#include <vpSphere.h>

Inheritance diagram for vpSphere:

Public Types
enum	vpForwardProjectionDeallocatorType { user, vpDisplayForwardProjection }

Public Member Functions
	vpSphere ()

	vpSphere (const vpColVector &oP)

	vpSphere (double oX, double oY, double oZ, double R)

virtual	~vpSphere ()

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)

vpSphere *	duplicate () const

double	get_x () const

double	get_y () const

double	get_n20 () const

double	get_n11 () const

double	get_n02 () 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 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

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

A sphere has the followings parameters:

in the object frame: the 3D coordinates oX, oY, oZ of the center and radius R. These parameters registered in vpForwardProjection::oP internal 4-dim vector are set using the constructors vpSphere(double oX, double oY, double oZ, double R), vpSphere(const vpColVector &oP) or the fonctions setWorldCoordinates(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 coordinates cX, cY, cZ of the center and radius R. These parameters registered in vpTracker::cP internal 4-dim vector are computed using changeFrame(const vpHomogeneousMatrix &cMo, vpColVector &cP) const or changeFrame(const vpHomogeneousMatrix &cMo). These parameters could be retrieved using 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 sphere. 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 sphere parameters with values expressed in meters. To get theses parameters use get_p().

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

Definition at line 83 of file vpSphere.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

vpSphere::vpSphere ( )

Default constructor.

Definition at line 84 of file vpSphere.cpp.

References init().

Referenced by duplicate().

vpSphere::vpSphere ( const vpColVector & oP_ )

explicit

Create a sphere from a 4-dim vector that contains 3D coordinates of its center and its radius. The 3D coordinates of the center are defined in the sphere frame.

Parameters

oP_	: 4-dim vector that contains [oX oY oZ R]^T where oX, oY, oZ are the 3D coordinates of the sphere center in [m] expressed in the sphere frame, and R is the sphere radius in [m].

Definition at line 94 of file vpSphere.cpp.

References init(), and setWorldCoordinates().

vpSphere::vpSphere	(	double	oX,
		double	oY,
		double	oZ,
		double	R
	)

Create a sphere from the 3D coordinates of its center and its radius. The 3D coordinates of the center are defined in the sphere frame.

Parameters

oX	: 3D coordinate of the sphere center along X axis in [m].
oY	: 3D coordinate of the sphere center along X axis in [m].
oZ	: 3D coordinate of the sphere center along X axis in [m].
R	: Sphere radius in [m].

Definition at line 109 of file vpSphere.cpp.

References init(), and setWorldCoordinates().

vpSphere::~vpSphere ( )

virtual

Destructor that does nothing.

Definition at line 118 of file vpSphere.cpp.

Member Function Documentation

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

virtual

Perspective projection of the sphere. This method doesn't modify internal sphere parameters cP.

Parameters

cMo	: Homogeneous transformation from camera frame to sphere frame.
cP_	: Parameters of the sphere in the camera frame (cX, cY, cZ, R).

Implements vpForwardProjection.

Definition at line 215 of file vpSphere.cpp.

References vpForwardProjection::oP, and vpColVector::resize().

Referenced by changeFrame(), and display().

void vpSphere::changeFrame ( const vpHomogeneousMatrix & cMo )

virtual

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

Parameters

cMo	: Homogeneous transformation from camera frame to object frame.

Implements vpForwardProjection.

Definition at line 206 of file vpSphere.cpp.

References changeFrame(), and vpTracker::cP.

void vpSphere::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 sphere in image I.

Parameters

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

Implements vpForwardProjection.

Examples:: manGeometricFeatures.cpp.

Definition at line 267 of file vpSphere.cpp.

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

void vpSphere::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 3D sphere in image I. This method is non destructive wrt. cP and p internal sphere parameters.

Parameters

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

Implements vpForwardProjection.

Definition at line 250 of file vpSphere.cpp.

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

vpSphere * vpSphere::duplicate ( ) const

virtual

For memory issue (used by the vpServo class only).

Implements vpForwardProjection.

Definition at line 233 of file vpSphere.cpp.

References vpSphere().

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 vpSphere::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 148 of file vpSphere.h.

vp_deprecated double vpSphere::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 141 of file vpSphere.h.

vp_deprecated double vpSphere::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 134 of file vpSphere.h.

double vpSphere::get_n02 ( ) const

inline

Examples:: servoSimuSphere.cpp.

Definition at line 106 of file vpSphere.h.

double vpSphere::get_n11 ( ) const

inline

Examples:: servoSimuSphere.cpp.

Definition at line 105 of file vpSphere.h.

double vpSphere::get_n20 ( ) const

inline

Examples:: servoSimuSphere.cpp.

Definition at line 104 of file vpSphere.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 vpSphere::get_x ( ) const

inline

Examples:: servoSimuSphere.cpp.

Definition at line 101 of file vpSphere.h.

double vpSphere::get_y ( ) const

inline

Examples:: servoSimuSphere.cpp.

Definition at line 102 of file vpSphere.h.

vpForwardProjectionDeallocatorType vpForwardProjection::getDeallocate ( )

inlineinherited

Definition at line 167 of file vpForwardProjection.h.

double vpSphere::getR ( ) const

inline

Examples:: servoSimuSphere.cpp.

Definition at line 111 of file vpSphere.h.

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

double vpSphere::getX ( ) const

inline

Definition at line 108 of file vpSphere.h.

double vpSphere::getY ( ) const

inline

Definition at line 109 of file vpSphere.h.

double vpSphere::getZ ( ) const

inline

Definition at line 110 of file vpSphere.h.

void vpSphere::init ( )

protectedvirtual

Initialize internal sphere parameters.

Implements vpForwardProjection.

Definition at line 45 of file vpSphere.cpp.

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

Referenced by vpSphere().

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 vpSphere::projection ( )

virtual

Perspective projection of the sphere. This method updates internal parameters (cP and p).

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

Implements vpForwardProjection.

Definition at line 127 of file vpSphere.cpp.

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

Referenced by display().

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

virtual

Perspective projection of the sphere. Internal parameters (cP and p) are not modified.

Parameters

[in]	cP_	: 4-dim vector corresponding to the sphere parameters in the camera frame.
[out]	p_	: 5-dim vector corresponding to the sphere parameters in the image plane. 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 143 of file vpSphere.cpp.

References vpColVector::resize(), vpMath::sqr(), and vpERROR_TRACE.

void vpForwardProjection::setDeallocate ( vpForwardProjectionDeallocatorType d )

inlineinherited

Definition at line 196 of file vpForwardProjection.h.

References vpTracker::init().

void vpSphere::setWorldCoordinates ( const vpColVector & oP_ )

virtual

Set sphere 3D parameters from a 4-dim vector that contains 3D coordinates of its center and its radius. The 3D coordinates of the center are defined in the sphere frame.

Parameters

oP_	: 4-dim vector that contains [oX oY oZ R]^T where oX, oY, oZ are the 3D coordinates of the sphere center in [m] expressed in the object frame, and R is the sphere radius in [m].

Implements vpForwardProjection.

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

Definition at line 62 of file vpSphere.cpp.

References vpForwardProjection::oP.

Referenced by vpSphere().

void vpSphere::setWorldCoordinates	(	double	oX,
		double	oY,
		double	oZ,
		double	R
	)

Set sphere 3D parameters from the 3D coordinates of its center and its radius. The 3D coordinates of the center are defined in the sphere frame.

Parameters

oX	: 3D coordinate of the sphere center along X axis in [m].
oY	: 3D coordinate of the sphere center along X axis in [m].
oZ	: 3D coordinate of the sphere center along X axis in [m].
R	: Sphere radius in [m].

Definition at line 73 of file vpSphere.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