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vpLine.h
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/****************************************************************************
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*
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* $Id: vpLine.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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* Line feature.
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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 vpLine_H
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#define vpLine_H
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#include <visp/vpMatrix.h>
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#include <visp/vpHomogeneousMatrix.h>
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#include <visp/vpForwardProjection.h>
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class
VISP_EXPORT
vpLine
:
public
vpForwardProjection
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{
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public
:
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void
init
() ;
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vpLine
() ;
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virtual
~vpLine
() { ; }
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void
setRho
(
const
double
rho) { p[0] = rho ; };
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void
setTheta
(
const
double
theta) { p[1] = theta ;};
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double
getTheta
()
const
{
return
p[1] ; }
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double
getRho
()
const
{
return
p[0] ; }
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void
setWorldCoordinates
(
const
double
&A1,
const
double
&B1,
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const
double
&C1,
const
double
&D1,
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const
double
&A2,
const
double
&B2,
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const
double
&C2,
const
double
&D2) ;
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void
setWorldCoordinates
(
const
vpColVector
&oP1,
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const
vpColVector
&oP2) ;
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void
setWorldCoordinates
(
const
vpColVector
&oP) ;
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void
projection
() ;
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void
projection
(
const
vpColVector
&cP,
vpColVector
&p) ;
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void
changeFrame
(
const
vpHomogeneousMatrix
&cMo,
vpColVector
&cP) ;
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void
changeFrame
(
const
vpHomogeneousMatrix
&cMo) ;
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void
display
(
const
vpImage<unsigned char>
&I,
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const
vpCameraParameters
&cam,
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const
vpColor
&color=
vpColor::green
,
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const
unsigned
int
thickness=1) ;
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void
display
(
const
vpImage<unsigned char>
&I,
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const
vpHomogeneousMatrix
&cMo,
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const
vpCameraParameters
&cam,
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const
vpColor
&color=
vpColor::green
,
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const
unsigned
int
thickness=1) ;
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vpLine
*
duplicate
()
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
tracking
forward-projection
vpLine.h
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