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vpGenericFeature.h
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/****************************************************************************
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*
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* $Id: vpGenericFeature.h 4056 2013-01-05 13:04:42Z fspindle $
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*
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* This file is part of the ViSP software.
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* Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
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*
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* This software is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License
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* ("GPL") version 2 as published by the Free Software Foundation.
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* See the file LICENSE.txt at the root directory of this source
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* distribution for additional information about the GNU GPL.
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*
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* For using ViSP with software that can not be combined with the GNU
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* GPL, please contact INRIA about acquiring a ViSP Professional
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* Edition License.
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*
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* See http://www.irisa.fr/lagadic/visp/visp.html for more information.
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*
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* This software was developed at:
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* INRIA Rennes - Bretagne Atlantique
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* Campus Universitaire de Beaulieu
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* 35042 Rennes Cedex
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* France
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* http://www.irisa.fr/lagadic
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*
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* If you have questions regarding the use of this file, please contact
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* INRIA at visp@inria.fr
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*
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* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
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* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
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*
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*
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* Description:
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* Generic feature (used to create new feature not implemented in ViSP).
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*
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* Authors:
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* Eric Marchand
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*
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*****************************************************************************/
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#ifndef vpGenericFeature_hh
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#define vpGenericFeature_hh
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#include <visp/vpMatrix.h>
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#include <visp/vpBasicFeature.h>
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#include <visp/vpRGBa.h>
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#include <math.h>
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class
VISP_EXPORT
vpGenericFeature
:
public
vpBasicFeature
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{
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private
:
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vpGenericFeature
() ;
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public
:
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void
init
() ;
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vpGenericFeature
(
unsigned
int
dim) ;
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virtual
~
vpGenericFeature
() ;
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public
:
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vpMatrix
interaction
(
const
unsigned
int
select = FEATURE_ALL);
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vpColVector
error
(
const
vpBasicFeature
&s_star,
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const
unsigned
int
select = FEATURE_ALL) ;
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vpColVector
error
(
const
unsigned
int
select = FEATURE_ALL) ;
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void
print
(
const
unsigned
int
select = FEATURE_ALL )
const
;
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vpGenericFeature
*
duplicate
()
const
;
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private
:
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typedef
enum
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{
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errorNotInitalized,
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errorInitialized,
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errorHasToBeUpdated
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} vpGenericFeatureErrorType;
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vpMatrix
L ;
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vpColVector
err ;
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vpGenericFeatureErrorType errorStatus ;
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public
:
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void
setInteractionMatrix(
const
vpMatrix
&L) ;
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vpMatrix
getInteractionMatrix
()
const
{
return
L ; }
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void
setError(
vpColVector
&error) ;
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void
set_s(
const
vpColVector
&s) ;
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void
set_s(
const
double
s0) ;
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void
set_s(
const
double
s0,
const
double
s1) ;
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void
set_s(
const
double
s0,
const
double
s1,
const
double
s2) ;
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void
get_s
(
vpColVector
&s)
const
;
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void
get_s
(
double
&s0)
const
;
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void
get_s
(
double
&s0,
double
&s1)
const
;
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void
get_s
(
double
&s0,
double
&s1,
double
&s2)
const
;
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public
:
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void
display
(
const
vpCameraParameters
&cam,
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const
vpImage<unsigned char>
&I,
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const
vpColor
&color=
vpColor::green
,
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unsigned
int
thickness=1)
const
;
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void
display
(
const
vpCameraParameters
&cam,
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const
vpImage<vpRGBa>
&I,
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const
vpColor
&color=
vpColor::green
,
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unsigned
int
thickness=1)
const
;
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} ;
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#endif
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/*
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* Local variables:
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* c-basic-offset: 2
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* End:
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*/
src
visual-feature
vpGenericFeature.h
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