Visual Servoing Platform  version 3.2.0 under development (2018-12-17)
vpFeatureDisplay Class Reference

#include <visp3/core/vpFeatureDisplay.h>

Static Public Member Functions

static void displayCylinder (double rho1, double theta1, double rho2, double theta2, const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1)
 
static void displayCylinder (double rho1, double theta1, double rho2, double theta2, const vpCameraParameters &cam, const vpImage< vpRGBa > &I, const vpColor &color=vpColor::green, unsigned int thickness=1)
 
static void displayEllipse (double x, double y, double mu20, double mu11, double m02, const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1)
 
static void displayEllipse (double x, double y, double mu20, double mu11, double m02, const vpCameraParameters &cam, const vpImage< vpRGBa > &I, const vpColor &color=vpColor::green, unsigned int thickness=1)
 
static void displayLine (double rho, double theta, const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1)
 
static void displayLine (double rho, double theta, const vpCameraParameters &cam, const vpImage< vpRGBa > &I, const vpColor &color=vpColor::green, unsigned int thickness=1)
 
static void displayPoint (double x, double y, const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1)
 
static void displayPoint (double x, double y, const vpCameraParameters &cam, const vpImage< vpRGBa > &I, const vpColor &color=vpColor::green, unsigned int thickness=1)
 

Detailed Description

Interface with the image for feature display.

Definition at line 62 of file vpFeatureDisplay.h.

Member Function Documentation

void vpFeatureDisplay::displayCylinder ( double  rho1,
double  theta1,
double  rho2,
double  theta2,
const vpCameraParameters cam,
const vpImage< unsigned char > &  I,
const vpColor color = vpColor::green,
unsigned int  thickness = 1 
)
static

Display cylinder limbs as two 2D lines with coordinates $(\rho, \theta)$ expressed in the image plane. These coordinates are obtained after perspective projection of the cylinder.

Parameters
rho1,theta1: Cylinder first limb parameters $(\rho, \theta)$ expressed in the image plane.
rho2,theta2: Cylinder second limb parameters $(\rho, \theta)$ expressed in the image plane.
cam: Camera intrinsic parameters.
I: Image.
color: Color to use to display the feature.
thickness: Thickness of the feature representation.

Definition at line 126 of file vpFeatureDisplay.cpp.

References displayLine().

Referenced by vpCylinder::display().

void vpFeatureDisplay::displayCylinder ( double  rho1,
double  theta1,
double  rho2,
double  theta2,
const vpCameraParameters cam,
const vpImage< vpRGBa > &  I,
const vpColor color = vpColor::green,
unsigned int  thickness = 1 
)
static

Display cylinder limbs as two 2D lines with coordinates $(\rho, \theta)$ expressed in the image plane. These coordinates are obtained after perspective projection of the cylinder.

Parameters
rho1,theta1: Cylinder first limb parameters $(\rho, \theta)$ expressed in the image plane.
rho2,theta2: Cylinder second limb parameters $(\rho, \theta)$ expressed in the image plane.
cam: Camera intrinsic parameters.
I: Image.
color: Color to use to display the feature.
thickness: Thickness of the feature representation.

Definition at line 236 of file vpFeatureDisplay.cpp.

References displayLine().

void vpFeatureDisplay::displayEllipse ( double  x,
double  y,
double  mu20,
double  mu11,
double  mu02,
const vpCameraParameters cam,
const vpImage< unsigned char > &  I,
const vpColor color = vpColor::green,
unsigned int  thickness = 1 
)
static

Display an ellipse with parameters $(x, y, \mu_{20}, \mu_{11}, \mu_{02})$ expressed in the image plane. These parameters are obtained after perspective projection of a 3D circle (see vpCircle) or a sphere (see vpSphere).

Parameters
x,y,mu20,mu11,mu02: Ellipse parameters where:
  • $(x,y)$ are the normalized coordinates of the ellipse center, respectively along the horizontal and vertical axis in the image plane.
  • $\mu_{20}, \mu_{11}, \mu_{02}$ are the centered moments expressed in the image plane.
cam: Camera intrinsic parameters.
I: Image.
color: Color to use to display the feature.
thickness: Thickness of the feature representation.
See also
vpDisplay::displayEllipse()

Definition at line 149 of file vpFeatureDisplay.cpp.

References vpMeterPixelConversion::convertEllipse(), vpDisplay::displayEllipse(), and vpTracker::p.

Referenced by vpFeatureEllipse::display(), vpCircle::display(), and vpSphere::display().

void vpFeatureDisplay::displayEllipse ( double  x,
double  y,
double  mu20,
double  mu11,
double  mu02,
const vpCameraParameters cam,
const vpImage< vpRGBa > &  I,
const vpColor color = vpColor::green,
unsigned int  thickness = 1 
)
static

Display an ellipse with parameters $(x, y, \mu_{20}, \mu_{11}, \mu_{02})$ expressed in the image plane. These parameters are obtained after perspective projection of a 3D circle (see vpCircle) or a sphere (see vpSphere).

Parameters
x,y,mu20,mu11,mu02: Ellipse parameters where:
  • $(x,y)$ are the normalized coordinates of the ellipse center, respectively along the horizontal and vertical axis in the image plane.
  • $\mu_{20}, \mu_{11}, \mu_{02}$ are the centered moments expressed in the image plane.
cam: Camera intrinsic parameters.
I: Image.
color: Color to use to display the feature.
thickness: Thickness of the feature representation.
See also
vpDisplay::displayEllipse()

Definition at line 259 of file vpFeatureDisplay.cpp.

References vpMeterPixelConversion::convertEllipse(), vpDisplay::displayEllipse(), and vpTracker::p.

void vpFeatureDisplay::displayLine ( double  rho,
double  theta,
const vpCameraParameters cam,
const vpImage< unsigned char > &  I,
const vpColor color = vpColor::green,
unsigned int  thickness = 1 
)
static

Display a 2D line with coordinates $(\rho, \theta)$ expressed in the image plane. These coordinates are obtained after perspective projection of the line.

Parameters
rho,theta: Line parameters $(\rho, \theta)$ expressed in the image plane.
cam: Camera intrinsic parameters.
I: Image.
color: Color to use to display the feature.
thickness: Thickness of the feature representation.

Definition at line 86 of file vpFeatureDisplay.cpp.

References vpMeterPixelConversion::convertLine(), vpDisplay::displayLine(), vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), and vpImagePoint::set_ij().

Referenced by vpLine::display(), vpFeatureLine::display(), and displayCylinder().

void vpFeatureDisplay::displayLine ( double  rho,
double  theta,
const vpCameraParameters cam,
const vpImage< vpRGBa > &  I,
const vpColor color = vpColor::green,
unsigned int  thickness = 1 
)
static

Display a 2D line with coordinates $(\rho, \theta)$ expressed in the image plane. These coordinates are obtained after perspective projection of the line.

Parameters
rho,theta: Line parameters $(\rho, \theta)$ expressed in the image plane.
cam: Camera intrinsic parameters.
I: Image.
color: Color to use to display the feature.
thickness: Thickness of the feature representation.

Definition at line 196 of file vpFeatureDisplay.cpp.

References vpMeterPixelConversion::convertLine(), vpDisplay::displayLine(), vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), and vpImagePoint::set_ij().

void vpFeatureDisplay::displayPoint ( double  x,
double  y,
const vpCameraParameters cam,
const vpImage< unsigned char > &  I,
const vpColor color = vpColor::green,
unsigned int  thickness = 1 
)
static

Display a 2D point with coordinates (x, y) expressed in the image plane. These coordinates are obtained after perspective projection of the point.

Parameters
x,y: Point coordinates in the image plane.
cam: Camera intrinsic parameters.
I: Image.
color: Color to use to display the feature.
thickness: Thickness of the feature representation.

Definition at line 67 of file vpFeatureDisplay.cpp.

References vpMeterPixelConversion::convertPoint(), and vpDisplay::displayCross().

Referenced by vpPoint::display(), vpFeatureVanishingPoint::display(), vpFeaturePoint::display(), and vpFeaturePointPolar::display().

void vpFeatureDisplay::displayPoint ( double  x,
double  y,
const vpCameraParameters cam,
const vpImage< vpRGBa > &  I,
const vpColor color = vpColor::green,
unsigned int  thickness = 1 
)
static

Display a 2D point with coordinates (x, y) expressed in the image plane. These coordinates are obtained after perspective projection of the point.

Parameters
x,y: Point coordinates in the image plane.
cam: Camera intrinsic parameters.
I: Image.
color: Color to use to display the feature.
thickness: Thickness of the feature representation.

Definition at line 177 of file vpFeatureDisplay.cpp.

References vpMeterPixelConversion::convertPoint(), and vpDisplay::displayCross().