Visual Servoing Platform  version 3.5.1 under development (2023-09-22)
vpFeatureDisplay Class Reference

#include <visp3/core/vpFeatureDisplay.h>

Static Public Member Functions

static void displayCylinder (double rho1, double theta1, double rho2, double theta2, const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1)
 
static void displayCylinder (double rho1, double theta1, double rho2, double theta2, const vpCameraParameters &cam, const vpImage< vpRGBa > &I, const vpColor &color=vpColor::green, unsigned int thickness=1)
 
static void displayEllipse (double x, double y, double n20, double n11, double n02, const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1)
 
static void displayEllipse (double x, double y, double n20, double n11, double n02, const vpCameraParameters &cam, const vpImage< vpRGBa > &I, const vpColor &color=vpColor::green, unsigned int thickness=1)
 
static void displayLine (double rho, double theta, const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1)
 
static void displayLine (double rho, double theta, const vpCameraParameters &cam, const vpImage< vpRGBa > &I, const vpColor &color=vpColor::green, unsigned int thickness=1)
 
static void displayPoint (double x, double y, const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1)
 
static void displayPoint (double x, double y, const vpCameraParameters &cam, const vpImage< vpRGBa > &I, const vpColor &color=vpColor::green, unsigned int thickness=1)
 

Detailed Description

Interface with the image for feature display.

Definition at line 56 of file vpFeatureDisplay.h.

Member Function Documentation

◆ displayCylinder() [1/2]

void vpFeatureDisplay::displayCylinder ( double  rho1,
double  theta1,
double  rho2,
double  theta2,
const vpCameraParameters cam,
const vpImage< unsigned char > &  I,
const vpColor color = vpColor::green,
unsigned int  thickness = 1 
)
static

Display cylinder limbs as two 2D lines with coordinates $(\rho, \theta)$ expressed in the image plane. These coordinates are obtained after perspective projection of the cylinder.

Parameters
rho1,theta1: Cylinder first limb parameters $(\rho, \theta)$ expressed in the image plane.
rho2,theta2: Cylinder second limb parameters $(\rho, \theta)$ expressed in the image plane.
cam: Camera intrinsic parameters.
I: Image.
color: Color to use to display the feature.
thickness: Thickness of the feature representation.

Definition at line 121 of file vpFeatureDisplay.cpp.

References displayLine().

Referenced by vpCylinder::display().

◆ displayCylinder() [2/2]

void vpFeatureDisplay::displayCylinder ( double  rho1,
double  theta1,
double  rho2,
double  theta2,
const vpCameraParameters cam,
const vpImage< vpRGBa > &  I,
const vpColor color = vpColor::green,
unsigned int  thickness = 1 
)
static

Display cylinder limbs as two 2D lines with coordinates $(\rho, \theta)$ expressed in the image plane. These coordinates are obtained after perspective projection of the cylinder.

Parameters
rho1,theta1: Cylinder first limb parameters $(\rho, \theta)$ expressed in the image plane.
rho2,theta2: Cylinder second limb parameters $(\rho, \theta)$ expressed in the image plane.
cam: Camera intrinsic parameters.
I: Image.
color: Color to use to display the feature.
thickness: Thickness of the feature representation.

Definition at line 233 of file vpFeatureDisplay.cpp.

References displayLine().

◆ displayEllipse() [1/2]

void vpFeatureDisplay::displayEllipse ( double  x,
double  y,
double  n20,
double  n11,
double  n02,
const vpCameraParameters cam,
const vpImage< unsigned char > &  I,
const vpColor color = vpColor::green,
unsigned int  thickness = 1 
)
static

Display an ellipse with parameters $(x, y, n_{20}, n_{11}, n_{02})$ expressed in the image plane. These parameters are obtained after perspective projection of a 3D circle (see vpCircle) or a sphere (see vpSphere).

Parameters
x,y,n20,n11,n02: Ellipse parameters where:
  • $(x,y)$ are the normalized coordinates of the ellipse center, respectively along the horizontal and vertical axis in the image plane.
  • $n_{20}, n_{11}, n_{02}$ 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) expressed in the image plane.
cam: Camera intrinsic parameters.
I: Image.
color: Color to use to display the feature.
thickness: Thickness of the feature representation.
See also
vpDisplay::displayEllipse()

Definition at line 146 of file vpFeatureDisplay.cpp.

References vpMeterPixelConversion::convertEllipse(), vpDisplay::displayEllipse(), and vpTracker::p.

Referenced by vpFeatureEllipse::display(), vpCircle::display(), and vpSphere::display().

◆ displayEllipse() [2/2]

void vpFeatureDisplay::displayEllipse ( double  x,
double  y,
double  n20,
double  n11,
double  n02,
const vpCameraParameters cam,
const vpImage< vpRGBa > &  I,
const vpColor color = vpColor::green,
unsigned int  thickness = 1 
)
static

Display an ellipse with parameters $(x, y, n_{20}, n_{11}, n_{02})$ expressed in the image plane. These parameters are obtained after perspective projection of a 3D circle (see vpCircle) or a sphere (see vpSphere).

Parameters
x,y,n20,n11,n02: Ellipse parameters where:
  • $(x,y)$ are the normalized coordinates of the ellipse center, respectively along the horizontal and vertical axis in the image plane.
  • $n_{20}, n_{11}, n_{02}$ 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) expressed in the image plane.
cam: Camera intrinsic parameters.
I: Image.
color: Color to use to display the feature.
thickness: Thickness of the feature representation.
See also
vpDisplay::displayEllipse()

Definition at line 258 of file vpFeatureDisplay.cpp.

References vpMeterPixelConversion::convertEllipse(), vpDisplay::displayEllipse(), and vpTracker::p.

◆ displayLine() [1/2]

void vpFeatureDisplay::displayLine ( double  rho,
double  theta,
const vpCameraParameters cam,
const vpImage< unsigned char > &  I,
const vpColor color = vpColor::green,
unsigned int  thickness = 1 
)
static

Display a 2D line with coordinates $(\rho, \theta)$ expressed in the image plane. These coordinates are obtained after perspective projection of the line.

Parameters
rho,theta: Line parameters $(\rho, \theta)$ expressed in the image plane.
cam: Camera intrinsic parameters.
I: Image.
color: Color to use to display the feature.
thickness: Thickness of the feature representation.

Definition at line 81 of file vpFeatureDisplay.cpp.

References vpMeterPixelConversion::convertLine(), vpDisplay::displayLine(), vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), and vpImagePoint::set_ij().

Referenced by vpFeatureLine::display(), vpLine::display(), and displayCylinder().

◆ displayLine() [2/2]

void vpFeatureDisplay::displayLine ( double  rho,
double  theta,
const vpCameraParameters cam,
const vpImage< vpRGBa > &  I,
const vpColor color = vpColor::green,
unsigned int  thickness = 1 
)
static

Display a 2D line with coordinates $(\rho, \theta)$ expressed in the image plane. These coordinates are obtained after perspective projection of the line.

Parameters
rho,theta: Line parameters $(\rho, \theta)$ expressed in the image plane.
cam: Camera intrinsic parameters.
I: Image.
color: Color to use to display the feature.
thickness: Thickness of the feature representation.

Definition at line 193 of file vpFeatureDisplay.cpp.

References vpMeterPixelConversion::convertLine(), vpDisplay::displayLine(), vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), and vpImagePoint::set_ij().

◆ displayPoint() [1/2]

void vpFeatureDisplay::displayPoint ( double  x,
double  y,
const vpCameraParameters cam,
const vpImage< unsigned char > &  I,
const vpColor color = vpColor::green,
unsigned int  thickness = 1 
)
static

Display a 2D point with coordinates (x, y) expressed in the image plane. These coordinates are obtained after perspective projection of the point.

Parameters
x,y: Point coordinates in the image plane.
cam: Camera intrinsic parameters.
I: Image.
color: Color to use to display the feature.
thickness: Thickness of the feature representation.

Definition at line 63 of file vpFeatureDisplay.cpp.

References vpMeterPixelConversion::convertPoint(), and vpDisplay::displayCross().

Referenced by vpFeaturePoint::display(), vpFeaturePointPolar::display(), vpFeatureVanishingPoint::display(), and vpPoint::display().

◆ displayPoint() [2/2]

void vpFeatureDisplay::displayPoint ( double  x,
double  y,
const vpCameraParameters cam,
const vpImage< vpRGBa > &  I,
const vpColor color = vpColor::green,
unsigned int  thickness = 1 
)
static

Display a 2D point with coordinates (x, y) expressed in the image plane. These coordinates are obtained after perspective projection of the point.

Parameters
x,y: Point coordinates in the image plane.
cam: Camera intrinsic parameters.
I: Image.
color: Color to use to display the feature.
thickness: Thickness of the feature representation.

Definition at line 174 of file vpFeatureDisplay.cpp.

References vpMeterPixelConversion::convertPoint(), and vpDisplay::displayCross().