/usr/include/visp/vpSphere.h is in libvisp-dev 2.8.0-4.
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*
* $Id: vpSphere.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:
* Sphere feature.
*
* Authors:
* Eric Marchand
*
*****************************************************************************/
/*!
\file vpSphere.h
\brief forward projection of a sphere
*/
#ifndef vpSphere_hh
#define vpSphere_hh
#include <visp/vpMath.h>
#include <visp/vpDebug.h>
#include <visp/vpHomogeneousMatrix.h>
#include <visp/vpForwardProjection.h>
#include <math.h>
/*!
\class vpSphere
\ingroup TrackingFeature GeometryFeature
\brief Class that defines what is a sphere.
Forward projection of a sphere.
*/
class VISP_EXPORT vpSphere : public vpForwardProjection
{
public:
void init() ;
vpSphere() ;
virtual ~vpSphere() ;
public:
vpSphere(const vpColVector& oP) ;
vpSphere(const double X0, const double Y0,
const double Z0,
const double R) ;
void setWorldCoordinates(const vpColVector& oP) ;
void setWorldCoordinates(const double X0, const double Y0,
const double Z0,
const double R) ;
double get_x() const { return p[0] ; }
double get_y() const { return p[1] ; }
double get_mu20() const { return p[2] ; }
double get_mu11() const { return p[3] ; }
double get_mu02() const { return p[4] ; }
double getX() const { return cP[0] ; }
double getY() const { return cP[1] ; }
double getZ() const { return cP[2] ; }
double getR() const { return cP[3] ; }
void projection() ;
void projection(const vpColVector &cP, vpColVector &p) ;
void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP) ;
void changeFrame(const vpHomogeneousMatrix &cMo) ;
void display(const vpImage<unsigned char> &I,
const vpCameraParameters &cam,
const vpColor &color=vpColor::green,
const unsigned int thickness=1) ;
void display(const vpImage<unsigned char> &I,
const vpHomogeneousMatrix &cMo,
const vpCameraParameters &cam,
const vpColor &color=vpColor::green,
const unsigned int thickness=1) ;
vpSphere *duplicate() const ;
} ;
#endif
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