Visual Servoing Platform
version 3.2.0 under development (2019-01-22)
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#include <visp3/core/vpLine.h>
Public Types | |
enum | vpForwardProjectionDeallocatorType { user, vpDisplayForwardProjection } |
Public Member Functions | |
void | init () |
vpLine () | |
virtual | ~vpLine () |
void | setRho (const double rho) |
void | setTheta (const double theta) |
double | getTheta () const |
double | getRho () const |
void | setWorldCoordinates (const double &A1, const double &B1, const double &C1, const double &D1, const double &A2, const double &B2, const double &C2, const double &D2) |
void | setWorldCoordinates (const vpColVector &oP1, const vpColVector &oP2) |
void | setWorldCoordinates (const vpColVector &oP) |
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) |
vpLine * | 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 |
Class that defines a line in the object frame, the camera frame and the image plane. All the parameters must be set in meter.
Here are the 3D coordinates in one of the two 3D frames. In this class it is easily possible to compute the parameters (cP) of the line in the camera frame thanks to its parameters (oP) in the object frame. But you have to notes that four constraints are added in the planes equations.
The line parameters oP corresponding to the object frame are located in the vpForwardProjection::oP public attribute, where oP is a vector defined as:
The line parameters corresponding to the camera frame are located in the vpTracker::cP public attribute, where cP is a vector defined as:
Here and are the coordinates of a point belonging to the line in the image plane while and are the parameters used to define the line. The value of is between and and the value of can be positive or negative. The conventions used to choose the sign of and the value of are illustrated by the following image.
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inherited |
Used for memory issue especially in the vpServo class.
Enumerator | |
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user | |
vpDisplayForwardProjection |
Definition at line 211 of file vpForwardProjection.h.
vpLine::vpLine | ( | ) |
Default constructor.
Definition at line 67 of file vpLine.cpp.
References init().
Referenced by duplicate().
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virtual |
Computes the line parameters cP in the camera frame thanks to the line parameters oP given in the object frame and the homogeneous matrix relative to the pose between the camera frame and the object frame. Thus the computation gives the equations of the two planes needed to define the line in the desired frame thanks to the equations of the same two planes in the object frame.
In input of this method, the line parameters oP in the object frame are those from the vpForwardProjection::oP public attribute.
cMo | : The homogeneous matrix relative to the pose between the desired frame and the object frame. |
cP_ | : The vector which will contain the parameters of the two planes in the camera frame.
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The code below shows how to use this method.
Implements vpForwardProjection.
Definition at line 336 of file vpLine.cpp.
References vpTracker::cP, vpArray2D< Type >::getRows(), vpForwardProjection::oP, and vpColVector::resize().
Referenced by changeFrame(), vpMbtDistanceLine::computeInteractionMatrixError(), display(), vpMbtDistanceLine::initMovingEdge(), and vpMbtDistanceLine::updateMovingEdge().
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virtual |
Computes the line parameters cP in the camera frame thanks to the line parameters oP given in the object frame and the homogeneous matrix relative to the pose cMo between the object frame and the camera frame. Thus the computation gives the equations of the two planes needed to define the line in the camera frame thanks to the equations of the same two planes in the object frame.
In input of this method, the line parameters oP in the object frame are those from the vpForwardProjection::oP public attribute.
As a result of this method, line parameters cP in the camera frame are updated in the vpTracker::cP public attribute.
cMo | : The homogeneous matrix corresponding to the pose between the camera frame and the object frame. |
The code below shows how to use this method.
Implements vpForwardProjection.
Definition at line 293 of file vpLine.cpp.
References changeFrame(), and vpTracker::cP.
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virtual |
Displays the line in the image I thanks to the 2D parameters of the line p in the image plane (vpTracker::p) and the camera parameters which enable to convert the parameters from meter to pixel.
I | : The image where the line must be displayed. |
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 473 of file vpLine.cpp.
References vpFeatureDisplay::displayLine(), and vpTracker::p.
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virtual |
Displays the line in the image I thanks to the parameters in the object frame (vpForwardProjection::oP), the homogeneous matrix relative to the pose between the camera frame and the object frame and the camera parameters which enable to convert the features from meter to pixel.
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 500 of file vpLine.cpp.
References changeFrame(), vpFeatureDisplay::displayLine(), and projection().
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virtual |
Create an object with the same type.
Implements vpForwardProjection.
Definition at line 524 of file vpLine.cpp.
References vpLine().
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inlineinherited |
Definition at line 220 of file vpForwardProjection.h.
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inline |
Gets the value corresponding to one of the two parameters used to define the line parametrization in the image plane.
Definition at line 157 of file vpLine.h.
References vpForwardProjection::changeFrame(), vpForwardProjection::display(), vpForwardProjection::duplicate(), vpColor::green, vpForwardProjection::projection(), and vpForwardProjection::setWorldCoordinates().
Referenced by vpFeatureBuilder::create(), vpMbtDistanceLine::initMovingEdge(), and vpMbtDistanceLine::updateMovingEdge().
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inline |
Gets the angle value corresponding to one of the two parameters used to define the line parametrization in the image plane.
Definition at line 146 of file vpLine.h.
Referenced by vpFeatureBuilder::create(), vpMbtDistanceLine::initMovingEdge(), and vpMbtDistanceLine::updateMovingEdge().
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Initialize the memory space requested for the 2D line parameters (p) in the image plane and for 3D line parameters (oP and cP) respectively in the object frame and the camera frame.
Implements vpForwardProjection.
Definition at line 57 of file vpLine.cpp.
References vpTracker::cP, vpForwardProjection::oP, vpTracker::p, and vpColVector::resize().
Referenced by vpLine().
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virtualinherited |
Print to stdout the feature parameters in:
Definition at line 53 of file vpForwardProjection.cpp.
References vpTracker::cP, vpForwardProjection::oP, vpTracker::p, and vpColVector::t().
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inherited |
Compute the feature parameters in the image plane (vpTracker::p) from the parameters in the camera frame (vpTracker::cP).
Definition at line 68 of file vpForwardProjection.cpp.
References vpTracker::cP, vpTracker::p, and vpForwardProjection::projection().
Referenced by vpMbtDistanceKltCylinder::computeInteractionMatrixAndResidu(), vpMbtFaceDepthNormal::computeNormalVisibility(), vpKeyPoint::computePose(), vpMbtFaceDepthDense::computeROI(), vpMbtFaceDepthNormal::displayFeature(), vpKeyPoint::matchPointAndDetect(), vpForwardProjection::track(), vpMbtDistanceCircle::~vpMbtDistanceCircle(), vpMbtDistanceCylinder::~vpMbtDistanceCylinder(), and vpMbtDistanceLine::~vpMbtDistanceLine().
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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).
cMo | : The homogeneous matrix corresponding to the pose between the camera frame and the object frame. |
Definition at line 84 of file vpForwardProjection.cpp.
References vpForwardProjection::changeFrame(), vpForwardProjection::projection(), and vpERROR_TRACE.
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virtual |
Computes the 2D parameters p of the line in the image plane thanks to the 3D line parameters cP in the camera frame located in the vpTracker::cP public attribute. The parameters are updated in the vpTracker::p public attribute.
The code below shows how to use this method.
Implements vpForwardProjection.
Definition at line 193 of file vpLine.cpp.
References vpTracker::cP, and vpTracker::p.
Referenced by vpMbtDistanceLine::computeInteractionMatrixError(), display(), vpMbtDistanceLine::initMovingEdge(), and vpMbtDistanceLine::updateMovingEdge().
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virtual |
Computes the 2D parameters p of the line in the image plane thanks to the 3D line features cP expressed in the camera frame. The image plane parameters are updated in output.
cP_ | : The vector containing the line features relative to the camera frame.
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p_ | : The vector which contains the 2D line features expressed in the image plane.
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vpException::fatalError | : Degenerate case, the image of the straight line is a point. |
Implements vpForwardProjection.
Definition at line 216 of file vpLine.cpp.
References vpTracker::cP, vpException::dimensionError, vpException::fatalError, vpArray2D< Type >::getRows(), vpTracker::p, and vpColVector::resize().
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inlineinherited |
Definition at line 219 of file vpForwardProjection.h.
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inline |
Sets the parameter used to define the line in the image plane.
rho | : The desired value for . |
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inline |
Sets the angle value used to define the line in the image plane.
theta | : The desired value for angle. |
void vpLine::setWorldCoordinates | ( | const double & | A1, |
const double & | B1, | ||
const double & | C1, | ||
const double & | D1, | ||
const double & | A2, | ||
const double & | B2, | ||
const double & | C2, | ||
const double & | D2 | ||
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Sets the parameters oP which define the line in the object frame. As said in the class description, the line is defined as the intersection of two planes. The different parameters here define the equations of the two planes in the object frame. They are used to set the vpForwardProjection::oP public attribute.
Here are the 3D coordinates in the object frame.
A1,B1,C1,D1 | : The parameters used to define the first plane. |
A2,B2,C2,D2 | : The parameters used to define the second plane. |
Definition at line 85 of file vpLine.cpp.
References vpForwardProjection::oP.
Referenced by vpMbtDistanceLine::~vpMbtDistanceLine().
void vpLine::setWorldCoordinates | ( | const vpColVector & | oP1, |
const vpColVector & | oP2 | ||
) |
Sets the parameters oP which define the line in the object frame. As said in the class description, the line is defined as the intersection of two planes. Eight parameters are required to define the equations of the two planes in the object frame. They are used to set the vpForwardProjection::oP public attribute.
Here are the 3D coordinates in the object frame.
oP1 | : The column vector which contains the four parameters needed to define the equations of the first plane.
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oP2 | : The column vector which contains the four parameters needed to define the equations of the second plane.
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Definition at line 146 of file vpLine.cpp.
References vpException::dimensionError, vpArray2D< Type >::getRows(), and vpForwardProjection::oP.
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virtual |
Sets the parameters oP which define the line in the object frame. As said in the class description, the line is defined as the intersection of two planes. Eight parameters are required to define the equations of the two planes in the object frame. They are used to set the vpForwardProjection::oP public attribute.
Here are the 3D coordinates in the object frame.
oP_ | : The column vector which contains the eight parameters needed to define the equations of the two planes in the object frame.
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Implements vpForwardProjection.
Definition at line 117 of file vpLine.cpp.
References vpException::dimensionError, vpArray2D< Type >::getRows(), and vpForwardProjection::oP.
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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 &).
cMo | : The homogeneous matrix corresponding to the pose between the camera frame and the object frame. |
Definition at line 111 of file vpForwardProjection.cpp.
References vpForwardProjection::project(), and vpERROR_TRACE.
Referenced by vpPoseFeatures::addFeatureSegment(), vpPose::computeResidual(), vpProjectionDisplay::displayCamera(), vpPose::poseVirtualVS(), vpPose::poseVirtualVSrobust(), vpWireFrameSimulator::projectCameraTrajectory(), vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().
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inherited |
Feature coordinates expressed in the camera frame cP.
Definition at line 75 of file vpTracker.h.
Referenced by vpFeaturePoint3D::buildFrom(), vpPoint::changeFrame(), vpCircle::changeFrame(), vpSphere::changeFrame(), vpCylinder::changeFrame(), changeFrame(), vpFeatureBuilder::create(), vpPoint::get_W(), vpPoint::get_X(), vpPoint::get_Y(), vpPoint::get_Z(), vpCircle::init(), vpSphere::init(), vpPoint::init(), init(), vpCylinder::init(), vpMbtPolygon::isVisible(), vpTracker::operator=(), vpPoint::operator=(), vpForwardProjection::print(), vpPose::printPoint(), vpForwardProjection::project(), vpCircle::projection(), vpSphere::projection(), vpPoint::projection(), projection(), vpCylinder::projection(), vpPoint::set_W(), vpPoint::set_X(), vpPoint::set_Y(), and vpPoint::set_Z().
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Flag used to indicate if the feature parameters cP expressed in the camera frame are available.
Definition at line 81 of file vpTracker.h.
Referenced by vpTracker::init(), vpTracker::operator=(), and vpPoint::operator=().
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inherited |
Feature coordinates expressed in the object frame, also called world frame.
Definition at line 74 of file vpForwardProjection.h.
Referenced by vpPoint::changeFrame(), vpCircle::changeFrame(), vpSphere::changeFrame(), vpCylinder::changeFrame(), changeFrame(), vpPoint::get_oW(), vpPoint::get_oX(), vpPoint::get_oY(), vpPoint::get_oZ(), vpPoint::getWorldCoordinates(), vpCircle::init(), vpSphere::init(), vpPoint::init(), init(), vpCylinder::init(), vpPoint::operator=(), vpForwardProjection::print(), vpPose::printPoint(), vpPoint::set_oW(), vpPoint::set_oX(), vpPoint::set_oY(), vpPoint::set_oZ(), vpCircle::setWorldCoordinates(), vpSphere::setWorldCoordinates(), vpPoint::setWorldCoordinates(), setWorldCoordinates(), and vpCylinder::setWorldCoordinates().
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Feature coordinates expressed in the image plane p. They correspond to 2D normalized coordinates expressed in meters.
Definition at line 71 of file vpTracker.h.
Referenced by vpMbtDistanceCircle::computeInteractionMatrixError(), vpCircle::computeIntersectionPoint(), vpMeterPixelConversion::convertEllipse(), vpFeatureBuilder::create(), vpPoint::display(), vpCircle::display(), vpSphere::display(), vpCylinder::display(), vpProjectionDisplay::display(), display(), vpProjectionDisplay::displayCamera(), vpFeatureDisplay::displayEllipse(), vpPose::displayModel(), vpPoint::get_w(), vpPoint::get_x(), vpPoint::get_y(), vpCircle::init(), vpSphere::init(), vpMeTracker::init(), vpPoint::init(), init(), vpCylinder::init(), vpTracker::operator=(), vpPoint::operator=(), vpForwardProjection::print(), vpPose::printPoint(), vpForwardProjection::project(), vpCircle::projection(), vpSphere::projection(), vpPoint::projection(), projection(), vpCylinder::projection(), vpPoint::set_w(), vpPoint::set_x(), and vpPoint::set_y().