#include <vpCircle.h>

Inheritance diagram for vpCircle:

Public Types
enum	vpForwardProjectionDeallocatorType { user, vpDisplayForwardProjection }

Public Member Functions
	vpCircle ()

	vpCircle (const vpColVector &oP)

	vpCircle (double oA, double oB, double oC, double oX, double oY, double oZ, double R)

virtual	~vpCircle ()

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

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

double	get_x () const

double	get_y () const

double	get_n20 () const

double	get_n11 () const

double	get_n02 () const

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) const

void	setWorldCoordinates (const vpColVector &oP)

void	setWorldCoordinates (double oA, double oB, double oC, double oX, double oY, double oZ, double R)

Deprecated functions
vp_deprecated double	get_mu20 () const

vp_deprecated double	get_mu11 () const

vp_deprecated double	get_mu02 () const

Public Member Functions Inherited from vpForwardProjection
vpColVector	get_oP () const

vpForwardProjectionDeallocatorType	getDeallocate ()

virtual void	print () const

void	project ()

void	project (const vpHomogeneousMatrix &cMo)

void	setDeallocate (vpForwardProjectionDeallocatorType d)

void	track (const vpHomogeneousMatrix &cMo)

Public Member Functions Inherited from vpTracker
vpColVector	get_p () const

vpColVector	get_cP () const

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
Public Attributes Inherited from vpForwardProjection
vpColVector	oP

Public Attributes Inherited from vpTracker
vpColVector	p

vpColVector	cP

bool	cPAvailable

Protected Member Functions
void	init ()

Detailed Description

Class that defines a 3D circle in the object frame and allows forward projection of a 3D circle in the camera frame and in the 2D image plane by perspective projection. All the parameters must be set in meter.

Note that a 3D circle is defined from the intersection between a 3D plane and a 3D sphere.

A 3D circle has the followings parameters:

in the object frame: the parameters oA, oB, oC corresponding to the 3D plane with equation oA*(x-oX)+oB*(y-oY)+oC*(z-oZ)=0 passing through the 3D sphere center and the 3D coordinates oX, oY, oZ of the center and radius R of the 3D sphere. These parameters registered in vpForwardProjection::oP internal 7-dim vector are set using the constructors vpCircle(double oA, double oB, double oC, double oX, double oY, double oZ, double R), vpCircle(const vpColVector &oP) or the fonctions setWorldCoordinates(double oA, double oB, double oC, double oX, double oY, double oZ, double R) and setWorldCoordinates(const vpColVector &oP). To get theses parameters use get_oP().
in the camera frame: the parameters cA, cB, cC corresponding to the 3D plane cAx+cBy+cCz+D=0 and the coordinates cX, cY, cZ of the center and radius R of the 3D sphere. These parameters registered in vpTracker::cP internal 7-dim vector are computed using changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP) const or changeFrame(const vpHomogeneousMatrix &cMo). These parameters could be retrieved using getA(), getB(), getC(), getX(), getY(), getZ() and getR(). To get theses parameters use get_cP().
in the image plane: here we consider the parameters of the ellipse corresponding to the perspective projection of the 3D circle. The parameters are the ellipse centroid (x, y) and n20, n11, n02 which are the second order centered moments of the ellipse normalized by its area (i.e., such that $n_{ij} = \mu_{ij}/a$ where $\mu_{ij}$ are the centered moments and a the area). These parameters are registered in vpTracker::p internal 5-dim vector and computed using projection() and projection(const vpColVector &cP, vpColVector &p) const. They could be retrieved using get_x(), get_y(), get_n20(), get_n11() and get_n02(). They correspond to 2D normalized circle parameters with values expressed in meters. To get theses parameters use get_p().

Examples:: manGeometricFeatures.cpp, servoSimuCircle2DCamVelocity.cpp, servoSimuCircle2DCamVelocityDisplay.cpp, simulateCircle2DCamVelocity.cpp, and testPoseFeatures.cpp.

Definition at line 91 of file vpCircle.h.

Member Enumeration Documentation

enum vpForwardProjection::vpForwardProjectionDeallocatorType

inherited

Used for memory issue especially in the vpServo class.

Enumerator
user
vpDisplayForwardProjection

Definition at line 73 of file vpForwardProjection.h.

Constructor & Destructor Documentation

vpCircle::vpCircle ( )

Default constructor that initialize internal vectors.

Definition at line 86 of file vpCircle.cpp.

References init().

Referenced by duplicate().

vpCircle::vpCircle ( const vpColVector & oP_ )

explicit

Construct the circle from the intersection of a plane and a sphere.

Parameters

oP_ : This 7-dim vector defines the parameters oP[0], oP[1], oP[2] corresponding to parameters oA, oB, oC of the plane with equation oA*(x-oX)+oB*(y-oY)+oC*(z-oZ)=0 passing through the 3D sphere center. oP[3], oP[4], oP[5] correspond to oX, oY, oZ the coordinates of the center of the sphere. oP[6] corresponds to the radius of the sphere.

See also: setWorldCoordinates()

Definition at line 99 of file vpCircle.cpp.

References init(), and setWorldCoordinates().

vpCircle::vpCircle	(	double	oA,
		double	oB,
		double	oC,
		double	oX,
		double	oY,
		double	oZ,
		double	R
	)

Construct the 3D circle from the intersection of a plane and a sphere with coordinates expressed in the object frame.

Parameters

oA,oB,oC	: Parameters of the plane with equation oA(x-oX)+oB(y-oY)+oC*(z-oZ)=0 passing through the 3D sphere center.
oX	: Coordinate of the center of the sphere along X-axis in the object frame.
oY	: Coordinate of the center of the sphere along Y-axis in the object frame.
oZ	: Coordinate of the center of the sphere along Z-axis in the object frame.
R	: Radius of the sphere.

See also: setWorldCoordinates()

Definition at line 118 of file vpCircle.cpp.

References init(), and setWorldCoordinates().

vpCircle::~vpCircle ( )

virtual

Default destructor that does nothing.

Definition at line 127 of file vpCircle.cpp.

Member Function Documentation

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

virtual

From the 3D coordinates of the circle in the object frame oP that are set using for example vpCircle(double oA, double oB, double oC, double oX, double oY, double oZ, double R) or setWorldCoordinates(), compute the 3D coordinates of the circle in the camera frame cP = cMo * oP.

Parameters

cMo	: Transformation from camera to object frame.
cP_	: 3D normalized coordinates of the circle in the camera frame cP = (cA, cB, cC, cX, cY, cZ, R).

Implements vpForwardProjection.

Definition at line 245 of file vpCircle.cpp.

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

void vpCircle::changeFrame ( const vpHomogeneousMatrix & cMo )

virtual

Perspective projection of the circle. Internal circle parameters are modified in cP.

Parameters

cMo	: Homogeneous transformation from camera frame to object frame.

Implements vpForwardProjection.

Definition at line 277 of file vpCircle.cpp.

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

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 358 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().

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

virtual

Display the projection of a 3D circle in image I.

Parameters

I	: Image used as background.
cam	: Camera parameters.
color	: Color used to draw the circle.
thickness	: Thickness used to draw the circle.

Implements vpForwardProjection.

Examples:: manGeometricFeatures.cpp.

Definition at line 309 of file vpCircle.cpp.

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

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

virtual

Display the projection of a sphere in image I. This method is non destructive wrt. cP and p internal circle parameters.

Parameters

I	: Image used as background.
cMo	: Homogeneous transformation from camera frame to object frame. The circle is considered as viewed from this camera position.
cam	: Camera parameters.
color	: Color used to draw the sphere.
thickness	: Thickness used to draw the circle.

Implements vpForwardProjection.

Definition at line 326 of file vpCircle.cpp.

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

vpCircle * vpCircle::duplicate ( ) const

virtual

for memory issue (used by the vpServo class only)

Implements vpForwardProjection.

Definition at line 335 of file vpCircle.cpp.

References vpCircle().

vpColVector vpTracker::get_cP ( ) const

inlineinherited

Return object parameters expressed in the 3D camera frame.

Definition at line 99 of file vpTracker.h.

vp_deprecated double vpCircle::get_mu02 ( ) const

inline

Deprecated:: You should rather use get_n02(). This function is incorrectly named and is confusing since it returns second order centered moments of the ellipse normalized by its area that corresponds to .

Definition at line 166 of file vpCircle.h.

vp_deprecated double vpCircle::get_mu11 ( ) const

inline

Deprecated:: You should rather use get_n11(). This function is incorrectly named and is confusing since it returns second order centered moments of the ellipse normalized by its area that corresponds to .

Definition at line 159 of file vpCircle.h.

vp_deprecated double vpCircle::get_mu20 ( ) const

inline

Deprecated:: You should rather use get_n20(). This function is incorrectly named and is confusing since it returns second order centered moments of the ellipse normalized by its area that corresponds to .

Definition at line 152 of file vpCircle.h.

double vpCircle::get_n02 ( ) const

inline

Definition at line 113 of file vpCircle.h.

double vpCircle::get_n11 ( ) const

inline

Definition at line 112 of file vpCircle.h.

double vpCircle::get_n20 ( ) const

inline

Definition at line 111 of file vpCircle.h.

vpColVector vpForwardProjection::get_oP ( ) const

inlineinherited

Return object parameters expressed in the 3D object frame.

Definition at line 165 of file vpForwardProjection.h.

vpColVector vpTracker::get_p ( ) const

inlineinherited

Return object parameters expressed in the 2D image plane computed by perspective projection.

Definition at line 97 of file vpTracker.h.

double vpCircle::get_x ( ) const

inline

Definition at line 108 of file vpCircle.h.

double vpCircle::get_y ( ) const

inline

Definition at line 109 of file vpCircle.h.

double vpCircle::getA ( ) const

inline

Definition at line 115 of file vpCircle.h.

double vpCircle::getB ( ) const

inline

Definition at line 116 of file vpCircle.h.

double vpCircle::getC ( ) const

inline

Definition at line 117 of file vpCircle.h.

vpForwardProjectionDeallocatorType vpForwardProjection::getDeallocate ( )

inlineinherited

Definition at line 167 of file vpForwardProjection.h.

double vpCircle::getR ( ) const

inline

Definition at line 123 of file vpCircle.h.

References vpForwardProjection::init(), vpForwardProjection::projection(), and vpForwardProjection::setWorldCoordinates().

double vpCircle::getX ( ) const

inline

Definition at line 119 of file vpCircle.h.

double vpCircle::getY ( ) const

inline

Definition at line 120 of file vpCircle.h.

double vpCircle::getZ ( ) const

inline

Definition at line 121 of file vpCircle.h.

void vpCircle::init ( )

protectedvirtual

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().

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().

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().

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(), and vpForwardProjection::projection().

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 &) const for a more detailed description of the parameters.

Implements vpForwardProjection.

Definition at line 140 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().

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

virtual

Perspective projection of the circle.

Parameters

cP_

3D cercle input parameters expressed in the camera frame. This 7-dim vector contains the following parameters: cA, cB, cC, cX, cY, cZ, R where

cA, cB, cC are the parameters of the plane with equation cA*(x-cX)+cB*(y-cY)+cC*(z-cZ)=0 passing through the 3D sphere center.
cX, cY, cZ are the 3D coordinates of the circle in the camera frame
R is the circle radius in [m].

p_

2D circle output parameters. This is a 5 dimension vector. It contains the following parameters: x, y, n20, n11, n02 where:

x, y are the normalized coordinates of the ellipse centroid (ie the perspective projection of a 3D circle becomes a 2D ellipse in the image) in the image plane.
n20, n11, n02 which are the second order centered moments of the ellipse normalized by its area (i.e., such that $n_{ij} = \mu_{ij}/a$ where $\mu_{ij}$ are the centered moments and a the area).

Implements vpForwardProjection.

Definition at line 160 of file vpCircle.cpp.

References changeFrame(), vpException::divideByZeroError, vpForwardProjection::oP, vpColVector::resize(), and vpMath::sqr().

void vpForwardProjection::setDeallocate ( vpForwardProjectionDeallocatorType d )

inlineinherited

Definition at line 196 of file vpForwardProjection.h.

References vpTracker::init().

void vpCircle::setWorldCoordinates ( const vpColVector & oP_ )

virtual

Set the parameters of the 3D circle in the object frame.

Parameters

oP_ : This 7-dim vector defines the parameters oP[0], oP[1], oP[2] corresponding to parameters oA, oB, oC of the plane with equation oA*(x-oX)+oB*(y-oY)+oC*(z-oZ)=0 passing through the 3D sphere center. oP[3], oP[4], oP[5] correspond to oX, oY, oZ 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 60 of file vpCircle.cpp.

References vpForwardProjection::oP.

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

void vpCircle::setWorldCoordinates	(	double	oA,
		double	oB,
		double	oC,
		double	oX,
		double	oY,
		double	oZ,
		double	R
	)

Set the 3D circle coordinates in the object frame.

Parameters

oA,oB,oC	: Parameters of the plane with equation oA(x-oX)+oB(y-oY)+oC*(z-oZ)=0 passing through the 3D sphere center.
oX	: Coordinate of the center of the sphere along X-axis in the object frame.
oY	: Coordinate of the center of the sphere along Y-axis in the object frame.
oZ	: Coordinate of the center of the sphere along Z-axis in the object frame.
R	: Radius of the sphere.

Definition at line 72 of file vpCircle.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