#include <visp3/core/vpCircle.h>

Inheritance diagram for vpCircle:

Public Types
enum	vpForwardProjectionDeallocatorType { user, vpDisplayForwardProjection }

Public Member Functions
void	init ()

	vpCircle ()

	vpCircle (const vpColVector &oP)

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

virtual	~vpCircle ()

void	setWorldCoordinates (const vpColVector &oP)

void	setWorldCoordinates (double A, double B, double C, double X0, double Y0, double Z0, 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, unsigned int thickness=1)

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

Static Public Member Functions
static void	computeIntersectionPoint (const vpCircle &circle, const vpCameraParameters &cam, const double &rho, const double &theta, double &i, double &j)

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 58 of file vpCircle.h.

Member Enumeration Documentation

◆ vpForwardProjectionDeallocatorType

enum vpForwardProjection::vpForwardProjectionDeallocatorType

inherited

Used for memory issue especially in the vpServo class.

Enumerator
user
vpDisplayForwardProjection

Definition at line 211 of file vpForwardProjection.h.

Constructor & Destructor Documentation

◆ vpCircle() [1/3]

vpCircle::vpCircle ( )

Definition at line 86 of file vpCircle.cpp.

References init().

Referenced by duplicate().

◆ vpCircle() [2/3]

vpCircle::vpCircle ( const vpColVector & oP_ )

explicit

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 98 of file vpCircle.cpp.

References init(), and setWorldCoordinates().

◆ vpCircle() [3/3]

vpCircle::vpCircle	(	double	A,
		double	B,
		double	C,
		double	X0,
		double	Y0,
		double	Z0,
		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	: B from the plane equation Ax + By + Cz = 0.
C	: C 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 117 of file vpCircle.cpp.

References init(), and setWorldCoordinates().

◆ ~vpCircle()

vpCircle::~vpCircle ( )

virtual

Definition at line 123 of file vpCircle.cpp.

Member Function Documentation

◆ changeFrame() [1/2]

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

virtual

perspective projection of the circle

Implements vpForwardProjection.

Definition at line 237 of file vpCircle.cpp.

References vpForwardProjection::oP.

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

◆ changeFrame() [2/2]

void vpCircle::changeFrame ( const vpHomogeneousMatrix & cMo )

virtual

perspective projection of the circle

Implements vpForwardProjection.

Definition at line 265 of file vpCircle.cpp.

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

◆ computeIntersectionPoint()

void vpCircle::computeIntersectionPoint	(	const vpCircle &	circle,
		const vpCameraParameters &	cam,
		const double &	rho,
		const double &	theta,
		double &	i,
		double &	j
	)

static

Computes the coordinates of the point corresponding to the intersection between a circle and a line.

Warning: This functions assumes changeFrame() and projection() have already been called.

See also: changeFrame(), projection()

Parameters

circle	: Circle to consider for the intersection.
cam	: Camera parameters that have to be used for the intersection computation.
rho	: The rho parameter of the line.
theta	: The theta parameter of the line.
i	: resulting i-coordinate of the intersection point.
j	: resulting j-coordinate of the intersection point.

Definition at line 330 of file vpCircle.cpp.

References vpCameraParameters::get_px(), vpCameraParameters::get_py(), vpCameraParameters::get_u0(), vpCameraParameters::get_v0(), vpTracker::p, and vpMath::sqr().

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

◆ display() [1/2]

void vpCircle::display	(	const vpImage< unsigned char > &	I,
		const vpCameraParameters &	cam,
		const vpColor &	color = `vpColor::green`,
		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 292 of file vpCircle.cpp.

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

◆ display() [2/2]

void vpCircle::display	(	const vpImage< unsigned char > &	I,
		const vpHomogeneousMatrix &	cMo,
		const vpCameraParameters &	cam,
		const vpColor &	color = `vpColor::green`,
		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 299 of file vpCircle.cpp.

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

◆ duplicate()

vpCircle * vpCircle::duplicate ( ) const

virtual

for memory issue (used by the vpServo class only)

Implements vpForwardProjection.

Definition at line 308 of file vpCircle.cpp.

References vpCircle().

◆ getA()

double vpCircle::getA ( ) const

inline

Definition at line 70 of file vpCircle.h.

◆ getB()

double vpCircle::getB ( ) const

inline

Definition at line 71 of file vpCircle.h.

◆ getC()

double vpCircle::getC ( ) const

inline

Definition at line 72 of file vpCircle.h.

◆ getDeallocate()

vpForwardProjectionDeallocatorType vpForwardProjection::getDeallocate ( )

inlineinherited

Definition at line 220 of file vpForwardProjection.h.

◆ getR()

double vpCircle::getR ( ) const

inline

Definition at line 78 of file vpCircle.h.

References vpForwardProjection::changeFrame(), vpForwardProjection::display(), vpForwardProjection::duplicate(), vpColor::green, and vpForwardProjection::projection().

◆ getX()

double vpCircle::getX ( ) const

inline

Definition at line 74 of file vpCircle.h.

◆ getY()

double vpCircle::getY ( ) const

inline

Definition at line 75 of file vpCircle.h.

◆ getZ()

double vpCircle::getZ ( ) const

inline

Definition at line 76 of file vpCircle.h.

◆ init()

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 43 of file vpCircle.cpp.

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

Referenced by vpCircle().

◆ print()

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 53 of file vpForwardProjection.cpp.

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

◆ project() [1/2]

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, and testPoseFeatures.cpp.

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(), vpMbtFaceDepthNormal::getFeaturesForDisplay(), vpKeyPoint::matchPointAndDetect(), vpForwardProjection::track(), vpMbtDistanceCircle::~vpMbtDistanceCircle(), vpMbtDistanceCylinder::~vpMbtDistanceCylinder(), and vpMbtDistanceLine::~vpMbtDistanceLine().

◆ project() [2/2]

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 84 of file vpForwardProjection.cpp.

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

◆ projection() [1/2]

void vpCircle::projection ( )

virtual

Perspective projection of the circle.

From the 3D parameters of the circle in the camera frame available in cP, computes the 2D parameters of the ellipse resulting from the perspective projection in the image plane. Those 2D parameters are available in p vector.

See vpCircle::projection(const vpColVector &, vpColVector &) for a more detailed description of the parameters.

Implements vpForwardProjection.

Definition at line 136 of file vpCircle.cpp.

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

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

◆ projection() [2/2]

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

virtual

Perspective projection of the circle.

Parameters

cP_	3D cercle input parameters. This vector is of dimension 7. It contains the following parameters: A, B, C, X0, Y0, Z0, r where A,B,C are the parameters of the plane with equation Ax+By+Cz+D=0 containing the circle X0,Y0,Z0 are the 3D coordinates of the cercle in the camera frame r is the circle radius.
p_	2D circle output parameters. This is a 5 dimension vector. It contains the following parameters: xc, yc, m20, m11, m02 where: xc,yc are the normalized coordinates of the center of the ellipse (ie the perspective projection of a 3D circle becomes a 2D ellipse in the image) in the image plane. mu20,mu11,mu02 are the second order centered moments of the ellipse.

Implements vpForwardProjection.

Definition at line 154 of file vpCircle.cpp.

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

◆ setDeallocate()

void vpForwardProjection::setDeallocate ( vpForwardProjectionDeallocatorType d )

inlineinherited

Definition at line 219 of file vpForwardProjection.h.

◆ setWorldCoordinates() [1/2]

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 61 of file vpCircle.cpp.

References vpForwardProjection::oP.

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

◆ setWorldCoordinates() [2/2]

void vpCircle::setWorldCoordinates	(	double	A,
		double	B,
		double	C,
		double	X0,
		double	Y0,
		double	Z0,
		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	: B from the plane equation Ax + By + Cz = 0.
C	: C 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 75 of file vpCircle.cpp.

References vpForwardProjection::oP.

◆ track()

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

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

Examples:: mbot-apriltag-ibvs.cpp, servoBebop2.cpp, servoMomentPoints.cpp, servoMomentPolygon.cpp, servoSimu4Points.cpp, servoSimuAfma6FourPoints2DCamVelocity.cpp, servoSimuCircle2DCamVelocity.cpp, servoSimuCircle2DCamVelocityDisplay.cpp, servoSimuFourPoints2DCamVelocity.cpp, servoSimuFourPoints2DCamVelocityDisplay.cpp, servoSimuFourPoints2DPolarCamVelocityDisplay.cpp, servoSimuLine2DCamVelocityDisplay.cpp, servoSimuSphere.cpp, servoSimuSphere2DCamVelocity.cpp, servoSimuSphere2DCamVelocityDisplay.cpp, servoSimuSphere2DCamVelocityDisplaySecondaryTask.cpp, servoSimuSquareLine2DCamVelocityDisplay.cpp, servoSimuViper850FourPoints2DCamVelocity.cpp, simulateCircle2DCamVelocity.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, simulateFourPoints2DPolarCamVelocity.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.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 111 of file vpForwardProjection.cpp.

References vpForwardProjection::project(), and vpERROR_TRACE.

Referenced by vpPoseFeatures::addFeatureSegment(), vpPose::computeResidual(), vpProjectionDisplay::displayCamera(), ImageDisplay(withContext)::displayFrameWithContext:::::, vpImageDraw::drawFrame(), vpPose::poseVirtualVS(), vpPose::poseVirtualVSrobust(), vpWireFrameSimulator::projectCameraTrajectory(), vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

Member Data Documentation

◆ cP

vpColVector vpTracker::cP

inherited

Feature coordinates expressed in the camera frame cP.

Definition at line 75 of file vpTracker.h.

Referenced by vpFeaturePoint3D::buildFrom(), vpPoint::changeFrame(), changeFrame(), vpSphere::changeFrame(), vpCylinder::changeFrame(), vpLine::changeFrame(), vpFeatureBuilder::create(), vpPoint::get_W(), vpPoint::get_X(), vpPoint::get_Y(), vpPoint::get_Z(), init(), vpSphere::init(), vpPoint::init(), vpLine::init(), vpCylinder::init(), vpMbtPolygon::isVisible(), vpTracker::operator=(), vpForwardProjection::print(), vpPose::printPoint(), vpForwardProjection::project(), projection(), vpSphere::projection(), vpPoint::projection(), vpLine::projection(), vpCylinder::projection(), vpPoint::set_W(), vpPoint::set_X(), vpPoint::set_Y(), and vpPoint::set_Z().

◆ cPAvailable

bool vpTracker::cPAvailable

inherited

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(), and vpTracker::operator=().

◆ oP

vpColVector vpForwardProjection::oP

inherited

Feature coordinates expressed in the object frame, also called world frame.

Definition at line 74 of file vpForwardProjection.h.

Referenced by vpPoint::changeFrame(), changeFrame(), vpSphere::changeFrame(), vpCylinder::changeFrame(), vpLine::changeFrame(), vpPoint::get_oW(), vpPoint::get_oX(), vpPoint::get_oY(), vpPoint::get_oZ(), vpPoint::getWorldCoordinates(), init(), vpSphere::init(), vpPoint::init(), vpLine::init(), vpCylinder::init(), vpForwardProjection::print(), vpPose::printPoint(), vpPoint::set_oW(), vpPoint::set_oX(), vpPoint::set_oY(), vpPoint::set_oZ(), setWorldCoordinates(), vpSphere::setWorldCoordinates(), vpPoint::setWorldCoordinates(), vpLine::setWorldCoordinates(), and vpCylinder::setWorldCoordinates().

◆ p

vpColVector vpTracker::p

inherited

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(), computeIntersectionPoint(), vpMeterPixelConversion::convertEllipse(), vpFeatureBuilder::create(), vpPoint::display(), display(), vpSphere::display(), vpCylinder::display(), vpProjectionDisplay::display(), vpLine::display(), vpProjectionDisplay::displayCamera(), vpFeatureDisplay::displayEllipse(), ImageDisplay(withContext)::displayFrameWithContext:::::, vpPose::displayModel(), vpImageDraw::drawFrame(), vpPoint::get_w(), vpPoint::get_x(), vpPoint::get_y(), init(), vpSphere::init(), vpMeTracker::init(), vpPoint::init(), vpLine::init(), vpCylinder::init(), vpTracker::operator=(), vpForwardProjection::print(), vpPose::printPoint(), vpForwardProjection::project(), projection(), vpSphere::projection(), vpPoint::projection(), vpLine::projection(), vpCylinder::projection(), vpPoint::set_w(), vpPoint::set_x(), and vpPoint::set_y().

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Member Enumeration Documentation

◆ vpForwardProjectionDeallocatorType

Constructor & Destructor Documentation

◆ vpCircle() [1/3]

◆ vpCircle() [2/3]

◆ vpCircle() [3/3]

◆ ~vpCircle()

Member Function Documentation

◆ changeFrame() [1/2]

◆ changeFrame() [2/2]

◆ computeIntersectionPoint()

◆ display() [1/2]

◆ display() [2/2]

◆ duplicate()

◆ getA()

◆ getB()

◆ getC()

◆ getDeallocate()

◆ getR()

◆ getX()

◆ getY()

◆ getZ()

◆ init()

◆ print()

◆ project() [1/2]

◆ project() [2/2]

◆ projection() [1/2]

◆ projection() [2/2]

◆ setDeallocate()

◆ setWorldCoordinates() [1/2]

◆ setWorldCoordinates() [2/2]

◆ track()

Member Data Documentation

◆ cP

◆ cPAvailable

◆ oP

◆ p