#include <visp3/core/vpPoint.h>

Inheritance diagram for vpPoint:

Public Types
enum	vpForwardProjectionDeallocatorType { user, vpDisplayForwardProjection }

Public Member Functions
	vpPoint ()

	vpPoint (double oX, double oY, double oZ)

	vpPoint (const vpColVector &P)

	vpPoint (const std::vector< double > &P)

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 &P)

vpColVector	getWorldCoordinates (void)

void	getWorldCoordinates (std::vector< double > &P)

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 oX)

void	set_oY (const double oY)

void	set_oZ (const double oZ)

void	set_oW (const double oW)

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 &P)

void	setWorldCoordinates (const std::vector< double > &P)

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, const vpPoint &vpp)

Detailed Description

Class that defines what is a point.

Examples:: AROgre.cpp, AROgreBasic.cpp, homographyHartleyDLT2DObject.cpp, homographyHLM2DObject.cpp, homographyHLM3DObject.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, testConvert.cpp, testFeatureSegment.cpp, testFindMatch.cpp, testKeyPoint-4.cpp, testPose.cpp, testPoseFeatures.cpp, testPoseRansac.cpp, testRobotAfma6Pose.cpp, testRobotViper850Pose.cpp, tutorial-homography-from-points.cpp, tutorial-ibvs-4pts-display.cpp, tutorial-ibvs-4pts-image-tracking.cpp, tutorial-ibvs-4pts-ogre-tracking.cpp, tutorial-ibvs-4pts-ogre.cpp, tutorial-ibvs-4pts-plotter-continuous-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter.cpp, tutorial-ibvs-4pts-wireframe-robot-afma6.cpp, tutorial-ibvs-4pts-wireframe-robot-viper.cpp, tutorial-ibvs-4pts.cpp, tutorial-pose-from-points-image.cpp, tutorial-pose-from-points-tracking.cpp, tutorial-simu-pioneer-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 59 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 215 of file vpForwardProjection.h.

Constructor & Destructor Documentation

vpPoint::vpPoint ( )

Basic constructor.

Definition at line 61 of file vpPoint.cpp.

References init().

vpPoint::vpPoint	(	double	oX,
		double	oY,
		double	oZ
	)

Construction from 3D coordinates in the object frame.

Parameters

oX,oY,oZ Coordinates of a 3D point in the object frame.

Definition at line 70 of file vpPoint.cpp.

References init(), and setWorldCoordinates().

vpPoint::vpPoint ( const vpColVector & P )

Construction from 3D point world coordinates. We mean here the coordinates of the point in the object frame.

Parameters

P

Vector containing the coordinates of the 3D point in the object frame. This vector could be of dimension 3 or 4.

If dimension is 3, P corresponds to the normalized coordinates P = (X, Y, Z, 1) where P[0]=X, P[1]=Y, P[2]=Z.
If dimension is 4, P corresponds to the normalized coordinates P = (X, Y, Z, W) where P[0]=X, P[1]=Y, P[2]=Z and P[3]=W.

Definition at line 85 of file vpPoint.cpp.

References init(), and setWorldCoordinates().

vpPoint::vpPoint ( const std::vector< double > & P )

Construction from 3D point world coordinates. We mean here the coordinates of the point in the object frame.

Parameters

P

Vector containing the coordinates of the 3D point in the object frame. This vector could be of dimension 3 or 4.

If dimension is 3, P corresponds to the normalized coordinates P = (X, Y, Z, 1) where P[0]=X, P[1]=Y, P[2]=Z.
If dimension is 4, P corresponds to the normalized coordinates P = (X, Y, Z, W) where P[0]=X, P[1]=Y, P[2]=Z and P[3]=W.

Definition at line 100 of file vpPoint.cpp.

References init(), and setWorldCoordinates().

virtual vpPoint::~vpPoint ( )

inlinevirtual

Destructor.

Definition at line 69 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 247 of file vpPoint.cpp.

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

Referenced by vpPolygon3D::changeFrame(), vpMbtDistanceKltCylinder::computeInteractionMatrixAndResidu(), display(), vpMbtDistanceLine::display(), vpMbtDistanceCylinder::display(), vpMbtDistanceLine::initMovingEdge(), vpMbtDistanceCylinder::initMovingEdge(), vpMbtDistanceLine::updateMovingEdge(), and vpMbtDistanceCylinder::updateMovingEdge().

void vpPoint::changeFrame ( const vpHomogeneousMatrix & cMo )

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.

Implements vpForwardProjection.

Definition at line 272 of file vpPoint.cpp.

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

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 428 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 371 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 392 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 361 of file vpPoint.cpp.

double vpPoint::get_oW ( ) const

Get the point W coordinate in the object frame.

Definition at line 453 of file vpPoint.cpp.

References vpForwardProjection::oP.

double vpPoint::get_oX ( ) const

Get the point X coordinate in the object frame.

Examples:: testConvert.cpp.

Definition at line 447 of file vpPoint.cpp.

References vpForwardProjection::oP.

Referenced by vpMbTracker::addPolygon(), vpMbtDistanceCircle::buildFrom(), vpMbtDistanceLine::buildFrom(), vpMbtDistanceKltCylinder::buildFrom(), vpMbtDistanceCylinder::buildFrom(), vpPose::coplanar(), vpMbTracker::createCylinderBBox(), vpMbTracker::extractCylinders(), vpMbTracker::getGravityCenter(), vpPlane::init(), vpPose::poseDementhonNonPlan(), vpPose::poseDementhonPlan(), vpPose::poseLagrangeNonPlan(), vpPose::poseLagrangePlan(), vpPose::poseLowe(), vpPose::poseRansac(), vpMbEdgeTracker::samePoint(), and vpPlane::vpPlane().

double vpPoint::get_oY ( ) const

Get the point Y coordinate in the object frame.

Examples:: testConvert.cpp.

Definition at line 449 of file vpPoint.cpp.

References vpForwardProjection::oP.

Referenced by vpMbTracker::addPolygon(), vpMbtDistanceCircle::buildFrom(), vpMbtDistanceLine::buildFrom(), vpMbtDistanceKltCylinder::buildFrom(), vpMbtDistanceCylinder::buildFrom(), vpPose::coplanar(), vpMbTracker::createCylinderBBox(), vpMbTracker::extractCylinders(), vpPlane::init(), vpPose::poseDementhonNonPlan(), vpPose::poseDementhonPlan(), vpPose::poseLagrangeNonPlan(), vpPose::poseLagrangePlan(), vpPose::poseLowe(), vpPose::poseRansac(), vpMbEdgeTracker::samePoint(), and vpPlane::vpPlane().

double vpPoint::get_oZ ( ) const

Get the point Z coordinate in the object frame.

Examples:: testConvert.cpp.

Definition at line 451 of file vpPoint.cpp.

References vpForwardProjection::oP.

Referenced by vpMbTracker::addPolygon(), vpMbtDistanceCircle::buildFrom(), vpMbtDistanceLine::buildFrom(), vpMbtDistanceKltCylinder::buildFrom(), vpMbtDistanceCylinder::buildFrom(), vpPose::coplanar(), vpMbTracker::createCylinderBBox(), vpMbTracker::extractCylinders(), vpPlane::init(), vpPose::poseDementhonNonPlan(), vpPose::poseDementhonPlan(), vpPose::poseLagrangeNonPlan(), vpPose::poseLagrangePlan(), vpPose::poseLowe(), vpPose::poseRansac(), vpMbEdgeTracker::samePoint(), and vpPlane::vpPlane().

double vpPoint::get_W ( ) const

Get the point W coordinate in the camera frame.

Definition at line 444 of file vpPoint.cpp.

References vpTracker::cP.

Referenced by vpHomogeneousMatrix::operator*(), and vpPlane::projectionPointOnPlan().

double vpPoint::get_w ( ) const

Get the point w coordinate in the image plane.

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

Definition at line 460 of file vpPoint.cpp.

References vpTracker::p.

Referenced by vpHomography::operator*().

double vpPoint::get_X ( ) const

Get the point X coordinate in the camera frame.

Definition at line 438 of file vpPoint.cpp.

References vpTracker::cP.

Referenced by vpPlane::init(), vpMbtPolygon::isVisible(), vpHomogeneousMatrix::operator*(), vpPlane::projectionPointOnPlan(), vpPlane::rayIntersection(), and vpPlane::vpPlane().

double vpPoint::get_x ( ) const

Get the point x coordinate in the image plane.

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

Definition at line 456 of file vpPoint.cpp.

References vpTracker::p.

Referenced by vpMbtDistanceKltCylinder::computeInteractionMatrixAndResidu(), vpPose::computeResidual(), vpFeatureBuilder::create(), vpMbTracker::getPolygonFaces(), vpKeyPoint::matchPointAndDetect(), vpHomography::operator*(), vpPose::poseFromRectangle(), vpPose::poseLagrangeNonPlan(), vpPose::poseLagrangePlan(), vpPose::poseLowe(), vpPose::poseRansac(), vpPose::poseVirtualVS(), vpPose::poseVirtualVSrobust(), vpHomography::project(), vpWireFrameSimulator::projectCameraTrajectory(), vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

double vpPoint::get_Y ( ) const

Get the point Y coordinate in the camera frame.

Definition at line 440 of file vpPoint.cpp.

References vpTracker::cP.

Referenced by vpPlane::init(), vpMbtPolygon::isVisible(), vpHomogeneousMatrix::operator*(), vpPlane::projectionPointOnPlan(), vpPlane::rayIntersection(), and vpPlane::vpPlane().

double vpPoint::get_y ( ) const

Get the point y coordinate in the image plane.

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

Definition at line 458 of file vpPoint.cpp.

References vpTracker::p.

Referenced by vpMbtDistanceKltCylinder::computeInteractionMatrixAndResidu(), vpPose::computeResidual(), vpFeatureBuilder::create(), vpMbTracker::getPolygonFaces(), vpKeyPoint::matchPointAndDetect(), vpHomography::operator*(), vpPose::poseFromRectangle(), vpPose::poseLagrangeNonPlan(), vpPose::poseLagrangePlan(), vpPose::poseLowe(), vpPose::poseRansac(), vpPose::poseVirtualVS(), vpPose::poseVirtualVSrobust(), vpHomography::project(), vpWireFrameSimulator::projectCameraTrajectory(), vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

double vpPoint::get_Z ( ) const

Get the point Z coordinate in the camera frame.

Examples:: servoAfma62DhalfCamVelocity.cpp, tutorial-simu-pioneer-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 442 of file vpPoint.cpp.

References vpTracker::cP.

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

vpForwardProjectionDeallocatorType vpForwardProjection::getDeallocate ( )

inlineinherited

Definition at line 227 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 183 of file vpPoint.cpp.

References vpForwardProjection::oP.

void vpPoint::getWorldCoordinates ( vpColVector & P )

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

Parameters

P	Normalized coordinates of the point in the object frame P = (X, Y, Z, 1)

Definition at line 196 of file vpPoint.cpp.

References vpForwardProjection::oP.

vpColVector vpPoint::getWorldCoordinates ( void )

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

Returns: Normalized coordinates of the point in the object frame P = (X, Y, Z, 1)

Definition at line 217 of file vpPoint.cpp.

References vpForwardProjection::oP.

void vpPoint::getWorldCoordinates ( std::vector< double > & P )

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

Parameters

P	Normalized coordinates of the point in the object frame P = (X, Y, Z, 1)

Definition at line 205 of file vpPoint.cpp.

References vpForwardProjection::oP, vpColVector::resize(), and vpArray2D< Type >::size().

void vpPoint::init ( )

virtual

Basic construction.

Implements vpForwardProjection.

Definition at line 51 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 414 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, and servoSimuSquareLine2DCamVelocityDisplay.cpp.

Definition at line 59 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, and testPoseFeatures.cpp.

Definition at line 75 of file vpForwardProjection.cpp.

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

Referenced by vpMbtDistanceKltCylinder::computeInteractionMatrixAndResidu(), vpMbTracker::getPolygonFaces(), vpKeyPoint::matchPointAndDetect(), and 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 95 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 229 of file vpPoint.cpp.

References vpColVector::resize().

Referenced by vpPolygon3D::changeFrame(), vpPolygon3D::computePolygonClipped(), vpMbtDistanceCylinder::display(), vpMbtDistanceCylinder::initMovingEdge(), and vpMbtDistanceCylinder::updateMovingEdge().

void vpPoint::projection ( )

virtual

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 470 of file vpPoint.cpp.

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

Referenced by display().

void vpPoint::set_oW ( const double oW )

Set the point W coordinate in the object frame.

Definition at line 493 of file vpPoint.cpp.

References vpForwardProjection::oP.

Referenced by vpHomogeneousMatrix::operator*().

void vpPoint::set_oX ( const double oX )

Set the point X coordinate in the object frame.

Examples:: testConvert.cpp.

Definition at line 487 of file vpPoint.cpp.

References vpForwardProjection::oP.

Referenced by vpHomogeneousMatrix::operator*(), vpPose::poseDementhonNonPlan(), and vpPose::poseDementhonPlan().

void vpPoint::set_oY ( const double oY )

Set the point Y coordinate in the object frame.

Examples:: testConvert.cpp.

Definition at line 489 of file vpPoint.cpp.

References vpForwardProjection::oP.

Referenced by vpHomogeneousMatrix::operator*(), vpPose::poseDementhonNonPlan(), and vpPose::poseDementhonPlan().

void vpPoint::set_oZ ( const double oZ )

Set the point Z coordinate in the object frame.

Examples:: testConvert.cpp.

Definition at line 491 of file vpPoint.cpp.

References vpForwardProjection::oP.

Referenced by vpHomogeneousMatrix::operator*(), vpPose::poseDementhonNonPlan(), and vpPose::poseDementhonPlan().

void vpPoint::set_W ( const double W )

Set the point W coordinate in the camera frame.

Definition at line 484 of file vpPoint.cpp.

References vpTracker::cP.

Referenced by vpHomogeneousMatrix::operator*(), and vpPlane::projectionPointOnPlan().

void vpPoint::set_w ( const double w )

Set the point w coordinate in the image plane.

Definition at line 500 of file vpPoint.cpp.

References vpTracker::p.

Referenced by vpHomography::operator*().

void vpPoint::set_X ( const double X )

Set the point X coordinate in the camera frame.

Definition at line 478 of file vpPoint.cpp.

References vpTracker::cP.

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

void vpPoint::set_x ( const double x )

Set the point x coordinate in the image plane.

Examples:: AROgre.cpp, AROgreBasic.cpp, poseVirtualVS.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6FourPoints2DCamVelocityInteractionCurrent.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoViper650FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper650FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper850FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPointsKinect.cpp, testRobotAfma6Pose.cpp, and testRobotViper850Pose.cpp.

Definition at line 496 of file vpPoint.cpp.

References vpTracker::p.

Referenced by vpPose::findMatch(), vpMbTracker::initClick(), vpMbTracker::initFromPoints(), vpKeyPoint::matchPoint(), vpHomography::operator*(), and vpHomography::project().

void vpPoint::set_Y ( const double Y )

Set the point Y coordinate in the camera frame.

Definition at line 480 of file vpPoint.cpp.

References vpTracker::cP.

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

void vpPoint::set_y ( const double y )

Set the point y coordinate in the image plane.

Examples:: AROgre.cpp, AROgreBasic.cpp, poseVirtualVS.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6FourPoints2DCamVelocityInteractionCurrent.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoViper650FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper650FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper850FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPointsKinect.cpp, testRobotAfma6Pose.cpp, and testRobotViper850Pose.cpp.

Definition at line 498 of file vpPoint.cpp.

References vpTracker::p.

Referenced by vpPose::findMatch(), vpMbTracker::initClick(), vpMbTracker::initFromPoints(), vpKeyPoint::matchPoint(), vpHomography::operator*(), and vpHomography::project().

void vpPoint::set_Z ( const double Z )

Set the point Z coordinate in the camera frame.

Definition at line 482 of file vpPoint.cpp.

References vpTracker::cP.

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

void vpForwardProjection::setDeallocate ( vpForwardProjectionDeallocatorType d )

inlineinherited

Definition at line 226 of file vpForwardProjection.h.

void vpPoint::setWorldCoordinates	(	const double	oX,
		const double	oY,
		const double	oZ
	)

Set the 3D point world coordinates. We mean here the coordinates of the point in the object frame.

Parameters

oX,oY,oZ Coordinates of a 3D point in the object frame.

Examples:: AROgre.cpp, AROgreBasic.cpp, homographyHartleyDLT2DObject.cpp, homographyHLM2DObject.cpp, homographyHLM3DObject.cpp, manGeometricFeatures.cpp, manServo4PointsDisplay.cpp, manSimu4Dots.cpp, manSimu4Points.cpp, poseVirtualVS.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6FourPoints2DCamVelocityInteractionCurrent.cpp, servoAfma6FourPoints2DCamVelocityInteractionDesired.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoPioneerPanSegment3D.cpp, servoSimu4Points.cpp, servoSimuAfma6FourPoints2DCamVelocity.cpp, servoSimuFourPoints2DCamVelocity.cpp, servoSimuFourPoints2DCamVelocityDisplay.cpp, servoSimuFourPoints2DPolarCamVelocityDisplay.cpp, servoSimuViper850FourPoints2DCamVelocity.cpp, servoViper650FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper650FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper850FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPointsKinect.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, simulateFourPoints2DPolarCamVelocity.cpp, testFeatureSegment.cpp, testPose.cpp, testRobotAfma6Pose.cpp, testRobotViper850Pose.cpp, tutorial-ibvs-4pts-ogre.cpp, tutorial-ibvs-4pts-plotter-continuous-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter.cpp, and tutorial-ibvs-4pts.cpp.

Definition at line 111 of file vpPoint.cpp.

References vpForwardProjection::oP.

Referenced by vpMbTracker::addPolygon(), vpKeyPoint::compute3D(), vpDisplay::displayCamera(), vpMbTracker::extractCylinders(), vpMbTracker::extractFaces(), vpMbTracker::extractLines(), vpMbTracker::getGravityCenter(), vpProjectionDisplay::init(), vpMbtDistanceKltCylinder::init(), vpMbTracker::initClick(), vpMbTracker::initFromPoints(), vpMbTracker::loadCAOModel(), vpKeyPoint::matchPoint(), vpPose::poseFromRectangle(), vpWireFrameSimulator::projectCameraTrajectory(), and vpPoint().

void vpPoint::setWorldCoordinates ( const vpColVector & P )

virtual

Set the 3D point world coordinates. We mean here the coordinates of the point in the object frame.

Parameters

P

Vector containing the coordinates of the 3D point in the object frame. This vector could be of dimension 3 or 4.

If dimension is 3, P corresponds to the normalized coordinates P = (X, Y, Z, 1) where P[0]=X, P[1]=Y, P[2]=Z.
If dimension is 4, P corresponds to the normalized coordinates P = (X, Y, Z, W) where P[0]=X, P[1]=Y, P[2]=Z and P[3]=W.

Implements vpForwardProjection.

Definition at line 129 of file vpPoint.cpp.

References vpException::dimensionError, vpForwardProjection::oP, and vpArray2D< Type >::size().

void vpPoint::setWorldCoordinates ( const std::vector< double > & P )

Set the 3D point world coordinates. We mean here the coordinates of the point in the object frame.

Parameters

P

Vector containing the coordinates of the 3D point in the object frame. This vector could be of dimension 3 or 4.

If dimension is 3, P corresponds to the normalized coordinates P = (X, Y, Z, 1) where P[0]=X, P[1]=Y, P[2]=Z.
If dimension is 4, P corresponds to the normalized coordinates P = (X, Y, Z, W) where P[0]=X, P[1]=Y, P[2]=Z and P[3]=W.

Definition at line 160 of file vpPoint.cpp.

References vpException::dimensionError, and 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