LINE8 0x80
/*!
\class vpBasicFeature
\brief class that defines what is a visual feature
*/
class VISP_EXPORT vpBasicFeature
{
public: // Public constantes
static const unsigned int FEATURE_LINE [32];
static const unsigned int FEATURE_ALL;
protected:
//! State of the visual feature.
vpColVector s ;
//! Dimension of the visual feature.
unsigned int dim_s ;
//int featureLine[8] ;
//! Ensure that all the parameters needed to compute the iteraction matrix are set.
bool *flags;
//! Number of parameters needed to compute the interaction matrix.
unsigned int nbParameters;
public:
/*! Return the dimension of the feature vector \f$\bf s\f$. */
unsigned int dimension_s() { return dim_s ; }
public:
virtual void init() = 0 ;
vpBasicFeature() ;
virtual ~vpBasicFeature() { /*vpTRACE("0x%x", this)*/; }
//! Return element \e i in the state vector (usage : x = s[i] )
virtual inline double operator[](const unsigned int i) const { return s[i]; }
//! Select all the features.
static unsigned int selectAll() { return FEATURE_ALL ; }
// Get the feature vector.
vpColVector get_s(unsigned int select=FEATURE_ALL) const;
// Get the feature vector dimension.
unsigned int getDimension(const unsigned int select=FEATURE_ALL) const;
//! Compute the interaction matrix from a subset of the possible features.
virtual vpMatrix interaction(const unsigned int select = FEATURE_ALL) = 0;
virtual vpColVector error(const vpBasicFeature &s_star,
const unsigned int select= FEATURE_ALL);
//! Print the name of the feature.
virtual void print(const unsigned int select= FEATURE_ALL) const = 0 ;
virtual vpBasicFeature *duplicate() const = 0 ;
public:
virtual void display(const vpCameraParameters &cam,
const vpImage<unsigned char> &I,
const vpColor &color=vpColor::green,
unsigned int thickness=1) const = 0;
virtual void display(const vpCameraParameters &cam,
const vpImage<vpRGBa> &I,
const vpColor &color=vpColor::green,
unsigned int thickness=1) const = 0;
void setFlags();
protected:
void resetFlags();
// memory issue (used by the vpServo class)
public:
/*!
\enum vpBasicFeatureDeallocatorType
Indicates who should deallocate the feature.
*/
typedef enum
{
user,
vpServo
} vpBasicFeatureDeallocatorType;
protected:
vpBasicFeatureDeallocatorType deallocate ;
public:
void setDeallocate(vpBasicFeatureDeallocatorType d) { deallocate = d ; }
vpBasicFeatureDeallocatorType getDeallocate() { return deallocate ; }
} ;
#endif
/*
* Local variables:
* c-basic-offset: 2
* End:
*/
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