#include <vpPoint.h>

Inheritance diagram for vpPoint:

Public Types
enum	vpForwardProjectionDeallocatorType { user, vpDisplayForwardProjection }

Public Member Functions
	vpPoint ()

virtual	~vpPoint ()

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)

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

vpPoint *	duplicate () const

double	get_X () const

double	get_Y () const

double	get_Z () const

double	get_W () const

double	get_oX () const

double	get_oY () const

double	get_oZ () const

double	get_oW () const

double	get_x () const

double	get_y () const

double	get_w () const

void	getWorldCoordinates (double &ox, double &oy, double &oz)

void	getWorldCoordinates (vpColVector &_oP)

vpColVector	getWorldCoordinates (void)

void	init ()

vpPoint &	operator= (const vpPoint &vpp)

void	projection (const vpColVector &_cP, vpColVector &_p)

void	projection ()

void	set_X (const double X)

void	set_Y (const double Y)

void	set_Z (const double Z)

void	set_W (const double W)

void	set_oX (const double X)

void	set_oY (const double Y)

void	set_oZ (const double Z)

void	set_oW (const double W)

void	set_x (const double x)

void	set_y (const double y)

void	set_w (const double w)

void	setWorldCoordinates (const double ox, const double oy, const double oz)

void	setWorldCoordinates (const vpColVector &_oP)

void	project ()

void	project (const vpHomogeneousMatrix &cMo)

void	track (const vpHomogeneousMatrix &cMo)

virtual void	print () const

void	setDeallocate (vpForwardProjectionDeallocatorType d)

vpForwardProjectionDeallocatorType	getDeallocate ()

Public Attributes
vpColVector	oP

vpColVector	p

vpColVector	cP

bool	cPAvailable

Friends
VISP_EXPORT std::ostream &	operator<< (std::ostream &os, vpPoint &vpp)

Detailed Description

Class that defines what is a point.

Examples:: AROgre.cpp, AROgreBasic.cpp, homographyHartleyDLT2DObject.cpp, homographyHLM2DObject.cpp, homographyHLM3DObject.cpp, homographyRansac2DObject.cpp, manGeometricFeatures.cpp, manServo4PointsDisplay.cpp, manServoMomentsSimple.cpp, manSimu4Dots.cpp, manSimu4Points.cpp, poseVirtualVS.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6FourPoints2DCamVelocityInteractionCurrent.cpp, servoAfma6FourPoints2DCamVelocityInteractionDesired.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoMomentPoints.cpp, servoMomentPolygon.cpp, servoPioneerPanSegment3D.cpp, servoSimu4Points.cpp, servoSimuAfma6FourPoints2DCamVelocity.cpp, servoSimuFourPoints2DCamVelocity.cpp, servoSimuFourPoints2DCamVelocityDisplay.cpp, servoSimuFourPoints2DPolarCamVelocityDisplay.cpp, servoSimuPoint2DCamVelocity1.cpp, servoSimuPoint2DCamVelocity2.cpp, servoSimuPoint2DCamVelocity3.cpp, servoSimuPoint2DhalfCamVelocity1.cpp, servoSimuPoint2DhalfCamVelocity2.cpp, servoSimuPoint2DhalfCamVelocity3.cpp, servoSimuPoint3DCamVelocity.cpp, servoSimuViper850FourPoints2DCamVelocity.cpp, servoViper650FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper650FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper850FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPointsKinect.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, simulateFourPoints2DPolarCamVelocity.cpp, testFeatureSegment.cpp, testFindMatch.cpp, testPose.cpp, testPoseFeatures.cpp, testPoseRansac.cpp, testRobotAfma6Pose.cpp, testRobotViper850Pose.cpp, tutorial-ibvs-4pts-ogre.cpp, tutorial-ibvs-4pts-plotter.cpp, tutorial-ibvs-4pts.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 65 of file vpPoint.h.

Member Enumeration Documentation

enum vpForwardProjection::vpForwardProjectionDeallocatorType

inherited

Used for memory issue especially in the vpServo class.

Enumerator
user
vpDisplayForwardProjection

Definition at line 219 of file vpForwardProjection.h.

Constructor & Destructor Documentation

vpPoint::vpPoint ( )

Basic constructor.

Definition at line 67 of file vpPoint.cpp.

References init().

Referenced by duplicate().

virtual vpPoint::~vpPoint ( )

inlinevirtual

Destructor.

Definition at line 72 of file vpPoint.h.

Member Function Documentation

void vpPoint::changeFrame	(	const vpHomogeneousMatrix &	cMo,
		vpColVector &	_cP
	)

virtual

From the 3D coordinates of the point in the object frame set using for example setWorldCoordinates() or set_oX(), set_oY(), set_oZ(), compute the 3D coordinates of the point in the camera frame.

Parameters

cMo	: Transformation from camera to object frame.
_cP	: 3D coordinates of the point in the camera frame.

Implements vpForwardProjection.

Examples:: servoAfma6FourPoints2DCamVelocityInteractionCurrent.cpp, servoAfma6FourPoints2DCamVelocityInteractionDesired.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoPioneerPanSegment3D.cpp, servoViper650FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper650FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper850FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPointsKinect.cpp, and simulateFourPoints2DPolarCamVelocity.cpp.

Definition at line 150 of file vpPoint.cpp.

References vpForwardProjection::oP, and vpColVector::resize().

Referenced by vpMbtPolygon::changeFrame(), vpPose::computeResidual(), display(), vpMbtDistanceLine::display(), vpMbtDistanceCylinder::display(), vpMbtDistanceLine::initMovingEdge(), vpMbtDistanceCylinder::initMovingEdge(), vpMbtDistanceLine::updateMovingEdge(), and vpMbtDistanceCylinder::updateMovingEdge().

void vpPoint::changeFrame ( const vpHomogeneousMatrix & cMo )

inlinevirtual

From the 3D coordinates of the point in the object frame set using for example setWorldCoordinates() or set_oX(), set_oY(), set_oZ(), compute the 3D coordinates of the point in the camera frame.

Parameters

cMo	: Transformation from camera to object frame.

Implements vpForwardProjection.

Definition at line 87 of file vpPoint.h.

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

virtual

Display the point in the image.

Implements vpForwardProjection.

Examples:: manGeometricFeatures.cpp, and servoAfma6Points2DCamVelocityEyeToHand.cpp.

Definition at line 309 of file vpPoint.cpp.

References vpFeatureDisplay::displayPoint(), and vpTracker::p.

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

virtual

Display the point in the image.

Implements vpForwardProjection.

Definition at line 252 of file vpPoint.cpp.

References changeFrame(), vpFeatureDisplay::displayPoint(), and projection().

void vpPoint::display	(	const vpImage< vpRGBa > &	I,
		const vpHomogeneousMatrix &	cMo,
		const vpCameraParameters &	cam,
		const vpColor &	color = `vpColor::green`,
		const unsigned int	thickness = `1`
	)

Display the point in the image.

Definition at line 273 of file vpPoint.cpp.

References changeFrame(), vpFeatureDisplay::displayPoint(), and projection().

vpPoint * vpPoint::duplicate ( ) const

virtual

For memory issue (used by the vpServo class only).

Implements vpForwardProjection.

Definition at line 242 of file vpPoint.cpp.

References vpPoint().

double vpPoint::get_oW ( ) const

inline

Get the point W coordinate in the object frame.

Definition at line 133 of file vpPoint.h.

double vpPoint::get_oX ( ) const

inline

Get the point X coordinate in the object frame.

Definition at line 127 of file vpPoint.h.

Referenced by vpMbtDistanceLine::buildFrom(), vpMbtDistanceCylinder::buildFrom(), vpPose::calculArbreDementhon(), vpPose::computeResidualDementhon(), vpPose::coplanar(), vpMbTracker::extractCylinders(), vpMbTracker::getGravityCenter(), vpPose::poseDementhonNonPlan(), vpPose::poseDementhonPlan(), vpPose::poseLagrangeNonPlan(), vpPose::poseLagrangePlan(), vpPose::poseLowe(), vpPose::poseRansac(), and vpPose::ransac().

double vpPoint::get_oY ( ) const

inline

Get the point Y coordinate in the object frame.

Definition at line 129 of file vpPoint.h.

Referenced by vpMbtDistanceLine::buildFrom(), vpMbtDistanceCylinder::buildFrom(), vpPose::calculArbreDementhon(), vpPose::computeResidualDementhon(), vpPose::coplanar(), vpMbTracker::extractCylinders(), vpPose::poseDementhonNonPlan(), vpPose::poseDementhonPlan(), vpPose::poseLagrangeNonPlan(), vpPose::poseLagrangePlan(), vpPose::poseLowe(), vpPose::poseRansac(), and vpPose::ransac().

double vpPoint::get_oZ ( ) const

inline

Get the point Z coordinate in the object frame.

Definition at line 131 of file vpPoint.h.

Referenced by vpMbtDistanceLine::buildFrom(), vpMbtDistanceCylinder::buildFrom(), vpPose::calculArbreDementhon(), vpPose::computeResidualDementhon(), vpPose::coplanar(), vpMbTracker::extractCylinders(), vpPose::poseDementhonNonPlan(), vpPose::poseDementhonPlan(), vpPose::poseLagrangeNonPlan(), vpPose::poseLagrangePlan(), vpPose::poseLowe(), vpPose::poseRansac(), and vpPose::ransac().

double vpPoint::get_W ( ) const

inline

Get the point W coordinate in the camera frame.

Definition at line 124 of file vpPoint.h.

Referenced by vpPlane::projectionPointOnPlan().

double vpPoint::get_w ( ) const

inline

Get the point w coordinate in the image plane.

Examples:: homographyHartleyDLT2DObject.cpp, homographyHLM2DObject.cpp, and homographyHLM3DObject.cpp.

Definition at line 140 of file vpPoint.h.

double vpPoint::get_X ( ) const

inline

Get the point X coordinate in the camera frame.

Definition at line 118 of file vpPoint.h.

Referenced by vpPlane::init(), vpMbtPolygon::isVisible(), vpPlane::projectionPointOnPlan(), vpPlane::rayIntersection(), vpImageSimulator::setCameraPosition(), and vpPlane::vpPlane().

double vpPoint::get_x ( ) const

inline

Get the point x coordinate in the image plane.

Examples:: homographyHartleyDLT2DObject.cpp, homographyHLM2DObject.cpp, homographyHLM3DObject.cpp, homographyRansac2DObject.cpp, servoAfma62DhalfCamVelocity.cpp, servoSimuFourPoints2DPolarCamVelocityDisplay.cpp, and testFindMatch.cpp.

Definition at line 136 of file vpPoint.h.

Referenced by vpPose::calculArbreDementhon(), vpHomography::computeDisplacement(), vpPose::computeResidual(), vpHomography::computeRotation(), vpFeatureBuilder::create(), vpPose::poseDementhonNonPlan(), vpPose::poseDementhonPlan(), vpPose::poseFromRectangle(), vpPose::poseLagrangeNonPlan(), vpPose::poseLagrangePlan(), vpPose::poseLowe(), vpPose::poseRansac(), vpPose::poseVirtualVS(), vpPose::poseVirtualVSrobust(), vpWireFrameSimulator::projectCameraTrajectory(), vpPose::ransac(), vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

double vpPoint::get_Y ( ) const

inline

Get the point Y coordinate in the camera frame.

Definition at line 120 of file vpPoint.h.

Referenced by vpPlane::init(), vpMbtPolygon::isVisible(), vpPlane::projectionPointOnPlan(), vpPlane::rayIntersection(), vpImageSimulator::setCameraPosition(), and vpPlane::vpPlane().

double vpPoint::get_y ( ) const

inline

Get the point y coordinate in the image plane.

Examples:: homographyHartleyDLT2DObject.cpp, homographyHLM2DObject.cpp, homographyHLM3DObject.cpp, homographyRansac2DObject.cpp, servoAfma62DhalfCamVelocity.cpp, servoSimuFourPoints2DPolarCamVelocityDisplay.cpp, and testFindMatch.cpp.

Definition at line 138 of file vpPoint.h.

Referenced by vpPose::calculArbreDementhon(), vpHomography::computeDisplacement(), vpPose::computeResidual(), vpHomography::computeRotation(), vpFeatureBuilder::create(), vpPose::poseDementhonNonPlan(), vpPose::poseDementhonPlan(), vpPose::poseFromRectangle(), vpPose::poseLagrangeNonPlan(), vpPose::poseLagrangePlan(), vpPose::poseLowe(), vpPose::poseRansac(), vpPose::poseVirtualVS(), vpPose::poseVirtualVSrobust(), vpWireFrameSimulator::projectCameraTrajectory(), vpPose::ransac(), vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

double vpPoint::get_Z ( ) const

inline

Get the point Z coordinate in the camera frame.

Examples:: servoAfma62DhalfCamVelocity.cpp, servoSimuPoint2DhalfCamVelocity2.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 122 of file vpPoint.h.

Referenced by vpFeatureBuilder::create(), vpProjectionDisplay::displayCamera(), vpPlane::init(), vpMbtPolygon::isVisible(), vpPose::poseVirtualVS(), vpPose::poseVirtualVSrobust(), vpPlane::projectionPointOnPlan(), vpPlane::rayIntersection(), vpImageSimulator::setCameraPosition(), and vpPlane::vpPlane().

vpForwardProjectionDeallocatorType vpForwardProjection::getDeallocate ( )

inlineinherited

Definition at line 229 of file vpForwardProjection.h.

void vpPoint::getWorldCoordinates	(	double &	ox,
		double &	oy,
		double &	oz
	)

Get the point world coordinates. We mean here the coordinates of the point in the object frame.

Definition at line 97 of file vpPoint.cpp.

References vpForwardProjection::oP.

void vpPoint::getWorldCoordinates ( vpColVector & _oP )

Get the point world coordinates. We mean here the coordinates of the point in the object frame.

Definition at line 108 of file vpPoint.cpp.

References vpForwardProjection::oP.

vpColVector vpPoint::getWorldCoordinates ( void )

Definition at line 118 of file vpPoint.cpp.

References vpForwardProjection::oP.

void vpPoint::init ( void )

virtual

Basic construction.

Implements vpForwardProjection.

Definition at line 57 of file vpPoint.cpp.

References vpTracker::cP, vpForwardProjection::oP, vpTracker::p, vpColVector::resize(), and set_Z().

Referenced by vpPoint().

vpPoint & vpPoint::operator= ( const vpPoint & vpp )

Definition at line 295 of file vpPoint.cpp.

References vpTracker::cP, vpTracker::cPAvailable, vpForwardProjection::oP, and vpTracker::p.

void vpForwardProjection::print ( ) const

virtualinherited

Print to stdout the feature parameters in:

the object frame
the camera frame
the image plane.

Examples:: servoSimuCircle2DCamVelocityDisplay.cpp, servoSimuLine2DCamVelocityDisplay.cpp, servoSimuSquareLine2DCamVelocityDisplay.cpp, and testPoseRansac.cpp.

Definition at line 63 of file vpForwardProjection.cpp.

References vpTracker::cP, vpForwardProjection::oP, vpTracker::p, and vpColVector::t().

void vpForwardProjection::project ( )

inherited

Compute the feature parameters in the image plane (vpTracker::p) from the parameters in the camera frame (vpTracker::cP).

Warning: Be careful to update vpTracker::p and vpTracker::cP public attributes before the call of this method.

Examples:: homographyHartleyDLT2DObject.cpp, homographyHLM2DObject.cpp, homographyHLM3DObject.cpp, homographyRansac2DObject.cpp, manGeometricFeatures.cpp, manServo4PointsDisplay.cpp, manSimu4Points.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6Cylinder2DCamVelocity.cpp, servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp, servoAfma6Line2DCamVelocity.cpp, servoAfma6SquareLines2DCamVelocity.cpp, servoAfma6TwoLines2DCamVelocity.cpp, servoPioneerPanSegment3D.cpp, simulateFourPoints2DPolarCamVelocity.cpp, testFeatureSegment.cpp, testFindMatch.cpp, testPose.cpp, testPoseFeatures.cpp, and testPoseRansac.cpp.

Definition at line 79 of file vpForwardProjection.cpp.

References vpTracker::cP, vpTracker::p, and vpForwardProjection::projection().

Referenced by vpForwardProjection::track().

void vpForwardProjection::project ( const vpHomogeneousMatrix & cMo )

inherited

Compute the feature parameters in the camera frame (vpTracker::cP) and than compute the projection of these parameters in the image plane (vpTracker::p).

Warning: The feature parameters in the object frame (vpForwardProjection:oP) need to be set prior the use of this method. To initialize these parameters see setWorldCoordinates().

Parameters

cMo	: The homogeneous matrix corresponding to the pose between the camera frame and the object frame.

Definition at line 99 of file vpForwardProjection.cpp.

References vpForwardProjection::changeFrame(), vpForwardProjection::projection(), and vpERROR_TRACE.

void vpPoint::projection	(	const vpColVector &	_cP,
		vpColVector &	_p
	)

virtual

Projection onto the image plane of a point. Input: the 3D coordinates in the camera frame _cP, output : the 2D coordinates _p.

Compute the perspective projection of a point _cP.

Parameters

_cP	: Three dimension vector that corresponds to the coordinates of the point in the camera frame.
_p	: Coordinates of the point in the image plane obtained by perspective projection.

Implements vpForwardProjection.

Examples:: servoAfma6FourPoints2DCamVelocityInteractionCurrent.cpp, servoAfma6FourPoints2DCamVelocityInteractionDesired.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoViper650FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper650FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper850FourPoints2DCamVelocityInteractionCurrent.cpp, and servoViper850FourPointsKinect.cpp.

Definition at line 132 of file vpPoint.cpp.

References vpColVector::resize().

Referenced by vpMbtPolygon::changeFrame(), vpPose::computeResidual(), vpMbtPolygon::computeRoiClipped(), vpMbtDistanceCylinder::display(), vpMbtDistanceCylinder::initMovingEdge(), and vpMbtDistanceCylinder::updateMovingEdge().

void vpPoint::projection ( )

inlinevirtual

Perspective projection of the point.

Projection onto the //image plane of the point. Update the object attribute p (2D //homogeneous coordinates) according to object attribute cP (current //3D coordinates in the camera frame).

Implements vpForwardProjection.

Definition at line 167 of file vpPoint.h.

Referenced by display().

void vpPoint::set_oW ( const double W )

inline

Set the point W coordinate in the object frame.

Definition at line 191 of file vpPoint.h.

void vpPoint::set_oX ( const double X )

inline

Set the point X coordinate in the object frame.

Definition at line 185 of file vpPoint.h.

Referenced by vpPose::poseDementhonNonPlan(), and vpPose::poseDementhonPlan().

void vpPoint::set_oY ( const double Y )

inline

Set the point Y coordinate in the object frame.

Definition at line 187 of file vpPoint.h.

Referenced by vpPose::poseDementhonNonPlan(), and vpPose::poseDementhonPlan().

void vpPoint::set_oZ ( const double Z )

inline

Set the point Z coordinate in the object frame.

Definition at line 189 of file vpPoint.h.

Referenced by vpPose::poseDementhonNonPlan(), and vpPose::poseDementhonPlan().

void vpPoint::set_W ( const double W )

inline

Set the point W coordinate in the camera frame.

Definition at line 182 of file vpPoint.h.

Referenced by vpPlane::projectionPointOnPlan().

void vpPoint::set_w ( const double w )

inline

Set the point w coordinate in the image plane.

Definition at line 198 of file vpPoint.h.

void vpPoint::set_X ( const double X )

inline

Set the point X coordinate in the camera frame.

Definition at line 176 of file vpPoint.h.

Referenced by vpMbtPolygon::isVisible(), and vpPlane::projectionPointOnPlan().

void vpPoint::set_x ( const double x )

inline

void vpPoint::set_Y ( const double Y )

inline

Set the point Y coordinate in the camera frame.

Definition at line 178 of file vpPoint.h.

Referenced by vpMbtPolygon::isVisible(), and vpPlane::projectionPointOnPlan().

void vpPoint::set_y ( const double y )

inline

void vpPoint::set_Z ( const double Z )

inline

Set the point Z coordinate in the camera frame.

Definition at line 180 of file vpPoint.h.

Referenced by init(), vpMbtPolygon::isVisible(), and vpPlane::projectionPointOnPlan().

void vpForwardProjection::setDeallocate ( vpForwardProjectionDeallocatorType d )

inlineinherited

Definition at line 228 of file vpForwardProjection.h.

void vpPoint::setWorldCoordinates	(	const double	ox,
		const double	oy,
		const double	oz
	)

Set the point world coordinates. We mean here the coordinates of the point in the object frame.

set the point world coordinates

Examples:: AROgre.cpp, AROgreBasic.cpp, homographyHartleyDLT2DObject.cpp, homographyHLM2DObject.cpp, homographyHLM3DObject.cpp, homographyRansac2DObject.cpp, manGeometricFeatures.cpp, manServo4PointsDisplay.cpp, manServoMomentsSimple.cpp, manSimu4Dots.cpp, manSimu4Points.cpp, poseVirtualVS.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6FourPoints2DCamVelocityInteractionCurrent.cpp, servoAfma6FourPoints2DCamVelocityInteractionDesired.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoMomentPoints.cpp, servoMomentPolygon.cpp, servoPioneerPanSegment3D.cpp, servoSimu4Points.cpp, servoSimuAfma6FourPoints2DCamVelocity.cpp, servoSimuFourPoints2DCamVelocity.cpp, servoSimuFourPoints2DCamVelocityDisplay.cpp, servoSimuFourPoints2DPolarCamVelocityDisplay.cpp, servoSimuPoint2DCamVelocity1.cpp, servoSimuPoint2DCamVelocity2.cpp, servoSimuPoint2DCamVelocity3.cpp, servoSimuPoint2DhalfCamVelocity1.cpp, servoSimuPoint2DhalfCamVelocity2.cpp, servoSimuPoint2DhalfCamVelocity3.cpp, servoSimuPoint3DCamVelocity.cpp, servoSimuViper850FourPoints2DCamVelocity.cpp, servoViper650FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper650FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper850FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPointsKinect.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, simulateFourPoints2DPolarCamVelocity.cpp, testFeatureSegment.cpp, testPose.cpp, testPoseFeatures.cpp, testPoseRansac.cpp, testRobotAfma6Pose.cpp, testRobotViper850Pose.cpp, tutorial-ibvs-4pts-ogre.cpp, tutorial-ibvs-4pts-plotter.cpp, tutorial-ibvs-4pts.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 74 of file vpPoint.cpp.

References vpForwardProjection::oP.

Referenced by vpMbtDistanceLine::buildFrom(), vpPose::computeResidual(), vpPose::computeTransformation(), vpDisplay::displayCamera(), vpDisplay::displayFrame(), vpMbTracker::extractCylinders(), vpMbTracker::extractFaces(), vpMbTracker::extractLines(), vpPose::findMatch(), vpMbTracker::getGravityCenter(), vpProjectionDisplay::init(), vpMbTracker::initClick(), vpMbTracker::initFromPoints(), vpMbTracker::loadCAOModel(), vpPose::poseFromRectangle(), vpWireFrameSimulator::projectCameraTrajectory(), vpPose::ransac(), vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

void vpPoint::setWorldCoordinates ( const vpColVector & _oP )

virtual

Set the point world coordinates. We mean here the coordinates of the point in the object frame.

Implements vpForwardProjection.

Definition at line 86 of file vpPoint.cpp.

References vpForwardProjection::oP.

void vpForwardProjection::track ( const vpHomogeneousMatrix & cMo )

inherited

Track the feature parameters in the camera frame (vpTracker::cP) and than compute the projection of these parameters in the image plane (vpTracker::p).

This method is similar to project(const vpHomogeneousMatrix &).

Warning: The feature parameters in the object frame (vpForwardProjection:oP) need to be set prior the use of this method. To initialize these parameters see setWorldCoordinates().

Parameters