vpSphere Class Reference

#include <visp3/core/vpSphere.h>

Inheritance diagram for vpSphere:

Public Types
enum	vpForwardProjectionDeallocatorType { user, vpDisplayForwardProjection }

Public Member Functions
void	init ()
	vpSphere ()
virtual	~vpSphere ()
	vpSphere (const vpColVector &oP)
	vpSphere (double X0, double Y0, double Z0, double R)
void	setWorldCoordinates (const vpColVector &oP)
void	setWorldCoordinates (double X0, double Y0, double Z0, double R)
double	get_x () const
double	get_y () const
double	get_mu20 () const
double	get_mu11 () const
double	get_mu02 () 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)
vpSphere *	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 sphere.

Forward projection of a sphere.

Examples:

manGeometricFeatures.cpp, servoSimuSphere.cpp, servoSimuSphere2DCamVelocity.cpp, servoSimuSphere2DCamVelocityDisplay.cpp, and servoSimuSphere2DCamVelocityDisplaySecondaryTask.cpp.

Definition at line 60 of file vpSphere.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

vpSphere() [1/3]

vpSphere::vpSphere

(

)

Definition at line 61 of file vpSphere.cpp.

References init().

Referenced by duplicate().

~vpSphere()

vpSphere::~vpSphere ( )

virtual

Definition at line 75 of file vpSphere.cpp.

vpSphere() [2/3]

vpSphere::vpSphere ( const vpColVector &  oP )

explicit

Definition at line 63 of file vpSphere.cpp.

References init(), and setWorldCoordinates().

vpSphere() [3/3]

vpSphere::vpSphere	(	double	X0,
		double	Y0,
		double	Z0,
		double	R
	)

Definition at line 69 of file vpSphere.cpp.

References init(), and setWorldCoordinates().

Member Function Documentation

changeFrame() [1/2]

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

virtual

Perspective projection of the circle.

Implements vpForwardProjection.

Definition at line 147 of file vpSphere.cpp.

References vpForwardProjection::oP.

Referenced by changeFrame(), and display().

changeFrame() [2/2]

void vpSphere::changeFrame ( const vpHomogeneousMatrix &  cMo )

virtual

perspective projection of the circle

Implements vpForwardProjection.

Definition at line 144 of file vpSphere.cpp.

References changeFrame(), and vpTracker::cP.

display() [1/2]

void vpSphere::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 179 of file vpSphere.cpp.

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

display() [2/2]

void vpSphere::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 170 of file vpSphere.cpp.

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

duplicate()

vpSphere * vpSphere::duplicate ( ) const

virtual

for memory issue (used by the vpServo class only)

Implements vpForwardProjection.

Definition at line 163 of file vpSphere.cpp.

References vpSphere().

get_mu02()

double vpSphere::get_mu02 ( ) const

inline

Examples:

servoSimuSphere.cpp.

Definition at line 78 of file vpSphere.h.

get_mu11()

double vpSphere::get_mu11 ( ) const

inline

Examples:

servoSimuSphere.cpp.

Definition at line 77 of file vpSphere.h.

get_mu20()

double vpSphere::get_mu20 ( ) const

inline

Examples:

servoSimuSphere.cpp.

Definition at line 76 of file vpSphere.h.

get_x()

double vpSphere::get_x ( ) const

inline

Examples:

servoSimuSphere.cpp.

Definition at line 74 of file vpSphere.h.

get_y()

double vpSphere::get_y ( ) const

inline

Examples:

servoSimuSphere.cpp.

Definition at line 75 of file vpSphere.h.

getDeallocate()

vpForwardProjectionDeallocatorType vpForwardProjection::getDeallocate ( )

inlineinherited

Definition at line 220 of file vpForwardProjection.h.

getR()

double vpSphere::getR ( ) const

inline

Examples:

servoSimuSphere.cpp.

Definition at line 84 of file vpSphere.h.

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

getX()

double vpSphere::getX ( ) const

inline

Definition at line 80 of file vpSphere.h.

getY()

double vpSphere::getY ( ) const

inline

Definition at line 81 of file vpSphere.h.

getZ()

double vpSphere::getZ ( ) const

inline

Definition at line 82 of file vpSphere.h.

init()

void vpSphere::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 42 of file vpSphere.cpp.

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

Referenced by vpSphere().

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 vpSphere::projection ( )

virtual

perspective projection of the sphere

Implements vpForwardProjection.

Definition at line 78 of file vpSphere.cpp.

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

Referenced by display().

projection() [2/2]

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

virtual

Perspective projection of the circle.

Implements vpForwardProjection.

Definition at line 81 of file vpSphere.cpp.

References vpERROR_TRACE.

setDeallocate()

void vpForwardProjection::setDeallocate ( vpForwardProjectionDeallocatorType  d )

inlineinherited

Definition at line 219 of file vpForwardProjection.h.

setWorldCoordinates() [1/2]

void vpSphere::setWorldCoordinates ( const vpColVector &  oP )

virtual

Sets the parameters which define the feature in the object frame.

Parameters

oP	: Feature parameters expressed in the object frame used to set the vpForwardProjection::oP public attribute.

Implements vpForwardProjection.

Examples:

manGeometricFeatures.cpp, servoSimuSphere2DCamVelocity.cpp, servoSimuSphere2DCamVelocityDisplay.cpp, and servoSimuSphere2DCamVelocityDisplaySecondaryTask.cpp.

Definition at line 51 of file vpSphere.cpp.

References vpForwardProjection::oP.

Referenced by vpSphere().

setWorldCoordinates() [2/2]

void vpSphere::setWorldCoordinates	(	double	X0,
		double	Y0,
		double	Z0,
		double	R
	)

Definition at line 53 of file vpSphere.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(), vpCircle::changeFrame(), changeFrame(), vpCylinder::changeFrame(), vpLine::changeFrame(), vpFeatureBuilder::create(), vpPoint::get_W(), vpPoint::get_X(), vpPoint::get_Y(), vpPoint::get_Z(), vpCircle::init(), init(), vpPoint::init(), vpLine::init(), vpCylinder::init(), vpMbtPolygon::isVisible(), vpTracker::operator=(), vpForwardProjection::print(), vpPose::printPoint(), vpForwardProjection::project(), vpCircle::projection(), 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(), vpCircle::changeFrame(), changeFrame(), vpCylinder::changeFrame(), vpLine::changeFrame(), vpPoint::get_oW(), vpPoint::get_oX(), vpPoint::get_oY(), vpPoint::get_oZ(), vpPoint::getWorldCoordinates(), vpCircle::init(), init(), vpPoint::init(), vpLine::init(), vpCylinder::init(), vpForwardProjection::print(), vpPose::printPoint(), vpPoint::set_oW(), vpPoint::set_oX(), vpPoint::set_oY(), vpPoint::set_oZ(), vpCircle::setWorldCoordinates(), 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(), vpCircle::computeIntersectionPoint(), vpMeterPixelConversion::convertEllipse(), vpFeatureBuilder::create(), vpPoint::display(), vpCircle::display(), 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(), vpCircle::init(), init(), vpMeTracker::init(), vpPoint::init(), vpLine::init(), vpCylinder::init(), vpTracker::operator=(), vpForwardProjection::print(), vpPose::printPoint(), vpForwardProjection::project(), vpCircle::projection(), projection(), vpPoint::projection(), vpLine::projection(), vpCylinder::projection(), vpPoint::set_w(), vpPoint::set_x(), and vpPoint::set_y().