#include <vpCircle.h>

Inheritance diagram for vpCircle:

Public Types
enum	vpLineCircleType { line1, line2 }

enum	vpForwardProjectionDeallocatorType { user, vpDisplayForwardProjection }

Public Member Functions
void	init ()

	vpCircle ()

virtual	~vpCircle ()

	vpCircle (const vpColVector &oP)

	vpCircle (const double A, const double B1, const double C, const double X0, const double Y0, const double Z0, const double R)

void	setWorldCoordinates (const vpColVector &oP)

void	setWorldCoordinates (const double A, const double B1, const double C, const double X0, const double Y0, const double Z0, const double R)

double	getA () const

double	getB () const

double	getC () const

double	getX () const

double	getY () const

double	getZ () const

double	getR () const

void	projection ()

void	projection (const vpColVector &cP, vpColVector &p)

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)

vpCircle *	duplicate () const

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

Detailed Description

Class that defines what is a circle.

Examples:: manGeometricFeatures.cpp, servoSimuCircle2DCamVelocity.cpp, servoSimuCircle2DCamVelocityDisplay.cpp, simulateCircle2DCamVelocity.cpp, and testPoseFeatures.cpp.

Definition at line 61 of file vpCircle.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.

enum vpCircle::vpLineCircleType

Enumerator
line1
line2

Definition at line 69 of file vpCircle.h.

Constructor & Destructor Documentation

vpCircle::vpCircle ( )

Definition at line 101 of file vpCircle.cpp.

References init().

Referenced by duplicate().

vpCircle::~vpCircle ( )

virtual

Definition at line 146 of file vpCircle.cpp.

vpCircle::vpCircle ( const vpColVector & oP_ )

Construct the circle from the intersection of a plane and a sphere.

Parameters

oP_	: oP[0], oP[1], oP[2] correspond to A, B, C from the plane equation Ax + By + Cz = 0. oP[3], oP[4], oP[5] correspond to X, Y, Z the coordinates of the center of the sphere. oP[6] corresponds to the radius of the sphere.

See also: setWorldCoordinates()

Definition at line 115 of file vpCircle.cpp.

References init(), and setWorldCoordinates().

vpCircle::vpCircle	(	const double	A,
		const double	B,
		const double	C,
		const double	X0,
		const double	Y0,
		const double	Z0,
		const double	R
	)

Construct the circle from the intersection of a plane and a sphere.

Parameters

A	: A from the plane equation Ax + By + Cz = 0.
B	: A from the plane equation Ax + By + Cz = 0.
C	: A from the plane equation Ax + By + Cz = 0.
X0	: X Coordinate of the center of the sphere.
Y0	: Y Coordinate of the center of the sphere.
Z0	: Z Coordinate of the center of the sphere.
R	: Radius of the sphere.

See also: setWorldCoordinates()

Definition at line 134 of file vpCircle.cpp.

References init(), and setWorldCoordinates().

Member Function Documentation

void vpCircle::changeFrame	(	const vpHomogeneousMatrix &	cMo,
		vpColVector &	cP
	)

virtual

perspective projection of the circle

Implements vpForwardProjection.

Definition at line 251 of file vpCircle.cpp.

References vpForwardProjection::oP.

Referenced by vpMbtDistanceCylinder::computeInteractionMatrixError(), display(), vpMbtDistanceCylinder::display(), vpMbtDistanceCylinder::initMovingEdge(), and vpMbtDistanceCylinder::updateMovingEdge().

void vpCircle::changeFrame ( const vpHomogeneousMatrix & cMo )

virtual

perspective projection of the circle

Implements vpForwardProjection.

Definition at line 281 of file vpCircle.cpp.

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

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

virtual

Displays the feature in the image I thanks to the 2D feature parameters in the image plane (vpTracker::p) and the camera parameters which enable to convert the features from meter to pixel.

Parameters

I	: The image where the feature must be displayed in overlay.
cam	: The camera parameters to enable the conversion from meter to pixel.
color	: The desired color to display the line in the image.
thickness	: Thickness of the feature representation.

Implements vpForwardProjection.

Examples:: manGeometricFeatures.cpp.

Definition at line 309 of file vpCircle.cpp.

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

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

virtual

Displays the feature in the image I thanks to the features in the object frame (vpForwardProjection::oP), the homogeneous matrix relative to the pose between the object frame and the camera frame and the camera parameters which enable to convert the features from meter to pixel.

Parameters

I	: The image where the line must be displayed in overlay.
cMo	: The homogeneous matrix corresponding to the pose between the camera frame and the object frame.
cam	: The camera parameters to enable the conversion from meter to pixel.
color	: The desired color to display the line in the image.
thickness	: Thickness of the feature representation.

Implements vpForwardProjection.

Definition at line 319 of file vpCircle.cpp.

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

vpCircle * vpCircle::duplicate ( ) const

virtual

for memory issue (used by the vpServo class only)

Implements vpForwardProjection.

Definition at line 333 of file vpCircle.cpp.

References vpCircle().

double vpCircle::getA ( ) const

inline

Definition at line 91 of file vpCircle.h.

double vpCircle::getB ( ) const

inline

Definition at line 92 of file vpCircle.h.

double vpCircle::getC ( ) const

inline

Definition at line 93 of file vpCircle.h.

vpForwardProjectionDeallocatorType vpForwardProjection::getDeallocate ( )

inlineinherited

Definition at line 231 of file vpForwardProjection.h.

double vpCircle::getR ( ) const

inline

Definition at line 99 of file vpCircle.h.

double vpCircle::getX ( ) const

inline

Definition at line 95 of file vpCircle.h.

double vpCircle::getY ( ) const

inline

Definition at line 96 of file vpCircle.h.

double vpCircle::getZ ( ) const

inline

Definition at line 97 of file vpCircle.h.

void vpCircle::init ( )

virtual

Default initialisation of the feature parameters:

in the object frame: oP
in the camera frame: cP
in the image plane: p.

Implements vpForwardProjection.

Definition at line 48 of file vpCircle.cpp.

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

Referenced by vpCircle().

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, 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 vpCircle::projection ( )

virtual

perspective projection of the circle

Implements vpForwardProjection.

Definition at line 155 of file vpCircle.cpp.

References vpTracker::cP, and vpTracker::p.

Referenced by vpMbtDistanceCylinder::computeInteractionMatrixError(), display(), vpMbtDistanceCylinder::display(), vpMbtDistanceCylinder::initMovingEdge(), and vpMbtDistanceCylinder::updateMovingEdge().

void vpCircle::projection	(	const vpColVector &	cP,
		vpColVector &	p
	)

virtual

Perspective projection of the circle.

Implements vpForwardProjection.

Definition at line 162 of file vpCircle.cpp.

References vpException::divideByZeroError, vpMath::sqr(), and vpERROR_TRACE.

void vpForwardProjection::setDeallocate ( vpForwardProjectionDeallocatorType d )

inlineinherited

Definition at line 230 of file vpForwardProjection.h.

void vpCircle::setWorldCoordinates ( const vpColVector & oP_ )

virtual

Set the world coordinates of the circle from the intersection of a plane and a sphere. We mean here the coordinates of the circle in the object frame

Parameters

oP_	: oP[0], oP[1], oP[2] correspond to A, B, C from the plane equation Ax + By + Cz = 0. oP[3], oP[4], oP[5] correspond to X, Y, Z the coordinates of the center of the sphere. oP[6] corresponds to the radius of the sphere.

Implements vpForwardProjection.

Examples:: manGeometricFeatures.cpp, servoSimuCircle2DCamVelocity.cpp, servoSimuCircle2DCamVelocityDisplay.cpp, simulateCircle2DCamVelocity.cpp, and testPoseFeatures.cpp.

Definition at line 66 of file vpCircle.cpp.

References vpForwardProjection::oP.

Referenced by vpMbtDistanceCylinder::buildFrom(), and vpCircle().

void vpCircle::setWorldCoordinates	(	const double	A,
		const double	B,
		const double	C,
		const double	X0,
		const double	Y0,
		const double	Z0,
		const double	R
	)

Set the world coordinates of the circle from the intersection of a plane and a sphere. We mean here the coordinates of the circle in the object frame

Parameters

A	: A from the plane equation Ax + By + Cz = 0.
B	: A from the plane equation Ax + By + Cz = 0.
C	: A from the plane equation Ax + By + Cz = 0.
X0	: X Coordinate of the center of the sphere.
Y0	: Y Coordinate of the center of the sphere.
Z0	: Z Coordinate of the center of the sphere.
R	: Radius of the sphere.

Definition at line 84 of file vpCircle.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