#include <visp3/core/vpCylinder.h>

Inheritance diagram for vpCylinder:

Public Types
enum	vpLineCylinderType { line1, line2 }

enum	vpForwardProjectionDeallocatorType { user, vpDisplayForwardProjection }

Public Member Functions
	vpCylinder ()

	vpCylinder (const vpColVector &oP)

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

virtual	~vpCylinder ()

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

void	changeFrame (const vpHomogeneousMatrix &cMo)

double	computeZ (const double x, const double y) const

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)

vpCylinder *	duplicate () const

double	getRho1 () const

double	getTheta1 () const

double	getRho2 () const

double	getTheta2 () const

double	getA () const

double	getB () const

double	getC () const

double	getX () const

double	getY () const

double	getZ () const

double	getR () const

void	init ()

void	projection ()

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

void	setWorldCoordinates (const vpColVector &oP)

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

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 cylinder.

A cylinder may be represented by the equation: $(X - X_0)^2 + (Y - Y_0)^2 + (Z - Z_0)^2 - (A \; X + B \; Y + C \; Z)^2 - R^2 = 0$ with

$\left\{ \begin{array}{l} A^2 + B^2 + C^2 = 1 \\ A \; X_0 + B \; Y_0 + C \; Z_0 = 0 \end{array} \right.$

where $R$ is the radius of the cylinder, $A, B, C$ are the coordinates of its direction vector and $X_0, Y_0, Z_0$ are the coordinates of the nearest point belonging to the cylinder axis from the projection center.

Setting the cylinder parameters is achieved throw the constructors with parameters or the setWorldCoordinates() methods.

Considering the set of parameters $^{o}{\bf P} = ({^o}A,{^o}B,{^o}C,{^o}X_0,{^o}Y_0,{^o}Z_0,R)$ expressed in the world frame, cylinder coordinates expressed in the camera frame are obtained using changeFrame().

The projection of a cylinder on the image plane is (for non-degenerated cases) a set of two straight lines with equation:

$\left\{ \begin{array}{lll} x \;\cos\theta_1 + x \;\sin\theta_1 - \rho_1 = 0 \\ y \;\cos\theta_2 + y \;\sin\theta_2 - \rho_2 = 0 \end{array} \right.$

The projection is achieved using projection() methods. The methods getRho1(), getTheta1() and getRho2(), getTheta2() allow to access to the projected line parameters.

Examples:: manGeometricFeatures.cpp, servoAfma6Cylinder2DCamVelocity.cpp, servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp, servoSimuCylinder.cpp, servoSimuCylinder2DCamVelocityDisplay.cpp, and servoSimuCylinder2DCamVelocityDisplaySecondaryTask.cpp.

Definition at line 93 of file vpCylinder.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.

enum vpCylinder::vpLineCylinderType

Enumerator
line1	First limb of the cylinder.
line2	Second limb of the cylinder.

Definition at line 96 of file vpCylinder.h.

Constructor & Destructor Documentation

vpCylinder::vpCylinder ( )

Default constructor.

Definition at line 105 of file vpCylinder.cpp.

References init().

Referenced by duplicate().

vpCylinder::vpCylinder ( const vpColVector & o_P )

Create and initialize a cylinder with parameters $^{o}{\bf P} = ({^o}A,{^o}B,{^o}C,{^o}X_0,{^o}Y_0,{^o}Z_0,R)$ expressed in the world frame.

Parameters

o_P	: Vector of parameters $^{o}{\bf P}$ .

vpCylinder cylinder;
double A, B, C, X0, Y0, Z0, R;
...
vpColVector oP(7);
oP[0] = A;
...
oP[3] = X0;
...
oP[6] = R;
vpCylinder cylinder(oP);

See Also: setWorldCoordinates(const vpColVector&)

Definition at line 130 of file vpCylinder.cpp.

References init(), and setWorldCoordinates().

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

Create and initialize a cylinder with parameters $^{o}{\bf P} = ({^o}A,{^o}B,{^o}C,{^o}X_0,{^o}Y_0,{^o}Z_0,R)$ expressed in the world frame.

Parameters

A,B,C,X0,Y0,Z0,R : Cylinder parameters $^{o}{\bf P}$ .

See Also: setWorldCoordinates(const double,const double,const double,const double,const double,const double,const double)

Definition at line 144 of file vpCylinder.cpp.

References init(), and setWorldCoordinates().

vpCylinder::~vpCylinder ( )

virtual

Default constructor.

Definition at line 159 of file vpCylinder.cpp.

Member Function Documentation

void vpCylinder::changeFrame	(	const vpHomogeneousMatrix &	cMo,
		vpColVector &	cP_
	)

virtual

From the cylinder parameters $^{o}{\bf P}$ expressed in the world frame, compute the cylinder parameters $^{c}{\bf P}$ expressed in the camera frame.

Parameters

cMo	: Camera to world frame transformation.
cP_	[out] : Parameters $^{c}{\bf P}$ expressed in the camera frame.

See Also: changeFrame(const vpHomogeneousMatrix &)

Implements vpForwardProjection.

Definition at line 298 of file vpCylinder.cpp.

References vpForwardProjection::oP.

Referenced by changeFrame(), vpMbtDistanceKltCylinder::computeInteractionMatrixAndResidu(), vpMbtDistanceCylinder::computeInteractionMatrixError(), display(), vpMbtDistanceKltCylinder::display(), vpMbtDistanceCylinder::display(), vpMbtDistanceKltCylinder::init(), vpMbtDistanceCylinder::initMovingEdge(), and vpMbtDistanceCylinder::updateMovingEdge().

void vpCylinder::changeFrame ( const vpHomogeneousMatrix & cMo )

virtual

From the cylinder parameters $^{o}{\bf P}$ expressed in the world frame, compute the cylinder internal parameters $^{c}{\bf P}$ expressed in the camera frame.

Parameters

cMo	: Camera to world frame transformation.

See Also: changeFrame(const vpHomogeneousMatrix &, vpColVector &)

Implements vpForwardProjection.

Definition at line 283 of file vpCylinder.cpp.

References changeFrame(), and vpTracker::cP.

double vpCylinder::computeZ	(	const double	x,
		const double	y
	)		const

Compute the Z coordinate for the given normalized coordinate in the camera frame.

Definition at line 391 of file vpCylinder.cpp.

References getA(), getB(), getC(), getR(), getX(), getY(), and getZ().

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

virtual

Display the projection of the cylinder in the image as two lines.

Implements vpForwardProjection.

Examples:: manGeometricFeatures.cpp.

Definition at line 431 of file vpCylinder.cpp.

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

void vpCylinder::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 projection of the cylinder in the image as two lines.

Implements vpForwardProjection.

Definition at line 412 of file vpCylinder.cpp.

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

vpCylinder * vpCylinder::duplicate ( ) const

virtual

for memory issue (used by the vpServo class only)

Implements vpForwardProjection.

Definition at line 402 of file vpCylinder.cpp.

References vpCylinder().

double vpCylinder::getA ( ) const

inline

Return cylinder $A$ parameter expressed in the camera frame.

Definition at line 157 of file vpCylinder.h.

Referenced by computeZ(), and vpFeatureBuilder::create().

double vpCylinder::getB ( ) const

inline

Return cylinder $B$ parameter expressed in the camera frame.

Definition at line 161 of file vpCylinder.h.

Referenced by computeZ(), and vpFeatureBuilder::create().

double vpCylinder::getC ( ) const

inline

Return cylinder $C$ parameter expressed in the camera frame.

Definition at line 165 of file vpCylinder.h.

Referenced by computeZ(), and vpFeatureBuilder::create().

vpForwardProjectionDeallocatorType vpForwardProjection::getDeallocate ( )

inlineinherited

Definition at line 227 of file vpForwardProjection.h.

double vpCylinder::getR ( ) const

inline

Return cylinder $R$ parameter corresponding to the cylinder radius.

Definition at line 181 of file vpCylinder.h.

Referenced by computeZ(), and vpFeatureBuilder::create().

double vpCylinder::getRho1 ( ) const

inline

Return the $\rho_1$ parameter of the line corresponding to the projection of the cylinder in the image plane.

See Also: getTheta1()

Definition at line 133 of file vpCylinder.h.

Referenced by vpFeatureBuilder::create(), vpMbtDistanceKltCylinder::display(), vpMbtDistanceCylinder::display(), vpMbtDistanceCylinder::initMovingEdge(), and vpMbtDistanceCylinder::updateMovingEdge().

double vpCylinder::getRho2 ( ) const

inline

Return the $\rho_2$ parameter of the line corresponding to the projection of the cylinder in the image plane.

See Also: getTheta2()

Definition at line 146 of file vpCylinder.h.

Referenced by vpFeatureBuilder::create(), vpMbtDistanceKltCylinder::display(), vpMbtDistanceCylinder::display(), vpMbtDistanceCylinder::initMovingEdge(), and vpMbtDistanceCylinder::updateMovingEdge().

double vpCylinder::getTheta1 ( ) const

inline

Return the $\theta_1$ parameter of the line corresponding to the projection of the cylinder in the image plane.

See Also: getRho1()

Definition at line 139 of file vpCylinder.h.

Referenced by vpFeatureBuilder::create(), vpMbtDistanceKltCylinder::display(), vpMbtDistanceCylinder::display(), vpMbtDistanceCylinder::initMovingEdge(), and vpMbtDistanceCylinder::updateMovingEdge().

double vpCylinder::getTheta2 ( ) const

inline

Return the $\theta_2$ parameter of the line corresponding to the projection of the cylinder in the image plane.

See Also: getRho2()

Definition at line 152 of file vpCylinder.h.

Referenced by vpFeatureBuilder::create(), vpMbtDistanceKltCylinder::display(), vpMbtDistanceCylinder::display(), vpMbtDistanceCylinder::initMovingEdge(), and vpMbtDistanceCylinder::updateMovingEdge().

double vpCylinder::getX ( ) const

inline

Return cylinder $X_0$ parameter expressed in the camera frame.

Definition at line 169 of file vpCylinder.h.

Referenced by computeZ(), and vpFeatureBuilder::create().

double vpCylinder::getY ( ) const

inline

Return cylinder $Y_0$ parameter expressed in the camera frame.

Definition at line 173 of file vpCylinder.h.

Referenced by computeZ(), and vpFeatureBuilder::create().

double vpCylinder::getZ ( ) const

inline

Return cylinder $Z_0$ parameter expressed in the camera frame.

Definition at line 177 of file vpCylinder.h.

Referenced by computeZ(), and vpFeatureBuilder::create().

void vpCylinder::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 44 of file vpCylinder.cpp.

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

Referenced by vpCylinder().

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(), 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 vpCylinder::projection ( )

virtual

Perspective projection of the cylinder.

From the parameters of the cylinder in the camera frame, compute the perspective projection of the cylinder in the image plane.

vpCylinder cylinder;
vpColVector oP(7);
// Initialize oP[] with A,B,C,X0,X0,Z0,R parameters
cylinder.setWorldCoordinates(oP); // Set the cylinder world frame parameters
vpHomogeneousMatrix cMo;          // Camera to world frame transformation
cylinder.changeFrame(cMo);        // Update internal cP parameters
cylinder.projection();            // Compute the perspective projection

See Also: projection(const vpColVector &, vpColVector &)

Implements vpForwardProjection.

Definition at line 185 of file vpCylinder.cpp.

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

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

void vpCylinder::projection	(	const vpColVector &	cP_,
		vpColVector &	p_
	)

virtual

Perspective projection of the cylinder.

From the parameters of the cylinder in the camera frame $c{\bf P}$ , compute the perspective projection of the cylinder in the image plane.

Parameters

cP_	[in] : Cylinder parameters in the camera frame.
p_	[out] : Parameters of the cylinder in the image plane obtained by perspective projection.

Exceptions

vpException::fatalError : The camera is inside the cylinder.

vpCylinder cylinder;
vpColVector oP(7);
// Initialize oP[] with A,B,C,X0,X0,Z0,R parameters
cylinder.setWorldCoordinates(oP); // Set the cylinder world frame parameters
vpHomogeneousMatrix cMo;          // Camera to world frame transformation
vpColVector cP(7);                // Parameters of the cylinder in the camera frame
cylinder.changeFrame(cMo, cP);    // Update cP parameters
vpColVector p(4);                 // Parameters of the cylinder in the image plane
cylinder.projection(cP, p);       // Compute the perspective projection and update p

See Also: projection()

Implements vpForwardProjection.

Definition at line 219 of file vpCylinder.cpp.

References vpException::fatalError.

void vpForwardProjection::setDeallocate ( vpForwardProjectionDeallocatorType d )

inlineinherited

Definition at line 226 of file vpForwardProjection.h.

void vpCylinder::setWorldCoordinates ( const vpColVector & o_P )

virtual

Set the cylinder parameters $^{o}{\bf P} = ({^o}A,{^o}B,{^o}C,{^o}X_0,{^o}Y_0,{^o}Z_0,R)$ expressed in the world frame.

Parameters

o_P	: Vector of parameters $^{o}{\bf P}$ .

vpCylinder cylinder;
double A, B, C, X0, Y0, Z0, R;
...
vpColVector oP(7);
oP[0] = A;
...
oP[3] = X0;
...
oP[6] = R;
cylinder.setWorldCoordinates(oP);

Implements vpForwardProjection.

Examples:: manGeometricFeatures.cpp.

Definition at line 73 of file vpCylinder.cpp.

References vpForwardProjection::oP.

Referenced by vpMbtDistanceKltCylinder::buildFrom(), vpMbtDistanceCylinder::buildFrom(), and vpCylinder().

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

Set the cylinder parameters $^{o}{\bf P} = ({^o}A,{^o}B,{^o}C,{^o}X_0,{^o}Y_0,{^o}Z_0,R)$ expressed in the world frame.

Parameters

A,B,C,X0,Y0,Z0,R : Cylinder parameters $^{o}{\bf P}$ .

Definition at line 86 of file vpCylinder.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