vpForwardProjection.h

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2024 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:
 * Forward projection.
 */

 
#ifndef VP_FORWARD_PROJECTION_H
#define VP_FORWARD_PROJECTION_H
 
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpColor.h>
#include <visp3/core/vpMatrix.h>
#include <visp3/core/vpTracker.h>
 
#include <visp3/core/vpHomogeneousMatrix.h>
 
BEGIN_VISP_NAMESPACE
class VISP_EXPORT vpForwardProjection : public vpTracker
{
public:
  typedef enum { user, vpDisplayForwardProjection } vpForwardProjectionDeallocatorType;

  vpForwardProjection() : oP(), deallocate(user) { }

  virtual void changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP) const = 0;

  virtual void changeFrame(const vpHomogeneousMatrix &cMo) = 0;

  virtual void display(const vpImage<unsigned char> &I, const vpCameraParameters &cam,
                       const vpColor &color = vpColor::green, unsigned int thickness = 1) = 0;

  virtual void display(const vpImage<unsigned char> &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam,
                       const vpColor &color = vpColor::green, unsigned int thickness = 1) = 0;

  virtual vpForwardProjection *duplicate() const = 0;

  vpColVector get_oP() const { return oP; }
 
  vpForwardProjectionDeallocatorType getDeallocate() { return deallocate; }
 
  virtual void print() const;

  virtual void projection(const vpColVector &cP, vpColVector &p) const = 0;

  virtual void projection() = 0;
 
  void project();
  void project(const vpHomogeneousMatrix &cMo);
 
  void setDeallocate(vpForwardProjectionDeallocatorType d) { deallocate = d; }

  virtual void setWorldCoordinates(const vpColVector &oP) = 0;
 
  void track(const vpHomogeneousMatrix &cMo);
 
 
public:

  vpColVector oP;
 
protected:

  virtual void init() = 0;
 
private:
  vpForwardProjectionDeallocatorType deallocate;
};
END_VISP_NAMESPACE
#endif